+ python -m lidar_slam --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 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 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters Centerline goodness : 0.258034 Centerline is valid? [0, False] SLAMing on 0.032557844 meters Centerline goodness : 0.258034 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 -7.66494263e-17 2.59674291e-17 -1.60760287e-13] [-1.35024290e-18 1.00000000e+00 -1.37397263e-16 -8.27660423e-14] [ 1.30640741e-16 3.79731311e-16 1.00000000e+00 -1.06584663e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062557844 meters Centerline goodness : 0.282121 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999819e-01 -7.12319377e-06 6.02099432e-04 1.04267781e-03] [ 6.88890942e-06 9.99999924e-01 3.89113574e-04 -2.06326794e-03] [-6.02102158e-04 -3.89109355e-04 9.99999743e-01 4.75034502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09255784400000001 meters Centerline goodness : 0.169538 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999917e-01 4.48330839e-06 4.08525644e-04 2.37543664e-03] [-4.64878500e-06 9.99999918e-01 4.05058001e-04 -1.96293379e-03] [-4.08523794e-04 -4.05059867e-04 9.99999835e-01 1.17918667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12255784400000001 meters Centerline goodness : 0.238951 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999977e-01 1.77642884e-05 2.15472325e-04 4.00724010e-03] [-1.78630991e-05 9.99999895e-01 4.58584281e-04 -2.26905336e-03] [-2.15464156e-04 -4.58588119e-04 9.99999872e-01 -7.12021851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15255784400000003 meters Centerline goodness : 0.184534 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999636e-01 1.95822168e-04 8.30754263e-04 4.35297625e-03] [-1.96786321e-04 9.99999307e-01 1.16065218e-03 -6.14805191e-03] [-8.30526406e-04 -1.16081524e-03 9.99998981e-01 -3.30980799e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18255784400000002 meters Centerline goodness : 0.178757 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999776e-01 3.78018395e-04 5.53156529e-04 6.11201796e-03] [-3.78934112e-04 9.99998557e-01 1.65627200e-03 -9.53159793e-03] [-5.52529630e-04 -1.65648124e-03 9.99998475e-01 -4.01007184e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21255784400000002 meters Centerline goodness : 0.166876 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99999849e-01 5.11772675e-04 2.00652558e-04 8.43314366e-03] [-5.12193748e-04 9.99997655e-01 2.10411314e-03 -1.27375686e-02] [-1.99575260e-04 -2.10421559e-03 9.99997766e-01 -9.10070165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24255784400000002 meters Centerline goodness : 0.154320 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999775e-01 6.26677183e-04 -2.38945617e-04 1.13581585e-02] [-6.26048598e-04 9.99996367e-01 2.62172394e-03 -1.63605042e-02] [ 2.40587724e-04 -2.62157376e-03 9.99996535e-01 -1.90406124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272557844 meters Centerline goodness : 0.187394 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999482e-01 7.42774884e-04 -6.95852560e-04 1.43290750e-02] [-7.40583782e-04 9.99994784e-01 3.14378620e-03 -2.01697332e-02] [ 6.98184056e-04 -3.14326924e-03 9.99994816e-01 -2.83375995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302557844 meters Centerline goodness : 0.082047 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99998961e-01 -1.34853349e-03 5.09800941e-04 1.00452217e-02] [ 1.34725627e-03 9.99995974e-01 2.49741264e-03 -2.24418885e-02] [-5.13166733e-04 -2.49672321e-03 9.99996752e-01 1.16759465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332557844 meters Centerline goodness : 0.123796 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 9.99999134e-01 -1.30108523e-03 1.98866776e-04 1.20501593e-02] [ 1.30053900e-03 9.99995448e-01 2.72258796e-03 -2.38815147e-02] [-2.02408190e-04 -2.72232697e-03 9.99996274e-01 6.84130212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362557844 meters Centerline goodness : 0.091421 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99999178e-01 -1.27954846e-03 -7.86705843e-05 1.39978070e-02] [ 1.27976667e-03 9.99995150e-01 2.83924097e-03 -2.45676690e-02] [ 7.50372564e-05 -2.83933931e-03 9.99995966e-01 -8.06951596e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392557844 meters Centerline goodness : 0.096629 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.00 [[ 9.99999114e-01 -1.27932260e-03 -3.68869294e-04 1.60958143e-02] [ 1.28039546e-03 9.99994908e-01 2.92308761e-03 -2.51335763e-02] [ 3.65127843e-04 -2.92355731e-03 9.99995660e-01 -8.56811319e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422557844 meters Centerline goodness : 0.106948 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99999416 -0.0030351 -0.00156876 0.02668694] [ 0.00303782 0.99999388 0.00173327 -0.02376316] [ 0.00156349 -0.00173802 0.99999727 -0.00671356] [ 0. 0. 0. 1. ]] SLAMing on 0.452557844 meters Centerline goodness : 0.113942 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.9999939 -0.00292787 -0.0019057 0.0287366 ] [ 0.00293192 0.99999344 0.002126 -0.02673851] [ 0.00189946 -0.00213157 0.99999592 -0.00715582] [ 0. 0. 0. 1. ]] SLAMing on 0.482557844 meters Centerline goodness : 0.059653 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999359 -0.00285092 -0.00216574 0.03033162] [ 0.00285612 0.99999304 0.00240169 -0.02861796] [ 0.00215888 -0.00240786 0.99999477 -0.00744574] [ 0. 0. 0. 1. ]] SLAMing on 0.512557844 meters Centerline goodness : 0.115686 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999281 -0.00292223 -0.00241646 0.03191072] [ 0.00292799 0.99999287 0.00238496 -0.02852423] [ 0.00240948 -0.00239202 0.99999424 -0.00781594] [ 0. 0. 0. 1. ]] SLAMing on 0.5425578440000001 meters Centerline goodness : 0.127220 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99999155 -0.00320236 -0.00257867 0.03477117] [ 0.00320765 0.99999276 0.00204906 -0.02589832] [ 0.00257209 -0.00205731 0.99999458 -0.00849021] [ 0. 0. 0. 1. ]] SLAMing on 0.5725578440000001 meters Centerline goodness : 0.105857 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99999041 -0.0033176 -0.00285948 0.03672939] [ 0.00332281 0.99999282 0.00181909 -0.02443704] [ 0.00285342 -0.00182857 0.99999426 -0.00921709] [ 0. 0. 0. 1. ]] SLAMing on 0.6025578440000001 meters Centerline goodness : 0.065516 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99998902 -0.00348204 -0.00313642 0.03856665] [ 0.00348673 0.99999281 0.0014886 -0.022215 ] [ 0.00313121 -0.00149952 0.99999397 -0.00979575] [ 0. 0. 0. 1. ]] SLAMing on 0.632557844 meters Centerline goodness : 0.101738 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.9999883 -0.00252383 -0.00412795 0.05163564] [ 0.00252903 0.99999601 0.00125524 -0.01427701] [ 0.00412477 -0.00126567 0.99999069 -0.01794796] [ 0. 0. 0. 1. ]] SLAMing on 0.6625578440000001 meters Centerline goodness : 0.095028 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.02 [[ 0.99998523 -0.00114862 -0.00531143 0.06222401] [ 0.00115809 0.99999775 0.00177898 -0.010623 ] [ 0.00530937 -0.0017851 0.99998431 -0.02394081] [ 0. 0. 0. 1. ]] SLAMing on 0.6925578440000001 meters Centerline goodness : 0.111134 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.02 [[ 9.99982835e-01 -1.36111659e-03 -5.69886127e-03 6.45561094e-02] [ 1.36636563e-03 9.99998646e-01 9.17276970e-04 -4.14014319e-03] [ 5.69760504e-03 -9.25047953e-04 9.99983341e-01 -2.44461026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7225578440000001 meters Centerline goodness : 0.111187 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.02 [[ 9.99980441e-01 -1.58572745e-03 -6.05008718e-03 6.66222022e-02] [ 1.58663624e-03 9.99998731e-01 1.45413875e-04 1.25363727e-03] [ 6.04984891e-03 -1.55010318e-04 9.99981687e-01 -2.49247375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7525578440000001 meters Centerline goodness : 0.112061 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 9.99973566e-01 -4.87058456e-04 -7.25461312e-03 7.88614979e-02] [ 4.86967316e-04 9.99999881e-01 -1.43294580e-05 9.30274726e-03] [ 7.25461924e-03 1.07963197e-05 9.99973685e-01 -3.27216301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters Centerline goodness : 0.112061 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 9.99973566e-01 -4.87058456e-04 -7.25461312e-03 7.88614979e-02] [ 4.86967316e-04 9.99999881e-01 -1.43294580e-05 9.30274726e-03] [ 7.25461924e-03 1.07963197e-05 9.99973685e-01 -3.27216301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8125578440000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.8425578440000001 meters Centerline goodness : 0.114638 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.04 [[ 9.99963312e-01 3.38490466e-04 -8.55921417e-03 9.14923935e-02] [-3.40013782e-04 9.99999927e-01 -1.76519297e-04 1.76529023e-02] [ 8.55915380e-03 1.79423072e-04 9.99963354e-01 -4.00008577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8725578440000001 meters Centerline goodness : 0.062141 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.04 [[ 9.99959914e-01 -5.35307835e-05 -8.95365555e-03 9.38387796e-02] [ 4.69845430e-05 9.99999731e-01 -7.31333652e-04 2.12716386e-02] [ 8.95369229e-03 7.30883652e-04 9.99959648e-01 -3.99110368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.902557844 meters Centerline goodness : 0.071055 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.04 [[ 9.99957538e-01 -1.43461571e-04 -9.21423407e-03 9.52361720e-02] [ 1.35815126e-04 9.99999646e-01 -8.30471721e-04 2.19376627e-02] [ 9.21434995e-03 8.29185025e-04 9.99957203e-01 -3.99218621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9325578440000001 meters Centerline goodness : 0.050268 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.06 [[ 9.99997879e-01 -9.03775980e-04 -1.85069548e-03 1.04913069e-01] [ 9.01231287e-04 9.99998648e-01 -1.37536542e-03 2.51452060e-02] [ 1.85193600e-03 1.37369460e-03 9.99997342e-01 -6.27427850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9625578440000001 meters Centerline goodness : 0.059560 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 9.99997231e-01 -9.82014136e-04 -2.13841779e-03 1.06352697e-01] [ 9.78920271e-04 9.99998473e-01 -1.44736734e-03 2.56109731e-02] [ 2.13983586e-03 1.44526999e-03 9.99996666e-01 -6.25634085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9925578440000001 meters Centerline goodness : 0.051105 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 9.99996283e-01 -8.73687983e-04 -2.58280787e-03 1.09082491e-01] [ 8.70455159e-04 9.99998837e-01 -1.25252958e-03 2.43579490e-02] [ 2.58389918e-03 1.25027670e-03 9.99995880e-01 -6.29019292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.052557844 meters Centerline goodness : 0.097832 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.07 [[ 9.99992536e-01 5.37231194e-04 -3.82626060e-03 1.20754827e-01] [-5.39297725e-04 9.99999709e-01 -5.39080220e-04 2.25546374e-02] [ 3.82596988e-03 5.41139689e-04 9.99992535e-01 -6.91831849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1125578440000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1425578440000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.1725578440000002 meters Centerline goodness : 0.116311 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.07 [[ 0.99984737 0.01624666 -0.00642516 0.15301498] [-0.01620596 0.99984859 0.00633718 0.01836732] [ 0.00652714 -0.00623209 0.99995928 -0.06940588] [ 0. 0. 0. 1. ]] SLAMing on 1.2025578440000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.2325578440000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.262557844 meters Centerline goodness : 0.076678 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.07 [[ 0.99985139 0.01632003 -0.0055541 0.15501303] [-0.01628316 0.9998455 0.00662154 0.01723035] [ 0.0056613 -0.00653012 0.99996265 -0.06896428] [ 0. 0. 0. 1. ]] SLAMing on 1.292557844 meters Centerline goodness : 0.075982 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.07 [[ 0.99986959 0.01468105 -0.00672802 0.16348544] [-0.01464366 0.99987724 0.00557304 0.01801625] [ 0.00680901 -0.00547379 0.99996184 -0.07272447] [ 0. 0. 0. 1. ]] SLAMing on 1.322557844 meters Centerline goodness : 0.075343 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 9.99923030e-01 1.01978165e-02 -7.06671901e-03 1.65024768e-01] [-1.01932003e-02 9.99947811e-01 6.88937132e-04 2.42929453e-02] [ 7.07337586e-03 -6.16851622e-04 9.99974793e-01 -7.27136818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3525578440000001 meters Centerline goodness : 0.076420 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.07 [[ 0.99992172 0.00990867 -0.00764078 0.16776827] [-0.00989993 0.9999503 0.00118081 0.02013572] [ 0.0076521 -0.00110507 0.99997011 -0.07275477] [ 0. 0. 0. 1. ]] SLAMing on 1.3825578440000001 meters Centerline goodness : 0.074967 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.08 [[ 9.99996289e-01 2.56228855e-03 9.25371106e-04 1.82382524e-01] [-2.56588217e-03 9.99989090e-01 3.90335908e-03 1.61327147e-02] [-9.15359478e-04 -3.90571899e-03 9.99991954e-01 -7.86799994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4125578440000002 meters Centerline goodness : 0.074424 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.08 [[ 9.99996430e-01 2.64102942e-03 4.05209373e-04 1.84700406e-01] [-2.64277071e-03 9.99987009e-01 4.35865434e-03 1.31226482e-02] [-3.93692775e-04 -4.35970965e-03 9.99990419e-01 -7.81182937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4425578440000002 meters Centerline goodness : 0.466967 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99996290e-01 2.72382908e-03 -1.80658724e-05 1.86578083e-01] [-2.72371644e-03 9.99985603e-01 4.62324260e-03 1.14752350e-02] [ 3.06585350e-05 -4.62317624e-03 9.99989313e-01 -7.75130613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4725578440000002 meters Centerline goodness : 0.484960 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99995743e-01 2.90729142e-03 -2.47728569e-04 1.89603308e-01] [-2.90601304e-03 9.99983211e-01 5.01328928e-03 9.24969824e-03] [ 2.62299503e-04 -5.01254803e-03 9.99987403e-01 -7.70168883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5025578440000003 meters Centerline goodness : 0.494062 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99995277e-01 3.01619451e-03 -5.91146929e-04 1.91191588e-01] [-3.01308949e-03 9.99982019e-01 5.18486786e-03 8.18160418e-03] [ 6.06774869e-04 -5.18306219e-03 9.99986384e-01 -7.66824252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532557844 meters Centerline goodness : 0.507350 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 9.99994870e-01 3.07321758e-03 -9.02725408e-04 1.92580494e-01] [-3.06843496e-03 9.99981498e-01 5.25242325e-03 7.77091176e-03] [ 9.18850545e-04 -5.24962635e-03 9.99985798e-01 -7.63823886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562557844 meters Centerline goodness : 0.528834 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.99999449 0.00309555 -0.00119946 0.19390488] [-0.00308917 0.99998127 0.00528308 0.00759513] [ 0.00121579 -0.00527935 0.99998533 -0.07614675] [ 0. 0. 0. 1. ]] SLAMing on 1.5925578440000001 meters Centerline goodness : 0.073213 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99999406 0.00310935 -0.00148871 0.19658318] [-0.00310125 0.99998054 0.00541267 0.00690157] [ 0.00150552 -0.00540802 0.99998424 -0.07625315] [ 0. 0. 0. 1. ]] SLAMing on 1.6225578440000001 meters Centerline goodness : 0.072472 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99999303 0.00323959 -0.00185679 0.19820577] [-0.00322901 0.9999787 0.00567206 0.00531239] [ 0.00187513 -0.00566603 0.99998219 -0.07588558] [ 0. 0. 0. 1. ]] SLAMing on 1.6525578440000002 meters Centerline goodness : 0.071927 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99999191 0.00336861 -0.00219912 0.19957379] [-0.00335552 0.99997677 0.00593263 0.00365365] [ 0.00221906 -0.00592521 0.99997998 -0.07535558] [ 0. 0. 0. 1. ]] SLAMing on 1.6825578440000002 meters Centerline goodness : 0.072391 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.08 [[ 0.99999081 0.00348083 -0.0025043 0.20086388] [-0.00346544 0.99997523 0.00612587 0.00245025] [ 0.00252556 -0.00611713 0.9999781 -0.07507271] [ 0. 0. 0. 1. ]] SLAMing on 1.7125578440000002 meters Centerline goodness : 0.071603 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.08 [[ 9.99983423e-01 4.64970055e-03 -3.39617915e-03 2.11957728e-01] [-4.62588416e-03 9.99964889e-01 6.98721290e-03 9.10818414e-04] [ 3.42854835e-03 -6.97138674e-03 9.99969822e-01 -8.24073830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7425578440000002 meters Centerline goodness : 0.581690 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.08 [[ 9.99982057e-01 4.74252674e-03 -3.65968409e-03 2.13054502e-01] [-4.71629515e-03 9.99963364e-01 7.14336685e-03 8.11013392e-05] [ 3.69342762e-03 -7.12597853e-03 9.99967789e-01 -8.21453020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7725578440000003 meters Centerline goodness : 0.363397 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.00, Z:-0.08 [[ 0.9999801 0.00488908 -0.00398719 0.21430394] [-0.00485947 0.99996079 0.00740327 -0.00156734] [ 0.00402323 -0.00738375 0.99996465 -0.08167108] [ 0. 0. 0. 1. ]] SLAMing on 1.802557844 meters Centerline goodness : 0.368715 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.08 [[ 0.99997769 0.00508437 -0.00433224 0.2156207 ] [-0.00505047 0.99995683 0.00779884 -0.00397924] [ 0.00437171 -0.00777679 0.9999602 -0.08096449] [ 0. 0. 0. 1. ]] SLAMing on 1.832557844 meters Centerline goodness : 0.370493 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997503 0.00523415 -0.00474826 0.21729419] [-0.00519532 0.99995326 0.00815414 -0.00605192] [ 0.00479072 -0.00812927 0.99995548 -0.08021404] [ 0. 0. 0. 1. ]] SLAMing on 1.8625578440000001 meters Centerline goodness : 0.072275 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997395 0.0053826 -0.00480844 0.21919843] [-0.0053418 0.99994995 0.0084598 -0.00806457] [ 0.00485373 -0.00843389 0.99995265 -0.07972277] [ 0. 0. 0. 1. ]] SLAMing on 1.8925578440000002 meters Centerline goodness : 0.071781 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997217 0.00549836 -0.00504255 0.2200013 ] [-0.00545467 0.99994782 0.00863733 -0.00902559] [ 0.00508978 -0.00860958 0.99994998 -0.07920348] [ 0. 0. 0. 1. ]] SLAMing on 1.9225578440000002 meters Centerline goodness : 0.072036 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99997037 0.00567329 -0.0052038 0.22062078] [-0.00562674 0.99994441 0.00891765 -0.01073108] [ 0.0052541 -0.00888811 0.9999467 -0.07905043] [ 0. 0. 0. 1. ]] SLAMing on 1.9525578440000002 meters Centerline goodness : 0.127562 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99996866 0.00591998 -0.00525676 0.22120425] [-0.00587033 0.99993847 0.00941232 -0.01378345] [ 0.00531216 -0.00938117 0.99994189 -0.0791266 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9825578440000002 meters Centerline goodness : 0.107785 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.08 [[ 0.99996756 0.00596065 -0.0054178 0.22161703] [-0.00590875 0.99993698 0.00954628 -0.01456847] [ 0.00547436 -0.00951396 0.99993976 -0.0786862 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0125578440000003 meters Centerline goodness : 0.132193 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.99996563 0.00606797 -0.00564928 0.2221849 ] [-0.00601215 0.99993346 0.00984564 -0.01623433] [ 0.00570865 -0.00981134 0.99993557 -0.07787681] [ 0. 0. 0. 1. ]] SLAMing on 2.042557844 meters Centerline goodness : 0.132844 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.9999623 0.00632525 -0.00594847 0.22294758] [-0.00626246 0.99992509 0.01051616 -0.02027989] [ 0.00601455 -0.01047851 0.99992701 -0.07670414] [ 0. 0. 0. 1. ]] SLAMing on 2.0725578440000003 meters Centerline goodness : 0.103738 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.99998228 0.00230986 -0.0054876 0.22301348] [-0.00227467 0.99997687 0.00640991 -0.02007341] [ 0.00550228 -0.00639731 0.9999644 -0.0759713 ] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters Centerline goodness : 0.101777 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.08 [[ 0.9999806 0.00252317 -0.00569417 0.22346454] [-0.00248332 0.99997245 0.00699523 -0.0234701 ] [ 0.00571166 -0.00698095 0.99995932 -0.07515071] [ 0. 0. 0. 1. ]] SLAMing on 2.1325578440000004 meters Centerline goodness : 0.099462 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99997916 0.00272532 -0.00585291 0.22382234] [-0.00268137 0.99996825 0.00750362 -0.02628306] [ 0.00587318 -0.00748777 0.99995472 -0.07461104] [ 0. 0. 0. 1. ]] SLAMing on 2.162557844 meters Centerline goodness : 0.673051 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99997789 0.00295027 -0.00595938 0.22397472] [-0.00290243 0.99996363 0.00802016 -0.02917524] [ 0.00598283 -0.00800269 0.99995008 -0.0741032 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1925578440000004 meters Centerline goodness : 0.432198 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.07 [[ 0.99998695 0.00141837 -0.00490774 0.21751636] [-0.00138489 0.99997579 0.00681897 -0.03284011] [ 0.0049173 -0.00681209 0.99996471 -0.06909841] [ 0. 0. 0. 1. ]] SLAMing on 2.2225578440000002 meters Centerline goodness : 0.439055 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998607 0.0016489 -0.00501433 0.2176431 ] [-0.00161219 0.99997194 0.00731598 -0.03564362] [ 0.00502625 -0.00730779 0.99996067 -0.06825972] [ 0. 0. 0. 1. ]] SLAMing on 2.252557844 meters Centerline goodness : 0.443815 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998551 0.00182323 -0.00506472 0.21761151] [-0.00178445 0.99996914 0.00765064 -0.03749862] [ 0.00507851 -0.00764149 0.99995791 -0.06755396] [ 0. 0. 0. 1. ]] SLAMing on 2.2825578440000003 meters Centerline goodness : 0.449507 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.99998499 0.00199722 -0.00510155 0.21745261] [-0.00195664 0.99996652 0.00794607 -0.03909924] [ 0.00511725 -0.00793597 0.99995542 -0.06688692] [ 0. 0. 0. 1. ]] SLAMing on 2.312557844 meters Centerline goodness : 0.501592 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.07 [[ 0.9999851 0.00241152 -0.00489737 0.21732833] [-0.00236932 0.99996017 0.00860521 -0.04333267] [ 0.00491793 -0.00859348 0.99995098 -0.06623606] [ 0. 0. 0. 1. ]] SLAMing on 2.3425578440000003 meters Centerline goodness : 0.666575 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996665 0.00694081 -0.00430468 0.18547629] [-0.00691993 0.99996431 0.00484694 -0.04611518] [ 0.00433817 -0.00481699 0.99997899 -0.05883319] [ 0. 0. 0. 1. ]] SLAMing on 2.372557844 meters Centerline goodness : 0.640660 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996583 0.00705847 -0.00430221 0.18534888] [-0.00703637 0.99996208 0.00513035 -0.0474979 ] [ 0.00433826 -0.0050999 0.99997759 -0.0581509 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4025578440000004 meters Centerline goodness : 0.659873 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996461 0.00719374 -0.00436242 0.18530542] [-0.00716977 0.99995925 0.00548532 -0.04933973] [ 0.0044017 -0.00545385 0.99997544 -0.0574338 ] [ 0. 0. 0. 1. ]] SLAMing on 2.432557844 meters Centerline goodness : 0.657295 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996256 0.00739182 -0.00449889 0.18545816] [-0.00736481 0.99995494 0.00599041 -0.05208299] [ 0.00454297 -0.00595706 0.99997194 -0.05648633] [ 0. 0. 0. 1. ]] SLAMing on 2.4625578440000004 meters Centerline goodness : 0.653702 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.06 [[ 0.99996036 0.00759603 -0.00464637 0.18565822] [-0.00756562 0.99995007 0.0065286 -0.05497309] [ 0.00469573 -0.00649319 0.99996789 -0.05554039] [ 0. 0. 0. 1. ]] SLAMing on 2.4925578440000002 meters Centerline goodness : 0.655729 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.05 [[ 0.99997804 0.00563386 -0.00349008 0.17882051] [-0.00561731 0.99997302 0.00473303 -0.05591138] [ 0.00351665 -0.00471332 0.99998271 -0.04952477] [ 0. 0. 0. 1. ]] SLAMing on 2.522557844 meters Centerline goodness : 0.645403 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.05 [[ 0.99997686 0.00576088 -0.00361786 0.17885449] [-0.00574264 0.99997085 0.00503276 -0.05748988] [ 0.00364675 -0.00501187 0.99998079 -0.04870698] [ 0. 0. 0. 1. ]] SLAMing on 2.5525578440000003 meters Centerline goodness : 0.636616 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.04 [[ 0.99998655 0.00476541 -0.00204869 0.1277311 ] [-0.00475584 0.99997786 0.00465421 -0.06003366] [ 0.00207083 -0.00464441 0.99998707 -0.04409377] [ 0. 0. 0. 1. ]] SLAMing on 2.582557844 meters Centerline goodness : 0.640026 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.06, Z:-0.04 [[ 0.99998718 0.00463793 -0.00202996 0.12744425] [-0.00462932 0.99998034 0.00422912 -0.05750878] [ 0.00204953 -0.00421967 0.999989 -0.0437169 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6125578440000004 meters Centerline goodness : 0.634288 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998801 0.00445889 -0.00202196 0.12710494] [-0.00445141 0.99998329 0.00368778 -0.05434611] [ 0.00203837 -0.00367874 0.99999116 -0.04314689] [ 0. 0. 0. 1. ]] SLAMing on 2.642557844 meters Centerline goodness : 0.634288 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998801 0.00445889 -0.00202196 0.12710494] [-0.00445141 0.99998329 0.00368778 -0.05434611] [ 0.00203837 -0.00367874 0.99999116 -0.04314689] [ 0. 0. 0. 1. ]] SLAMing on 2.6725578440000004 meters Centerline goodness : 0.635524 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998886 0.00426268 -0.00202891 0.12688314] [-0.0042563 0.99998603 0.00313543 -0.05117563] [ 0.00204225 -0.00312676 0.99999303 -0.04263998] [ 0. 0. 0. 1. ]] SLAMing on 2.702557844 meters Centerline goodness : 0.626584 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998993 0.00401872 -0.00199937 0.12678861] [-0.00401328 0.99998826 0.00271696 -0.04883266] [ 0.00201027 -0.00270891 0.99999431 -0.04165178] [ 0. 0. 0. 1. ]] SLAMing on 2.7325578440000005 meters Centerline goodness : 0.623125 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.04 [[ 0.99998973 0.00396351 -0.0021977 0.12703032] [-0.00395731 0.99998821 0.00281435 -0.04946437] [ 0.00220882 -0.00280563 0.99999362 -0.04086743] [ 0. 0. 0. 1. ]] SLAMing on 2.7625578440000003 meters Centerline goodness : 0.622851 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.04 [[ 9.99998112e-01 1.70835435e-03 -9.26203141e-04 1.19586505e-01] [-1.70768718e-03 9.99998282e-01 7.20639556e-04 -4.64739184e-02] [ 9.27432657e-04 -7.19056530e-04 9.99999311e-01 -3.61578613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792557844 meters Centerline goodness : 0.618848 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.04 [[ 9.99998017e-01 1.44019216e-03 -1.37526432e-03 1.20553457e-01] [-1.43905430e-03 9.99998622e-01 8.28004031e-04 -4.75841432e-02] [ 1.37645491e-03 -8.26023309e-04 9.99998712e-01 -3.51607743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8225578440000003 meters Centerline goodness : 0.621246 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99997728e-01 1.03408317e-03 -1.86393414e-03 1.21688565e-01] [-1.03234655e-03 9.99999032e-01 9.32416279e-04 -4.88831193e-02] [ 1.86489654e-03 -9.30489935e-04 9.99997828e-01 -3.41134948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852557844 meters Centerline goodness : 0.600482 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99999467e-01 -9.52735382e-04 -3.99107884e-04 1.15043310e-01] [ 9.52510508e-04 9.99999388e-01 -5.63252987e-04 -4.65664201e-02] [ 3.99644271e-04 5.62872532e-04 9.99999762e-01 -3.05966997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8825578440000004 meters Centerline goodness : 0.595149 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 9.99995679e-01 -2.87841920e-03 -5.97999380e-04 1.15961633e-01] [ 2.87755950e-03 9.99994832e-01 -1.43354468e-03 -4.70950744e-02] [ 6.02122632e-04 1.43181771e-03 9.99998794e-01 -2.91022430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.912557844 meters Centerline goodness : 0.596564 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.02 [[ 9.99988805e-01 1.75619532e-04 -4.72853520e-03 9.02003938e-02] [-2.09974353e-04 9.99973581e-01 -7.26590976e-03 -4.52445221e-02] [ 4.72713424e-03 7.26682129e-03 9.99962423e-01 -2.05693658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9425578440000004 meters Centerline goodness : 0.588367 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.02 [[ 9.99983268e-01 -5.64289863e-04 -5.75727863e-03 4.30181493e-02] [ 5.27645487e-04 9.99979608e-01 -6.36441287e-03 -4.89922474e-02] [ 5.76075260e-03 6.36126857e-03 9.99963173e-01 -1.64057046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9725578440000002 meters Centerline goodness : 0.589344 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.02 [[ 9.99982151e-01 -6.26432373e-04 -5.94177687e-03 4.33052116e-02] [ 5.88478097e-04 9.99979428e-01 -6.38729689e-03 -4.88019160e-02] [ 5.94565585e-03 6.38368628e-03 9.99961948e-01 -1.58293160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0025578440000005 meters Centerline goodness : 0.587402 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99963158e-01 -1.76572890e-03 -8.40023972e-03 5.99826380e-05] [ 1.71201539e-03 9.99978072e-01 -6.39718230e-03 -5.04497042e-02] [ 8.41135121e-03 6.38256527e-03 9.99944254e-01 -1.36785696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0325578440000003 meters Centerline goodness : 0.586206 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99962319e-01 -1.83444065e-03 -8.48496782e-03 9.18554676e-05] [ 1.77917147e-03 9.99977183e-01 -6.51674416e-03 -4.98818375e-02] [ 8.49672880e-03 6.50140239e-03 9.99942767e-01 -1.33024404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062557844 meters Centerline goodness : 0.582162 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.01 [[ 9.99960678e-01 -1.99868033e-03 -8.63986573e-03 2.82600472e-04] [ 1.93938780e-03 9.99974551e-01 -6.86560755e-03 -4.79574126e-02] [ 8.65336800e-03 6.84858153e-03 9.99939106e-01 -1.27566940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0925578440000003 meters Centerline goodness : 0.581099 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:-0.01 [[ 0.99995382 -0.00210071 -0.00937801 -0.04780895] [ 0.00204487 0.99998015 -0.00596049 -0.04946019] [ 0.00939035 0.00594103 0.99993826 -0.00857407] [ 0. 0. 0. 1. ]] SLAMing on 3.122557844 meters Centerline goodness : 0.578233 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:-0.00 [[ 0.99994041 -0.00278839 -0.01055461 -0.09562117] [ 0.00272818 0.99997995 -0.00571414 -0.05106495] [ 0.01057033 0.00568501 0.99992797 -0.00401747] [ 0. 0. 0. 1. ]] SLAMing on 3.1525578440000004 meters Centerline goodness : 0.572222 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.05, Z:-0.00 [[ 9.99942386e-01 -4.62526958e-03 -9.68670477e-03 -1.01034357e-01] [ 4.55291516e-03 9.99961673e-01 -7.47823545e-03 -4.76870109e-02] [ 9.72092236e-03 7.43370185e-03 9.99925119e-01 -8.37066606e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.182557844 meters Centerline goodness : 0.580007 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.05, Z:0.00 [[ 0.9999192 -0.00522069 -0.01159022 -0.14685225] [ 0.00514186 0.99996352 -0.00682113 -0.0503237 ] [ 0.01162541 0.00676099 0.99990957 0.00321501] [ 0. 0. 0. 1. ]] SLAMing on 3.2125578440000004 meters Centerline goodness : 0.578532 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:0.00 [[ 9.99898400e-01 -1.16491206e-02 -8.21510452e-03 -1.25054178e-01] [ 1.16201099e-02 9.99926110e-01 -3.57033153e-03 -4.86355722e-02] [ 8.25608873e-03 3.47450837e-03 9.99959882e-01 1.49164292e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2425578440000002 meters Centerline goodness : 0.570183 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.00 [[ 0.9998958 -0.01168103 -0.00848159 -0.12463405] [ 0.01165394 0.99992685 -0.00323665 -0.05060729] [ 0.00851877 0.00313747 0.99995879 0.00107393] [ 0. 0. 0. 1. ]] SLAMing on 3.2725578440000005 meters Centerline goodness : 0.577690 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.05, Z:0.00 [[ 0.99983273 -0.0159976 -0.00886546 -0.12442371] [ 0.01593251 0.99984594 -0.00736519 -0.05080075] [ 0.00898192 0.00722271 0.99993358 0.00302568] [ 0. 0. 0. 1. ]] SLAMing on 3.3025578440000003 meters Centerline goodness : 0.563799 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.06, Z:0.00 [[ 0.99983224 -0.01589145 -0.00910814 -0.12411409] [ 0.01583142 0.99985272 -0.00662557 -0.05502633] [ 0.00921209 0.00648026 0.99993657 0.0040279 ] [ 0. 0. 0. 1. ]] SLAMing on 3.332557844 meters Centerline goodness : 0.573675 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.99982539 -0.01238209 -0.01399545 -0.15021787] [ 0.01221939 0.99985745 -0.01165149 -0.05522124] [ 0.01413772 0.01147844 0.99983417 0.01333663] [ 0. 0. 0. 1. ]] SLAMing on 3.3625578440000004 meters Centerline goodness : 0.560280 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.9998238 -0.01224043 -0.01423161 -0.14973928] [ 0.01208248 0.99986504 -0.01113204 -0.05799256] [ 0.01436595 0.01095813 0.99983676 0.01380269] [ 0. 0. 0. 1. ]] SLAMing on 3.392557844 meters Centerline goodness : 0.566925 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.01 [[ 0.99982298 -0.01209357 -0.01441367 -0.14931008] [ 0.01194031 0.99987176 -0.01067209 -0.06047664] [ 0.01454089 0.0104981 0.99983916 0.01404803] [ 0. 0. 0. 1. ]] SLAMing on 3.4225578440000004 meters Centerline goodness : 0.553216 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981944 -0.01195007 -0.01477411 -0.14893544] [ 0.01179848 0.99987729 -0.0103056 -0.06236287] [ 0.01489545 0.01012943 0.99983775 0.01541989] [ 0. 0. 0. 1. ]] SLAMing on 3.452557844 meters Centerline goodness : 0.564638 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981766 -0.01193141 -0.0149092 -0.14913894] [ 0.01177842 0.9998775 -0.01030795 -0.06220374] [ 0.01503036 0.01013046 0.99983572 0.01667159] [ 0. 0. 0. 1. ]] SLAMing on 3.4825578440000005 meters Centerline goodness : 0.549941 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981597 -0.01186901 -0.01507188 -0.14930543] [ 0.01171625 0.9998795 -0.01018367 -0.06280199] [ 0.01519093 0.01000521 0.99983455 0.01806672] [ 0. 0. 0. 1. ]] SLAMing on 3.5125578440000003 meters Centerline goodness : 0.561130 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.06, Z:0.02 [[ 0.99981496 -0.01176665 -0.01521794 -0.14944538] [ 0.01161593 0.99988298 -0.00995482 -0.06405075] [ 0.0153333 0.00977621 0.99983464 0.01929587] [ 0. 0. 0. 1. ]] SLAMing on 3.5425578440000005 meters Centerline goodness : 0.558626 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981471 -0.0116192 -0.01534724 -0.14963447] [ 0.01147257 0.99988803 -0.00960785 -0.06587186] [ 0.01545716 0.00942999 0.99983606 0.02043361] [ 0. 0. 0. 1. ]] SLAMing on 3.5725578440000003 meters Centerline goodness : 0.556749 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981277 -0.01152749 -0.01554164 -0.14955244] [ 0.01138266 0.99989127 -0.00937513 -0.06711263] [ 0.01564802 0.00919647 0.99983527 0.02146346] [ 0. 0. 0. 1. ]] SLAMing on 3.602557844 meters Centerline goodness : 0.557189 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99981082 -0.01146205 -0.01571435 -0.14954218] [ 0.01131901 0.99989397 -0.00916144 -0.06822026] [ 0.01581769 0.00898184 0.99983455 0.02247527] [ 0. 0. 0. 1. ]] SLAMing on 3.6325578440000004 meters Centerline goodness : 0.549887 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.02 [[ 0.99980555 -0.01143142 -0.01606827 -0.14956525] [ 0.01129426 0.99989923 -0.00860092 -0.07139996] [ 0.01616497 0.00841777 0.9998339 0.0245023 ] [ 0. 0. 0. 1. ]] SLAMing on 3.662557844 meters Centerline goodness : 0.549278 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.03 [[ 0.99980387 -0.0113584 -0.01622398 -0.14959845] [ 0.01122644 0.99990335 -0.00820149 -0.07360221] [ 0.01631557 0.00801774 0.99983475 0.02555867] [ 0. 0. 0. 1. ]] SLAMing on 3.6925578440000004 meters Centerline goodness : 0.546476 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99980183 -0.01124294 -0.01642836 -0.14949602] [ 0.01111786 0.99990866 -0.00768495 -0.07640407] [ 0.01651326 0.00750078 0.99983551 0.02658941] [ 0. 0. 0. 1. ]] SLAMing on 3.7225578440000002 meters Centerline goodness : 0.544384 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99980037 -0.01110966 -0.01660687 -0.14938939] [ 0.01099245 0.99991414 -0.00713263 -0.07939628] [ 0.01668468 0.00694866 0.99983666 0.02741895] [ 0. 0. 0. 1. ]] SLAMing on 3.7525578440000005 meters Centerline goodness : 0.543479 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99978902 -0.01130646 -0.01714899 -0.14855116] [ 0.01119537 0.99991581 -0.00655988 -0.0834041 ] [ 0.01722172 0.00636651 0.99983143 0.02884614] [ 0. 0. 0. 1. ]] SLAMing on 3.7825578440000003 meters Centerline goodness : 0.542370 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.08, Z:0.03 [[ 0.99978709 -0.01151565 -0.01712183 -0.14934809] [ 0.01139751 0.99991067 -0.00698146 -0.08240154] [ 0.0172007 0.00678483 0.99982904 0.03035555] [ 0. 0. 0. 1. ]] SLAMing on 3.8125578440000005 meters Centerline goodness : 0.541328 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.03 [[ 0.99985648 -0.01125564 -0.01266228 -0.11490337] [ 0.01121258 0.99993113 -0.00346579 -0.08457245] [ 0.01270041 0.00332331 0.99991382 0.02731463] [ 0. 0. 0. 1. ]] SLAMing on 3.8425578440000003 meters Centerline goodness : 0.539843 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.03 [[ 0.99985194 -0.0114245 -0.01286737 -0.11492922] [ 0.0113752 0.9999277 -0.00389767 -0.08217336] [ 0.01291097 0.00375073 0.99990962 0.02865492] [ 0. 0. 0. 1. ]] SLAMing on 3.872557844 meters Centerline goodness : 0.539210 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.09, Z:0.03 [[ 0.99993161 -0.00187871 -0.01154315 -0.09270916] [ 0.00182919 0.99998909 -0.004299 -0.08700836] [ 0.0115511 0.00427759 0.99992413 0.02771563] [ 0. 0. 0. 1. ]] SLAMing on 3.9025578440000004 meters Centerline goodness : 0.537106 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.03 [[ 0.99992383 -0.00184484 -0.01220353 -0.09093962] [ 0.00177742 0.99998311 -0.00553337 -0.0828284 ] [ 0.01221353 0.00551126 0.99991022 0.02990954] [ 0. 0. 0. 1. ]] SLAMing on 3.932557844 meters Centerline goodness : 0.535682 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:0.03 [[ 9.99953513e-01 -3.87536576e-04 -9.63436066e-03 -4.99369988e-02] [ 3.29247068e-04 9.99981638e-01 -6.05101889e-03 -7.62741327e-02] [ 9.63652874e-03 6.04756552e-03 9.99935280e-01 3.07607881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9625578440000004 meters Centerline goodness : 0.533968 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 9.99952606e-01 -6.67424547e-04 -9.71293940e-03 -5.01342250e-02] [ 6.01691194e-04 9.99976909e-01 -6.76895592e-03 -7.25290231e-02] [ 9.71723289e-03 6.76279092e-03 9.99929918e-01 3.16175340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9925578440000002 meters Centerline goodness : 0.532554 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 9.99951492e-01 -9.65369532e-04 -9.80212214e-03 -5.03515076e-02] [ 8.92270706e-04 9.99971783e-01 -7.45908551e-03 -6.89289011e-02] [ 9.80904633e-03 7.44997754e-03 9.99924137e-01 3.25956009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0225578440000005 meters Centerline goodness : 0.531444 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.03 [[ 0.99994963 -0.00122299 -0.00996191 -0.05041035] [ 0.001143 0.99996709 -0.00803143 -0.06593673] [ 0.0099714 0.00801963 0.99991812 0.03370215] [ 0. 0. 0. 1. ]] SLAMing on 4.052557844000001 meters Centerline goodness : 0.531471 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.03 [[ 0.9999518 -0.0016907 -0.00967191 -0.05202564] [ 0.00160635 0.99996067 -0.00872239 -0.06339594] [ 0.00968628 0.00870644 0.99991518 0.03492444] [ 0. 0. 0. 1. ]] SLAMing on 4.082557844 meters Centerline goodness : 0.530117 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.03 [[ 0.99996732 -0.00332077 -0.00737101 -0.00942023] [ 0.00324207 0.99993789 -0.0106635 -0.05913893] [ 0.00740596 0.01063925 0.99991598 0.03459704] [ 0. 0. 0. 1. ]] SLAMing on 4.112557844 meters Centerline goodness : 0.532478 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 9.99972020e-01 -5.36471641e-04 -7.46139267e-03 -1.11896644e-02] [ 4.84781836e-04 9.99975886e-01 -6.92771910e-03 -6.03715924e-02] [ 7.46492927e-03 6.92390811e-03 9.99948166e-01 3.62437543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142557844000001 meters Centerline goodness : 0.526941 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 0.99996412 0.00123958 -0.0083802 -0.00938925] [-0.0012778 0.9999888 -0.00455623 -0.05813464] [ 0.00837446 0.00456677 0.99995451 0.0367917 ] [ 0. 0. 0. 1. ]] SLAMing on 4.172557844 meters Centerline goodness : 0.534160 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 0.99996398 0.00100382 -0.00842823 -0.00978056] [-0.00104655 0.99998662 -0.00506634 -0.05597412] [ 0.00842304 0.00507498 0.99995165 0.03790469] [ 0. 0. 0. 1. ]] SLAMing on 4.202557844 meters Centerline goodness : 0.531309 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.04 [[ 9.99962298e-01 8.81508665e-04 -8.63855138e-03 -9.72286741e-03] [-9.27663200e-04 9.99985310e-01 -5.34030627e-03 -5.45624661e-02] [ 8.63371695e-03 5.34811859e-03 9.99948427e-01 3.92041062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2325578440000005 meters Centerline goodness : 0.525494 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.04 [[ 9.99960319e-01 7.20532553e-04 -8.87927947e-03 -9.66521615e-03] [-7.72707630e-04 9.99982449e-01 -5.87401954e-03 -5.25407760e-02] [ 8.87489121e-03 5.88064754e-03 9.99943326e-01 4.08511905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262557844000001 meters Centerline goodness : 0.530097 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.04 [[ 0.99997469 0.00105486 -0.00703586 0.03276156] [-0.00109431 0.99998369 -0.00560513 -0.04986888] [ 0.00702984 0.00561268 0.99995954 0.04052486] [ 0. 0. 0. 1. ]] SLAMing on 4.292557844 meters Centerline goodness : 0.529379 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:0.04 [[ 9.99973578e-01 8.88756846e-04 -7.21478398e-03 3.29562030e-02] [-9.32750472e-04 9.99980980e-01 -6.09663222e-03 -4.72135330e-02] [ 7.20922833e-03 6.10320073e-03 9.99955388e-01 4.12390908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322557844 meters Centerline goodness : 0.530566 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:0.04 [[ 9.99971630e-01 6.66711543e-04 -7.50304315e-03 3.33304496e-02] [-7.17467014e-04 9.99976867e-01 -6.76399413e-03 -4.38135986e-02] [ 7.49835995e-03 6.76918542e-03 9.99948975e-01 4.21566974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352557844000001 meters Centerline goodness : 0.528309 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:0.03 [[ 0.99999619 -0.00220162 -0.00166284 0.05870655] [ 0.00219861 0.99999594 -0.00181172 -0.04595762] [ 0.00166682 0.00180806 0.99999698 0.03397605] [ 0. 0. 0. 1. ]] SLAMing on 4.382557844000001 meters Centerline goodness : 0.526951 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:0.04 [[ 0.99999578 -0.00232699 -0.0017381 0.05797706] [ 0.00232292 0.99999455 -0.00234424 -0.04314035] [ 0.00174355 0.0023402 0.99999574 0.03587453] [ 0. 0. 0. 1. ]] SLAMing on 4.412557844 meters Centerline goodness : 0.524586 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:0.04 [[ 9.99999210e-01 -3.19590388e-04 -1.21578550e-03 5.07070734e-02] [ 3.18392792e-04 9.99999464e-01 -9.85104949e-04 -3.77639729e-02] [ 1.21609968e-03 9.84717073e-04 9.99998776e-01 4.39585985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442557844 meters Centerline goodness : 0.521411 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:0.04 [[ 9.99998509e-01 8.55575661e-04 1.49977842e-03 9.29412781e-02] [-8.53517045e-04 9.99998694e-01 -1.37271616e-03 -3.20684303e-02] [-1.50095092e-03 1.37143403e-03 9.99997933e-01 4.30476867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472557844000001 meters Centerline goodness : 0.524660 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:0.04 [[ 9.99998827e-01 5.61854901e-04 1.42485024e-03 9.26605118e-02] [-5.58459250e-04 9.99997006e-01 -2.38244238e-03 -2.67146340e-02] [-1.42618456e-03 2.38164386e-03 9.99996147e-01 4.40927955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502557844 meters Centerline goodness : 0.522231 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:0.04 [[ 9.99999201e-01 3.05197340e-04 1.22691504e-03 9.30103949e-02] [-3.01284258e-04 9.99994872e-01 -3.18828782e-03 -2.26255806e-02] [-1.22788181e-03 3.18791562e-03 9.99994165e-01 4.45247300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532557844 meters Centerline goodness : 0.519169 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.04 [[ 9.99996793e-01 7.06985632e-04 2.43198352e-03 1.40430269e-01] [-6.96961471e-04 9.99991269e-01 -4.12018542e-03 -1.80511859e-02] [-2.43487520e-03 4.11847721e-03 9.99988555e-01 4.02320986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5625578440000005 meters Centerline goodness : 0.520518 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.04 [[ 9.99997554e-01 4.26737629e-04 2.17007712e-03 1.40295614e-01] [-4.14805409e-04 9.99984811e-01 -5.49600407e-03 -1.02045588e-02] [-2.17238951e-03 5.49509047e-03 9.99982542e-01 4.17717488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592557844000001 meters Centerline goodness : 0.520518 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.04 [[ 9.99997554e-01 4.26737629e-04 2.17007712e-03 1.40295614e-01] [-4.14805409e-04 9.99984811e-01 -5.49600407e-03 -1.02045588e-02] [-2.17238951e-03 5.49509047e-03 9.99982542e-01 4.17717488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622557844 meters Centerline goodness : 0.518022 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.05 [[ 0.99999421 0.0016773 0.00296219 0.1344499 ] [-0.00166311 0.99998716 -0.00478585 -0.00810849] [-0.00297018 0.00478089 0.99998416 0.04650449] [ 0. 0. 0. 1. ]] SLAMing on 4.652557844 meters Centerline goodness : 0.517661 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.05 [[ 0.99999461 0.00137545 0.0029815 0.13353659] [-0.00135773 0.99998147 -0.00593507 -0.00187412] [-0.00298961 0.00593099 0.99997794 0.04821099] [ 0. 0. 0. 1. ]] SLAMing on 4.682557844000001 meters Centerline goodness : 0.514697 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.05 [[ 0.99999535 0.00112458 0.00283382 0.13308867] [-0.00110478 0.99997504 -0.00697841 0.00372208] [-0.0028416 0.00697525 0.99997164 0.04989979] [ 0. 0. 0. 1. ]] SLAMing on 4.712557844 meters Centerline goodness : 0.518329 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.06 [[ 0.99999782 0.00159493 0.00134712 0.08087259] [-0.00158505 0.99997203 -0.00730935 0.00687149] [-0.00135874 0.0073072 0.99997238 0.0599231 ] [ 0. 0. 0. 1. ]] SLAMing on 4.742557844 meters Centerline goodness : 0.511910 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:0.07 [[ 0.99999087 0.00400034 0.00150151 0.07568545] [-0.00399167 0.9999756 -0.0057332 0.01354292] [-0.00152441 0.00572715 0.99998244 0.06649542] [ 0. 0. 0. 1. ]] SLAMing on 4.7725578440000005 meters Centerline goodness : 0.511378 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.08 [[ 9.99983676e-01 1.62113204e-03 -5.47893542e-03 4.45021362e-02] [-1.62589037e-03 9.99998305e-01 -8.64135977e-04 1.13769866e-02] [ 5.47752526e-03 8.73030019e-04 9.99984617e-01 8.24625844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802557844000001 meters Centerline goodness : 0.516979 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.02, Z:0.09 [[ 0.99997122 0.00138468 -0.00745989 -0.0052174 ] [-0.00140138 0.99999652 -0.00223407 0.01512702] [ 0.00745677 0.00224446 0.99996968 0.08989287] [ 0. 0. 0. 1. ]] SLAMing on 4.832557844 meters Centerline goodness : 0.513350 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.09 [[ 0.99997018 0.00110977 -0.0076419 -0.0048421 ] [-0.00113356 0.99999452 -0.00310957 0.01951969] [ 0.00763841 0.00311814 0.99996597 0.09001939] [ 0. 0. 0. 1. ]] SLAMing on 4.862557844 meters Centerline goodness : 0.512009 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.09 [[ 9.99969837e-01 7.93594119e-04 -7.72632699e-03 -4.97404391e-03] [-8.24635777e-04 9.99991599e-01 -4.01529110e-03 2.41694890e-02] [ 7.72307556e-03 4.02154139e-03 9.99962090e-01 9.06095187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892557844000001 meters Centerline goodness : 0.516233 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.02, Z:0.10 [[ 0.99996041 0.00122428 -0.00881417 -0.05995822] [-0.00125819 0.99999182 -0.0038433 0.02451957] [ 0.00880939 0.00385424 0.99995377 0.10173853] [ 0. 0. 0. 1. ]] SLAMing on 4.922557844000001 meters Centerline goodness : 0.513395 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.11 [[ 9.99970055e-01 9.46590740e-04 -7.68063794e-03 -7.14154380e-02] [-9.79987040e-04 9.99990078e-01 -4.34551743e-03 2.74822855e-02] [ 7.67644830e-03 4.35291423e-03 9.99961061e-01 1.12885896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952557844 meters Centerline goodness : 0.512879 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.11 [[ 9.99969447e-01 8.42026130e-04 -7.77146556e-03 -7.21722740e-02] [-8.77897692e-04 9.99988972e-01 -4.61354741e-03 2.87793142e-02] [ 7.76749513e-03 4.62022900e-03 9.99959159e-01 1.14908342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9825578440000005 meters Centerline goodness : 0.511922 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.12 [[ 9.99968526e-01 7.29474388e-04 -7.90028162e-03 -7.24031637e-02] [-7.68515425e-04 9.99987504e-01 -4.93981938e-03 3.03426689e-02] [ 7.89657942e-03 4.94573539e-03 9.99956591e-01 1.16100999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012557844000001 meters Centerline goodness : 0.510521 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.12 [[ 9.99968519e-01 8.06478457e-04 -7.89374281e-03 -7.35895857e-02] [-8.51541067e-04 9.99983353e-01 -5.70695421e-03 3.48857391e-02] [ 7.88900886e-03 5.71349639e-03 9.99952559e-01 1.18033503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042557844 meters Centerline goodness : 0.511334 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.03, Z:0.13 [[ 0.99995779 0.00210516 -0.00894312 -0.12707625] [-0.00215237 0.99998378 -0.00527256 0.03474362] [ 0.00893187 0.00529159 0.99994611 0.12792085] [ 0. 0. 0. 1. ]] SLAMing on 5.072557844 meters Centerline goodness : 0.511587 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.04, Z:0.13 [[ 0.99996003 0.00202996 -0.00870788 -0.12861596] [-0.00208145 0.99998038 -0.00590807 0.03816151] [ 0.00869571 0.00592596 0.99994463 0.12950673] [ 0. 0. 0. 1. ]] SLAMing on 5.102557844000001 meters Centerline goodness : 0.509462 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.04, Z:0.13 [[ 0.99996556 0.00317477 -0.00766768 -0.13415851] [-0.00321383 0.99998189 -0.00508822 0.03788254] [ 0.00765139 0.00511269 0.99995766 0.13317952] [ 0. 0. 0. 1. ]] SLAMing on 5.132557844000001 meters Centerline goodness : 0.507175 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.04, Z:0.13 [[ 0.99996611 0.00302625 -0.00765592 -0.13513322] [-0.00306934 0.99997948 -0.00562292 0.04082817] [ 0.00763874 0.00564623 0.99995488 0.13484481] [ 0. 0. 0. 1. ]] SLAMing on 5.162557844 meters Centerline goodness : 0.506241 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.04, Z:0.15 [[ 0.99996088 0.0038143 -0.00798038 -0.19018395] [-0.00385281 0.99998098 -0.00481632 0.03928906] [ 0.00796186 0.00484687 0.99995656 0.14511543] [ 0. 0. 0. 1. ]] SLAMing on 5.192557844 meters Centerline goodness : 0.506657 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.04, Z:0.15 [[ 0.99995529 0.00473823 -0.00818341 -0.19312134] [-0.00476815 0.999982 -0.00364129 0.0370077 ] [ 0.00816601 0.00368015 0.99995989 0.15034321] [ 0. 0. 0. 1. ]] SLAMing on 5.222557844000001 meters Centerline goodness : 0.502454 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:0.14 [[ 9.99995782e-01 3.69663968e-04 -2.88082893e-03 -1.66104525e-01] [-3.68485708e-04 9.99999848e-01 4.09520322e-04 3.22333146e-02] [ 2.88097988e-03 -4.08457050e-04 9.99995767e-01 1.41713808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252557844 meters Centerline goodness : 0.493269 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.03, Z:0.15 [[ 9.99992168e-01 -7.45301277e-04 -3.88687349e-03 -2.19964934e-01] [ 7.43606664e-04 9.99999628e-01 -4.37410434e-04 2.80738742e-02] [ 3.88719805e-03 4.34516703e-04 9.99992350e-01 1.52205565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282557844 meters Centerline goodness : 0.498583 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.03, Z:0.15 [[ 9.99991543e-01 -7.05370619e-04 -4.05159548e-03 -2.20049555e-01] [ 7.03900944e-04 9.99999686e-01 -3.64154348e-04 2.77006050e-02] [ 4.05185107e-03 3.61299346e-04 9.99991726e-01 1.53337222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3125578440000005 meters Centerline goodness : 0.490775 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.16 [[ 9.99986516e-01 -4.75343865e-04 -5.17118883e-03 -2.72946572e-01] [ 4.73091087e-04 9.99999793e-01 -4.36854685e-04 2.67185777e-02] [ 5.17139541e-03 4.34402351e-04 9.99986534e-01 1.62475441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342557844000001 meters Centerline goodness : 0.496539 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.03, Z:0.16 [[ 9.99985757e-01 -6.47778884e-04 -5.29776217e-03 -2.73090193e-01] [ 6.42191064e-04 9.99999236e-01 -1.05638406e-03 3.00184289e-02] [ 5.29844242e-03 1.05296683e-03 9.99985409e-01 1.63337192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372557844 meters Centerline goodness : 0.487289 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99989252e-01 1.08697202e-03 -4.50717434e-03 -2.80005927e-01] [-1.08439824e-03 9.99999248e-01 5.73445133e-04 2.89429674e-02] [ 4.50779426e-03 -5.68551397e-04 9.99989678e-01 1.69608537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402557844 meters Centerline goodness : 0.486395 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99989166e-01 1.07553923e-03 -4.52889924e-03 -2.80918395e-01] [-1.07308978e-03 9.99999277e-01 5.43244914e-04 2.90454432e-02] [ 4.52948025e-03 -5.38379114e-04 9.99989597e-01 1.71525790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432557844000001 meters Centerline goodness : 0.484360 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99988869e-01 1.10295207e-03 -4.58754980e-03 -2.81584127e-01] [-1.10011923e-03 9.99999203e-01 6.19983797e-04 2.87262587e-02] [ 4.58822996e-03 -6.14930045e-04 9.99989285e-01 1.73238249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462557844000001 meters Centerline goodness : 0.482980 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.03, Z:0.17 [[ 9.99988191e-01 1.14383333e-03 -4.72329020e-03 -2.81955428e-01] [-1.14005393e-03 9.99999028e-01 8.02777138e-04 2.78831115e-02] [ 4.72420385e-03 -7.97382852e-04 9.99988523e-01 1.74835591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492557844 meters Centerline goodness : 0.482827 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.03, Z:0.17 [[ 0.9999727 -0.0069623 -0.00247474 -0.25644495] [ 0.00696945 0.99997153 0.0028916 0.02603413] [ 0.00245454 -0.00290876 0.99999276 0.17147385] [ 0. 0. 0. 1. ]] SLAMing on 5.5225578440000005 meters Centerline goodness : 0.480570 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.02, Z:0.17 [[ 0.99997327 -0.00685852 -0.00253375 -0.25683386] [ 0.00686822 0.99996905 0.00383763 0.02075582] [ 0.00250735 -0.00385493 0.99998943 0.17279318] [ 0. 0. 0. 1. ]] SLAMing on 5.552557844000001 meters Centerline goodness : 0.479654 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.02, Z:0.18 [[ 0.9999607 -0.0087165 -0.00161803 -0.26361882] [ 0.00872031 0.99995918 0.0023665 0.01875569] [ 0.00159734 -0.00238052 0.99999589 0.17806709] [ 0. 0. 0. 1. ]] SLAMing on 5.582557844 meters Centerline goodness : 0.477149 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996283 -0.00845002 -0.0017162 -0.26411484] [ 0.00845552 0.99995907 0.0032203 0.01437591] [ 0.00168892 -0.00323469 0.99999334 0.17986668] [ 0. 0. 0. 1. ]] SLAMing on 5.612557844 meters Centerline goodness : 0.474951 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996457 -0.00820666 -0.00187256 -0.26438479] [ 0.00821376 0.999959 0.00381203 0.01153266] [ 0.0018412 -0.00382728 0.99999098 0.18142303] [ 0. 0. 0. 1. ]] SLAMing on 5.642557844000001 meters Centerline goodness : 0.475204 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.01, Z:0.18 [[ 0.99996585 -0.00799852 -0.00208032 -0.26434374] [ 0.00800726 0.999959 0.00422831 0.00948782] [ 0.00204642 -0.00424482 0.9999889 0.18261551] [ 0. 0. 0. 1. ]] SLAMing on 5.672557844000001 meters Centerline goodness : 0.472717 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.00, Z:0.19 [[ 9.99997064e-01 9.91642248e-05 -2.42132649e-03 -2.92453410e-01] [-9.09357639e-05 9.99994222e-01 3.39820135e-03 -1.88629949e-03] [ 2.42164948e-03 -3.39797119e-03 9.99991295e-01 1.89896857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702557844 meters Centerline goodness : 0.471206 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99993433e-01 1.68120239e-04 -3.62007683e-03 -3.45669420e-01] [-1.56649974e-04 9.99994968e-01 3.16856474e-03 -6.86864656e-03] [ 3.62059131e-03 -3.16797685e-03 9.99988428e-01 2.00973527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7325578440000005 meters Centerline goodness : 0.470389 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99993065e-01 4.13032318e-04 -3.70135628e-03 -3.46295600e-01] [-3.99624751e-04 9.99993359e-01 3.62234674e-03 -9.17587170e-03] [ 3.70282785e-03 -3.62084247e-03 9.99986589e-01 2.02713544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762557844000001 meters Centerline goodness : 0.083386 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.20 [[ 9.99992833e-01 6.10809999e-04 -3.73645114e-03 -3.47104685e-01] [-5.95738297e-04 9.99991688e-01 4.03347823e-03 -1.11444831e-02] [ 3.73888377e-03 -4.03122337e-03 9.99984885e-01 2.04553295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792557844 meters Centerline goodness : 0.070645 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.01, Z:0.21 [[ 9.99992505e-01 8.26764395e-04 -3.78232990e-03 -3.47802420e-01] [-8.09671325e-04 9.99989464e-01 4.51849213e-03 -1.35555121e-02] [ 3.78602577e-03 -4.51539582e-03 9.99982638e-01 2.06234681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822557844 meters Centerline goodness : 0.089871 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.02, Z:0.21 [[ 0.99999182 0.00110515 -0.00389053 -0.34836182] [-0.0010848 0.99998574 0.00522813 -0.01717966] [ 0.00389625 -0.00522387 0.99997876 0.20803384] [ 0. 0. 0. 1. ]] SLAMing on 5.852557844000001 meters Centerline goodness : 0.089780 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.02, Z:0.21 [[ 9.99994447e-01 -9.78747129e-04 -3.18549571e-03 -3.54836570e-01] [ 9.90870151e-04 9.99992265e-01 3.80634344e-03 -2.40460812e-02] [ 3.18174562e-03 -3.80947872e-03 9.99987682e-01 2.14056079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882557844000001 meters Centerline goodness : 0.091452 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.03, Z:0.23 [[ 9.99969575e-01 2.95136797e-03 -7.22064088e-03 -3.85430877e-01] [-2.95320671e-03 9.99995610e-01 -2.44000820e-04 -2.78643244e-02] [ 7.21988904e-03 2.65317442e-04 9.99973901e-01 2.25361239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912557844 meters Centerline goodness : 0.088359 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.03, Z:0.23 [[ 9.99966120e-01 3.25807058e-03 -7.55933908e-03 -3.84720923e-01] [-3.25345171e-03 9.99994513e-01 6.23232283e-04 -3.21755583e-02] [ 7.56132814e-03 -5.98617223e-04 9.99971234e-01 2.25941083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942557844 meters Centerline goodness : 0.096649 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.04, Z:0.23 [[ 9.99974116e-01 9.83763187e-04 -7.12737007e-03 -3.90197398e-01] [-9.91022360e-04 9.99998994e-01 -1.01503235e-03 -3.81539450e-02] [ 7.12636435e-03 1.02206946e-03 9.99974085e-01 2.31414990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972557844000001 meters Centerline goodness : 0.089259 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.04, Z:0.23 [[ 9.99972590e-01 1.27538908e-03 -7.29335875e-03 -3.90552010e-01] [-1.27675517e-03 9.99999168e-01 -1.82653196e-04 -4.25250533e-02] [ 7.29311973e-03 1.91960023e-04 9.99973386e-01 2.33092633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002557844000001 meters Centerline goodness : 0.095249 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.04, Z:0.24 [[ 9.99977945e-01 -1.55267817e-04 -6.63964308e-03 -3.96024896e-01] [ 1.45937311e-04 9.99999001e-01 -1.40573359e-03 -4.24700124e-02] [ 6.63985472e-03 1.40473361e-03 9.99976969e-01 2.37672080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032557844 meters Centerline goodness : 0.095451 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.05, Z:0.24 [[ 9.99977087e-01 6.35502661e-05 -6.76914666e-03 -3.96264971e-01] [-6.92383999e-05 9.99999645e-01 -8.40071897e-04 -4.52626011e-02] [ 6.76909086e-03 8.40521333e-04 9.99976736e-01 2.38902591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0625578440000005 meters Centerline goodness : 0.096579 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.25 [[ 9.99968730e-01 -7.65706140e-04 -7.87095470e-03 -4.48978768e-01] [ 7.62104662e-04 9.99999604e-01 -4.60554683e-04 -5.03365946e-02] [ 7.87130423e-03 4.54541791e-04 9.99968917e-01 2.48417998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092557844000001 meters Centerline goodness : 0.095995 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.05, Z:0.25 [[ 9.99966825e-01 -5.78667229e-04 -8.12494736e-03 -4.48896125e-01] [ 5.78951475e-04 9.99999832e-01 3.26323935e-05 -5.27597301e-02] [ 8.12492711e-03 -3.73352612e-05 9.99966992e-01 2.49753692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122557844 meters Centerline goodness : 0.103380 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.05, Z:0.26 [[ 0.99996916 -0.00245388 -0.00746061 -0.4556374 ] [ 0.002442 0.99999574 -0.00160042 -0.05425789] [ 0.0074645 0.00158215 0.99997089 0.25612388] [ 0. 0. 0. 1. ]] SLAMing on 6.152557844 meters Centerline goodness : 0.096048 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 0.99996777 -0.00231068 -0.00768921 -0.45555791] [ 0.00230108 0.99999656 -0.00125717 -0.05590847] [ 0.00769209 0.00123944 0.99996965 0.25730094] [ 0. 0. 0. 1. ]] SLAMing on 6.182557844000001 meters Centerline goodness : 0.098023 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99966695e-01 -2.18560518e-03 -7.86328184e-03 -4.55546659e-01] [ 2.17825355e-03 9.99997183e-01 -9.43374339e-04 -5.74783989e-02] [ 7.86532153e-03 9.26214699e-04 9.99968639e-01 2.58298718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212557844000001 meters Centerline goodness : 0.100603 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99965216e-01 -2.09862928e-03 -8.07237853e-03 -4.55577357e-01] [ 2.09257818e-03 9.99997523e-01 -7.57978904e-04 -5.83760925e-02] [ 8.07394925e-03 7.41060455e-04 9.99967131e-01 2.59533984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242557844 meters Centerline goodness : 0.101074 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99963862e-01 -2.04306122e-03 -8.25229590e-03 -4.55750759e-01] [ 2.03781626e-03 9.99997716e-01 -6.43935230e-04 -5.88185796e-02] [ 8.25359265e-03 6.27095297e-04 9.99965742e-01 2.60873483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2725578440000005 meters Centerline goodness : 0.102048 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.06, Z:0.26 [[ 9.99962280e-01 -1.98835148e-03 -8.45488328e-03 -4.56193140e-01] [ 1.98374174e-03 9.99997879e-01 -5.53567735e-04 -5.90419993e-02] [ 8.45596603e-03 5.36774549e-04 9.99964104e-01 2.62882177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302557844000001 meters Centerline goodness : 0.107408 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.06, Z:0.27 [[ 9.99984852e-01 -1.76092462e-03 -5.21484406e-03 -4.19435608e-01] [ 1.75783327e-03 9.99998277e-01 -5.97323040e-04 -5.86952966e-02] [ 5.21588692e-03 5.88147165e-04 9.99986224e-01 2.67465354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332557844 meters Centerline goodness : 0.104530 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.06, Z:0.27 [[ 9.99984324e-01 -1.50957003e-03 -5.39200971e-03 -4.19843448e-01] [ 1.50982443e-03 9.99998859e-01 4.31103112e-05 -6.19467705e-02] [ 5.39193848e-03 -5.12506233e-05 9.99985462e-01 2.69281901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362557844 meters Centerline goodness : 0.110251 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99983618e-01 -1.21728564e-03 -5.59295781e-03 -4.20154042e-01] [ 1.22191694e-03 9.99998913e-01 8.24717213e-04 -6.59750930e-02] [ 5.59194781e-03 -8.31537832e-04 9.99984019e-01 2.71064965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392557844000001 meters Centerline goodness : 0.110021 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99982835e-01 -9.42011249e-04 -5.78294425e-03 -4.20350962e-01] [ 9.51158007e-04 9.99998301e-01 1.57913208e-03 -6.98563783e-02] [ 5.78144687e-03 -1.58460546e-03 9.99982032e-01 2.72558666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422557844000001 meters Centerline goodness : 0.108657 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.27 [[ 9.99981814e-01 -7.29019286e-04 -5.98667585e-03 -4.20538966e-01] [ 7.41744295e-04 9.99997470e-01 2.12360982e-03 -7.25765432e-02] [ 5.98511255e-03 -2.12801179e-03 9.99979825e-01 2.74106606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452557844 meters Centerline goodness : 0.113034 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.28 [[ 9.99980469e-01 -6.03037053e-04 -6.22079692e-03 -4.20763353e-01] [ 6.18111323e-04 9.99996877e-01 2.42156770e-03 -7.38488564e-02] [ 6.21931719e-03 -2.42536555e-03 9.99977719e-01 2.75908201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4825578440000005 meters Centerline goodness : 0.113034 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.07, Z:0.28 [[ 9.99980469e-01 -6.03037053e-04 -6.22079692e-03 -4.20763353e-01] [ 6.18111323e-04 9.99996877e-01 2.42156770e-03 -7.38488564e-02] [ 6.21931719e-03 -2.42536555e-03 9.99977719e-01 2.75908201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512557844000001 meters Centerline goodness : 0.110181 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.07, Z:0.28 [[ 9.99980297e-01 -2.27320864e-03 -5.85128414e-03 -4.26817364e-01] [ 2.27807901e-03 9.99997064e-01 8.25828716e-04 -7.45868022e-02] [ 5.84938968e-03 -8.39142132e-04 9.99982540e-01 2.82642545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542557844000001 meters Centerline goodness : 0.121437 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.08, Z:0.28 [[ 0.99998637 0.00427186 -0.00300152 -0.40703502] [-0.0042794 0.9999877 -0.00250906 -0.07804244] [ 0.00299076 0.00252187 0.99999235 0.28190875] [ 0. 0. 0. 1. ]] SLAMing on 6.572557844 meters Centerline goodness : 0.119601 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.08, Z:0.28 [[ 0.99998448 0.00456663 -0.00319207 -0.40723144] [-0.00457244 0.9999879 -0.00181512 -0.08164963] [ 0.00318375 0.00182969 0.99999326 0.28333365] [ 0. 0. 0. 1. ]] SLAMing on 6.602557844000001 meters Centerline goodness : 0.117842 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99980402e-01 5.07676126e-03 -3.66368525e-03 -4.07292424e-01] [-5.07904744e-03 9.99986912e-01 -6.14975823e-04 -8.83837540e-02] [ 3.66051521e-03 6.33571801e-04 9.99993100e-01 2.85667839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632557844000001 meters Centerline goodness : 0.118435 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99978173e-01 5.33812832e-03 -3.89332436e-03 -4.07154503e-01] [-5.33814514e-03 9.99985752e-01 6.07234643e-06 -9.14629149e-02] [ 3.89330130e-03 1.47109166e-05 9.99992421e-01 2.86683478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662557844 meters Centerline goodness : 0.119835 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.09, Z:0.29 [[ 9.99975901e-01 5.56522344e-03 -4.15030862e-03 -4.07095860e-01] [-5.56313420e-03 9.99984393e-01 5.14768674e-04 -9.39858023e-02] [ 4.15310865e-03 -4.91667545e-04 9.99991255e-01 2.88052939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692557844 meters Centerline goodness : 0.122921 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.10, Z:0.30 [[ 9.99966536e-01 4.78490651e-03 -6.63565752e-03 -4.63425348e-01] [-4.77970336e-03 9.99988257e-01 7.99756904e-04 -9.95545807e-02] [ 6.63940636e-03 -7.68013666e-04 9.99977664e-01 3.01947837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722557844000001 meters Centerline goodness : 0.121157 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.10, Z:0.30 [[ 0.99996444 0.00499064 -0.00679763 -0.46402701] [-0.00498244 0.99998684 0.00122244 -0.10165366] [ 0.00680364 -0.00118853 0.99997615 0.30401205] [ 0. 0. 0. 1. ]] SLAMing on 6.752557844000001 meters Centerline goodness : 0.121097 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.10, Z:0.31 [[ 9.99972260e-01 3.71842806e-03 -6.45380598e-03 -4.70471975e-01] [-3.71967329e-03 9.99993066e-01 -1.80952987e-04 -1.02520225e-01] [ 6.45308837e-03 2.04954017e-04 9.99979158e-01 3.11424082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782557844 meters Centerline goodness : 0.122881 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.10, Z:0.31 [[ 9.99970841e-01 3.84544026e-03 -6.59777356e-03 -4.70727265e-01] [-3.84514380e-03 9.99992606e-01 5.76175303e-05 -1.03731752e-01] [ 6.59794634e-03 -3.22464621e-05 9.99978233e-01 3.12709704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8125578440000005 meters Centerline goodness : 0.127810 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 9.99969089e-01 3.98671006e-03 -6.77692544e-03 -4.70580384e-01] [-3.98427653e-03 9.99991993e-01 3.72552122e-04 -1.05375605e-01] [ 6.77835643e-03 -3.45539462e-04 9.99976967e-01 3.13355156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842557844000001 meters Centerline goodness : 0.106251 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 9.99966669e-01 4.19728922e-03 -7.00309104e-03 -4.70253377e-01] [-4.19130008e-03 9.99990838e-01 8.69671700e-04 -1.07935783e-01] [ 7.00667714e-03 -8.40290657e-04 9.99975100e-01 3.13990933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872557844 meters Centerline goodness : 0.126191 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.11, Z:0.31 [[ 0.99996435 0.00440179 -0.00720523 -0.4701862 ] [-0.00439192 0.9999894 0.00138494 -0.11060087] [ 0.00721125 -0.00135325 0.99997308 0.31496561] [ 0. 0. 0. 1. ]] SLAMing on 6.902557844 meters Centerline goodness : 0.123553 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.12, Z:0.33 [[ 0.99995387 0.00298187 -0.00913024 -0.52457731] [-0.00296688 0.99999423 0.00165481 -0.11608083] [ 0.00913512 -0.00162764 0.99995695 0.32652785] [ 0. 0. 0. 1. ]] SLAMing on 6.932557844000001 meters Centerline goodness : 0.130052 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:0.33 [[ 0.99994894 0.00340337 -0.00951544 -0.52546768] [-0.00337622 0.99999019 0.00286835 -0.12204695] [ 0.00952511 -0.00283608 0.99995061 0.33016192] [ 0. 0. 0. 1. ]] SLAMing on 6.962557844000001 meters Centerline goodness : 0.130372 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.12, Z:0.33 [[ 0.99996057 0.00158973 -0.00873721 -0.53128094] [-0.00157886 0.99999797 0.0012513 -0.12226643] [ 0.00873918 -0.00123746 0.99996105 0.33451747] [ 0. 0. 0. 1. ]] SLAMing on 6.992557844 meters Centerline goodness : 0.130737 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995761 0.00185501 -0.00901916 -0.53111501] [-0.00183718 0.99999634 0.00198576 -0.12605747] [ 0.00902281 -0.00196911 0.99995735 0.33579137] [ 0. 0. 0. 1. ]] SLAMing on 7.0225578440000005 meters Centerline goodness : 0.128210 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995453 0.00205046 -0.00931312 -0.53117031] [-0.00202706 0.99999477 0.00252172 -0.12879449] [ 0.00931824 -0.00250273 0.99995345 0.3375751 ] [ 0. 0. 0. 1. ]] SLAMing on 7.052557844000001 meters Centerline goodness : 0.128026 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.13, Z:0.34 [[ 0.99995251 0.0022089 -0.00949158 -0.53179922] [-0.0021815 0.99999343 0.00289575 -0.13054528] [ 0.00949792 -0.00287491 0.99995076 0.33975296] [ 0. 0. 0. 1. ]] SLAMing on 7.082557844000001 meters Centerline goodness : 0.127520 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995489 0.00114668 -0.00942895 -0.536771 ] [-0.00112931 0.99999766 0.00184687 -0.12944297] [ 0.00943105 -0.00183614 0.99995384 0.34642739] [ 0. 0. 0. 1. ]] SLAMing on 7.112557844 meters Centerline goodness : 0.128370 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995258 0.00123582 -0.00965971 -0.53691311] [-0.0012161 0.99999716 0.00204722 -0.1303626 ] [ 0.00966222 -0.00203538 0.99995125 0.3480301 ] [ 0. 0. 0. 1. ]] SLAMing on 7.142557844000001 meters Centerline goodness : 0.128359 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99995082 0.00135002 -0.00982546 -0.53711382] [-0.00132717 0.9999964 0.00233097 -0.13177156] [ 0.00982857 -0.00231782 0.99994901 0.34933108] [ 0. 0. 0. 1. ]] SLAMing on 7.172557844000001 meters Centerline goodness : 0.155742 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.13, Z:0.35 [[ 0.99994896 0.00149566 -0.00999174 -0.53749401] [-0.00146907 0.99999536 0.00266828 -0.13340479] [ 0.00999568 -0.00265346 0.99994652 0.35098309] [ 0. 0. 0. 1. ]] SLAMing on 7.202557844 meters Centerline goodness : 0.131111 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.14, Z:0.37 [[ 9.99932387e-01 3.29640124e-04 -1.16237629e-02 -5.95998147e-01] [-2.89425085e-04 9.99993968e-01 3.46123877e-03 -1.40679689e-01] [ 1.16248338e-02 -3.45764054e-03 9.99926451e-01 3.66861260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2325578440000005 meters Centerline goodness : 0.161765 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.14, Z:0.37 [[ 9.99929060e-01 7.36024183e-03 -9.36495687e-03 -5.75216080e-01] [-7.35580013e-03 9.99972816e-01 5.08644929e-04 -1.42998168e-01] [ 9.36844604e-03 -4.39722095e-04 9.99956018e-01 3.65865098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262557844000001 meters Centerline goodness : 0.138622 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.14, Z:0.37 [[ 9.99926115e-01 7.48154113e-03 -9.58080989e-03 -5.75067051e-01] [-7.47418295e-03 9.99971745e-01 8.03587746e-04 -1.44446052e-01] [ 9.58655126e-03 -7.31919647e-04 9.99953780e-01 3.66769878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292557844000001 meters Centerline goodness : 0.136398 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.15, Z:0.37 [[ 0.99992239 0.00760482 -0.00986855 -0.57468302] [-0.00759443 0.99997057 0.00109027 -0.14592104] [ 0.00987655 -0.00101524 0.99995071 0.36758652] [ 0. 0. 0. 1. ]] SLAMing on 7.322557844 meters Centerline goodness : 0.133201 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.15, Z:0.38 [[ 0.99985614 0.00391812 -0.01650272 -0.60630457] [-0.00382889 0.9999779 0.00543559 -0.15401172] [ 0.01652366 -0.00537162 0.99984905 0.38356721] [ 0. 0. 0. 1. ]] SLAMing on 7.352557844000001 meters Centerline goodness : 0.135598 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 9.99902952e-01 7.89337386e-03 -1.14795681e-02 -5.78967791e-01] [-7.88433716e-03 9.99968572e-01 8.32242860e-04 -1.49002823e-01] [ 1.14857765e-02 -7.41653308e-04 9.99933761e-01 3.76240095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382557844000001 meters Centerline goodness : 0.136514 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 9.99900373e-01 8.01012015e-03 -1.16224576e-02 -5.79680804e-01] [-7.99825892e-03 9.99967445e-01 1.06666731e-03 -1.49953773e-01] [ 1.16306234e-02 -9.73601621e-04 9.99931888e-01 3.78374362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412557844 meters Centerline goodness : 0.119996 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 0.99989762 0.00813105 -0.01177477 -0.580289 ] [-0.00811566 0.99996615 0.00135457 -0.15130613] [ 0.01178538 -0.00125887 0.99992976 0.38037763] [ 0. 0. 0. 1. ]] SLAMing on 7.442557844 meters Centerline goodness : 0.136665 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.15, Z:0.38 [[ 0.99989438 0.00826529 -0.01195469 -0.58076806] [-0.00824577 0.99996459 0.00168099 -0.15288272] [ 0.01196816 -0.00158224 0.99992713 0.38226854] [ 0. 0. 0. 1. ]] SLAMing on 7.472557844000001 meters Centerline goodness : 0.125158 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.16, Z:0.38 [[ 0.99989036 0.00845098 -0.01215957 -0.58106407] [-0.00842554 0.99996221 0.00214228 -0.15517517] [ 0.01217722 -0.00203959 0.99992377 0.38396339] [ 0. 0. 0. 1. ]] SLAMing on 7.502557844000001 meters Centerline goodness : 0.136949 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 9.99913125e-01 6.24191501e-03 -1.16095602e-02 -5.87120046e-01] [-6.24056808e-03 9.99980516e-01 1.52242151e-04 -1.57427260e-01] [ 1.16102843e-02 -7.97786740e-05 9.99932595e-01 3.89659629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532557844 meters Centerline goodness : 0.121869 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 9.99908544e-01 6.39477263e-03 -1.19168207e-02 -5.86992241e-01] [-6.38847762e-03 9.99979433e-01 5.66237148e-04 -1.59416237e-01] [ 1.19201965e-02 -4.90055020e-04 9.99928832e-01 3.91069456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5625578440000005 meters Centerline goodness : 0.123498 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.39 [[ 0.99990361 0.0066305 -0.01219847 -0.58697592] [-0.00661689 0.99997744 0.00115599 -0.16230693] [ 0.01220586 -0.00107516 0.99992493 0.39259397] [ 0. 0. 0. 1. ]] SLAMing on 7.592557844000001 meters Centerline goodness : 0.123472 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.16, Z:0.40 [[ 0.99992549 0.00421695 -0.01145575 -0.59280538] [-0.00423125 0.9999903 -0.00122406 -0.16348435] [ 0.01145048 0.00127244 0.99993363 0.39692681] [ 0. 0. 0. 1. ]] SLAMing on 7.622557844000001 meters Centerline goodness : 0.121926 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.17, Z:0.40 [[ 9.99921169e-01 4.46791701e-03 -1.17342811e-02 -5.93066287e-01] [-4.47479354e-03 9.99989831e-01 -5.59830711e-04 -1.66846511e-01] [ 1.17316605e-02 6.12295065e-04 9.99930994e-01 3.98888575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652557844 meters Centerline goodness : 0.121590 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.16, Z:0.40 [[ 0.99992984 -0.0026845 -0.01153687 -0.57388968] [ 0.00269797 0.9999957 0.00115232 -0.16377802] [ 0.01153373 -0.00118336 0.99993278 0.40149211] [ 0. 0. 0. 1. ]] SLAMing on 7.682557844000001 meters Centerline goodness : 0.121444 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.17, Z:0.41 [[ 9.99930116e-01 -4.80557601e-03 -1.08013699e-02 -5.80707338e-01] [ 4.80186885e-03 9.99988403e-01 -3.69120670e-04 -1.68279634e-01] [ 1.08030184e-02 3.17228113e-04 9.99941595e-01 4.07898085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712557844000001 meters Centerline goodness : 0.122925 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.17, Z:0.41 [[ 0.99992651 -0.00704676 -0.00986479 -0.58724784] [ 0.00702495 0.99997281 -0.00224339 -0.17141505] [ 0.00988033 0.00217393 0.99994883 0.41290568] [ 0. 0. 0. 1. ]] SLAMing on 7.742557844 meters Centerline goodness : 0.122957 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.18, Z:0.42 [[ 0.99992555 -0.00672517 -0.01018176 -0.58772044] [ 0.00671286 0.9999767 -0.00124282 -0.17691174] [ 0.01018988 0.00117437 0.99994739 0.41539614] [ 0. 0. 0. 1. ]] SLAMing on 7.7725578440000005 meters Centerline goodness : 0.165545 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99981647e-01 5.67449385e-04 -6.03195641e-03 -5.72942143e-01] [-5.87882318e-04 9.99994094e-01 -3.38621391e-03 -1.85120918e-01] [ 6.02999928e-03 3.38969784e-03 9.99976074e-01 4.19125436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802557844000001 meters Centerline goodness : 0.121661 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99980804e-01 7.31612578e-04 -6.15267707e-03 -5.73582830e-01] [-7.50566523e-04 9.99994979e-01 -3.07885673e-03 -1.86403320e-01] [ 6.15039364e-03 3.08341562e-03 9.99976332e-01 4.21036501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832557844000001 meters Centerline goodness : 0.131917 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.19, Z:0.42 [[ 9.99979386e-01 8.23171742e-04 -6.36783967e-03 -5.73676990e-01] [-8.42351947e-04 9.99995115e-01 -3.00994730e-03 -1.86621731e-01] [ 6.36533087e-03 3.01524921e-03 9.99975195e-01 4.22391377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862557844 meters Centerline goodness : 0.130647 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.43 [[ 9.99959526e-01 6.30634741e-04 -8.97486604e-03 -6.25463920e-01] [-6.47784644e-04 9.99997970e-01 -1.90810265e-03 -1.90959996e-01] [ 8.97364450e-03 1.91383920e-03 9.99957905e-01 4.33095824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892557844000001 meters Centerline goodness : 0.131652 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.43 [[ 9.99956712e-01 7.05681202e-04 -9.27767383e-03 -6.25193389e-01] [-7.25688855e-04 9.99997418e-01 -2.15334807e-03 -1.89390748e-01] [ 9.27613030e-03 2.15998756e-03 9.99954643e-01 4.34011618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922557844000001 meters Centerline goodness : 0.129312 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99956535e-01 8.27909689e-04 -9.28665013e-03 -6.25875931e-01] [-8.50524742e-04 9.99996682e-01 -2.43153691e-03 -1.87270808e-01] [ 9.28460622e-03 2.43932975e-03 9.99953922e-01 4.35105840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952557844000001 meters Centerline goodness : 0.131831 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99956577e-01 2.76460904e-03 -8.89945780e-03 -6.32159317e-01] [-2.76879508e-03 9.99996062e-01 -4.58083914e-04 -1.88344323e-01] [ 8.89815633e-03 4.82704798e-04 9.99960294e-01 4.42082853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9825578440000005 meters Centerline goodness : 0.129259 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.19, Z:0.44 [[ 9.99954198e-01 2.86931445e-03 -9.13067296e-03 -6.32752590e-01] [-2.87162932e-03 9.99995848e-01 -2.40425753e-04 -1.89408374e-01] [ 9.12994519e-03 2.66634649e-04 9.99958286e-01 4.44348453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012557844 meters Centerline goodness : 0.135684 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.19, Z:0.45 [[ 0.99996246 0.00125267 -0.00857431 -0.63813408] [-0.00126774 0.99999766 -0.0017529 -0.18913329] [ 0.00857209 0.0017637 0.9999617 0.44920242] [ 0. 0. 0. 1. ]] SLAMing on 8.042557844000001 meters Centerline goodness : 0.171744 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.19, Z:0.45 [[ 0.99995977 0.00145704 -0.0088505 -0.63842534] [-0.00146784 0.99999819 -0.00121393 -0.19172615] [ 0.00884871 0.00122687 0.9999601 0.45120442] [ 0. 0. 0. 1. ]] SLAMing on 8.072557844 meters Centerline goodness : 0.136042 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.45 [[ 9.99953648e-01 -5.73013000e-03 -7.73740082e-03 -6.19100851e-01] [ 5.73605910e-03 9.99983272e-01 7.44316526e-04 -1.88312777e-01] [ 7.73300636e-03 -7.88664213e-04 9.99969789e-01 4.54293828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102557844000001 meters Centerline goodness : 0.135936 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.46 [[ 0.9999525 -0.00558249 -0.00799007 -0.61957828] [ 0.00559173 0.99998372 0.00113518 -0.19019278] [ 0.0079836 -0.0011798 0.99996743 0.45651725] [ 0. 0. 0. 1. ]] SLAMing on 8.132557844 meters Centerline goodness : 0.136168 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.19, Z:0.46 [[ 0.99995097 -0.00542021 -0.00828773 -0.62016173] [ 0.00543345 0.999984 0.00157617 -0.19248274] [ 0.00827906 -0.00162112 0.99996441 0.4590931 ] [ 0. 0. 0. 1. ]] SLAMing on 8.162557844 meters Centerline goodness : 0.139089 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99977856e-01 -2.10709600e-04 -6.65160895e-03 -6.48606586e-01] [ 2.09930253e-04 9.99999971e-01 -1.17864657e-04 -1.99531389e-01] [ 6.65163359e-03 1.16465673e-04 9.99977871e-01 4.65124054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192557844000001 meters Centerline goodness : 0.138590 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99975742e-01 -1.78264200e-04 -6.96297600e-03 -6.48567784e-01] [ 1.78188849e-04 9.99999984e-01 -1.14420681e-05 -1.99916832e-01] [ 6.96297793e-03 1.02010659e-05 9.99975758e-01 4.66620813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222557844 meters Centerline goodness : 0.140140 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99973530e-01 -1.69936820e-04 -7.27390442e-03 -6.48165747e-01] [ 1.70132618e-04 9.99999985e-01 2.62991290e-05 -1.99941472e-01] [ 7.27389984e-03 -2.75359613e-05 9.99973544e-01 4.67428917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252557844 meters Centerline goodness : 0.140447 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99967896e-01 -1.41888089e-04 -8.01163906e-03 -6.47282949e-01] [ 1.43822813e-04 9.99999961e-01 2.40913503e-04 -2.01136585e-01] [ 8.01160457e-03 -2.42058025e-04 9.99967877e-01 4.69377975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282557844000001 meters Centerline goodness : 0.139980 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99966198e-01 -1.28023296e-04 -8.22114035e-03 -6.47774276e-01] [ 1.30555043e-04 9.99999944e-01 3.07419784e-04 -2.01305963e-01] [ 8.22110053e-03 -3.08482704e-04 9.99966159e-01 4.71379123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312557844 meters Centerline goodness : 0.150025 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.47 [[ 9.99964967e-01 -1.08090371e-04 -8.36976654e-03 -6.48668431e-01] [ 1.10757438e-04 9.99999943e-01 3.18191978e-04 -2.00955102e-01] [ 8.36973167e-03 -3.19107844e-04 9.99964922e-01 4.73713275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342557844 meters Centerline goodness : 0.141973 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:0.48 [[ 9.99963784e-01 -9.14422820e-05 -8.51011751e-03 -6.49622593e-01] [ 9.44384068e-05 9.99999934e-01 3.51665030e-04 -2.00686145e-01] [ 8.51008479e-03 -3.52455976e-04 9.99963726e-01 4.76192738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372557844000001 meters Centerline goodness : 0.143555 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996712 -0.00246036 -0.00772687 -0.65684767] [ 0.0024466 0.99999541 -0.00178992 -0.2006042 ] [ 0.00773124 0.00177095 0.99996855 0.48305364] [ 0. 0. 0. 1. ]] SLAMing on 8.402557844 meters Centerline goodness : 0.143555 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996712 -0.00246036 -0.00772687 -0.65684767] [ 0.0024466 0.99999541 -0.00178992 -0.2006042 ] [ 0.00773124 0.00177095 0.99996855 0.48305364] [ 0. 0. 0. 1. ]] SLAMing on 8.432557844000002 meters Centerline goodness : 0.137100 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.20, Z:0.48 [[ 0.99996468 -0.00237606 -0.0080616 -0.65691187] [ 0.00236561 0.99999635 -0.00130647 -0.20304295] [ 0.00806468 0.00128736 0.99996665 0.48485747] [ 0. 0. 0. 1. ]] SLAMing on 8.462557844 meters Centerline goodness : 0.161784 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.49 [[ 9.99961549e-01 -2.27032428e-03 -8.47026310e-03 -6.56660539e-01] [ 2.26358100e-03 9.99997114e-01 -8.05613283e-04 -2.05390793e-01] [ 8.47206765e-03 7.86409180e-04 9.99963802e-01 4.86458090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492557844 meters Centerline goodness : 0.140386 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.49 [[ 9.99957666e-01 -2.18496742e-03 -8.93821864e-03 -6.56339125e-01] [ 2.18221762e-03 9.99997569e-01 -3.17385510e-04 -2.07656434e-01] [ 8.93889038e-03 2.97866935e-04 9.99960003e-01 4.88209068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522557844000001 meters Centerline goodness : 0.145743 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.21, Z:0.50 [[ 9.99936299e-01 -4.64101182e-03 -1.02888263e-02 -7.11643332e-01] [ 4.64171268e-03 9.99989226e-01 4.42399414e-05 -2.13422413e-01] [ 1.02885101e-02 -9.19948989e-05 9.99947068e-01 5.00536647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552557844 meters Centerline goodness : 0.150181 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.22, Z:0.51 [[ 0.99992076 -0.00723014 -0.01030557 -0.71704428] [ 0.00721387 0.99997268 -0.00161479 -0.21912192] [ 0.01031696 0.00154031 0.99994559 0.50844283] [ 0. 0. 0. 1. ]] SLAMing on 8.582557844 meters Centerline goodness : 0.141816 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99963901e-01 4.27022182e-04 -8.48616865e-03 -6.99764001e-01] [-4.53238535e-04 9.99995131e-01 -3.08762083e-03 -2.27339090e-01] [ 8.48480884e-03 3.09135563e-03 9.99959225e-01 5.09982872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612557844000001 meters Centerline goodness : 0.138735 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99961228e-01 7.23675325e-04 -8.77600075e-03 -6.99908493e-01] [-7.43232528e-04 9.99997248e-01 -2.22543037e-03 -2.31283682e-01] [ 8.77436611e-03 2.23186669e-03 9.99959014e-01 5.11718306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642557844 meters Centerline goodness : 0.140485 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:0.51 [[ 9.99958869e-01 9.94404799e-04 -9.01506479e-03 -6.99935793e-01] [-1.00777631e-03 9.99998399e-01 -1.47881991e-03 -2.34780846e-01] [ 9.01357981e-03 1.48784426e-03 9.99958270e-01 5.13007972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672557844 meters Centerline goodness : 0.138793 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.24, Z:0.52 [[ 0.99996136 -0.00151947 -0.00865802 -0.70496509] [ 0.00149089 0.99999342 -0.00330674 -0.24090029] [ 0.00866299 0.0032937 0.99995705 0.5186476 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702557844000001 meters Centerline goodness : 0.138080 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.24, Z:0.52 [[ 0.99995863 -0.00127486 -0.0090061 -0.70508764] [ 0.00125114 0.99999573 -0.00263975 -0.2444373 ] [ 0.00900943 0.00262837 0.99995596 0.52050643] [ 0. 0. 0. 1. ]] SLAMing on 8.732557844 meters Centerline goodness : 0.154005 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.52 [[ 0.99995629 -0.00103954 -0.00929153 -0.70518128] [ 0.00102015 0.99999729 -0.0020918 -0.2468703 ] [ 0.00929368 0.00208223 0.99995464 0.52208113] [ 0. 0. 0. 1. ]] SLAMing on 8.762557844000002 meters Centerline goodness : 0.094095 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.53 [[ 9.99952672e-01 -5.86994305e-04 -9.71127880e-03 -7.05817661e-01] [ 5.75807933e-04 9.99999168e-01 -1.15465067e-03 -2.50891873e-01] [ 9.71194849e-03 1.14900419e-03 9.99952178e-01 5.25202836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792557844000001 meters Centerline goodness : 0.112798 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.25, Z:0.53 [[ 9.99950391e-01 -3.94615849e-04 -9.95287560e-03 -7.05970703e-01] [ 3.87917666e-04 9.99999697e-01 -6.74911254e-04 -2.53316120e-01] [ 9.95313891e-03 6.71016877e-04 9.99950241e-01 5.26749177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822557844 meters Centerline goodness : 0.136985 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99947879e-01 -1.70708460e-04 -1.02083005e-02 -7.06337032e-01] [ 1.69766771e-04 9.99999981e-01 -9.31138477e-05 -2.56399098e-01] [ 1.02083162e-02 9.13759643e-05 9.99947890e-01 5.28592865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852557844000001 meters Centerline goodness : 0.143097 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99945251e-01 6.00068907e-05 -1.04638434e-02 -7.06879471e-01] [-5.49112191e-05 9.99999880e-01 4.87265585e-04 -2.59246419e-01] [ 1.04638713e-02 -4.86664325e-04 9.99945134e-01 5.30814405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882557844 meters Centerline goodness : 0.154024 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.26, Z:0.53 [[ 9.99943260e-01 2.63881143e-04 -1.06492612e-02 -7.07480134e-01] [-2.53487333e-04 9.99999490e-01 9.77350220e-04 -2.61387300e-01] [ 1.06495137e-02 -9.74595313e-04 9.99942817e-01 5.32835943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912557844 meters Centerline goodness : 0.160725 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.26, Z:0.53 [[ 9.99959636e-01 1.43180209e-03 -8.86999314e-03 -6.62397276e-01] [-1.42746851e-03 9.99998859e-01 4.94877406e-04 -2.61206604e-01] [ 8.87069158e-03 -4.82195795e-04 9.99960538e-01 5.29992161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942557844000001 meters Centerline goodness : 0.095233 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.27, Z:0.54 [[ 0.99994025 -0.00110237 -0.01087539 -0.71880368] [ 0.00111747 0.99999842 0.0013825 -0.26940589] [ 0.01087385 -0.00139457 0.99993991 0.54460644] [ 0. 0. 0. 1. ]] SLAMing on 8.972557844 meters Centerline goodness : 0.183067 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.27, Z:0.54 [[ 9.99956246e-01 -1.36177218e-04 -9.35343707e-03 -6.74487336e-01] [ 1.43850642e-04 9.99999654e-01 8.19717611e-04 -2.69996817e-01] [ 9.35332220e-03 -8.21027244e-04 9.99955920e-01 5.42410446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002557844 meters Centerline goodness : 0.143695 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.27, Z:0.54 [[ 9.99953991e-01 1.18452095e-04 -9.59172366e-03 -6.74997616e-01] [-1.04266046e-04 9.99998900e-01 1.47947505e-03 -2.72928616e-01] [ 9.59188836e-03 -1.47840689e-03 9.99952904e-01 5.44524238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032557844000001 meters Centerline goodness : 0.149544 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.27, Z:0.55 [[ 9.99961676e-01 -1.70251451e-03 -8.58762001e-03 -6.81155078e-01] [ 1.70127999e-03 9.99998541e-01 -1.51058740e-04 -2.73128562e-01] [ 8.58786466e-03 1.36443005e-04 9.99963114e-01 5.49078038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062557844 meters Centerline goodness : 0.183906 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.28, Z:0.55 [[ 9.99959967e-01 -1.51791355e-03 -8.81817620e-03 -6.81745064e-01] [ 1.52223434e-03 9.99998725e-01 4.83296237e-04 -2.76399194e-01] [ 8.81743135e-03 -4.96700220e-04 9.99961002e-01 5.51252467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092557844 meters Centerline goodness : 0.164128 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.28, Z:0.56 [[ 0.99995587 -0.00405583 -0.00847366 -0.68722419] [ 0.00404321 0.99999069 -0.00150618 -0.28022908] [ 0.00847969 0.00147185 0.99996296 0.55752524] [ 0. 0. 0. 1. ]] SLAMing on 9.122557844000001 meters Centerline goodness : 0.154299 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.28, Z:0.56 [[ 9.99954590e-01 -3.83778712e-03 -8.72288898e-03 -6.87818266e-01] [ 3.82988321e-03 9.99992240e-01 -9.22635485e-04 -2.82751979e-01] [ 8.72636217e-03 8.89185942e-04 9.99961529e-01 5.59735862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152557844 meters Centerline goodness : 0.125896 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:0.56 [[ 9.99953692e-01 -3.60178324e-03 -8.92412557e-03 -6.88553461e-01] [ 3.59906585e-03 9.99993472e-01 -3.20540743e-04 -2.85212357e-01] [ 8.92522183e-03 2.88407384e-04 9.99960128e-01 5.61896267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182557844000002 meters Centerline goodness : 0.250742 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:0.56 [[ 9.99952101e-01 -3.42089565e-03 -9.17018971e-03 -6.89144055e-01] [ 3.42310980e-03 9.99994116e-01 2.25765677e-04 -2.87626192e-01] [ 9.16936343e-03 -2.57145429e-04 9.99957927e-01 5.64105157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212557844 meters Centerline goodness : 0.080854 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.99994918 -0.00564276 -0.00835429 -0.69582999] [ 0.005629 0.99998276 -0.00166962 -0.28932769] [ 0.00836357 0.00162251 0.99996371 0.57017594] [ 0. 0. 0. 1. ]] SLAMing on 9.242557844 meters Centerline goodness : 0.143183 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.99995041 -0.00592515 -0.00800465 -0.69809395] [ 0.00590998 0.9999807 -0.00191733 -0.28974827] [ 0.00801585 0.00186993 0.99996612 0.57260998] [ 0. 0. 0. 1. ]] SLAMing on 9.272557844000001 meters Centerline goodness : 0.112155 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:0.57 [[ 0.9999497 -0.00575162 -0.00821716 -0.6988296 ] [ 0.00573958 0.99998242 -0.00148781 -0.29166981] [ 0.00822557 0.00144057 0.99996513 0.57489645] [ 0. 0. 0. 1. ]] SLAMing on 9.302557844 meters Centerline goodness : 0.136275 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.99997579 0.00238905 -0.00653563 -0.6811867 ] [-0.00240997 0.99999199 -0.00319425 -0.29713607] [ 0.00652794 0.00320992 0.99997354 0.57584335] [ 0. 0. 0. 1. ]] SLAMing on 9.332557844 meters Centerline goodness : 0.244551 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.99997695 0.00223671 -0.00641106 -0.68264013] [-0.00225822 0.99999184 -0.00335053 -0.29728715] [ 0.00640352 0.00336493 0.99997384 0.57777657] [ 0. 0. 0. 1. ]] SLAMing on 9.362557844000001 meters Centerline goodness : 0.254827 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.30, Z:0.58 [[ 0.9999758 0.0023673 -0.00654192 -0.68319861] [-0.00238708 0.9999926 -0.00301665 -0.29851875] [ 0.00653473 0.0030322 0.99997405 0.57932702] [ 0. 0. 0. 1. ]] SLAMing on 9.392557844 meters Centerline goodness : 0.249833 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.58 [[ 9.99997140e-01 3.03502656e-04 -2.37211113e-03 -6.55227260e-01] [-3.08960803e-04 9.99997305e-01 -2.30093844e-03 -3.01548336e-01] [ 2.37140640e-03 2.30166475e-03 9.99994539e-01 5.81205210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422557844 meters Centerline goodness : 0.098446 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.58 [[ 9.99998301e-01 -2.81954347e-04 -1.82150382e-03 -6.58530579e-01] [ 2.75997971e-04 9.99994617e-01 -3.26945602e-03 -3.00045788e-01] [ 1.82241585e-03 3.26894774e-03 9.99992996e-01 5.84951721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452557844000001 meters Centerline goodness : 0.247770 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.30, Z:0.59 [[ 9.99998137e-01 -2.28566600e-04 -1.91647718e-03 -6.59489158e-01] [ 2.22479038e-04 9.99994932e-01 -3.17604508e-03 -3.00160569e-01] [ 1.91719341e-03 3.17561279e-03 9.99993120e-01 5.87129839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482557844 meters Centerline goodness : 0.254105 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.29, Z:0.59 [[ 0.99997154 -0.00743115 -0.00130075 -0.64007533] [ 0.00742826 0.99996996 -0.0022123 -0.29444482] [ 0.00131715 0.00220258 0.99999671 0.588697 ] [ 0. 0. 0. 1. ]] SLAMing on 9.512557844000002 meters Centerline goodness : 0.253992 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.29, Z:0.59 [[ 9.99969095e-01 -7.79824798e-03 -9.97745930e-04 -6.43258606e-01] [ 7.79529921e-03 9.99965335e-01 -2.92595957e-03 -2.93497837e-01] [ 1.02052870e-03 2.91809141e-03 9.99995222e-01 5.93142648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542557844000001 meters Centerline goodness : 0.251675 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99967012e-01 -8.08680202e-03 -7.60159532e-04 -6.45099424e-01] [ 8.08433167e-03 9.99962206e-01 -3.19853790e-03 -2.93592895e-01] [ 7.85996745e-04 3.19228701e-03 9.99994596e-01 5.95259952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572557844 meters Centerline goodness : 0.166637 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99964696e-01 -8.39452851e-03 -3.72161757e-04 -6.47299528e-01] [ 8.39314053e-03 9.99958347e-01 -3.58614493e-03 -2.93163352e-01] [ 4.02250251e-04 3.58289472e-03 9.99993501e-01 5.97452926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844000001 meters Centerline goodness : 0.250961 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99960756e-01 -8.85359706e-03 -3.17320093e-04 -6.49461489e-01] [ 8.85195608e-03 9.99949081e-01 -4.84543542e-03 -2.90385497e-01] [ 3.60203468e-04 4.84243636e-03 9.99988210e-01 6.01697633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632557844 meters Centerline goodness : 0.077744 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99959286e-01 -9.00720861e-03 -5.44122094e-04 -6.49509985e-01] [ 9.00402632e-03 9.99943825e-01 -5.59232500e-03 -2.88374883e-01] [ 5.94462765e-04 5.58719803e-03 9.99984215e-01 6.03366863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662557844 meters Centerline goodness : 0.138979 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.29, Z:0.60 [[ 9.99957660e-01 -9.17810961e-03 -6.64435596e-04 -6.49878040e-01] [ 9.17376204e-03 9.99938234e-01 -6.27463891e-03 -2.86479586e-01] [ 7.21983880e-04 6.26827787e-03 9.99980094e-01 6.04980123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692557844000001 meters Centerline goodness : 0.102963 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99955924e-01 -9.35481721e-03 -7.98656173e-04 -6.50311686e-01] [ 9.34897161e-03 9.99931560e-01 -7.03359722e-03 -2.84341362e-01] [ 8.64399530e-04 7.02582059e-03 9.99974945e-01 6.06866870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722557844 meters Centerline goodness : 0.101067 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99953197e-01 -9.64883709e-03 -7.10092931e-04 -6.51459250e-01] [ 9.64299290e-03 9.99922938e-01 -7.81862682e-03 -2.82318956e-01] [ 7.85478867e-04 7.81141346e-03 9.99969182e-01 6.08896668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752557844 meters Centerline goodness : 0.248154 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.28, Z:0.61 [[ 9.99950096e-01 -9.97552188e-03 -5.42008193e-04 -6.52744378e-01] [ 9.97045812e-03 9.99912826e-01 -8.65618065e-03 -2.80117476e-01] [ 6.28310864e-04 8.65034461e-03 9.99962388e-01 6.10862125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782557844000001 meters Centerline goodness : 0.106340 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.28, Z:0.61 [[ 9.99942477e-01 -1.07251971e-02 1.11657110e-04 -6.56160261e-01] [ 1.07257776e-02 9.99891804e-01 -1.00666560e-02 -2.76087296e-01] [-3.67815961e-06 1.00672745e-02 9.99949324e-01 6.14224114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812557844 meters Centerline goodness : 0.107260 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 9.99936583e-01 -1.12438782e-02 6.35873077e-04 -6.58581180e-01] [ 1.12502598e-02 9.99874792e-01 -1.11280143e-02 -2.73097526e-01] [-5.10671423e-04 1.11344623e-02 9.99937880e-01 6.16534135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842557844000002 meters Centerline goodness : 0.108123 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 9.99930116e-01 -1.17712228e-02 1.09589235e-03 -6.60801136e-01] [ 1.17838297e-02 9.99854764e-01 -1.23122844e-02 -2.69731583e-01] [-9.50802543e-04 1.23243378e-02 9.99923600e-01 6.18945522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872557844000001 meters Centerline goodness : 0.097881 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.27, Z:0.62 [[ 0.99992447 -0.01221727 0.00133921 -0.66240031] [ 0.01223446 0.9998315 -0.01368522 -0.2656387 ] [-0.00117179 0.01370057 0.99990546 0.62149985] [ 0. 0. 0. 1. ]] SLAMing on 9.902557844 meters Centerline goodness : 0.111219 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.26, Z:0.63 [[ 0.99994843 -0.00980453 0.00264782 -0.66865169] [ 0.00983695 0.99987318 -0.01252435 -0.25867782] [-0.00252469 0.01254975 0.99991806 0.62672174] [ 0. 0. 0. 1. ]] SLAMing on 9.932557844000002 meters Centerline goodness : 0.098390 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.26, Z:0.63 [[ 0.9999948 -0.00141734 0.00289673 -0.65101395] [ 0.00145385 0.99991902 -0.01264284 -0.26060279] [-0.00287858 0.01264699 0.99991588 0.62639097] [ 0. 0. 0. 1. ]] SLAMing on 9.962557844 meters Centerline goodness : 0.107175 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.26, Z:0.63 [[ 0.9999939 -0.00159508 0.00310844 -0.65230143] [ 0.00163609 0.99991108 -0.013235 -0.25732086] [-0.00308706 0.01324 0.99990758 0.62782658] [ 0. 0. 0. 1. ]] SLAMing on 9.992557844 meters Centerline goodness : 0.096907 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.63 [[ 9.99992161e-01 -3.17098637e-04 3.94679569e-03 -6.58903828e-01] [ 3.65062563e-04 9.99926024e-01 -1.21578429e-02 -2.54289615e-01] [-3.94264849e-03 1.21591884e-02 9.99918301e-01 6.34017347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022557844000001 meters Centerline goodness : 0.107579 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99991474e-01 -4.30771653e-04 4.10676573e-03 -6.60094549e-01] [ 4.81903555e-04 9.99922282e-01 -1.24578014e-02 -2.52615240e-01] [-4.10108009e-03 1.24596743e-02 9.99913965e-01 6.35467424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052557844 meters Centerline goodness : 0.111119 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99991178e-01 -5.02906450e-04 4.17015831e-03 -6.61117711e-01] [ 5.55865393e-04 9.99919095e-01 -1.27080854e-02 -2.50982253e-01] [-4.16342994e-03 1.27102913e-02 9.99910553e-01 6.36972918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082557844 meters Centerline goodness : 0.109527 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99990834e-01 -6.45932152e-04 4.23246624e-03 -6.61870189e-01] [ 7.01335290e-04 9.99913924e-01 -1.31016541e-02 -2.48816290e-01] [-4.22363915e-03 1.31045024e-02 9.99905212e-01 6.38016874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112557844000001 meters Centerline goodness : 0.097554 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.25, Z:0.64 [[ 9.99990292e-01 -8.12918082e-04 4.33067814e-03 -6.62624898e-01] [ 8.71623586e-04 9.99907528e-01 -1.35711344e-02 -2.46381435e-01] [-4.31924545e-03 1.35747773e-02 9.99898530e-01 6.39010608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142557844 meters Centerline goodness : 0.097499 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.24, Z:0.64 [[ 9.99989470e-01 -9.86666175e-04 4.48181162e-03 -6.63538511e-01] [ 1.04985071e-03 9.99899791e-01 -1.41175844e-02 -2.43533588e-01] [-4.46743315e-03 1.41221410e-02 9.99890298e-01 6.40066164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172557844 meters Centerline goodness : 0.104857 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.24, Z:0.64 [[ 9.99981679e-01 6.64632642e-04 6.01664318e-03 -6.70526577e-01] [-5.85098168e-04 9.99912557e-01 -1.32112000e-02 -2.36355708e-01] [-6.02489766e-03 1.32074376e-02 9.99894627e-01 6.44335587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202557844000001 meters Centerline goodness : 0.095067 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:0.64 [[ 0.99996204 -0.00406901 0.00770481 -0.6477968 ] [ 0.00414547 0.99994206 -0.00993448 -0.23140842] [-0.00766394 0.00996604 0.99992097 0.64335796] [ 0. 0. 0. 1. ]] SLAMing on 10.232557844 meters Centerline goodness : 0.106355 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:0.64 [[ 0.99995815 -0.00424833 0.00810225 -0.64942434] [ 0.00433448 0.99993394 -0.01064564 -0.22764922] [-0.00805649 0.01068031 0.99991051 0.64461651] [ 0. 0. 0. 1. ]] SLAMing on 10.262557844000002 meters Centerline goodness : 0.084901 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994981 -0.00274687 0.00963458 -0.65668363] [ 0.00283962 0.99994964 -0.00962605 -0.2223078 ] [-0.00960766 0.00965293 0.99990725 0.64913125] [ 0. 0. 0. 1. ]] SLAMing on 10.292557844000001 meters Centerline goodness : 0.084901 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994981 -0.00274687 0.00963458 -0.65668363] [ 0.00283962 0.99994964 -0.00962605 -0.2223078 ] [-0.00960766 0.00965293 0.99990725 0.64913125] [ 0. 0. 0. 1. ]] SLAMing on 10.322557844 meters Centerline goodness : 0.103834 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.9999472 -0.00293276 0.00984857 -0.65749597] [ 0.00303261 0.999944 -0.01013932 -0.2197113 ] [-0.00981828 0.01016865 0.99990009 0.64961124] [ 0. 0. 0. 1. ]] SLAMing on 10.352557844000001 meters Centerline goodness : 0.093496 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99994529 -0.00306383 0.0100014 -0.65804055] [ 0.00316867 0.99994002 -0.01048397 -0.21783085] [-0.00996868 0.01051509 0.99989502 0.64983425] [ 0. 0. 0. 1. ]] SLAMing on 10.382557844 meters Centerline goodness : 0.080879 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.65 [[ 0.99989103 -0.01107678 0.00975839 -0.68245079] [ 0.01116258 0.99989913 -0.00878235 -0.2120616 ] [-0.00966012 0.00889032 0.99991382 0.65264208] [ 0. 0. 0. 1. ]] SLAMing on 10.412557844 meters Centerline goodness : 0.096309 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.22, Z:0.65 [[ 0.99993838 -0.00284255 0.01073104 -0.66336106] [ 0.00294782 0.99994757 -0.009806 -0.21549444] [-0.0107026 0.00983703 0.99989434 0.65272772] [ 0. 0. 0. 1. ]] SLAMing on 10.442557844000001 meters Centerline goodness : 0.094465 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.21, Z:0.65 [[ 0.99993658 -0.00290729 0.01088036 -0.66436046] [ 0.00301554 0.99994599 -0.00994605 -0.21466224] [-0.01085086 0.00997823 0.99989134 0.65385718] [ 0. 0. 0. 1. ]] SLAMing on 10.472557844 meters Centerline goodness : 0.082293 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99992162 -0.00250123 0.01226758 -0.67074687] [ 0.00261736 0.99995183 -0.00946019 -0.21432451] [-0.01224332 0.00949156 0.99988 0.65838011] [ 0. 0. 0. 1. ]] SLAMing on 10.502557844 meters Centerline goodness : 0.098279 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.9999179 -0.00258059 0.01255135 -0.67188599] [ 0.00270148 0.99995004 -0.0096242 -0.21352088] [-0.01252589 0.00965731 0.99987491 0.65918134] [ 0. 0. 0. 1. ]] SLAMing on 10.532557844000001 meters Centerline goodness : 0.103933 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99991522 -0.0026391 0.01275081 -0.67246831] [ 0.00276321 0.99994889 -0.00972571 -0.21304954] [-0.01272449 0.00976012 0.99987141 0.65927284] [ 0. 0. 0. 1. ]] SLAMing on 10.562557844 meters Centerline goodness : 0.093442 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99991413 -0.00269582 0.01282476 -0.67275794] [ 0.00282107 0.99994841 -0.00975763 -0.21300049] [-0.0127978 0.00979297 0.99987015 0.65934679] [ 0. 0. 0. 1. ]] SLAMing on 10.592557844000002 meters Centerline goodness : 0.093888 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.21, Z:0.66 [[ 0.99990777 -0.00279895 0.01328979 -0.67482816] [ 0.00293269 0.99994515 -0.01005471 -0.21144847] [-0.01326092 0.01009276 0.99986113 0.66098542] [ 0. 0. 0. 1. ]] SLAMing on 10.622557844000001 meters Centerline goodness : 0.094671 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99990272 -0.00283134 0.01365804 -0.67651215] [ 0.00297235 0.99994238 -0.01031477 -0.20988539] [-0.01362805 0.01035437 0.99985352 0.66244055] [ 0. 0. 0. 1. ]] SLAMing on 10.652557844 meters Centerline goodness : 0.102023 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99989824 -0.00288055 0.01397179 -0.67794148] [ 0.00302915 0.99993896 -0.01062587 -0.20808663] [-0.01394033 0.01066711 0.99984593 0.66373829] [ 0. 0. 0. 1. ]] SLAMing on 10.682557844000002 meters Centerline goodness : 0.194097 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.21, Z:0.66 [[ 0.99989398 -0.00297809 0.0142531 -0.67905402] [ 0.00313516 0.99993447 -0.01101035 -0.20619823] [-0.01421938 0.01105387 0.9998378 0.66459759] [ 0. 0. 0. 1. ]] SLAMing on 10.712557844 meters Centerline goodness : 0.103302 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.20, Z:0.67 [[ 0.99989009 -0.00307805 0.0145029 -0.67995466] [ 0.0032439 0.99992946 -0.01142565 -0.20420573] [-0.01446671 0.01147145 0.99982955 0.66521907] [ 0. 0. 0. 1. ]] SLAMing on 10.742557844 meters Centerline goodness : 0.110866 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.20, Z:0.67 [[ 0.99988616 -0.00315768 0.0147547 -0.68094758] [ 0.00333212 0.99992468 -0.01181275 -0.20221163] [-0.01471629 0.01186057 0.99982136 0.66592816] [ 0. 0. 0. 1. ]] SLAMing on 10.772557844000001 meters Centerline goodness : 0.143274 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99985999 -0.00116023 0.01669292 -0.68869334] [ 0.00132726 0.99994913 -0.00999849 -0.1993189 ] [-0.01668047 0.01001924 0.99981067 0.66987455] [ 0. 0. 0. 1. ]] SLAMing on 10.802557844 meters Centerline goodness : 0.141912 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99985355 -0.00119572 0.01707205 -0.69011523] [ 0.00136963 0.99994726 -0.01017877 -0.198293 ] [-0.01705898 0.01020066 0.99980245 0.67078076] [ 0. 0. 0. 1. ]] SLAMing on 10.832557844 meters Centerline goodness : 0.127379 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99984799 -0.00128414 0.01738793 -0.69138085] [ 0.00146458 0.99994517 -0.01036875 -0.19732395] [-0.01737367 0.01039264 0.99979505 0.67173172] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844000001 meters Centerline goodness : 0.098204 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.20, Z:0.67 [[ 0.99984448 -0.0013954 0.0175801 -0.6922521 ] [ 0.00158312 0.99994183 -0.01066886 -0.19592906] [-0.01756419 0.01069503 0.99978854 0.67250127] [ 0. 0. 0. 1. ]] SLAMing on 10.892557844 meters Centerline goodness : 0.209609 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.19, Z:0.68 [[ 9.99800645e-01 -5.85083040e-04 1.99581607e-02 -7.47516016e-01] [ 7.84624626e-04 9.99949775e-01 -9.99162981e-03 -1.89974707e-01] [-1.99513123e-02 1.00052976e-02 9.99750889e-01 6.78194588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922557844000002 meters Centerline goodness : 0.120033 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.19, Z:0.68 [[ 9.99792831e-01 -6.65102915e-04 2.03433725e-02 -7.48673155e-01] [ 8.78731244e-04 9.99944550e-01 -1.04939907e-02 -1.87163244e-01] [-2.03352649e-02 1.05096930e-02 9.99737977e-01 6.78628318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952557844000001 meters Centerline goodness : 0.198220 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.18, Z:0.68 [[ 0.99966846 -0.00562599 0.02512619 -0.77456696] [ 0.005837 0.99994825 -0.00833254 -0.17769282] [-0.02507801 0.00847644 0.99964956 0.67969716] [ 0. 0. 0. 1. ]] SLAMing on 10.982557844 meters Centerline goodness : 0.117903 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.18, Z:0.68 [[ 0.99966074 -0.00578898 0.02539468 -0.77537536] [ 0.0060148 0.99994297 -0.00882519 -0.17521187] [-0.02534214 0.00897494 0.99963855 0.68006244] [ 0. 0. 0. 1. ]] SLAMing on 11.012557844000002 meters Centerline goodness : 0.237031 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:0.68 [[ 0.99965192 -0.00599093 0.02569344 -0.77628485] [ 0.00623545 0.99993593 -0.00944746 -0.17226603] [-0.0256352 0.00960439 0.99962523 0.68044223] [ 0. 0. 0. 1. ]] SLAMing on 11.042557844000001 meters Centerline goodness : 0.193364 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.17, Z:0.68 [[ 0.99963843 -0.00616744 0.02617179 -0.77771971] [ 0.00643587 0.99992743 -0.01018449 -0.16843697] [-0.02610707 0.01034925 0.99960558 0.68096177] [ 0. 0. 0. 1. ]] SLAMing on 11.072557844 meters Centerline goodness : 0.337367 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.16, Z:0.68 [[ 0.99960763 -0.00434601 0.02767135 -0.78354753] [ 0.00458759 0.99995187 -0.00867255 -0.16366892] [-0.02763233 0.00879609 0.99957945 0.68364468] [ 0. 0. 0. 1. ]] SLAMing on 11.102557844000001 meters Centerline goodness : 0.191678 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.16, Z:0.68 [[ 0.99960163 -0.00103768 0.02820483 -0.78515771] [ 0.00120868 0.99998099 -0.00604625 -0.15743971] [-0.02819802 0.00607793 0.99958388 0.68409614] [ 0. 0. 0. 1. ]] SLAMing on 11.132557844 meters Centerline goodness : 0.333452 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.15, Z:0.68 [[ 0.99960085 -0.00136205 0.0282184 -0.78495967] [ 0.0015587 0.99997465 -0.00694809 -0.15323927] [-0.02820822 0.0069893 0.99957763 0.68361761] [ 0. 0. 0. 1. ]] SLAMing on 11.162557844 meters Centerline goodness : 0.224698 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.15, Z:0.68 [[ 0.99960078 -0.00164512 0.02820587 -0.78483297] [ 0.00186305 0.9999686 -0.007702 -0.14975595] [-0.02819231 0.00775147 0.99957246 0.68335875] [ 0. 0. 0. 1. ]] SLAMing on 11.192557844000001 meters Centerline goodness : 0.185657 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.15, Z:0.68 [[ 0.99959648 -0.00185387 0.02834512 -0.7853253 ] [ 0.00208916 0.99996359 -0.00827358 -0.14683527] [-0.02832875 0.00832946 0.99956396 0.6835671 ] [ 0. 0. 0. 1. ]] SLAMing on 11.222557844 meters Centerline goodness : 0.103773 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.68 [[ 0.999589 -0.00199733 0.02859785 -0.78627328] [ 0.00224623 0.99995986 -0.0086739 -0.14464263] [-0.02857938 0.00873457 0.99955336 0.68417634] [ 0. 0. 0. 1. ]] SLAMing on 11.252557844 meters Centerline goodness : 0.191801 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.68 [[ 0.99957948 -0.00218519 0.0289151 -0.78729516] [ 0.00244793 0.99995601 -0.00905436 -0.14293194] [-0.02889404 0.00912134 0.99954086 0.68465735] [ 0. 0. 0. 1. ]] SLAMing on 11.282557844000001 meters Centerline goodness : 0.183043 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.69 [[ 0.99953686 -0.00323255 0.030259 -0.79080959] [ 0.00354574 0.99994064 -0.01030243 -0.13950103] [-0.0302239 0.01040495 0.999489 0.68539274] [ 0. 0. 0. 1. ]] SLAMing on 11.312557844 meters Centerline goodness : 0.218742 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:0.69 [[ 0.99953255 -0.00338148 0.03038484 -0.79128029] [ 0.00370484 0.99993704 -0.01059223 -0.13820337] [-0.03034711 0.01069985 0.99948215 0.68564393] [ 0. 0. 0. 1. ]] SLAMing on 11.342557844000002 meters Centerline goodness : 0.206833 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.13, Z:0.69 [[ 0.99948668 -0.00979259 0.03050383 -0.81430892] [ 0.01002909 0.99992075 -0.00760976 -0.13345089] [-0.03042689 0.00791178 0.99950568 0.68710294] [ 0. 0. 0. 1. ]] SLAMing on 11.372557844000001 meters Centerline goodness : 0.120607 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947639 -0.00996593 0.03078358 -0.81519477] [ 0.01021836 0.99991536 -0.00805375 -0.1312654 ] [-0.03070071 0.00836409 0.99949363 0.68751232] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters Centerline goodness : 0.185614 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947168 -0.01005257 0.03090805 -0.81558971] [ 0.01031173 0.99991291 -0.00823678 -0.13060102] [-0.03082256 0.00855114 0.99948829 0.68769272] [ 0. 0. 0. 1. ]] SLAMing on 11.432557844000002 meters Centerline goodness : 0.099363 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.9994689 -0.01012845 0.03097314 -0.81581112] [ 0.01039502 0.9999102 -0.00845762 -0.12958751] [-0.03088469 0.00877509 0.99948443 0.68777195] [ 0. 0. 0. 1. ]] SLAMing on 11.462557844 meters Centerline goodness : 0.145702 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99948987 -0.00627558 0.03131473 -0.8167801 ] [ 0.00641923 0.99996932 -0.00448859 -0.12912372] [-0.0312856 0.00468731 0.99949949 0.68785245] [ 0. 0. 0. 1. ]] SLAMing on 11.492557844 meters Centerline goodness : 0.096474 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99948293 -0.00633374 0.03152383 -0.81748715] [ 0.00649097 0.99996699 -0.00488773 -0.12708752] [-0.03149183 0.00508982 0.99949105 0.68834991] [ 0. 0. 0. 1. ]] SLAMing on 11.522557844000001 meters Centerline goodness : 0.138876 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.13, Z:0.69 [[ 0.99947776 -0.00638683 0.03167673 -0.81811689] [ 0.00655749 0.99996453 -0.00528642 -0.1250857 ] [-0.03164184 0.00549138 0.99948419 0.68895926] [ 0. 0. 0. 1. ]] SLAMing on 11.552557844 meters Centerline goodness : 0.205667 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.13, Z:0.69 [[ 0.999475 0.00204028 0.03233505 -0.84030536] [-0.00183881 0.99997872 -0.00625924 -0.12631646] [-0.03234713 0.0061965 0.99945749 0.6888207 ] [ 0. 0. 0. 1. ]] SLAMing on 11.582557844 meters Centerline goodness : 0.207763 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.12, Z:0.69 [[ 0.9994722 0.00201563 0.03242308 -0.84052189] [-0.00180269 0.99997663 -0.00659518 -0.12446779] [-0.03243561 0.00653325 0.99945247 0.68887586] [ 0. 0. 0. 1. ]] SLAMing on 11.612557844000001 meters Centerline goodness : 0.211231 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.12, Z:0.69 [[ 0.99946638 0.00193582 0.03260673 -0.84087217] [-0.00171002 0.99997438 -0.00695137 -0.12267188] [-0.03261935 0.00689191 0.99944409 0.68871961] [ 0. 0. 0. 1. ]] SLAMing on 11.642557844 meters Centerline goodness : 0.217196 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99940861 -0.00638394 0.03378878 -0.86272564] [ 0.00661067 0.99995635 -0.00660273 -0.11613884] [-0.03374515 0.00682219 0.99940719 0.68886243] [ 0. 0. 0. 1. ]] SLAMing on 11.672557844000002 meters Centerline goodness : 0.167686 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99940116 -0.00640863 0.03400365 -0.86351103] [ 0.0066371 0.99995613 -0.00661027 -0.11614928] [-0.03395979 0.006832 0.99939985 0.68933545] [ 0. 0. 0. 1. ]] SLAMing on 11.702557844000001 meters Centerline goodness : 0.167974 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.12, Z:0.69 [[ 0.99939377 -0.00638049 0.03422541 -0.86422712] [ 0.00660823 0.99995675 -0.00654516 -0.11628298] [-0.03418216 0.00676736 0.99939271 0.68960305] [ 0. 0. 0. 1. ]] SLAMing on 11.732557844 meters Centerline goodness : 0.212612 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929098 -0.00631935 0.03711601 -0.90927691] [ 0.00653878 0.99996184 -0.00579353 -0.11585123] [-0.03707798 0.00603211 0.99929417 0.68980894] [ 0. 0. 0. 1. ]] SLAMing on 11.762557844000002 meters Centerline goodness : 0.204357 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929511 -0.00640492 0.03699006 -0.90883029] [ 0.00661489 0.99996268 -0.00555666 -0.11757949] [-0.03695309 0.00579742 0.99930018 0.68937586] [ 0. 0. 0. 1. ]] SLAMing on 11.792557844000001 meters Centerline goodness : 0.162619 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.12, Z:0.69 [[ 0.99929361 -0.0063604 0.03703814 -0.90905351] [ 0.00656234 0.99996425 -0.00533314 -0.11879389] [-0.0370029 0.00557243 0.99929962 0.68951933] [ 0. 0. 0. 1. ]] SLAMing on 11.822557844 meters Centerline goodness : 0.204440 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.99930515 0.00183337 0.03722703 -0.93034739] [-0.00160609 0.9999799 -0.00613425 -0.12346198] [-0.03723753 0.0060702 0.99928801 0.68951906] [ 0. 0. 0. 1. ]] SLAMing on 11.852557844000001 meters Centerline goodness : 0.159951 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.9992939 0.00194136 0.03752256 -0.93136821] [-0.00171834 0.99998067 -0.00597487 -0.12394161] [-0.03753343 0.00590618 0.99927792 0.6901765 ] [ 0. 0. 0. 1. ]] SLAMing on 11.882557844 meters Centerline goodness : 0.158465 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.12, Z:0.69 [[ 0.99929064 0.00195958 0.03760817 -0.93165782] [-0.00173293 0.99998015 -0.00605843 -0.12341595] [-0.03761929 0.00598896 0.9992742 0.69033627] [ 0. 0. 0. 1. ]] SLAMing on 11.912557844 meters Centerline goodness : 0.208187 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936343 0.00235706 0.03559755 -0.9785136 ] [-0.00214875 0.99998035 -0.00588879 -0.12058545] [-0.03561073 0.00580855 0.99934886 0.69413915] [ 0. 0. 0. 1. ]] SLAMing on 11.942557844000001 meters Centerline goodness : 0.159250 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936363 0.00230064 0.03559564 -0.97858046] [-0.00208336 0.99997898 -0.00614016 -0.11943599] [-0.03560902 0.00606209 0.99934741 0.69431056] [ 0. 0. 0. 1. ]] SLAMing on 11.972557844 meters Centerline goodness : 0.304029 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936553 0.00222558 0.03554696 -0.97847241] [-0.0019987 0.99997741 -0.00641685 -0.11813263] [-0.03556044 0.00634174 0.99934741 0.69433356] [ 0. 0. 0. 1. ]] SLAMing on 12.002557844000002 meters Centerline goodness : 0.157618 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.12, Z:0.69 [[ 0.99936846 0.00213149 0.03547016 -0.97829859] [-0.00189243 0.99997528 -0.00677194 -0.11644338] [-0.03548372 0.00670054 0.99934779 0.6944045 ] [ 0. 0. 0. 1. ]] SLAMing on 12.032557844000001 meters Centerline goodness : 0.098608 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99935266 -0.00354856 0.03580035 -1.00132706] [ 0.00367931 0.9999868 -0.00358708 -0.11038863] [-0.03578715 0.00371648 0.99935252 0.69549172] [ 0. 0. 0. 1. ]] SLAMing on 12.062557844 meters Centerline goodness : 0.162862 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99934903 -0.00364705 0.03589182 -1.00143412] [ 0.00379296 0.99998482 -0.00399787 -0.10838375] [-0.03587669 0.00413141 0.99934768 0.69525984] [ 0. 0. 0. 1. ]] SLAMing on 12.092557844000002 meters Centerline goodness : 0.164846 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.11, Z:0.70 [[ 0.99934694 -0.00375184 0.03593896 -1.00147715] [ 0.00391271 0.99998263 -0.00440699 -0.10636521] [-0.0359218 0.00454473 0.99934427 0.69514109] [ 0. 0. 0. 1. ]] SLAMing on 12.122557844000001 meters Centerline goodness : 0.162428 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931927 -0.0020435 0.03683514 -1.00591411] [ 0.00215051 0.99999358 -0.00286562 -0.10265359] [-0.03682905 0.00294288 0.99931725 0.69783452] [ 0. 0. 0. 1. ]] SLAMing on 12.152557844 meters Centerline goodness : 0.163460 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.999319 -0.00217093 0.03683516 -1.00596705] [ 0.00228933 0.99999235 -0.00317245 -0.10130405] [-0.036828 0.00325462 0.99931632 0.6979481 ] [ 0. 0. 0. 1. ]] SLAMing on 12.182557844000002 meters Centerline goodness : 0.332143 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931936 -0.00228549 0.03681842 -1.00578811] [ 0.0024122 0.99999132 -0.00339728 -0.10040399] [-0.03681034 0.00348378 0.9993162 0.69761231] [ 0. 0. 0. 1. ]] SLAMing on 12.212557844 meters Centerline goodness : 0.332143 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931936 -0.00228549 0.03681842 -1.00578811] [ 0.0024122 0.99999132 -0.00339728 -0.10040399] [-0.03681034 0.00348378 0.9993162 0.69761231] [ 0. 0. 0. 1. ]] SLAMing on 12.242557844 meters Centerline goodness : 0.134545 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931948 -0.00237753 0.03680919 -1.00560053] [ 0.00251064 0.99999048 -0.00357023 -0.09970002] [-0.03680035 0.00366022 0.99931593 0.69725023] [ 0. 0. 0. 1. ]] SLAMing on 12.272557844000001 meters Centerline goodness : 0.163569 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931731 -0.0024535 0.03686319 -1.0056248 ] [ 0.00259446 0.9999895 -0.00377651 -0.09870736] [-0.03685354 0.00386958 0.99931319 0.69702051] [ 0. 0. 0. 1. ]] SLAMing on 12.302557844 meters Centerline goodness : 0.302244 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.10, Z:0.70 [[ 0.99931329 -0.00263284 0.03695966 -1.00585271] [ 0.00279714 0.99998643 -0.00439459 -0.09560157] [-0.03694759 0.00449495 0.9993071 0.69709244] [ 0. 0. 0. 1. ]] SLAMing on 12.332557844000002 meters Centerline goodness : 0.197711 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99931279 -0.00272647 0.03696629 -1.00602254] [ 0.00290211 0.99998475 -0.00469854 -0.09418612] [-0.03695292 0.00480259 0.99930547 0.69741108] [ 0. 0. 0. 1. ]] SLAMing on 12.362557844000001 meters Centerline goodness : 0.193599 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99931425 -0.00281995 0.03691975 -1.00589376] [ 0.00300617 0.99998303 -0.00498949 -0.09285939] [-0.03690505 0.00509706 0.99930578 0.69739391] [ 0. 0. 0. 1. ]] SLAMing on 12.392557844 meters Centerline goodness : 0.190398 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.09, Z:0.70 [[ 0.99936826 0.00554057 0.03510525 -1.02603879] [-0.00532374 0.99996619 -0.00626693 -0.09482833] [-0.03513878 0.00607608 0.99936397 0.69743752] [ 0. 0. 0. 1. ]] SLAMing on 12.422557844000002 meters Centerline goodness : 0.133374 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.09, Z:0.70 [[ 0.99941153 -0.00223374 0.03422866 -1.00600181] [ 0.00241272 0.99998363 -0.00518841 -0.09012786] [-0.03421651 0.00526795 0.99940056 0.6980483 ] [ 0. 0. 0. 1. ]] SLAMing on 12.452557844000001 meters Centerline goodness : 0.194465 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99939178 -0.01054474 0.03323961 -1.0260615 ] [ 0.01068699 0.99993447 -0.00410467 -0.08316299] [-0.03319415 0.0044574 0.99943898 0.69763349] [ 0. 0. 0. 1. ]] SLAMing on 12.482557844 meters Centerline goodness : 0.190695 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.9993881 -0.0106169 0.03332719 -1.02628173] [ 0.01076552 0.99993288 -0.00428304 -0.0824121 ] [-0.03327948 0.0046392 0.99943532 0.69764466] [ 0. 0. 0. 1. ]] SLAMing on 12.512557844000002 meters Centerline goodness : 0.308431 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99938576 -0.01070443 0.03336928 -1.02631568] [ 0.01086044 0.99993091 -0.00449752 -0.08145074] [-0.03331883 0.00485716 0.99943297 0.69748876] [ 0. 0. 0. 1. ]] SLAMing on 12.542557844000001 meters Centerline goodness : 0.194342 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.08, Z:0.70 [[ 0.99938487 -0.01081325 0.03336108 -1.02621269] [ 0.01097954 0.99992818 -0.0048053 -0.08003101] [-0.03330672 0.00516863 0.99943181 0.69733174] [ 0. 0. 0. 1. ]] SLAMing on 12.572557844 meters Centerline goodness : 0.193061 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.70 [[ 0.99949651 -0.0026161 0.03162099 -1.04631227] [ 0.00281831 0.99997586 -0.00635183 -0.08125276] [-0.03160361 0.00643775 0.99947975 0.69726646] [ 0. 0. 0. 1. ]] SLAMing on 12.602557844000001 meters Centerline goodness : 0.131798 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.08, Z:0.70 [[ 0.99949866 -0.00268411 0.03154731 -1.04610035] [ 0.00288673 0.99997549 -0.00637905 -0.0811932 ] [-0.03152942 0.00646692 0.9994819 0.69710331] [ 0. 0. 0. 1. ]] SLAMing on 12.632557844 meters Centerline goodness : 0.187555 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.08, Z:0.70 [[ 0.9994675 -0.01171998 0.03045272 -1.06780313] [ 0.01189547 0.99991363 -0.00558797 -0.07757765] [-0.0303846 0.00594725 0.99952059 0.69756854] [ 0. 0. 0. 1. ]] SLAMing on 12.662557844 meters Centerline goodness : 0.159257 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.70 [[ 0.99949025 -0.00595616 0.0313649 -1.04478787] [ 0.00623195 0.99994271 -0.00870272 -0.08116808] [-0.03131127 0.00889375 0.99947011 0.69533006] [ 0. 0. 0. 1. ]] SLAMing on 12.692557844000001 meters Centerline goodness : 0.152035 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99954844 0.00184099 0.02999213 -1.06437411] [-0.001526 0.99994348 -0.0105221 -0.08585279] [-0.03000981 0.01047158 0.99949475 0.69467053] [ 0. 0. 0. 1. ]] SLAMing on 12.722557844 meters Centerline goodness : 0.186247 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99955307 0.00182861 0.02983801 -1.06390337] [-0.00151653 0.99994395 -0.01047875 -0.08625417] [-0.0298555 0.01042881 0.99949982 0.69440655] [ 0. 0. 0. 1. ]] SLAMing on 12.752557844000002 meters Centerline goodness : 0.130504 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.69 [[ 0.99955914 0.00179317 0.02963633 -1.06345149] [-0.00147926 0.99994261 -0.01061061 -0.08563761] [-0.02965366 0.01056209 0.99950443 0.69452741] [ 0. 0. 0. 1. ]] SLAMing on 12.782557844000001 meters Centerline goodness : 0.148255 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.69 [[ 0.99956243 0.00175928 0.02952718 -1.06336312] [-0.00144022 0.99994039 -0.01082337 -0.08442189] [-0.02954446 0.0107761 0.99950538 0.69492449] [ 0. 0. 0. 1. ]] SLAMing on 12.812557844 meters Centerline goodness : 0.179329 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.70 [[ 0.99956054 0.00180812 0.02958825 -1.06407903] [-0.00148088 0.99993754 -0.01107785 -0.08253432] [-0.02960643 0.01102917 0.99950078 0.69613019] [ 0. 0. 0. 1. ]] SLAMing on 12.842557844000002 meters Centerline goodness : 0.147885 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.70 [[ 0.99955715 0.00179532 0.0297031 -1.06458058] [-0.00146441 0.99993667 -0.0111589 -0.08214825] [-0.02972126 0.01111046 0.99949648 0.69658015] [ 0. 0. 0. 1. ]] SLAMing on 12.872557844000001 meters Centerline goodness : 0.159901 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.08, Z:0.70 [[ 0.99955213 0.00180108 0.02987145 -1.06521432] [-0.00146855 0.99993676 -0.01115031 -0.08221216] [-0.02988964 0.01110144 0.99949155 0.69700868] [ 0. 0. 0. 1. ]] SLAMing on 12.902557844 meters Centerline goodness : 0.179478 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.70 [[ 0.99953522 -0.00670722 0.02973829 -1.08567341] [ 0.0070165 0.99992225 -0.01030792 -0.07703001] [-0.02966684 0.01051178 0.99950457 0.69693749] [ 0. 0. 0. 1. ]] SLAMing on 12.932557844000002 meters Centerline goodness : 0.180453 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:0.70 [[ 0.99953688 -0.00660951 0.02970436 -1.08552372] [ 0.00690737 0.99992678 -0.00993595 -0.07880977] [-0.02963652 0.01013653 0.99950934 0.69668971] [ 0. 0. 0. 1. ]] SLAMing on 12.962557844 meters Centerline goodness : 0.175943 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99954385 -0.0065295 0.0294867 -1.0848969 ] [ 0.00681597 0.99993045 -0.00962507 -0.08021568] [-0.0294218 0.00982166 0.99951883 0.69638385] [ 0. 0. 0. 1. ]] SLAMing on 12.992557844 meters Centerline goodness : 0.144947 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99955218 -0.0064412 0.02922255 -1.0840961 ] [ 0.00671534 0.99993428 -0.00929236 -0.08175218] [-0.02916078 0.00948444 0.99952974 0.69597217] [ 0. 0. 0. 1. ]] SLAMing on 13.022557844000001 meters Centerline goodness : 0.146970 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.70 [[ 0.99956179 -0.00632557 0.02891724 -1.08326606] [ 0.00658562 0.99993865 -0.00890679 -0.08346148] [-0.02885913 0.00909333 0.99954213 0.69572533] [ 0. 0. 0. 1. ]] SLAMing on 13.052557844 meters Centerline goodness : 0.142969 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.70 [[ 0.99956512 -0.00613394 0.02884344 -1.08316617] [ 0.00637694 0.99994489 -0.00834007 -0.08599855] [-0.02879069 0.00852038 0.99954915 0.69581369] [ 0. 0. 0. 1. ]] SLAMing on 13.082557844000002 meters Centerline goodness : 0.125572 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.70 [[ 0.99956018 -0.00609658 0.02902207 -1.08378046] [ 0.00633716 0.99994626 -0.00820467 -0.08677908] [-0.02897049 0.00838498 0.9995451 0.6961318 ] [ 0. 0. 0. 1. ]] SLAMing on 13.112557844000001 meters Centerline goodness : 0.111581 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.70 [[ 0.99957238 0.00223658 0.02915576 -1.10572351] [-0.00196226 0.99995357 -0.00943404 -0.09054252] [-0.0291755 0.00937279 0.99953036 0.6961979 ] [ 0. 0. 0. 1. ]] SLAMing on 13.142557844 meters Centerline goodness : 0.132312 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.70 [[ 0.99957052 0.00224645 0.02921853 -1.10605669] [-0.00196783 0.99995236 -0.00956083 -0.0899258 ] [-0.02923862 0.00949922 0.99952732 0.69663744] [ 0. 0. 0. 1. ]] SLAMing on 13.172557844000002 meters Centerline goodness : 0.170905 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:0.70 [[ 0.99956445 0.00619521 0.0288535 -1.10491 ] [-0.00603142 0.99996522 -0.00576029 -0.08827732] [-0.02888818 0.00558376 0.99956705 0.69633306] [ 0. 0. 0. 1. ]] SLAMing on 13.202557844000001 meters Centerline goodness : 0.263085 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:0.70 [[ 0.9995832 0.00632813 0.02816697 -1.10300344] [-0.00616002 0.99996272 -0.00605081 -0.08625474] [-0.02820421 0.00587477 0.99958492 0.69604234] [ 0. 0. 0. 1. ]] SLAMing on 13.232557844 meters Centerline goodness : 0.116127 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.08, Z:0.70 [[ 0.99959149 0.00636764 0.02786214 -1.10218179] [-0.00619245 0.99996054 -0.00636947 -0.08453135] [-0.0279016 0.00619434 0.99959148 0.69599869] [ 0. 0. 0. 1. ]] SLAMing on 13.262557844000002 meters Centerline goodness : 0.177418 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.08, Z:0.70 [[ 0.99959426 0.00632546 0.02777226 -1.10216857] [-0.00614193 0.99995877 -0.00668875 -0.08308957] [-0.02781343 0.00651546 0.9995919 0.69647096] [ 0. 0. 0. 1. ]] SLAMing on 13.292557844000001 meters Centerline goodness : 0.112473 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.08, Z:0.70 [[ 0.99955949 0.00672326 0.02890702 -1.10585307] [-0.00652954 0.99995563 -0.00679052 -0.08153116] [-0.02895139 0.00659878 0.99955904 0.69829979] [ 0. 0. 0. 1. ]] SLAMing on 13.322557844 meters Centerline goodness : 0.164047 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99591920e-01 3.72363571e-04 2.85631643e-02 -1.13015988e+00] [-2.60091381e-04 9.99992227e-01 -3.93427817e-03 -7.83389072e-02] [-2.85644072e-02 3.92524364e-03 9.99584247e-01 7.00686280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352557844000001 meters Centerline goodness : 0.143393 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99594942e-01 3.60885507e-04 2.84573603e-02 -1.13004171e+00] [-2.46308508e-04 9.99991851e-01 -4.02967200e-03 -7.79490843e-02] [-2.84585826e-02 4.02103046e-03 9.99586885e-01 7.00955825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382557844 meters Centerline goodness : 0.140392 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99595658e-01 3.49169639e-04 2.84323488e-02 -1.13001708e+00] [-2.33728695e-04 9.99991717e-01 -4.06341944e-03 -7.79164707e-02] [-2.84335321e-02 4.05513097e-03 9.99587460e-01 7.01023648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412557844000002 meters Centerline goodness : 0.296092 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99594348e-01 3.39179996e-04 2.84785011e-02 -1.13029381e+00] [-2.21354530e-04 9.99991404e-01 -4.14039851e-03 -7.75815229e-02] [-2.84796606e-02 4.13241510e-03 9.99585830e-01 7.01346438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442557844000001 meters Centerline goodness : 0.169044 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99582419e-01 4.88885140e-04 2.88920000e-02 -1.13189283e+00] [-3.68097810e-04 9.99991172e-01 -4.18582045e-03 -7.68642864e-02] [-2.88937914e-02 4.17343745e-03 9.99573775e-01 7.02496853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472557844 meters Centerline goodness : 0.153411 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.08, Z:0.70 [[ 9.99577095e-01 4.96242249e-04 2.90755037e-02 -1.13282351e+00] [-3.72461461e-04 9.99990846e-01 -4.26248028e-03 -7.64001027e-02] [-2.90773528e-02 4.24984815e-03 9.99568130e-01 7.03461883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502557844000002 meters Centerline goodness : 0.281275 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954036 -0.00789561 0.02927004 -1.15394889] [ 0.00800562 0.99996132 -0.00364333 -0.07061421] [-0.02924015 0.00387598 0.9995649 0.70411893] [ 0. 0. 0. 1. ]] SLAMing on 13.532557844000001 meters Centerline goodness : 0.291720 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954228 -0.00793701 0.02919316 -1.15380932] [ 0.00804841 0.99996076 -0.00370052 -0.07058588] [-0.02916265 0.00393379 0.99956694 0.70421475] [ 0. 0. 0. 1. ]] SLAMing on 13.562557844 meters Centerline goodness : 0.196678 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:0.70 [[ 0.99954594 -0.00792485 0.02907062 -1.1533773 ] [ 0.00803602 0.99996083 -0.00370905 -0.07049365] [-0.02904008 0.00394098 0.99957048 0.70394721] [ 0. 0. 0. 1. ]] SLAMing on 13.592557844000002 meters Centerline goodness : 0.222174 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 0.99963785 -0.00705549 0.02596882 -1.19913473] [ 0.00713642 0.99996996 -0.00302512 -0.06958902] [-0.02594669 0.00320935 0.99965818 0.70713378] [ 0. 0. 0. 1. ]] SLAMing on 13.622557844000001 meters Centerline goodness : 0.224302 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 0.99963886 -0.00710842 0.02591549 -1.19897119] [ 0.00719466 0.99996888 -0.00323605 -0.06852783] [-0.02589169 0.00342133 0.9996589 0.70707234] [ 0. 0. 0. 1. ]] SLAMing on 13.652557844 meters Centerline goodness : 0.172450 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 9.99679427e-01 -4.38108373e-03 2.49369256e-02 -1.19616342e+00] [ 4.39425532e-03 9.99990233e-01 -4.73422339e-04 -6.64927032e-02] [-2.49346079e-02 5.82849790e-04 9.99688914e-01 7.06411302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844000002 meters Centerline goodness : 0.176401 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.07, Z:0.71 [[ 9.99682593e-01 -4.41632952e-03 2.48034154e-02 -1.19580704e+00] [ 4.43286003e-03 9.99989988e-01 -6.11516736e-04 -6.58084613e-02] [-2.48004664e-02 7.21272705e-04 9.99692161e-01 7.06357990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712557844 meters Centerline goodness : 0.184764 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970444 0.00427441 0.02393231 -1.21694513] [-0.00424022 0.99998992 -0.00147899 -0.0691012 ] [-0.02393839 0.00137708 0.99971249 0.70651911] [ 0. 0. 0. 1. ]] SLAMing on 13.742557844 meters Centerline goodness : 0.126556 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970523 0.00425607 0.02390277 -1.2169895 ] [-0.00421898 0.99998982 -0.00160196 -0.06844767] [-0.02390934 0.00150064 0.999713 0.70674694] [ 0. 0. 0. 1. ]] SLAMing on 13.772557844000001 meters Centerline goodness : 0.173400 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99970121 0.00421166 0.02407789 -1.21760569] [-0.0041708 0.99998978 -0.00174676 -0.06776373] [-0.024085 0.00164581 0.99970856 0.70710177] [ 0. 0. 0. 1. ]] SLAMing on 13.802557844 meters Centerline goodness : 0.198604 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:0.71 [[ 0.99969413 0.00409939 0.02438944 -1.21866385] [-0.00404928 0.99998959 -0.0021037 -0.06620901] [-0.02439781 0.0020043 0.99970032 0.70769942] [ 0. 0. 0. 1. ]] SLAMing on 13.832557844000002 meters Centerline goodness : 0.168405 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:0.71 [[ 0.99972037 -0.00438811 0.02323629 -1.23834334] [ 0.00442156 0.99998926 -0.00138868 -0.05983479] [-0.02322995 0.00149103 0.99972904 0.7076047 ] [ 0. 0. 0. 1. ]] SLAMing on 13.862557844000001 meters Centerline goodness : 0.332079 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.06, Z:0.71 [[ 0.99972108 0.00429039 0.02322415 -1.2162454 ] [-0.00424539 0.99998902 -0.00198641 -0.06314223] [-0.02323242 0.00188726 0.99972831 0.70685799] [ 0. 0. 0. 1. ]] SLAMing on 13.892557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 13.922557844000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 13.952557844000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 13.982557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.012557844000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.042557844000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.072557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.102557844000001 meters Centerline goodness : 0.187889 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 9.99313224e-01 2.50421532e-02 2.73124561e-02 -1.24997836e+00] [-2.50237702e-02 9.99686341e-01 -1.01470307e-03 -4.23427056e-02] [-2.73292996e-02 3.30545570e-04 9.99626430e-01 7.05058929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.162557844000002 meters Centerline goodness : 0.173395 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.70 [[ 9.99331737e-01 2.49621181e-02 2.67015385e-02 -1.24847385e+00] [-2.49323866e-02 9.99688094e-01 -1.44587473e-03 -4.04609434e-02] [-2.67293022e-02 7.79175429e-04 9.99642405e-01 7.04876823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192557844000001 meters Centerline goodness : 0.181060 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99956361 0.01162448 0.02715638 -1.25214671] [-0.01169332 0.9999288 0.00237746 -0.03658636] [-0.02712681 -0.00269397 0.99962837 0.70624645] [ 0. 0. 0. 1. ]] SLAMing on 14.222557844 meters Centerline goodness : 0.182432 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99955754 0.0116562 0.02736535 -1.25290849] [-0.0117294 0.99992804 0.00251573 -0.0372474 ] [-0.02733406 -0.0028356 0.99962233 0.70677343] [ 0. 0. 0. 1. ]] SLAMing on 14.252557844000002 meters Centerline goodness : 0.183327 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99955968 0.0116298 0.02729823 -1.25272837] [-0.01170507 0.99992812 0.00259895 -0.03789814] [-0.02726604 -0.00291733 0.99962396 0.70677138] [ 0. 0. 0. 1. ]] SLAMing on 14.282557844000001 meters Centerline goodness : 0.180438 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:0.71 [[ 0.99957318 0.01165165 0.02678972 -1.25100966] [-0.01172753 0.99992765 0.00267702 -0.03826381] [-0.02675659 -0.00299006 0.99963751 0.70587865] [ 0. 0. 0. 1. ]] SLAMing on 14.312557844 meters Centerline goodness : 0.086478 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:0.71 [[ 0.9996874 0.00467214 0.02456167 -1.27230279] [-0.00480214 0.99997476 0.00523667 -0.03598745] [-0.02453658 -0.00535298 0.9996846 0.70723606] [ 0. 0. 0. 1. ]] SLAMing on 14.342557844000002 meters Centerline goodness : 0.151061 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:0.71 [[ 0.99968572 0.00469151 0.02462624 -1.27260396] [-0.00482282 0.99997445 0.00527551 -0.03611013] [-0.02460086 -0.00539262 0.99968281 0.70751699] [ 0. 0. 0. 1. ]] SLAMing on 14.372557844000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.402557844 meters Centerline goodness : 0.098085 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966902 0.00472926 0.02528787 -1.27533625] [-0.00486599 0.99997386 0.0053483 -0.03663776] [-0.02526191 -0.00546958 0.9996659 0.70969119] [ 0. 0. 0. 1. ]] SLAMing on 14.432557844000002 meters Centerline goodness : 0.144813 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966764 0.00477581 0.02533369 -1.27553819] [-0.00491611 0.99997291 0.00547879 -0.03727156] [-0.02530684 -0.00560151 0.99966404 0.70985475] [ 0. 0. 0. 1. ]] SLAMing on 14.462557844 meters Centerline goodness : 0.169961 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966731 0.0048375 0.02533524 -1.27556355] [-0.00498319 0.99997139 0.00569083 -0.03826313] [-0.02530699 -0.00581518 0.99966281 0.70988076] [ 0. 0. 0. 1. ]] SLAMing on 14.492557844000002 meters Centerline goodness : 0.095667 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:0.71 [[ 0.99966793 0.00492559 0.02529357 -1.27546154] [-0.00507766 0.9999694 0.00595131 -0.03947067] [-0.02526348 -0.00607777 0.99966235 0.70987293] [ 0. 0. 0. 1. ]] SLAMing on 14.522557844000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 14.552557844 meters Centerline goodness : 0.146803 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.04, Z:0.71 [[ 0.99971888 0.00485651 0.02320713 -1.32251437] [-0.00500847 0.99996637 0.0064942 -0.0449257 ] [-0.02317481 -0.00660861 0.99970959 0.71331503] [ 0. 0. 0. 1. ]] SLAMing on 14.582557844000002 meters Centerline goodness : 0.085413 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.05, Z:0.71 [[ 0.99968601 0.00447097 0.02465543 -1.27725152] [-0.00462185 0.99997092 0.00606563 -0.04501273] [-0.0246276 -0.00617767 0.99967761 0.71120346] [ 0. 0. 0. 1. ]] SLAMing on 14.612557844000001 meters Centerline goodness : 0.170358 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976186 0.00413148 0.02142798 -1.32023519] [-0.00425804 0.99997374 0.00586409 -0.04708216] [-0.02140319 -0.00595393 0.9997532 0.7125877 ] [ 0. 0. 0. 1. ]] SLAMing on 14.642557844 meters Centerline goodness : 0.098444 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976857 0.00423753 0.02109156 -1.31904561] [-0.00436764 0.9999717 0.00612634 -0.0482975 ] [-0.021065 -0.00621704 0.99975878 0.71184153] [ 0. 0. 0. 1. ]] SLAMing on 14.672557844000002 meters Centerline goodness : 0.100208 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99977113 0.00447783 0.02091964 -1.3183759 ] [-0.00461933 0.99996674 0.00672093 -0.05098756] [-0.02088885 -0.00681603 0.99975857 0.71138842] [ 0. 0. 0. 1. ]] SLAMing on 14.702557844000001 meters Centerline goodness : 0.190451 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.9997683 0.00457602 0.02103329 -1.3188722 ] [-0.00472383 0.99996446 0.0069831 -0.05222858] [-0.02100058 -0.00708084 0.99975439 0.71183371] [ 0. 0. 0. 1. ]] SLAMing on 14.732557844 meters Centerline goodness : 0.183455 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99976469 0.00466449 0.02118511 -1.31950569] [-0.00481792 0.99996249 0.0071974 -0.05323799] [-0.02115074 -0.00729778 0.99974966 0.71232945] [ 0. 0. 0. 1. ]] SLAMing on 14.762557844000002 meters Centerline goodness : 0.220766 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99975943 0.00479869 0.02140237 -1.3204056 ] [-0.0049591 0.99995996 0.00744853 -0.05421683] [-0.02136577 -0.00755287 0.9997432 0.71298202] [ 0. 0. 0. 1. ]] SLAMing on 14.792557844000001 meters Centerline goodness : 0.181966 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.05, Z:0.71 [[ 0.99975911 0.00482985 0.0214101 -1.32042002] [-0.00499168 0.99995933 0.0075115 -0.05453288] [-0.02137295 -0.00761657 0.99974256 0.71297084] [ 0. 0. 0. 1. ]] SLAMing on 14.822557844 meters Centerline goodness : 0.185162 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982563 0.00415404 0.0182056 -1.36409592] [-0.00427989 0.99996718 0.00687921 -0.055971 ] [-0.01817643 -0.00695593 0.9998106 0.71460698] [ 0. 0. 0. 1. ]] SLAMing on 14.852557844000001 meters Centerline goodness : 0.125384 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982932 0.00417811 0.01799656 -1.36317692] [-0.0043048 0.99996618 0.00700708 -0.05685217] [-0.01796667 -0.00708336 0.99981349 0.71382714] [ 0. 0. 0. 1. ]] SLAMing on 14.882557844 meters Centerline goodness : 0.036316 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982945 0.0042872 0.01796365 -1.36303619] [-0.00441757 0.99996415 0.00722377 -0.05780512] [-0.01793204 -0.00730189 0.99981254 0.71364064] [ 0. 0. 0. 1. ]] SLAMing on 14.912557844000002 meters Centerline goodness : 0.181872 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982756 0.00434989 0.01805351 -1.36347024] [-0.00448255 0.99996321 0.00731404 -0.0579983 ] [-0.01802103 -0.0073937 0.99981027 0.71401058] [ 0. 0. 0. 1. ]] SLAMing on 14.942557844000001 meters Centerline goodness : 0.302419 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.71 [[ 0.99982655 0.00444422 0.01808635 -1.36389429] [-0.00458112 0.99996112 0.00753508 -0.05889802] [-0.01805216 -0.00761663 0.99980803 0.71464152] [ 0. 0. 0. 1. ]] SLAMing on 14.972557844 meters Centerline goodness : 0.036858 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.72 [[ 9.99837477e-01 1.05226218e-03 1.79975787e-02 -1.36419864e+00] [-1.12334711e-03 9.99991607e-01 3.94004072e-03 -5.89655805e-02] [-1.79932817e-02 -3.95961789e-03 9.99830267e-01 7.15288126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002557844000002 meters Centerline goodness : 0.125372 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.06, Z:0.72 [[ 9.99837259e-01 9.98181727e-04 1.80127531e-02 -1.36451320e+00] [-1.08193571e-03 9.99988647e-01 4.64055852e-03 -6.33066292e-02] [-1.80079165e-02 -4.65929195e-03 9.99826988e-01 7.15869040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032557844000001 meters Centerline goodness : 0.152263 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.07, Z:0.72 [[ 9.99835712e-01 1.16134832e-03 1.80886548e-02 -1.36478115e+00] [-1.25517597e-03 9.99985814e-01 5.17661038e-03 -6.57657140e-02] [-1.80823863e-02 -5.19846437e-03 9.99822986e-01 7.16083727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557844 meters Centerline goodness : 0.111896 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.07, Z:0.72 [[ 9.99832567e-01 1.31491798e-03 1.82512769e-02 -1.36538722e+00] [-1.41848452e-03 9.99982961e-01 5.66269658e-03 -6.80180170e-02] [-1.82435199e-02 -5.68763761e-03 9.99817396e-01 7.16500686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092557844000002 meters Centerline goodness : 0.146518 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:0.72 [[ 9.99774947e-01 5.21124035e-04 2.12081174e-02 -1.32289265e+00] [-6.21615494e-04 9.99988611e-01 4.73203238e-03 -6.88564300e-02] [-2.12054099e-02 -4.74415072e-03 9.99763884e-01 7.15613684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122557844000001 meters Centerline goodness : 0.129448 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:0.72 [[ 9.99773929e-01 5.85123502e-04 2.12543928e-02 -1.32323658e+00] [-6.92069664e-04 9.99987137e-01 5.02471339e-03 -7.05124731e-02] [-2.12511793e-02 -5.03828697e-03 9.99761473e-01 7.16061161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152557844 meters Centerline goodness : 0.149779 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.07, Z:0.72 [[ 9.99829824e-01 1.50710244e-06 1.84478521e-02 -1.36831500e+00] [-9.26433496e-05 9.99987797e-01 4.93935552e-03 -7.35582494e-02] [-1.84476195e-02 -4.94022403e-03 9.99817623e-01 7.18371874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182557844000002 meters Centerline goodness : 0.159593 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.08, Z:0.72 [[ 9.99833981e-01 3.79479151e-04 1.82172282e-02 -1.36724085e+00] [-4.85973560e-04 9.99982819e-01 5.84173653e-03 -7.71288065e-02] [-1.82146984e-02 -5.84961978e-03 9.99816987e-01 7.17409318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212557844 meters Centerline goodness : 0.244508 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.08, Z:0.72 [[ 9.99834626e-01 6.03701689e-04 1.81757055e-02 -1.36705929e+00] [-7.22421493e-04 9.99978445e-01 6.52592807e-03 -8.03163074e-02] [-1.81713740e-02 -6.53797937e-03 9.99813511e-01 7.17311243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242557844000002 meters Centerline goodness : 0.187507 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.99982604 -0.00305532 0.01840008 -1.36804806] [ 0.00298517 0.99998818 0.0038386 -0.08773993] [-0.01841159 -0.00378301 0.99982334 0.71819351] [ 0. 0. 0. 1. ]] SLAMing on 15.272557844000001 meters Centerline goodness : 0.152270 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.99982312 -0.00306321 0.01855648 -1.36858664] [ 0.00297782 0.99998486 0.00462759 -0.09232973] [-0.01857038 -0.00457152 0.9998171 0.71854369] [ 0. 0. 0. 1. ]] SLAMing on 15.302557844 meters Centerline goodness : 0.208698 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99982415 -0.00289286 0.0185285 -1.36870915] [ 0.00279186 0.99998112 0.00547449 -0.09632259] [-0.01854399 -0.0054218 0.99981334 0.71883141] [ 0. 0. 0. 1. ]] SLAMing on 15.332557844000002 meters Centerline goodness : 0.112170 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99982153 -0.00263577 0.01870702 -1.36925424] [ 0.00251773 0.99997679 0.00633047 -0.10007311] [-0.01872327 -0.00628224 0.99980497 0.71903172] [ 0. 0. 0. 1. ]] SLAMing on 15.362557844000001 meters Centerline goodness : 0.295236 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 0.99981142 -0.00252964 0.01925405 -1.37092534] [ 0.00239369 0.99997207 0.00708089 -0.10402688] [-0.01927143 -0.00703347 0.99978955 0.71978366] [ 0. 0. 0. 1. ]] SLAMing on 15.392557844 meters Centerline goodness : 0.147253 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 0.9997752 -0.0022774 0.02108011 -1.32718532] [ 0.00213618 0.99997515 0.00671895 -0.10449093] [-0.02109488 -0.0066724 0.99975521 0.71876618] [ 0. 0. 0. 1. ]] SLAMing on 15.422557844000002 meters Centerline goodness : 0.139323 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 0.99977994 -0.00216715 0.02086546 -1.32646782] [ 0.00202749 0.99997542 0.00671225 -0.10415175] [-0.0208795 -0.00666847 0.99975976 0.71851297] [ 0. 0. 0. 1. ]] SLAMing on 15.452557844000001 meters Centerline goodness : 0.186103 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99977672 0.00684218 0.01999231 -1.34829739] [-0.00696902 0.99995598 0.00628199 -0.10699792] [-0.01994845 -0.00641991 0.9997804 0.71866219] [ 0. 0. 0. 1. ]] SLAMing on 15.482557844 meters Centerline goodness : 0.151558 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99811273e-01 -4.29296932e-05 1.94271868e-02 -1.32888362e+00] [-1.05044278e-04 9.99970994e-01 7.61576561e-03 -1.00603091e-01] [-1.94269502e-02 -7.61636902e-03 9.99782269e-01 7.19677293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512557844000002 meters Centerline goodness : 0.183024 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99816995e-01 -2.29239242e-04 1.91291286e-02 -1.32806901e+00] [ 9.35665328e-05 9.99974840e-01 7.09306041e-03 -9.85610390e-02] [-1.91302733e-02 -7.08997250e-03 9.99791861e-01 7.19544722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542557844000001 meters Centerline goodness : 0.147054 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99820151e-01 -2.88634823e-04 1.89626793e-02 -1.32755338e+00] [ 1.55893568e-04 9.99975479e-01 7.00123715e-03 -9.84031454e-02] [-1.89642351e-02 -6.99702182e-03 9.99795679e-01 7.19316793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572557844000002 meters Centerline goodness : 0.148045 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.10, Z:0.72 [[ 0.99981211 0.00778368 0.01775296 -1.34700155] [-0.00788172 0.99995404 0.00545875 -0.1041675 ] [-0.01770966 -0.00559765 0.9998275 0.71883727] [ 0. 0. 0. 1. ]] SLAMing on 15.602557844000001 meters Centerline goodness : 0.189935 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.10, Z:0.72 [[ 0.99981032 0.00776488 0.01786144 -1.3471669 ] [-0.0078643 0.99995394 0.0055025 -0.10433201] [-0.01781789 -0.00564193 0.99982533 0.71853666] [ 0. 0. 0. 1. ]] SLAMing on 15.632557844 meters Centerline goodness : 0.166068 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99806327e-01 -3.04968399e-04 1.96777685e-02 -1.32787127e+00] [ 1.69689252e-04 9.99976345e-01 6.87602343e-03 -1.00198093e-01] [-1.96794000e-02 -6.87135262e-03 9.99782729e-01 7.19240117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662557844000002 meters Centerline goodness : 0.187768 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99804378e-01 -2.98157557e-04 1.97766771e-02 -1.32826023e+00] [ 1.61367072e-04 9.99976057e-01 6.91799298e-03 -1.00361467e-01] [-1.97782663e-02 -6.91344836e-03 9.99780488e-01 7.19499577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692557844000001 meters Centerline goodness : 0.111504 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99806640e-01 -3.33694167e-04 1.96614219e-02 -1.32799044e+00] [ 1.98107609e-04 9.99976192e-01 6.89761503e-03 -1.00410115e-01] [-1.96632555e-02 -6.89238623e-03 9.99782902e-01 7.19540999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722557844 meters Centerline goodness : 0.190084 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99812888e-01 -4.89811426e-04 1.93377845e-02 -1.32715671e+00] [ 3.61457380e-04 9.99977887e-01 6.64041159e-03 -9.98499075e-02] [-1.93406095e-02 -6.63217930e-03 9.99790956e-01 7.19395471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752557844000002 meters Centerline goodness : 0.115517 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99814385e-01 -5.45750338e-04 1.92587218e-02 -1.32696420e+00] [ 4.22500747e-04 9.99979410e-01 6.40316520e-03 -9.86660573e-02] [-1.92618198e-02 -6.39383985e-03 9.99794029e-01 7.19355108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782557844000001 meters Centerline goodness : 0.123147 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.10, Z:0.72 [[ 9.99811639e-01 -6.32894398e-04 1.93980966e-02 -1.32734180e+00] [ 5.15240459e-04 9.99981447e-01 6.06962887e-03 -9.69031485e-02] [-1.94015782e-02 -6.05849091e-03 9.99793415e-01 7.19365741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812557844 meters Centerline goodness : 0.164098 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99811080e-01 -7.03209601e-04 1.94244668e-02 -1.32714213e+00] [ 5.97282458e-04 9.99984924e-01 5.45854778e-03 -9.33588231e-02] [-1.94280124e-02 -5.44591466e-03 9.99796426e-01 7.18818609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842557844000002 meters Centerline goodness : 0.407619 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99813805e-01 -8.06486452e-04 1.92796295e-02 -1.32662834e+00] [ 7.05996089e-04 9.99986134e-01 5.21849414e-03 -9.23265299e-02] [-1.92835709e-02 -5.20391114e-03 9.99800512e-01 7.18502907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872557844000001 meters Centerline goodness : 0.186996 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99816418e-01 -8.64489620e-04 1.91411562e-02 -1.32628005e+00] [ 7.66035165e-04 9.99986444e-01 5.15033500e-03 -9.21303524e-02] [-1.91453491e-02 -5.13472669e-03 9.99803526e-01 7.18446775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902557844000002 meters Centerline goodness : 0.185783 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99818937e-01 -9.06058756e-04 1.90071706e-02 -1.32611970e+00] [ 8.09130390e-04 9.99986634e-01 5.10663901e-03 -9.19315598e-02] [-1.90115435e-02 -5.09033511e-03 9.99806306e-01 7.18678111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932557844000002 meters Centerline goodness : 0.203534 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99821159e-01 -9.66327082e-04 1.88869420e-02 -1.32564917e+00] [ 8.72904798e-04 9.99987348e-01 4.95401369e-03 -9.12258060e-02] [-1.88914903e-02 -4.93664120e-03 9.99809352e-01 7.18350092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962557844 meters Centerline goodness : 0.187031 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.09, Z:0.72 [[ 9.99822971e-01 -1.05932370e-03 1.87857564e-02 -1.32509520e+00] [ 9.71135266e-04 9.99988470e-01 4.70293236e-03 -9.01387048e-02] [-1.87905217e-02 -4.68385629e-03 9.99812471e-01 7.17742746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992557844000002 meters Centerline goodness : 0.186882 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:0.72 [[ 0.9998046 0.00745364 0.01830878 -1.34518898] [-0.00751848 0.9999657 0.00347498 -0.09315144] [-0.01828225 -0.00361195 0.99982634 0.71668343] [ 0. 0. 0. 1. ]] SLAMing on 16.022557843999998 meters Centerline goodness : 0.186882 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:0.72 [[ 0.9998046 0.00745364 0.01830878 -1.34518898] [-0.00751848 0.9999657 0.00347498 -0.09315144] [-0.01828225 -0.00361195 0.99982634 0.71668343] [ 0. 0. 0. 1. ]] SLAMing on 16.052557844 meters Centerline goodness : 0.289142 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.09, Z:0.72 [[ 0.99983085 0.00218953 0.01826151 -1.32467715] [-0.00231166 0.99997509 0.00666903 -0.08593512] [-0.01824645 -0.00671011 0.999811 0.7173681 ] [ 0. 0. 0. 1. ]] SLAMing on 16.082557844 meters Centerline goodness : 0.166934 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.08, Z:0.72 [[ 0.99983272 0.00210363 0.01816881 -1.32474736] [-0.00221865 0.99997762 0.00631245 -0.08413145] [-0.01815513 -0.00635171 0.99981501 0.71788845] [ 0. 0. 0. 1. ]] SLAMing on 16.112557844 meters Centerline goodness : 0.179345 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.08, Z:0.72 [[ 0.99983315 0.00200412 0.0181563 -1.32493066] [-0.00211309 0.99997986 0.00598433 -0.08260978] [-0.01814394 -0.00602169 0.99981725 0.71828177] [ 0. 0. 0. 1. ]] SLAMing on 16.142557844 meters Centerline goodness : 0.120627 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99983035 0.00193278 0.01831772 -1.32538958] [-0.00203689 0.99998187 0.00566617 -0.08104665] [-0.01830644 -0.00570252 0.99981616 0.7183966 ] [ 0. 0. 0. 1. ]] SLAMing on 16.172557844 meters Centerline goodness : 0.157951 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979829 0.00235591 0.01994582 -1.32979107] [-0.00246954 0.99998085 0.00567395 -0.07967265] [-0.01993207 -0.00572206 0.99978496 0.71915926] [ 0. 0. 0. 1. ]] SLAMing on 16.202557844 meters Centerline goodness : 0.174566 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979462 0.00233088 0.02013155 -1.3304216 ] [-0.00244237 0.99998181 0.00551549 -0.07882017] [-0.02011833 -0.00556353 0.99978213 0.71943843] [ 0. 0. 0. 1. ]] SLAMing on 16.232557844 meters Centerline goodness : 0.117633 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979766 0.00228224 0.01998566 -1.33005949] [-0.0023886 0.9999831 0.00529958 -0.07775023] [-0.01997323 -0.00534624 0.99978622 0.71938837] [ 0. 0. 0. 1. ]] SLAMing on 16.262557844 meters Centerline goodness : 0.381539 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99980197 0.00224838 0.01977285 -1.32941591] [-0.00234946 0.99998428 0.00509029 -0.07669284] [-0.0197611 -0.00513574 0.99979154 0.71909963] [ 0. 0. 0. 1. ]] SLAMing on 16.292557844 meters Centerline goodness : 0.174140 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99980439 0.00223208 0.01965182 -1.32912783] [-0.00232901 0.99998523 0.00491115 -0.07574307] [-0.01964057 -0.00495596 0.99979482 0.71904201] [ 0. 0. 0. 1. ]] SLAMing on 16.322557844 meters Centerline goodness : 0.169566 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979087 0.00249171 0.02029797 -1.33093691] [-0.00259572 0.99998363 0.00509942 -0.07611006] [-0.02028493 -0.00515104 0.99978097 0.71942607] [ 0. 0. 0. 1. ]] SLAMing on 16.352557844 meters Centerline goodness : 0.125223 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99978412 0.00257876 0.0206173 -1.3319634 ] [-0.00268888 0.99998226 0.00531521 -0.07716134] [-0.02060322 -0.0053695 0.99977331 0.71986558] [ 0. 0. 0. 1. ]] SLAMing on 16.382557844 meters Centerline goodness : 0.241534 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99978276 0.00267571 0.02067075 -1.33222355] [-0.00279143 0.99998058 0.00557162 -0.07847114] [-0.02065544 -0.00562811 0.99977081 0.72013413] [ 0. 0. 0. 1. ]] SLAMing on 16.412557844 meters Centerline goodness : 0.119067 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:0.72 [[ 0.99979234 0.00288642 0.02017309 -1.33061274] [-0.00300893 0.9999772 0.00604502 -0.08076762] [-0.02015519 -0.00610446 0.99977823 0.71943468] [ 0. 0. 0. 1. ]] SLAMing on 16.442557844 meters Centerline goodness : 0.234373 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.08, Z:0.72 [[ 0.99984558 0.00262155 0.01737647 -1.37638408] [-0.00273433 0.99997533 0.00646999 -0.08421267] [-0.01735908 -0.00651651 0.99982808 0.72194133] [ 0. 0. 0. 1. ]] SLAMing on 16.472557844 meters Centerline goodness : 0.226395 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984015 0.00271378 0.01767245 -1.37736391] [-0.00283195 0.99997378 0.0066649 -0.08508617] [-0.0176539 -0.00671389 0.99982162 0.722427 ] [ 0. 0. 0. 1. ]] SLAMing on 16.502557844 meters Centerline goodness : 0.164599 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99983289 0.00277656 0.01806907 -1.37876156] [-0.00289993 0.99997264 0.00680538 -0.08579713] [-0.01804968 -0.00685664 0.99981358 0.72319936] [ 0. 0. 0. 1. ]] SLAMing on 16.532557844 meters Centerline goodness : 0.121887 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99983222 0.00286204 0.01809255 -1.37850674] [-0.0029883 0.99997134 0.0069556 -0.08659872] [-0.01807212 -0.0070085 0.99981212 0.72257982] [ 0. 0. 0. 1. ]] SLAMing on 16.562557844 meters Centerline goodness : 0.123921 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984105 0.00293083 0.0175866 -1.37650756] [-0.00305234 0.99997163 0.00688687 -0.08613276] [-0.01756591 -0.00693946 0.99982163 0.7210616 ] [ 0. 0. 0. 1. ]] SLAMing on 16.592557843999998 meters Centerline goodness : 0.161431 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.09, Z:0.72 [[ 0.9998496 0.0029357 0.01709289 -1.37470753] [-0.00305053 0.99997293 0.0066956 -0.08517672] [-0.01707277 -0.00674673 0.99983149 0.71987594] [ 0. 0. 0. 1. ]] SLAMing on 16.622557844 meters Centerline goodness : 0.129075 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99981938 0.0111342 0.01540229 -1.39460203] [-0.01122144 0.99992142 0.00558896 -0.08990917] [-0.01533885 -0.00576079 0.99986576 0.71926172] [ 0. 0. 0. 1. ]] SLAMing on 16.652557844 meters Centerline goodness : 0.133879 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99982068 0.0111178 0.01532994 -1.39449598] [-0.01120355 0.99992201 0.00551927 -0.08964278] [-0.01526739 -0.00569003 0.99986726 0.71935108] [ 0. 0. 0. 1. ]] SLAMing on 16.682557843999998 meters Centerline goodness : 0.156731 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99985121 0.00311779 0.0169659 -1.37647032] [-0.00323008 0.99997303 0.00659574 -0.08561074] [-0.01694487 -0.00664956 0.99983431 0.72069986] [ 0. 0. 0. 1. ]] SLAMing on 16.712557844 meters Centerline goodness : 0.159224 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984895 0.00316423 0.01708976 -1.37692387] [-0.00327921 0.99997215 0.00670436 -0.08602193] [-0.01706807 -0.00675939 0.99983148 0.7209422 ] [ 0. 0. 0. 1. ]] SLAMing on 16.742557844 meters Centerline goodness : 0.274130 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984796 0.0032108 0.01713929 -1.37705717] [-0.00332827 0.99997114 0.00682992 -0.08654368] [-0.01711686 -0.00688592 0.99982978 0.72094135] [ 0. 0. 0. 1. ]] SLAMing on 16.772557843999998 meters Centerline goodness : 0.128375 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99984922 0.00323463 0.01706082 -1.37663231] [-0.00335414 0.99997001 0.00698098 -0.08735764] [-0.01703772 -0.00703715 0.99983008 0.72050684] [ 0. 0. 0. 1. ]] SLAMing on 16.802557844 meters Centerline goodness : 0.111582 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.09, Z:0.72 [[ 0.99985552 0.00323785 0.01668676 -1.37544576] [-0.00335781 0.99996869 0.00716568 -0.0885007 ] [-0.01666303 -0.00722068 0.99983509 0.72002525] [ 0. 0. 0. 1. ]] SLAMing on 16.832557844 meters Centerline goodness : 0.235830 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988219 -0.00567163 0.01426303 -1.39493051] [ 0.0055507 0.99994844 0.00850378 -0.08838595] [-0.01431052 -0.0084236 0.99986212 0.719521 ] [ 0. 0. 0. 1. ]] SLAMing on 16.862557844 meters Centerline goodness : 0.148564 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988525 -0.00556625 0.01408914 -1.39446927] [ 0.0054426 0.99994647 0.00879965 -0.08970591] [-0.01413736 -0.00872196 0.99986202 0.7195099 ] [ 0. 0. 0. 1. ]] SLAMing on 16.892557844 meters Centerline goodness : 0.145093 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.09, Z:0.72 [[ 0.99988668 -0.0053397 0.01407539 -1.39460205] [ 0.00520456 0.99994018 0.00962026 -0.0936721 ] [-0.01412592 -0.00954591 0.99985466 0.71999468] [ 0. 0. 0. 1. ]] SLAMing on 16.922557844 meters Centerline goodness : 0.153227 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99882967e-01 9.72559603e-04 1.52678134e-02 -1.37238832e+00] [-1.07391274e-03 9.99977434e-01 6.63155855e-03 -9.62889054e-02] [-1.52610193e-02 -6.64717874e-03 9.99861449e-01 7.18741983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952557844 meters Centerline goodness : 0.390948 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99881043e-01 1.16609770e-03 1.53798490e-02 -1.37262861e+00] [-1.27664612e-03 9.99973408e-01 7.18001599e-03 -9.88356325e-02] [-1.53710675e-02 -7.19879650e-03 9.99855943e-01 7.18742544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982557844 meters Centerline goodness : 0.147603 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.10, Z:0.72 [[ 9.99879369e-01 1.33846768e-03 1.54743954e-02 -1.37294499e+00] [-1.45740628e-03 9.99969466e-01 7.67743425e-03 -1.01097822e-01] [-1.54636469e-02 -7.69906059e-03 9.99850789e-01 7.18933415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012557844 meters Centerline goodness : 0.268105 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99984975 0.00730517 0.0157198 -1.39641181] [-0.00738534 0.99995999 0.00504775 -0.1066329 ] [-0.0156823 -0.00516308 0.99986369 0.7197743 ] [ 0. 0. 0. 1. ]] SLAMing on 17.042557844 meters Centerline goodness : 0.145571 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99986034 0.0042272 0.01616853 -1.39788107] [-0.00426001 0.99998893 0.00199562 -0.10952339] [-0.01615991 -0.00206422 0.99986729 0.72017905] [ 0. 0. 0. 1. ]] SLAMing on 17.072557844 meters Centerline goodness : 0.386390 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.11, Z:0.72 [[ 0.99987795 -0.00441836 0.01498514 -1.41839054] [ 0.00436904 0.99998494 0.00332182 -0.10720432] [-0.0149996 -0.00325594 0.9998822 0.71986025] [ 0. 0. 0. 1. ]] SLAMing on 17.102557844 meters Centerline goodness : 0.127373 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.11, Z:0.72 [[ 0.99984897 -0.00265519 0.01717532 -1.37501398] [ 0.00258423 0.99998804 0.00415247 -0.10547366] [-0.01718614 -0.00410745 0.99984387 0.71857155] [ 0. 0. 0. 1. ]] SLAMing on 17.132557844 meters Centerline goodness : 0.130095 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99983959 0.00583947 0.01693184 -1.39654274] [-0.00589767 0.99997686 0.00338994 -0.11145376] [-0.01691165 -0.00348925 0.9998509 0.71773918] [ 0. 0. 0. 1. ]] SLAMing on 17.162557844 meters Centerline goodness : 0.216196 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.11, Z:0.72 [[ 0.99984044 0.00586108 0.01687401 -1.39647409] [-0.00591974 0.9999766 0.00342897 -0.1118249 ] [-0.01685352 -0.00352831 0.99985174 0.71789768] [ 0. 0. 0. 1. ]] SLAMing on 17.192557844 meters Centerline goodness : 0.129612 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99981167 0.00689352 0.01814121 -1.35313822] [-0.00695034 0.99997113 0.0030707 -0.10966936] [-0.01811951 -0.00319621 0.99983072 0.71763668] [ 0. 0. 0. 1. ]] SLAMing on 17.222557844 meters Centerline goodness : 0.156095 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99981404 0.00729184 0.01785276 -1.35216102] [-0.0073531 0.99996729 0.00336829 -0.1099039 ] [-0.01782762 -0.00349893 0.99983495 0.71694299] [ 0. 0. 0. 1. ]] SLAMing on 17.252557844 meters Centerline goodness : 0.121077 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.9998174 0.00732718 0.01764857 -1.35114343] [-0.00738862 0.99996686 0.00341847 -0.11015309] [-0.01762293 -0.00354824 0.99983841 0.71594269] [ 0. 0. 0. 1. ]] SLAMing on 17.282557844 meters Centerline goodness : 0.122819 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.72 [[ 0.99982191 0.00732473 0.01739262 -1.35000914] [-0.00738745 0.99996643 0.00354464 -0.11108495] [-0.01736608 -0.0036725 0.99984245 0.71505441] [ 0. 0. 0. 1. ]] SLAMing on 17.312557844 meters Centerline goodness : 0.127334 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:0.72 [[ 0.99987708 -0.00212382 0.01553451 -1.37126922] [ 0.00206059 0.99998953 0.00408504 -0.11044844] [-0.01554303 -0.00405252 0.99987099 0.71528605] [ 0. 0. 0. 1. ]] SLAMing on 17.342557843999998 meters Centerline goodness : 0.125514 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:0.71 [[ 9.99861518e-01 4.26536044e-03 1.60857587e-02 -1.34764738e+00] [-4.28246107e-03 9.99990301e-01 1.02879495e-03 -1.11819284e-01] [-1.60812145e-02 -1.09753912e-03 9.99870087e-01 7.13655469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372557844 meters Centerline goodness : 0.126186 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.11, Z:0.71 [[ 0.99987956 -0.00505913 0.01467237 -1.36867772] [ 0.00502287 0.99998424 0.00250698 -0.11358297] [-0.01468482 -0.00243299 0.99988921 0.71394875] [ 0. 0. 0. 1. ]] SLAMing on 17.402557844 meters Centerline goodness : 0.128178 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.9998836 -0.00497662 0.01442281 -1.3680763 ] [ 0.00493347 0.99998325 0.00302621 -0.11622741] [-0.01443763 -0.0029547 0.99989141 0.71407784] [ 0. 0. 0. 1. ]] SLAMing on 17.432557843999998 meters Centerline goodness : 0.132574 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.12, Z:0.71 [[ 9.99888944e-01 1.52757237e-03 1.48244905e-02 -1.38693103e+00] [-1.54749219e-03 9.99997915e-01 1.33233245e-03 -1.24757243e-01] [-1.48224243e-02 -1.35512527e-03 9.99889224e-01 7.12588778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462557844 meters Centerline goodness : 0.155263 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.12, Z:0.71 [[ 0.9998708 -0.00814138 0.01385991 -1.40947516] [ 0.0081167 0.99996537 0.00183594 -0.12424769] [-0.01387438 -0.0017232 0.99990226 0.7136694 ] [ 0. 0. 0. 1. ]] SLAMing on 17.492557844 meters Centerline goodness : 0.131183 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.72 [[ 9.99889041e-01 3.28920406e-04 1.48928503e-02 -1.39058218e+00] [-3.37940114e-04 9.99999761e-01 6.03127636e-04 -1.28654457e-01] [-1.48926484e-02 -6.08093605e-04 9.99888913e-01 7.15056879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522557844 meters Centerline goodness : 0.128094 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.13, Z:0.72 [[ 9.99841966e-01 1.92009488e-03 1.76735831e-02 -1.34902372e+00] [-1.93970660e-03 9.99997522e-01 1.09258756e-03 -1.27098029e-01] [-1.76714415e-02 -1.12669646e-03 9.99843213e-01 7.15015464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552557844 meters Centerline goodness : 0.129138 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.99983829 -0.00699553 0.01656688 -1.36906411] [ 0.00696127 0.99997351 0.00212425 -0.12360551] [-0.01658131 -0.00200858 0.9998605 0.71456 ] [ 0. 0. 0. 1. ]] SLAMing on 17.582557844 meters Centerline goodness : 0.151708 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.71 [[ 0.99984073 -0.00701063 0.01641221 -1.36836326] [ 0.00697801 0.99997356 0.00204401 -0.12329246] [-0.01642611 -0.00192916 0.99986322 0.71388738] [ 0. 0. 0. 1. ]] SLAMing on 17.612557844 meters Centerline goodness : 0.128416 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988575 0.00154924 0.01503598 -1.38857549] [-0.00157264 0.99999757 0.00154416 -0.12795821] [-0.01503355 -0.00156763 0.99988576 0.71320428] [ 0. 0. 0. 1. ]] SLAMing on 17.642557844 meters Centerline goodness : 0.152374 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988654 0.00158728 0.01497991 -1.38841413] [-0.00161141 0.99999742 0.00159933 -0.12809752] [-0.01497733 -0.00162329 0.99988652 0.71312997] [ 0. 0. 0. 1. ]] SLAMing on 17.672557844 meters Centerline goodness : 0.171707 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99988983 0.0016498 0.01475142 -1.387967 ] [-0.0016763 0.999997 0.00178411 -0.12899327] [-0.01474843 -0.00180864 0.9998896 0.71339922] [ 0. 0. 0. 1. ]] SLAMing on 17.702557844 meters Centerline goodness : 0.124399 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.13, Z:0.71 [[ 0.99989185 0.00174579 0.01460281 -1.38788107] [-0.00177654 0.99999623 0.00209299 -0.13043029] [-0.0145991 -0.00211871 0.99989118 0.71398826] [ 0. 0. 0. 1. ]] SLAMing on 17.732557844 meters Centerline goodness : 0.150654 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.13, Z:0.72 [[ 0.99985546 -0.00591037 0.01594138 -1.36796952] [ 0.00584813 0.9999751 0.00394859 -0.13027323] [-0.01596432 -0.00385479 0.99986513 0.71539802] [ 0. 0. 0. 1. ]] SLAMing on 17.762557844 meters Centerline goodness : 0.127518 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.13, Z:0.72 [[ 0.99985298 -0.00570869 0.01616849 -1.36886227] [ 0.00563616 0.99997387 0.00452771 -0.13285877] [-0.01619392 -0.00443592 0.99985903 0.71608352] [ 0. 0. 0. 1. ]] SLAMing on 17.792557844 meters Centerline goodness : 0.125705 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.14, Z:0.72 [[ 0.99984964 -0.00554608 0.01642976 -1.36993166] [ 0.00546411 0.99997242 0.00502983 -0.13525895] [-0.0164572 -0.0049393 0.99985237 0.71698656] [ 0. 0. 0. 1. ]] SLAMing on 17.822557844 meters Centerline goodness : 0.124065 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99850249e-01 -6.99295103e-05 1.73053298e-02 -1.39453137e+00] [ 3.37936025e-05 9.99997819e-01 2.08842110e-03 -1.40810916e-01] [-1.73054381e-02 -2.08752355e-03 9.99848070e-01 7.18211760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852557844 meters Centerline goodness : 0.121941 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.14, Z:0.72 [[ 9.99847955e-01 1.72480233e-04 1.74366690e-02 -1.39505848e+00] [-2.18796098e-04 9.99996453e-01 2.65436077e-03 -1.43232386e-01] [-1.74361493e-02 -2.65777226e-03 9.99844446e-01 7.18657189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882557844 meters Centerline goodness : 0.121941 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.14, Z:0.72 [[ 9.99847955e-01 1.72480233e-04 1.74366690e-02 -1.39505848e+00] [-2.18796098e-04 9.99996453e-01 2.65436077e-03 -1.43232386e-01] [-1.74361493e-02 -2.65777226e-03 9.99844446e-01 7.18657189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912557844 meters Centerline goodness : 0.160637 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99848024e-01 3.21935279e-04 1.74305837e-02 -1.39488460e+00] [-3.70790125e-04 9.99996012e-01 2.79966405e-03 -1.43519781e-01] [-1.74296129e-02 -2.80570166e-03 9.99844156e-01 7.18309527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942557844 meters Centerline goodness : 0.166649 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.72 [[ 9.99849706e-01 4.38549148e-04 1.73312582e-02 -1.39449175e+00] [-4.87143233e-04 9.99995962e-01 2.79971835e-03 -1.43247352e-01] [-1.73299604e-02 -2.80774038e-03 9.99845883e-01 7.17968875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972557844 meters Centerline goodness : 0.141637 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.15, Z:0.72 [[ 0.99982656 0.00856963 0.01653517 -1.41529357] [-0.00860154 0.99996128 0.00186007 -0.14883341] [-0.01651859 -0.00200197 0.99986155 0.71761023] [ 0. 0. 0. 1. ]] SLAMing on 18.002557844 meters Centerline goodness : 0.158891 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.15, Z:0.72 [[ 9.99850581e-01 6.09032279e-03 1.61778478e-02 -1.41443735e+00] [-6.07251090e-03 9.99980901e-01 -1.14990041e-03 -1.49476737e-01] [-1.61845421e-02 1.05148844e-03 9.99868469e-01 7.17078223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032557844 meters Centerline goodness : 0.122313 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.15, Z:0.72 [[ 9.99850649e-01 6.14234069e-03 1.61540139e-02 -1.41443832e+00] [-6.12556123e-03 9.99980647e-01 -1.08799240e-03 -1.49660753e-01] [-1.61603841e-02 9.88877505e-04 9.99868923e-01 7.17141833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062557844 meters Centerline goodness : 0.118859 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.15, Z:0.72 [[ 9.99847259e-01 6.24971774e-03 1.63217379e-02 -1.41507091e+00] [-6.23557236e-03 9.99980138e-01 -9.17406713e-04 -1.50187981e-01] [-1.63271473e-02 8.15491210e-04 9.99866371e-01 7.17497076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092557843999998 meters Centerline goodness : 0.154129 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 9.99867093e-01 -2.50231672e-03 1.61100909e-02 -1.43574540e+00] [ 2.49143828e-03 9.99996655e-01 6.95290835e-04 -1.48703255e-01] [-1.61117768e-02 -6.55061129e-04 9.99869982e-01 7.16987329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122557844 meters Centerline goodness : 0.121785 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 9.99865298e-01 -2.45396437e-03 1.62284687e-02 -1.43611272e+00] [ 2.43118749e-03 9.99996032e-01 1.42309318e-03 -1.53129059e-01] [-1.62318965e-02 -1.38344704e-03 9.99867297e-01 7.17446215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152557844 meters Centerline goodness : 0.117832 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:0.72 [[ 0.9998691 -0.00238798 0.01600224 -1.43528322] [ 0.00236032 0.99999569 0.00174719 -0.15491477] [-0.01600634 -0.00170919 0.99987043 0.7169787 ] [ 0. 0. 0. 1. ]] SLAMing on 18.182557843999998 meters Centerline goodness : 0.144502 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.16, Z:0.72 [[ 0.9998731 -0.00229264 0.01576471 -1.43444561] [ 0.00226093 0.99999538 0.00202935 -0.1562501 ] [-0.01576929 -0.00199345 0.99987367 0.7165141 ] [ 0. 0. 0. 1. ]] SLAMing on 18.212557844 meters Centerline goodness : 0.179438 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.16, Z:0.72 [[ 0.99991711 -0.00253771 0.01262302 -1.47817068] [ 0.00249374 0.99999078 0.00349729 -0.16223664] [-0.01263178 -0.00346552 0.99991421 0.71817776] [ 0. 0. 0. 1. ]] SLAMing on 18.242557844 meters Centerline goodness : 0.142419 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.17, Z:0.72 [[ 0.99992202 -0.00228819 0.01227657 -1.47728932] [ 0.00223711 0.99998879 0.00417354 -0.16528141] [-0.01228598 -0.00414575 0.99991593 0.71823393] [ 0. 0. 0. 1. ]] SLAMing on 18.272557844 meters Centerline goodness : 0.116973 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:0.72 [[ 0.99989387 0.00616072 0.0132018 -1.45752121] [-0.00619663 0.99997721 0.00268098 -0.16951052] [-0.01318498 -0.0027625 0.99990926 0.71928604] [ 0. 0. 0. 1. ]] SLAMing on 18.302557844 meters Centerline goodness : 0.116305 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.17, Z:0.72 [[ 0.99992493 -0.00311666 0.0118502 -1.4780335 ] [ 0.00307423 0.99998881 0.00359697 -0.16798525] [-0.01186128 -0.00356026 0.99992331 0.71950706] [ 0. 0. 0. 1. ]] SLAMing on 18.332557844 meters Centerline goodness : 0.170697 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99992926 0.00471295 0.01092057 -1.49767338] [-0.0047422 0.99998523 0.00265398 -0.17457067] [-0.0109079 -0.00270558 0.99993685 0.71858016] [ 0. 0. 0. 1. ]] SLAMing on 18.362557844 meters Centerline goodness : 0.143823 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99993133 0.00493822 0.01062738 -1.49617653] [-0.0049671 0.99998404 0.00269339 -0.17411861] [-0.01061391 -0.00274599 0.9999399 0.71700407] [ 0. 0. 0. 1. ]] SLAMing on 18.392557844 meters Centerline goodness : 0.116995 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.72 [[ 0.99993262 0.0049056 0.01052049 -1.49548641] [-0.00493253 0.99998462 0.00253511 -0.17338479] [-0.0105079 -0.00258683 0.99994144 0.71612891] [ 0. 0. 0. 1. ]] SLAMing on 18.422557844 meters Centerline goodness : 0.182807 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993383 0.0048691 0.01042233 -1.49494976] [-0.00489452 0.99998511 0.00241471 -0.17285959] [-0.01041042 -0.00246556 0.99994277 0.71551489] [ 0. 0. 0. 1. ]] SLAMing on 18.452557844 meters Centerline goodness : 0.128307 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993559 0.00485653 0.01025829 -1.49444509] [-0.00488124 0.99998524 0.00238488 -0.17279222] [-0.01024656 -0.0024348 0.99994454 0.71533476] [ 0. 0. 0. 1. ]] SLAMing on 18.482557844 meters Centerline goodness : 0.117515 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993769 0.00482039 0.01006858 -1.49422088] [-0.00484568 0.99998516 0.00248839 -0.17364764] [-0.01005644 -0.00253702 0.99994621 0.71584057] [ 0. 0. 0. 1. ]] SLAMing on 18.512557844 meters Centerline goodness : 0.143561 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:0.72 [[ 0.99993858 0.00484099 0.00996953 -1.49418769] [-0.00486756 0.99998466 0.00264189 -0.17449465] [-0.00995659 -0.00269026 0.99994681 0.71625901] [ 0. 0. 0. 1. ]] SLAMing on 18.542557844 meters Centerline goodness : 0.131015 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99993992 0.00488561 0.0098122 -1.49383009] [-0.00491405 0.99998379 0.00287684 -0.17569539] [-0.00979799 -0.00292488 0.99994772 0.71636893] [ 0. 0. 0. 1. ]] SLAMing on 18.572557844 meters Centerline goodness : 0.160227 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994512 0.00478681 0.00931945 -1.49255436] [-0.00481804 0.99998285 0.00333103 -0.17832229] [-0.00930335 -0.00337575 0.99995102 0.71634714] [ 0. 0. 0. 1. ]] SLAMing on 18.602557844 meters Centerline goodness : 0.140001 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994483 0.00488739 0.00929829 -1.49270389] [-0.00492218 0.99998096 0.00372299 -0.1800751 ] [-0.00927992 -0.00376856 0.99994984 0.71674555] [ 0. 0. 0. 1. ]] SLAMing on 18.632557844 meters Centerline goodness : 0.143397 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994366 0.00502 0.00935326 -1.49319795] [-0.00505899 0.99997859 0.00414954 -0.18190286] [-0.00933223 -0.00419663 0.99994765 0.71746065] [ 0. 0. 0. 1. ]] SLAMing on 18.662557844 meters Centerline goodness : 0.117311 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 0.99994371 0.00508507 0.00931284 -1.49344429] [-0.00512711 0.99997675 0.00449594 -0.18363445] [-0.00928976 -0.00454343 0.99994653 0.71818756] [ 0. 0. 0. 1. ]] SLAMing on 18.692557844 meters Centerline goodness : 0.116216 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 9.99953892e-01 1.71192238e-03 9.44901342e-03 -1.49378061e+00] [-1.72175413e-03 9.99997985e-01 1.03246915e-03 -1.84026540e-01] [-9.44722687e-03 -1.04869043e-03 9.99954824e-01 7.17998917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722557844 meters Centerline goodness : 0.141082 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:0.72 [[ 9.99953733e-01 1.72384723e-03 9.46364681e-03 -1.49378406e+00] [-1.73302310e-03 9.99998036e-01 9.61476298e-04 -1.83518996e-01] [-9.46197079e-03 -9.77832532e-04 9.99954756e-01 7.17897451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752557844 meters Centerline goodness : 0.187757 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99949419e-01 1.77877550e-03 9.89924082e-03 -1.49511971e+00] [-1.78725102e-03 9.99998044e-01 8.47397650e-04 -1.82609502e-01] [-9.89771413e-03 -8.65047216e-04 9.99950642e-01 7.18358894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782557844 meters Centerline goodness : 0.132183 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99944743e-01 1.81686458e-03 1.03542232e-02 -1.49659563e+00] [-1.82421048e-03 9.99998091e-01 7.00059896e-04 -1.81663432e-01] [-1.03529315e-02 -7.18909495e-04 9.99946149e-01 7.18994924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812557844 meters Centerline goodness : 0.142102 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99934726e-01 1.97246268e-03 1.12540281e-02 -1.49923467e+00] [-1.97906666e-03 9.99997876e-01 5.75704061e-04 -1.80627013e-01] [-1.12528686e-02 -5.97938954e-04 9.99936506e-01 7.19662977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842557843999998 meters Centerline goodness : 0.115417 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99933311e-01 1.94120201e-03 1.13844019e-02 -1.49938374e+00] [-1.94640438e-03 9.99998006e-01 4.45911867e-04 -1.79989953e-01] [-1.13835136e-02 -4.68040779e-04 9.99935096e-01 7.19291435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872557844 meters Centerline goodness : 0.137958 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99934207e-01 1.93639762e-03 1.13062870e-02 -1.49890787e+00] [-1.94117293e-03 9.99998031e-01 4.11400063e-04 -1.79820475e-01] [-1.13054682e-02 -4.33320454e-04 9.99935997e-01 7.18716749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902557844 meters Centerline goodness : 0.133449 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99939289e-01 1.97516083e-03 1.08404892e-02 -1.49759939e+00] [-1.98279804e-03 9.99997794e-01 6.93805661e-04 -1.81422065e-01] [-1.08390949e-02 -7.15258040e-04 9.99940999e-01 7.18457428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932557843999998 meters Centerline goodness : 0.130428 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99941239e-01 2.04575602e-03 1.06457794e-02 -1.49730044e+00] [-2.05646224e-03 9.99997391e-01 9.94827632e-04 -1.82922235e-01] [-1.06437165e-02 -1.01666182e-03 9.99942837e-01 7.18842136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962557844 meters Centerline goodness : 0.143059 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.72 [[ 9.99942113e-01 2.14300357e-03 1.05440657e-02 -1.49722079e+00] [-2.15738992e-03 9.99996757e-01 1.35321814e-03 -1.84669406e-01] [-1.05411316e-02 -1.37588747e-03 9.99943494e-01 7.19234478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992557844 meters Centerline goodness : 0.146716 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.72 [[ 0.99992958 -0.00730486 0.00935233 -1.51889583] [ 0.00728315 0.99997071 0.00235325 -0.18397681] [-0.00936925 -0.00228497 0.9999535 0.71958065] [ 0. 0. 0. 1. ]] SLAMing on 19.022557844 meters Centerline goodness : 0.131483 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99946611e-01 -3.43699487e-04 1.03274642e-02 -1.49543723e+00] [ 3.46313956e-04 9.99999908e-01 -2.51369621e-04 -1.85171531e-01] [-1.03273769e-02 2.54932746e-04 9.99946639e-01 7.17623666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052557844 meters Centerline goodness : 0.135492 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99954526e-01 -4.13845571e-04 9.52754141e-03 -1.49261108e+00] [ 4.13416649e-04 9.99999913e-01 4.69886360e-05 -1.87419274e-01] [-9.52756003e-03 -4.30476550e-05 9.99954611e-01 7.16168720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082557844 meters Centerline goodness : 0.145428 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99955316e-01 -3.50825851e-04 9.44680082e-03 -1.49225228e+00] [ 3.48345562e-04 9.99999904e-01 2.64197486e-04 -1.88505305e-01] [-9.44689260e-03 -2.60894930e-04 9.99955343e-01 7.15902477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112557844 meters Centerline goodness : 0.118596 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99954069e-01 -2.43975113e-04 9.58121905e-03 -1.49276640e+00] [ 2.39153373e-04 9.99999844e-01 5.04391575e-04 -1.89463341e-01] [-9.58134062e-03 -5.02077027e-04 9.99953972e-01 7.16208121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters Centerline goodness : 0.146209 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99953431e-01 -1.73156431e-04 9.64911247e-03 -1.49323129e+00] [ 1.66393344e-04 9.99999740e-01 7.01700855e-04 -1.90269485e-01] [-9.64923146e-03 -7.00062630e-04 9.99953200e-01 7.16771629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172557844 meters Centerline goodness : 0.146359 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99955625e-01 -1.37475673e-04 9.41957883e-03 -1.49255450e+00] [ 1.28652090e-04 9.99999552e-01 9.37327567e-04 -1.91653259e-01] [-9.41970348e-03 -9.36074124e-04 9.99955195e-01 7.16630787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557844 meters Centerline goodness : 0.147898 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:0.72 [[ 9.99958569e-01 -1.70637169e-04 9.10113890e-03 -1.49146686e+00] [ 1.61892307e-04 9.99999525e-01 9.61581696e-04 -1.92077891e-01] [-9.10129865e-03 -9.60068453e-04 9.99958121e-01 7.16106892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232557844 meters Centerline goodness : 0.370732 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.20, Z:0.72 [[ 9.99942652e-01 7.57888892e-03 7.56653654e-03 -1.51090023e+00] [-7.57889789e-03 9.99971279e-01 -2.74885922e-05 -1.97884225e-01] [-7.56652755e-03 -2.98589920e-05 9.99971373e-01 7.15221874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262557844 meters Centerline goodness : 0.146934 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.20, Z:0.71 [[ 9.99942366e-01 7.56916057e-03 7.61396340e-03 -1.51082425e+00] [-7.57017220e-03 9.99971340e-01 1.04053582e-04 -1.98096448e-01] [-7.61295759e-03 -1.61686599e-04 9.99971008e-01 7.14659121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292557844 meters Centerline goodness : 0.149624 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.71 [[ 9.99954940e-01 -4.12693539e-04 9.48403328e-03 -1.53015330e+00] [ 4.04096351e-04 9.99999506e-01 9.08389078e-04 -1.93010526e-01] [-9.48440348e-03 -9.04515683e-04 9.99954613e-01 7.13456203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322557844 meters Centerline goodness : 0.144916 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.71 [[ 9.99954301e-01 -3.93017161e-04 9.55207265e-03 -1.53048776e+00] [ 3.83707396e-04 9.99999450e-01 9.76446147e-04 -1.93356525e-01] [-9.55245116e-03 -9.72736323e-04 9.99953901e-01 7.13782881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352557844 meters Centerline goodness : 0.146965 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.999919 -0.0079768 0.0099178 -1.51060702] [ 0.00795762 0.99996639 0.00197201 -0.18821097] [-0.00993319 -0.00189293 0.99994887 0.71456379] [ 0. 0. 0. 1. ]] SLAMing on 19.382557844 meters Centerline goodness : 0.119277 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.99992073 -0.00791759 0.00979019 -1.51021054] [ 0.00789712 0.99996655 0.00212763 -0.18882181] [-0.00980671 -0.00205015 0.99994981 0.71439481] [ 0. 0. 0. 1. ]] SLAMing on 19.412557844 meters Centerline goodness : 0.146546 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.71 [[ 0.99992278 -0.00783087 0.00964893 -1.50986294] [ 0.0078083 0.99996669 0.00237497 -0.18990544] [-0.00966721 -0.00229944 0.99995063 0.71441182] [ 0. 0. 0. 1. ]] SLAMing on 19.442557844 meters Centerline goodness : 0.146369 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.19, Z:0.72 [[ 0.99991768 -0.00774763 0.01022774 -1.51185162] [ 0.00771638 0.99996545 0.00309046 -0.19371833] [-0.01025133 -0.00301129 0.99994292 0.71573256] [ 0. 0. 0. 1. ]] SLAMing on 19.472557844 meters Centerline goodness : 0.146603 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99920393e-01 6.49739667e-04 1.26009748e-02 -1.49395366e+00] [-6.71506509e-04 9.99998290e-01 1.72323950e-03 -1.98857270e-01] [-1.25998336e-02 -1.73156396e-03 9.99919120e-01 7.16940361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502557844 meters Centerline goodness : 0.119891 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99918251e-01 8.03126210e-04 1.27610984e-02 -1.49461611e+00] [-8.30151036e-04 9.99997424e-01 2.11259490e-03 -2.00560714e-01] [-1.27593689e-02 -2.12301584e-03 9.99916342e-01 7.17445604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532557844 meters Centerline goodness : 0.145904 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99918176e-01 9.06513179e-04 1.27600401e-02 -1.49450323e+00] [-9.36896323e-04 9.99996740e-01 2.37534037e-03 -2.01682519e-01] [-1.27578452e-02 -2.38710084e-03 9.99915766e-01 7.17249791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562557844 meters Centerline goodness : 0.150204 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99919712e-01 9.54531421e-04 1.26356072e-02 -1.49383129e+00] [-9.86333896e-04 9.99996361e-01 2.51090089e-03 -2.02408113e-01] [-1.26331645e-02 -2.52316222e-03 9.99917015e-01 7.16577704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592557843999998 meters Centerline goodness : 0.146851 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99920249e-01 1.04733326e-03 1.25856319e-02 -1.49355642e+00] [-1.08069319e-03 9.99995920e-01 2.64412719e-03 -2.03094764e-01] [-1.25828113e-02 -2.65751752e-03 9.99917302e-01 7.16348709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622557844 meters Centerline goodness : 0.143564 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:0.72 [[ 0.99988766 0.00266527 0.01475035 -1.45054299] [-0.00269921 0.99999376 0.00228119 -0.20005286] [-0.01474418 -0.00232074 0.99988861 0.71558447] [ 0. 0. 0. 1. ]] SLAMing on 19.652557844 meters Centerline goodness : 0.152924 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.72 [[ 0.99988219 -0.00632018 0.01398779 -1.4709195 ] [ 0.00627174 0.99997419 0.00350403 -0.19724302] [-0.01400957 -0.00341589 0.99989603 0.71528224] [ 0. 0. 0. 1. ]] SLAMing on 19.682557844 meters Centerline goodness : 0.148413 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.72 [[ 0.99988264 -0.00630454 0.0139625 -1.47081139] [ 0.00625544 0.99997411 0.00355703 -0.19764462] [-0.01398456 -0.00346928 0.99989619 0.7152375 ] [ 0. 0. 0. 1. ]] SLAMing on 19.712557844 meters Centerline goodness : 0.123872 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.71 [[ 0.99988602 -0.00630471 0.01371856 -1.46984227] [ 0.00625586 0.99997395 0.00360081 -0.19814805] [-0.0137409 -0.00351458 0.99989941 0.71456215] [ 0. 0. 0. 1. ]] SLAMing on 19.742557844 meters Centerline goodness : 0.143022 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:0.71 [[ 0.99989995 -0.00628515 0.01267229 -1.46617694] [ 0.00623691 0.99997317 0.00384221 -0.19989754] [-0.01269609 -0.00376279 0.99991232 0.71256038] [ 0. 0. 0. 1. ]] SLAMing on 19.772557844 meters Centerline goodness : 0.123527 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990588 -0.00617347 0.0122525 -1.4648205 ] [ 0.00612207 0.99997232 0.00422878 -0.20181667] [-0.01227827 -0.00415337 0.99991599 0.71197347] [ 0. 0. 0. 1. ]] SLAMing on 19.802557844 meters Centerline goodness : 0.123527 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990588 -0.00617347 0.0122525 -1.4648205 ] [ 0.00612207 0.99997232 0.00422878 -0.20181667] [-0.01227827 -0.00415337 0.99991599 0.71197347] [ 0. 0. 0. 1. ]] SLAMing on 19.832557844 meters Centerline goodness : 0.228855 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.71 [[ 0.99990975 -0.00602219 0.0120092 -1.46419704] [ 0.00596563 0.99997097 0.00474046 -0.20428876] [-0.0120374 -0.00466839 0.99991665 0.71198156] [ 0. 0. 0. 1. ]] SLAMing on 19.862557844 meters Centerline goodness : 0.127383 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.21, Z:0.71 [[ 0.9999057 -0.00608264 0.01231216 -1.46545688] [ 0.00601441 0.99996639 0.00557133 -0.20931172] [-0.01234564 -0.00549675 0.99990868 0.71316277] [ 0. 0. 0. 1. ]] SLAMing on 19.892557844 meters Centerline goodness : 0.146200 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.21, Z:0.71 [[ 9.99922817e-01 -1.04474569e-03 1.23801451e-02 -1.48897173e+00] [ 1.01344557e-03 9.99996275e-01 2.53425525e-03 -2.14938521e-01] [-1.23827467e-02 -2.52151304e-03 9.99920152e-01 7.14176727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922557844 meters Centerline goodness : 0.187797 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99925726e-01 -9.66260310e-04 1.21494049e-02 -1.48846457e+00] [ 9.30988929e-04 9.99995337e-01 2.90845717e-03 -2.16878033e-01] [-1.21521586e-02 -2.89693019e-03 9.99921963e-01 7.14350798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952557844 meters Centerline goodness : 0.183923 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99928252e-01 -8.62180404e-04 1.19477045e-02 -1.48800801e+00] [ 8.23005046e-04 9.99994271e-01 3.28343135e-03 -2.18747856e-01] [-1.19504670e-02 -3.27336275e-03 9.99923233e-01 7.14477014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters Centerline goodness : 0.148424 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.71 [[ 9.99929103e-01 -7.25932135e-04 1.18853522e-02 -1.48805117e+00] [ 6.83070237e-04 9.99993251e-01 3.60994151e-03 -2.20172181e-01] [-1.18878926e-02 -3.60156705e-03 9.99922850e-01 7.14886506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012557844 meters Centerline goodness : 0.146259 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.72 [[ 9.99927924e-01 -6.19815695e-04 1.19901135e-02 -1.48862315e+00] [ 5.73899271e-04 9.99992491e-01 3.83258544e-03 -2.21098635e-01] [-1.19923990e-02 -3.82542808e-03 9.99920771e-01 7.15513601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042557844 meters Centerline goodness : 0.287824 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.22, Z:0.72 [[ 9.99924801e-01 -5.43719692e-04 1.22514037e-02 -1.48948209e+00] [ 4.95132758e-04 9.99992003e-01 3.96851014e-03 -2.21629129e-01] [-1.22534634e-02 -3.96214564e-03 9.99917074e-01 7.15883292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072557844 meters Centerline goodness : 0.150480 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99948086e-01 -1.49851799e-03 1.00786769e-02 -1.53596187e+00] [ 1.44899637e-03 9.99986852e-01 4.91901261e-03 -2.26833107e-01] [-1.00859156e-02 -4.90415327e-03 9.99937110e-01 7.18417001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102557844 meters Centerline goodness : 0.144200 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99947190e-01 -1.49767505e-03 1.01673060e-02 -1.53624198e+00] [ 1.44746331e-03 9.99986730e-01 4.94411220e-03 -2.27042144e-01] [-1.01745758e-02 -4.92913430e-03 9.99936089e-01 7.18537604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132557844 meters Centerline goodness : 0.176212 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99946944e-01 -1.50521069e-03 1.01903539e-02 -1.53647256e+00] [ 1.45485468e-03 9.99986704e-01 4.94714799e-03 -2.27076045e-01] [-1.01976649e-02 -4.93206003e-03 9.99935839e-01 7.18858180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162557844 meters Centerline goodness : 0.169557 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 9.99946622e-01 -1.47631756e-03 1.02261036e-02 -1.53670832e+00] [ 1.42483087e-03 9.99986283e-01 5.04028667e-03 -2.27469000e-01] [-1.02334043e-02 -5.02544717e-03 9.99935009e-01 7.19103742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192557844 meters Centerline goodness : 0.160179 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.23, Z:0.72 [[ 9.99918276e-01 -7.25506079e-05 1.27841786e-02 -1.49339768e+00] [ 8.40789890e-06 9.99987413e-01 5.01733314e-03 -2.25403169e-01] [-1.27843817e-02 -5.01681562e-03 9.99905691e-01 7.17817331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222557844 meters Centerline goodness : 0.148897 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 0.999932 -0.00344283 0.01114162 -1.54328365] [ 0.00338337 0.99997996 0.00535179 -0.2322932 ] [-0.01115982 -0.00531373 0.99992361 0.71974718] [ 0. 0. 0. 1. ]] SLAMing on 20.252557844 meters Centerline goodness : 0.128482 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99990911 -0.00319594 0.0130977 -1.4991971 ] [ 0.0031429 0.99998679 0.00406791 -0.2298166 ] [-0.01311052 -0.00402638 0.99990595 0.71830403] [ 0. 0. 0. 1. ]] SLAMing on 20.282557844 meters Centerline goodness : 0.230457 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.23, Z:0.72 [[ 0.99993204 -0.00470798 0.01066569 -1.5444193 ] [ 0.00465902 0.99997852 0.00461089 -0.23406844] [-0.01068717 -0.00456088 0.99993249 0.72009698] [ 0. 0. 0. 1. ]] SLAMing on 20.312557844 meters Centerline goodness : 0.413057 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.24, Z:0.72 [[ 0.99993381 -0.00459702 0.01054708 -1.54393027] [ 0.00454438 0.99997713 0.0050092 -0.23520329] [-0.01056986 -0.00496094 0.99993183 0.71940282] [ 0. 0. 0. 1. ]] SLAMing on 20.342557843999998 meters Centerline goodness : 0.120557 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.24, Z:0.72 [[ 0.99992919 -0.00496845 0.01081376 -1.54479336] [ 0.00491104 0.99997374 0.00532925 -0.23641072] [-0.01083995 -0.00527577 0.99992733 0.71884632] [ 0. 0. 0. 1. ]] SLAMing on 20.372557844 meters Centerline goodness : 0.142176 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.99992026 -0.00536761 0.01143109 -1.54663415] [ 0.00530669 0.99997159 0.00535276 -0.23688654] [-0.01145949 -0.00529167 0.99992034 0.71890271] [ 0. 0. 0. 1. ]] SLAMing on 20.402557844 meters Centerline goodness : 0.130582 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.99991433 -0.00568657 0.01178931 -1.54772365] [ 0.00562444 0.99997016 0.00529661 -0.23688373] [-0.01181908 -0.00522985 0.99991648 0.71882719] [ 0. 0. 0. 1. ]] SLAMing on 20.432557844 meters Centerline goodness : 0.141757 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:0.72 [[ 0.9999122 -0.00579527 0.01191675 -1.54795277] [ 0.00572933 0.99996813 0.00556052 -0.23768331] [-0.01194859 -0.00549176 0.99991353 0.7181494 ] [ 0. 0. 0. 1. ]] SLAMing on 20.462557844 meters Centerline goodness : 0.160345 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.24, Z:0.72 [[ 9.99936459e-01 1.04610158e-03 1.12242476e-02 -1.52577105e+00] [-1.07942197e-03 9.99995028e-01 2.96296051e-03 -2.39952955e-01] [-1.12210922e-02 -2.97488794e-03 9.99932616e-01 7.17397552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492557844 meters Centerline goodness : 0.125239 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99941981e-01 8.16877765e-04 1.07408863e-02 -1.52431729e+00] [-8.47591398e-04 9.99995565e-01 2.85526534e-03 -2.40062287e-01] [-1.07385063e-02 -2.86420356e-03 9.99938239e-01 7.16869810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557844 meters Centerline goodness : 0.122498 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.9999205 -0.00769887 0.00998586 -1.50161685] [ 0.00767087 0.99996655 0.00283896 -0.23486997] [-0.01000738 -0.00276213 0.99994611 0.71703471] [ 0. 0. 0. 1. ]] SLAMing on 20.552557844 meters Centerline goodness : 0.082788 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99960489e-01 3.50715685e-04 8.88237921e-03 -1.52201204e+00] [-3.71160163e-04 9.99997286e-01 2.30014551e-03 -2.38508869e-01] [-8.88154840e-03 -2.30335141e-03 9.99957905e-01 7.17052821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557844 meters Centerline goodness : 0.128227 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995064 -0.00643316 0.00757235 -1.5032384 ] [ 0.0064075 0.99997367 0.00340712 -0.23311411] [-0.00759407 -0.00335844 0.99996552 0.71902893] [ 0. 0. 0. 1. ]] SLAMing on 20.612557844 meters Centerline goodness : 0.122063 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995093 -0.00649652 0.00747848 -1.50302791] [ 0.00647143 0.99997337 0.00337472 -0.23314986] [-0.0075002 -0.00332616 0.99996634 0.71908254] [ 0. 0. 0. 1. ]] SLAMing on 20.642557844 meters Centerline goodness : 0.362182 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.23, Z:0.72 [[ 0.99995021 -0.00658615 0.00749722 -1.50339444] [ 0.0065613 0.99997292 0.0033341 -0.23327853] [-0.00751897 -0.00328474 0.99996634 0.71969073] [ 0. 0. 0. 1. ]] SLAMing on 20.672557844 meters Centerline goodness : 0.125338 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99970651e-01 9.51992671e-04 7.60204429e-03 -1.52419187e+00] [-9.69481474e-04 9.99996892e-01 2.29718593e-03 -2.37989607e-01] [-7.59983375e-03 -2.30448855e-03 9.99968465e-01 7.19043946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702557844 meters Centerline goodness : 0.188701 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99970171e-01 8.50153100e-04 7.67690144e-03 -1.52429401e+00] [-8.66022695e-04 9.99997495e-01 2.06410000e-03 -2.36737148e-01] [-7.67512740e-03 -2.07068681e-03 9.99968402e-01 7.18838794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732557844 meters Centerline goodness : 0.127314 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.24, Z:0.72 [[ 9.99971161e-01 7.23024033e-04 7.56002928e-03 -1.52380479e+00] [-7.36227062e-04 9.99998209e-01 1.74378857e-03 -2.35299522e-01] [-7.55875493e-03 -1.74930418e-03 9.99969902e-01 7.18508298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762557844 meters Centerline goodness : 0.111565 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99972338e-01 5.76938573e-04 7.41553306e-03 -1.52330697e+00] [-5.87143312e-04 9.99998884e-01 1.37402676e-03 -2.33748956e-01] [-7.41473205e-03 -1.37834273e-03 9.99971561e-01 7.18286899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792557844 meters Centerline goodness : 0.147785 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99973490e-01 3.39223693e-04 7.27356207e-03 -1.52287805e+00] [-3.43829660e-04 9.99999741e-01 6.32006742e-04 -2.30203557e-01] [-7.27334579e-03 -6.34490854e-04 9.99973348e-01 7.18128251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822557844 meters Centerline goodness : 0.125338 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.23, Z:0.72 [[ 9.99973635e-01 2.28367799e-04 7.25787896e-03 -1.52274114e+00] [-2.30229941e-04 9.99999941e-01 2.55733839e-04 -2.28239609e-01] [-7.25782013e-03 -2.57398077e-04 9.99973629e-01 7.17896209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852557844 meters Centerline goodness : 0.146634 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.23, Z:0.72 [[ 9.99957464e-01 1.38795767e-03 9.11828337e-03 -1.47750818e+00] [-1.38612855e-03 9.99999018e-01 -2.06916596e-04 -2.25570251e-01] [-9.11856161e-03 1.94268681e-04 9.99958406e-01 7.16029635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882557844 meters Centerline goodness : 0.086716 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99958095e-01 1.26597730e-03 9.06670632e-03 -1.47744892e+00] [-1.26195963e-03 9.99999103e-01 -4.48830685e-04 -2.24596304e-01] [-9.06726640e-03 4.37370060e-04 9.99958796e-01 7.16151855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912557844 meters Centerline goodness : 0.139194 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99957482e-01 1.14869468e-03 9.14957631e-03 -1.47775665e+00] [-1.14291388e-03 9.99999144e-01 -6.37014759e-04 -2.23880257e-01] [-9.15030021e-03 6.26530497e-04 9.99957939e-01 7.16267356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 20.972557844 meters Centerline goodness : 0.143462 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99901503e-01 -6.43690933e-03 1.24720235e-02 -1.46184234e+00] [ 6.42510490e-03 9.99978872e-01 9.86310735e-04 -2.17646389e-01] [-1.24781088e-02 -9.06079526e-04 9.99921735e-01 7.18710848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002557844 meters Centerline goodness : 0.138979 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99900756e-01 -6.48202060e-03 1.25084783e-02 -1.46199595e+00] [ 6.46963530e-03 9.99978541e-01 1.03036340e-03 -2.17975967e-01] [-1.25148888e-02 -9.49335848e-04 9.99921235e-01 7.18782223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032557844 meters Centerline goodness : 0.147543 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99929115e-01 8.79686089e-04 1.18739448e-02 -1.48021806e+00] [-8.76362122e-04 9.99999575e-01 -2.85138105e-04 -2.22626903e-01] [-1.18741906e-02 2.74712018e-04 9.99929462e-01 7.16888514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062557844 meters Centerline goodness : 0.146655 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.22, Z:0.72 [[ 9.99933447e-01 -6.25521211e-03 9.69400341e-03 -1.45962936e+00] [ 6.25377146e-03 9.99980429e-01 1.78917853e-04 -2.19083970e-01] [-9.69493286e-03 -1.18281864e-04 9.99952996e-01 7.17515949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092557844 meters Centerline goodness : 0.336929 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99967223e-01 1.72114473e-03 7.91141884e-03 -1.47906647e+00] [-1.71627881e-03 9.99998334e-01 -6.21799456e-04 -2.23107226e-01] [-7.91247586e-03 6.08200875e-04 9.99968511e-01 7.16431147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122557844 meters Centerline goodness : 0.147735 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99968852e-01 1.69287069e-03 7.70909617e-03 -1.47832848e+00] [-1.68805975e-03 9.99998376e-01 -6.30524964e-04 -2.22981295e-01] [-7.71015105e-03 6.17491910e-04 9.99970086e-01 7.15970892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152557844 meters Centerline goodness : 0.335070 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99969556e-01 1.71127301e-03 7.61302280e-03 -1.47832322e+00] [-1.70534675e-03 9.99998238e-01 -7.84860186e-04 -2.21851658e-01] [-7.61435250e-03 7.71853448e-04 9.99970713e-01 7.16451679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182557844 meters Centerline goodness : 0.150348 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.22, Z:0.72 [[ 9.99969514e-01 1.64975549e-03 7.63215439e-03 -1.47849896e+00] [-1.64193836e-03 9.99998121e-01 -1.03038826e-03 -2.20651884e-01] [-7.63383994e-03 1.01782532e-03 9.99970344e-01 7.16750365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212557844 meters Centerline goodness : 0.155033 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99957599e-01 -5.53462795e-03 7.35988851e-03 -1.45935896e+00] [ 5.53648788e-03 9.99984647e-01 -2.32360948e-04 -2.14787203e-01] [-7.35848948e-03 2.73099029e-04 9.99972889e-01 7.18084890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242557844 meters Centerline goodness : 0.157809 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99956760e-01 -5.61352580e-03 7.41390244e-03 -1.45938794e+00] [ 5.61768840e-03 9.99984074e-01 -5.40754191e-04 -2.13292755e-01] [-7.41074883e-03 5.82379802e-04 9.99972370e-01 7.17870537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272557844 meters Centerline goodness : 0.146189 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99954956e-01 -5.72294853e-03 7.57187659e-03 -1.45961475e+00] [ 5.73002104e-03 9.99983167e-01 -9.12686867e-04 -2.11501997e-01] [-7.56652587e-03 9.56032768e-04 9.99970916e-01 7.17560076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters Centerline goodness : 0.145690 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:0.72 [[ 9.99953038e-01 -5.82363671e-03 7.74639016e-03 -1.46002177e+00] [ 5.83326959e-03 9.99982240e-01 -1.22151870e-03 -2.09998937e-01] [-7.73913891e-03 1.26664811e-03 9.99969250e-01 7.17477569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332557844 meters Centerline goodness : 0.138003 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99957525e-01 1.36661917e-03 9.11489622e-03 -1.43856708e+00] [-1.33153812e-03 9.99991688e-01 -3.85371932e-03 -2.10252278e-01] [-9.12008702e-03 3.84141880e-03 9.99951033e-01 7.16507107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362557844 meters Centerline goodness : 0.139885 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99958909e-01 1.30019362e-03 8.97159605e-03 -1.43836530e+00] [-1.26554028e-03 9.99991722e-01 -3.86715740e-03 -2.10232438e-01] [-8.97654983e-03 3.85564458e-03 9.99952277e-01 7.16705624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392557844 meters Centerline goodness : 0.151330 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99960195e-01 1.18154593e-03 8.84382368e-03 -1.43809911e+00] [-1.14742830e-03 9.99991885e-01 -3.86187200e-03 -2.10513691e-01] [-8.84831489e-03 3.85157063e-03 9.99953435e-01 7.16738828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422557844 meters Centerline goodness : 0.115295 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964775e-01 5.52314982e-04 8.37514023e-03 -1.43675533e+00] [-5.17391036e-04 9.99991165e-01 -4.17154701e-03 -2.10483026e-01] [-8.37737025e-03 4.16706685e-03 9.99956227e-01 7.16343727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452557844 meters Centerline goodness : 0.111359 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99965036e-01 4.67248957e-04 8.34918222e-03 -1.43662342e+00] [-4.32235716e-04 9.99991108e-01 -4.19492571e-03 -2.10366361e-01] [-8.35106805e-03 4.19117022e-03 9.99956346e-01 7.16142215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482557844 meters Centerline goodness : 0.124709 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964741e-01 3.94275932e-04 8.38818002e-03 -1.43667894e+00] [-3.58000988e-04 9.99990580e-01 -4.32559298e-03 -2.09780140e-01] [-8.38980648e-03 4.32243749e-03 9.99955463e-01 7.16045866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512557844 meters Centerline goodness : 0.158102 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99964916e-01 3.14544340e-04 8.37071135e-03 -1.43665311e+00] [-2.76456913e-04 9.99989607e-01 -4.55085064e-03 -2.08663109e-01] [-8.37205580e-03 4.54837684e-03 9.99954609e-01 7.16080817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542557844 meters Centerline goodness : 0.119424 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:0.72 [[ 9.99965899e-01 1.94476227e-04 8.25613231e-03 -1.43628436e+00] [-1.54216046e-04 9.99988097e-01 -4.87675381e-03 -2.07148980e-01] [-8.25698245e-03 4.87531428e-03 9.99954026e-01 7.15978064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572557844 meters Centerline goodness : 0.141787 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:0.72 [[ 9.99984437e-01 7.13109535e-05 5.57862982e-03 -1.48229716e+00] [-4.67973591e-05 9.99990344e-01 -4.39420341e-03 -2.02719402e-01] [-5.57888931e-03 4.39387396e-03 9.99974785e-01 7.18173179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557844 meters Centerline goodness : 0.121937 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.72 [[ 0.999949 -0.00734537 0.00693087 -1.46352893] [ 0.00736767 0.99996775 -0.00319708 -0.19708066] [-0.00690716 0.00324799 0.99997087 0.71933035] [ 0. 0. 0. 1. ]] SLAMing on 21.632557844 meters Centerline goodness : 0.145601 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:0.72 [[ 0.99994645 -0.0074201 0.00721326 -1.46446529] [ 0.00744561 0.9999661 -0.00351713 -0.1953659 ] [-0.00718692 0.00357065 0.9999678 0.71973209] [ 0. 0. 0. 1. ]] SLAMing on 21.662557844 meters Centerline goodness : 0.150289 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99975608e-01 1.24865317e-03 6.87206024e-03 -1.48698076e+00] [-1.22271228e-03 9.99992117e-01 -3.77774299e-03 -1.97127457e-01] [-6.87672316e-03 3.76924829e-03 9.99969251e-01 7.19916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692557844 meters Centerline goodness : 0.150289 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99975608e-01 1.24865317e-03 6.87206024e-03 -1.48698076e+00] [-1.22271228e-03 9.99992117e-01 -3.77774299e-03 -1.97127457e-01] [-6.87672316e-03 3.76924829e-03 9.99969251e-01 7.19916242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722557844 meters Centerline goodness : 0.158892 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:0.72 [[ 9.99976810e-01 1.13751780e-03 6.71461106e-03 -1.48634738e+00] [-1.10989164e-03 9.99990911e-01 -4.11662848e-03 -1.95476501e-01] [-6.71923277e-03 4.10908052e-03 9.99968983e-01 7.19483797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752557844 meters Centerline goodness : 0.136829 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:0.72 [[ 0.99998365 0.00258788 0.00509957 -1.47980937] [-0.00257269 0.99999224 -0.0029829 -0.19264854] [-0.00510725 0.00296973 0.99998255 0.71627543] [ 0. 0. 0. 1. ]] SLAMing on 21.782557844 meters Centerline goodness : 0.156877 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99984031e-01 -3.84399477e-03 4.14271983e-03 -1.50131211e+00] [ 3.84334502e-03 9.99992601e-01 1.64790503e-04 -1.86756040e-01] [-4.14332263e-03 -1.48865970e-04 9.99991405e-01 7.16646264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812557844 meters Centerline goodness : 0.102126 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:0.72 [[ 9.99990972e-01 -3.92880673e-04 4.23108877e-03 -1.50175761e+00] [ 3.77867938e-04 9.99993633e-01 3.54841163e-03 -1.85127125e-01] [-4.23245593e-03 -3.54678080e-03 9.99984753e-01 7.16931738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842557844 meters Centerline goodness : 0.148896 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.72 [[ 0.99995912 0.00827494 0.00364539 -1.52456787] [-0.00828572 0.99996132 0.00295063 -0.18479766] [-0.00362083 -0.00298071 0.999989 0.71736105] [ 0. 0. 0. 1. ]] SLAMing on 21.872557844 meters Centerline goodness : 0.165930 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.72 [[ 9.99990242e-01 6.40608753e-04 4.37088376e-03 -1.54309232e+00] [-6.59632744e-04 9.99990311e-01 4.35238336e-03 -1.75223133e-01] [-4.36805324e-03 -4.35522407e-03 9.99980976e-01 7.15415204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902557844 meters Centerline goodness : 0.110012 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.71 [[ 0.99997689 0.00197078 0.00650613 -1.49879672] [-0.00199919 0.99998848 0.00436394 -0.17202966] [-0.00649745 -0.00437684 0.99996931 0.71425683] [ 0. 0. 0. 1. ]] SLAMing on 21.932557844 meters Centerline goodness : 0.198817 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.71 [[ 0.99994224 0.00994587 0.00407496 -1.51912295] [-0.00995914 0.99994513 0.00324768 -0.17075305] [-0.00404244 -0.00328808 0.99998642 0.71404372] [ 0. 0. 0. 1. ]] SLAMing on 21.962557844 meters Centerline goodness : 0.165231 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.71 [[ 0.99994413 0.00977854 0.00401559 -1.51902245] [-0.00979102 0.99994726 0.00309992 -0.17031132] [-0.00398507 -0.00313906 0.99998713 0.71408228] [ 0. 0. 0. 1. ]] SLAMing on 21.992557844 meters Centerline goodness : 0.116247 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.71 [[ 9.99989555e-01 -3.76263784e-04 4.55514072e-03 -1.54143681e+00] [ 3.63529744e-04 9.99996025e-01 2.79603692e-03 -1.64713099e-01] [-4.55617466e-03 -2.79435178e-03 9.99985716e-01 7.14281608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022557844 meters Centerline goodness : 0.139833 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 0.99996246 0.00764953 0.00406874 -1.56197897] [-0.00765734 0.99996886 0.00190751 -0.16800708] [-0.00405403 -0.00193859 0.9999899 0.71352114] [ 0. 0. 0. 1. ]] SLAMing on 22.052557844 meters Centerline goodness : 0.138684 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 0.99996272 0.00755472 0.0041807 -1.56205901] [-0.00756185 0.99996997 0.00169347 -0.16699286] [-0.00416778 -0.00172502 0.99998983 0.71311671] [ 0. 0. 0. 1. ]] SLAMing on 22.082557844 meters Centerline goodness : 0.149286 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.71 [[ 9.99964018e-01 7.41286565e-03 4.12456647e-03 -1.56164041e+00] [-7.41852119e-03 9.99971561e-01 1.35758008e-03 -1.65434623e-01] [-4.11438561e-03 -1.38812941e-03 9.99990572e-01 7.12644928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112557844 meters Centerline goodness : 0.153646 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.16, Z:0.71 [[ 9.99965827e-01 7.26929063e-03 3.93741313e-03 -1.56097395e+00] [-7.27331670e-03 9.99973040e-01 1.00916532e-03 -1.63858080e-01] [-3.92997106e-03 -1.03776889e-03 9.99991739e-01 7.12292586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142557844 meters Centerline goodness : 0.188882 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.16, Z:0.71 [[ 9.99967437e-01 7.12700279e-03 3.78559161e-03 -1.56041330e+00] [-7.12962436e-03 9.99974353e-01 6.79468445e-04 -1.62393959e-01] [-3.78065194e-03 -7.06436166e-04 9.99992604e-01 7.12003723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172557844 meters Centerline goodness : 0.118278 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.15, Z:0.71 [[ 9.99987765e-01 -1.77419408e-03 4.61755010e-03 -1.58203949e+00] [ 1.77090813e-03 9.99998176e-01 7.15614653e-04 -1.53136366e-01] [-4.61881132e-03 -7.07428641e-04 9.99989083e-01 7.12182990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202557844 meters Centerline goodness : 0.114948 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.15, Z:0.71 [[ 9.99985807e-01 -1.83531081e-03 5.00179322e-03 -1.58350532e+00] [ 1.83244539e-03 9.99998154e-01 5.77401448e-04 -1.52490613e-01] [-5.00284370e-03 -5.68227739e-04 9.99987324e-01 7.13130654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232557844 meters Centerline goodness : 0.145549 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.15, Z:0.71 [[ 9.99983595e-01 -1.88613441e-03 5.40850264e-03 -1.58502747e+00] [ 1.88341419e-03 9.99998097e-01 5.08003097e-04 -1.52180639e-01] [-5.40945051e-03 -4.97808313e-04 9.99985245e-01 7.14028308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262557844 meters Centerline goodness : 0.117322 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.16, Z:0.71 [[ 9.99963006e-01 6.14928125e-03 6.01441876e-03 -1.60680899e+00] [-6.14739184e-03 9.99981049e-01 -3.32583114e-04 -1.55807297e-01] [-6.01634993e-03 2.95597822e-04 9.99981858e-01 7.13482928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292557844 meters Centerline goodness : 0.116967 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.15, Z:0.71 [[ 9.99966400e-01 5.88422903e-03 5.70737007e-03 -1.60575124e+00] [-5.88063034e-03 9.99982500e-01 -6.47110347e-04 -1.54741987e-01] [-5.71107793e-03 6.13525671e-04 9.99983503e-01 7.12878924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322557844 meters Centerline goodness : 0.116131 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.15, Z:0.71 [[ 9.99985961e-01 -2.76993700e-03 4.51715939e-03 -1.62424156e+00] [ 2.76736502e-03 9.99996005e-01 5.75529714e-04 -1.48129116e-01] [-4.51873553e-03 -5.63021005e-04 9.99989632e-01 7.11233650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352557844 meters Centerline goodness : 0.113805 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.15, Z:0.71 [[ 9.99986269e-01 -2.86844690e-03 4.38567824e-03 -1.62363010e+00] [ 2.86688189e-03 9.99995825e-01 3.63091557e-04 -1.47115625e-01] [-4.38670144e-03 -3.50513350e-04 9.99990317e-01 7.10667258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382557844 meters Centerline goodness : 0.123176 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99993606e-01 -3.00064148e-03 1.94536272e-03 -1.67038420e+00] [ 2.99907973e-03 9.99995179e-01 8.05231065e-04 -1.43645573e-01] [-1.94776955e-03 -7.99391618e-04 9.99997784e-01 7.12982273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412557844 meters Centerline goodness : 0.150029 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.15, Z:0.71 [[ 9.99979520e-01 5.28886129e-03 3.60375961e-03 -1.65132056e+00] [-5.28717940e-03 9.99985909e-01 -4.76073638e-04 -1.46606686e-01] [-3.60622672e-03 4.57010164e-04 9.99993393e-01 7.13580678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442557844 meters Centerline goodness : 0.120445 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99987929e-01 -3.62157246e-03 3.32043908e-03 -1.67218125e+00] [ 3.62096280e-03 9.99993426e-01 1.89600785e-04 -1.39749677e-01] [-3.32110390e-03 -1.77575310e-04 9.99994469e-01 7.13382029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472557844 meters Centerline goodness : 0.120613 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99987721e-01 -3.76694775e-03 3.21986966e-03 -1.67182415e+00] [ 3.76663548e-03 9.99992901e-01 1.03039972e-04 -1.39618788e-01] [-3.22023495e-03 -9.09106319e-05 9.99994811e-01 7.13085447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502557844 meters Centerline goodness : 0.120206 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.14, Z:0.71 [[ 9.99989536e-01 4.42291424e-03 1.16892047e-03 -1.69148408e+00] [-4.42184453e-03 9.99989804e-01 -9.16129087e-04 -1.42770549e-01] [-1.17296051e-03 9.10950715e-04 9.99998897e-01 7.11950141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532557844 meters Centerline goodness : 0.130492 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99996023e-01 -2.22945142e-03 -1.72749274e-03 -1.67222615e+00] [ 2.22930321e-03 9.99997511e-01 -8.77154846e-05 -1.39224516e-01] [ 1.72768400e-03 8.38640306e-05 9.99998504e-01 7.13886066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562557844 meters Centerline goodness : 0.151447 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99995611e-01 -2.27395325e-03 -1.89935733e-03 -1.67155425e+00] [ 2.27351993e-03 9.99997389e-01 -2.30264845e-04 -1.38515059e-01] [ 1.89987598e-03 2.25945607e-04 9.99998170e-01 7.13440371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592557844 meters Centerline goodness : 0.177806 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.14, Z:0.71 [[ 9.99995101e-01 -2.37960222e-03 -2.03380098e-03 -1.67131269e+00] [ 2.37842861e-03 9.99997004e-01 -5.79274840e-04 -1.36837688e-01] [ 2.03517333e-03 5.74434752e-04 9.99997764e-01 7.13680607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622557844 meters Centerline goodness : 0.182942 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:0.72 [[ 9.99984221e-01 -7.63244292e-04 -5.56555725e-03 -1.71521594e+00] [ 7.67422569e-04 9.99999425e-01 7.48641260e-04 -1.30488842e-01] [ 5.56498266e-03 -7.52900581e-04 9.99984232e-01 7.15170687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652557844 meters Centerline goodness : 0.117535 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.13, Z:0.71 [[ 9.99981995e-01 -8.43704878e-04 -5.94127084e-03 -1.71392921e+00] [ 8.45741536e-04 9.99999584e-01 3.40294324e-04 -1.28451521e-01] [ 5.94098127e-03 -3.45312977e-04 9.99982293e-01 7.14552883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682557844 meters Centerline goodness : 0.162264 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.13, Z:0.71 [[ 9.99980903e-01 -9.44114028e-04 -6.10760346e-03 -1.71322673e+00] [ 9.43526393e-04 9.99999550e-01 -9.90944125e-05 -1.26345840e-01] [ 6.10769427e-03 9.33298350e-05 9.99981344e-01 7.14015142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712557844 meters Centerline goodness : 0.120809 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.12, Z:0.71 [[ 9.99981366e-01 -1.06176499e-03 -6.01173102e-03 -1.71342385e+00] [ 1.05876774e-03 9.99999314e-01 -5.01727012e-04 -1.24402807e-01] [ 6.01225961e-03 4.95352635e-04 9.99981804e-01 7.13969696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742557844 meters Centerline goodness : 0.194020 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.12, Z:0.72 [[ 9.99970020e-01 -8.15561186e-04 -7.70028784e-03 -1.76153229e+00] [ 8.14797164e-04 9.99999663e-01 -1.02356512e-04 -1.20875569e-01] [ 7.70036872e-03 9.60792703e-05 9.99970347e-01 7.16230290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772557844 meters Centerline goodness : 0.082898 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985830e-01 -6.91517307e-04 -5.27835178e-03 -1.72576354e+00] [ 6.88189808e-04 9.99999563e-01 -6.32195125e-04 -1.19006144e-01] [ 5.27878665e-03 6.28553659e-04 9.99985870e-01 7.20416527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802557844 meters Centerline goodness : 0.164347 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985676e-01 -8.16197303e-04 -5.28971829e-03 -1.72587085e+00] [ 8.11245421e-04 9.99999231e-01 -9.38211586e-04 -1.17607212e-01] [ 5.29047998e-03 9.33906887e-04 9.99985569e-01 7.20652787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 22.862557844 meters Centerline goodness : 0.174387 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.12, Z:0.72 [[ 9.99985626e-01 -9.94281341e-04 -5.26864593e-03 -1.72583177e+00] [ 9.86917701e-04 9.99998533e-01 -1.40004975e-03 -1.15107678e-01] [ 5.27003025e-03 1.39482991e-03 9.99985141e-01 7.20460636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892557844 meters Centerline goodness : 0.328485 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 9.99971370e-01 -1.19147560e-03 -7.47260603e-03 -1.77285815e+00] [ 1.18186220e-03 9.99998469e-01 -1.29076910e-03 -1.12108366e-01] [ 7.47413250e-03 1.28190056e-03 9.99971247e-01 7.22110284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922557844 meters Centerline goodness : 0.172783 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.11, Z:0.72 [[ 0.99998332 -0.00223253 -0.00532647 -1.72854511] [ 0.00221866 0.99999414 -0.00260815 -0.11134288] [ 0.00533226 0.00259629 0.99998241 0.72177891] [ 0. 0. 0. 1. ]] SLAMing on 22.952557844 meters Centerline goodness : 0.273805 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 0.99995842 -0.00241398 -0.0087933 -1.77314344] [ 0.00239144 0.99999383 -0.00257277 -0.10779163] [ 0.00879946 0.00255163 0.99995803 0.72281938] [ 0. 0. 0. 1. ]] SLAMing on 22.982557844 meters Centerline goodness : 0.111250 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.11, Z:0.72 [[ 0.99995575 -0.00252348 -0.0090625 -1.7721454 ] [ 0.0024974 0.99999271 -0.00288852 -0.10619719] [ 0.00906973 0.00286576 0.99995476 0.72229173] [ 0. 0. 0. 1. ]] SLAMing on 23.012557844 meters Centerline goodness : 0.124157 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.99992685 -0.00231614 -0.01187159 -1.81798368] [ 0.00228515 0.99999395 -0.00262311 -0.10207728] [ 0.01187759 0.00259579 0.99992609 0.72352585] [ 0. 0. 0. 1. ]] SLAMing on 23.042557844 meters Centerline goodness : 0.208601 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.9999274 -0.00253107 -0.01178092 -1.81834963] [ 0.00249441 0.999992 -0.00312551 -0.09990465] [ 0.01178873 0.00309589 0.99992572 0.72379293] [ 0. 0. 0. 1. ]] SLAMing on 23.072557844 meters Centerline goodness : 0.131140 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.10, Z:0.72 [[ 0.99992834 -0.00274344 -0.01165302 -1.81883834] [ 0.00270116 0.99998972 -0.00364251 -0.09763767] [ 0.01166289 0.00361077 0.99992547 0.72411712] [ 0. 0. 0. 1. ]] SLAMing on 23.102557844 meters Centerline goodness : 0.285117 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99937928e-01 8.58720302e-04 -1.11086719e-02 -1.82030834e+00] [-8.65265129e-04 9.99999455e-01 -5.84371118e-04 -9.30601228e-02] [ 1.11081641e-02 5.93946792e-04 9.99938126e-01 7.24354015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132557844 meters Centerline goodness : 0.121428 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99936888e-01 6.19093560e-04 -1.12177038e-02 -1.81974464e+00] [-6.33929386e-04 9.99998929e-01 -1.31902931e-03 -8.94439925e-02] [ 1.12168752e-02 1.32605730e-03 9.99936210e-01 7.23930699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters Centerline goodness : 0.120358 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.09, Z:0.72 [[ 9.99935557e-01 3.55027415e-04 -1.13470357e-02 -1.81922732e+00] [-3.78642448e-04 9.99997767e-01 -2.07908266e-03 -8.59275843e-02] [ 1.13462722e-02 2.08324515e-03 9.99933459e-01 7.23685376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192557844 meters Centerline goodness : 0.178324 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.08, Z:0.72 [[ 9.99904588e-01 1.15356818e-04 -1.38131247e-02 -1.86534779e+00] [-1.55483616e-04 9.99995771e-01 -2.90393749e-03 -7.93559783e-02] [ 1.38127313e-02 2.90580813e-03 9.99900377e-01 7.24846423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222557844 meters Centerline goodness : 0.179276 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 0.99987442 -0.00749859 -0.01396133 -1.84642856] [ 0.00746621 0.99996932 -0.00236971 -0.06918218] [ 0.01397867 0.00226518 0.99989973 0.72730908] [ 0. 0. 0. 1. ]] SLAMing on 23.252557844000002 meters Centerline goodness : 0.092544 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 9.99901055e-01 -4.17325500e-03 -1.34336884e-02 -1.84805746e+00] [ 4.18602521e-03 9.99990813e-01 9.22632822e-04 -6.74341443e-02] [ 1.34297146e-02 -9.78775290e-04 9.99909338e-01 7.27614155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282557844 meters Centerline goodness : 0.173355 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.73 [[ 9.99899587e-01 -4.35444388e-03 -1.34853606e-02 -1.84779755e+00] [ 4.36088777e-03 9.99990391e-01 4.48474630e-04 -6.51615836e-02] [ 1.34832782e-02 -5.07237742e-04 9.99908968e-01 7.27409068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312557844 meters Centerline goodness : 0.172305 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99892134e-01 -4.80314762e-03 -1.38798441e-02 -1.84597347e+00] [ 4.79967515e-03 9.99988441e-01 -2.83481027e-04 -6.24531271e-02] [ 1.38810453e-02 2.16831706e-04 9.99903630e-01 7.25929210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342557844 meters Centerline goodness : 0.178508 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99890476e-01 -4.96635408e-03 -1.39416859e-02 -1.84585180e+00] [ 4.95810300e-03 9.99987512e-01 -6.26329490e-04 -6.10279465e-02] [ 1.39446223e-02 5.57136578e-04 9.99902614e-01 7.25996015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372557844 meters Centerline goodness : 0.097029 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99891404e-01 -5.14505674e-03 -1.38097330e-02 -1.84642681e+00] [ 5.13029322e-03 9.99986230e-01 -1.10427914e-03 -5.87297970e-02] [ 1.38152245e-02 1.03331124e-03 9.99904031e-01 7.26427978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402557844 meters Centerline goodness : 0.139637 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.73 [[ 9.99915622e-01 -2.41631239e-03 -1.27636418e-02 -1.85034455e+00] [ 2.43479744e-03 9.99996009e-01 1.43291786e-03 -5.53025904e-02] [ 1.27601285e-02 -1.46387383e-03 9.99917515e-01 7.27933323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432557844 meters Centerline goodness : 0.172647 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99914636e-01 -2.62286031e-03 -1.28000782e-02 -1.85032782e+00] [ 2.63378234e-03 9.99996182e-01 8.36495706e-04 -5.23860809e-02] [ 1.27978353e-02 -8.70136919e-04 9.99917726e-01 7.28107627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462557844 meters Centerline goodness : 0.169657 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99910813e-01 -2.94948969e-03 -1.30256061e-02 -1.84932475e+00] [ 2.95122540e-03 9.99995639e-01 1.14034360e-04 -4.93527996e-02] [ 1.30252129e-02 -1.52465690e-04 9.99915157e-01 7.27395514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492557844 meters Centerline goodness : 0.115299 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.73 [[ 9.99910299e-01 -3.06488667e-03 -1.30383877e-02 -1.84925112e+00] [ 3.06347642e-03 9.99995299e-01 -1.28132422e-04 -4.83814958e-02] [ 1.30387191e-02 8.81781349e-05 9.99914988e-01 7.27323124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522557844 meters Centerline goodness : 0.142046 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 9.99913337e-01 5.06883027e-03 -1.21501142e-02 -1.82954413e+00] [-5.08443518e-03 9.99986288e-01 -1.25379797e-03 -5.18807769e-02] [ 1.21435923e-02 1.31546578e-03 9.99925399e-01 7.28192718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552557844 meters Centerline goodness : 0.168693 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 9.99913456e-01 4.93402814e-03 -1.21957528e-02 -1.82943752e+00] [-4.95435915e-03 9.99986387e-01 -1.63740724e-03 -4.99441194e-02] [ 1.21875077e-02 1.69768767e-03 9.99924288e-01 7.28272766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582557844 meters Centerline goodness : 0.140036 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 0.99991218 0.00477489 -0.01236219 -1.82888685] [-0.00480129 0.99998626 -0.00210651 -0.04765572] [ 0.01235196 0.00216568 0.99992137 0.72810731] [ 0. 0. 0. 1. ]] SLAMing on 23.612557844 meters Centerline goodness : 0.140036 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.05, Z:0.73 [[ 0.99991218 0.00477489 -0.01236219 -1.82888685] [-0.00480129 0.99998626 -0.00210651 -0.04765572] [ 0.01235196 0.00216568 0.99992137 0.72810731] [ 0. 0. 0. 1. ]] SLAMing on 23.642557844 meters Centerline goodness : 0.170268 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99915280e-01 -2.44111387e-03 -1.27856901e-02 -1.84574778e+00] [ 2.42852007e-03 9.99996551e-01 -1.00042503e-03 -3.64871700e-02] [ 1.27880881e-02 9.69289969e-04 9.99917759e-01 7.25384930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672557844 meters Centerline goodness : 0.169701 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 9.99913641e-01 -2.58235965e-03 -1.28857317e-02 -1.84561622e+00] [ 2.56287276e-03 9.99995548e-01 -1.52856860e-03 -3.38687507e-02] [ 1.28896216e-02 1.49541210e-03 9.99915807e-01 7.25650881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702557844 meters Centerline goodness : 0.175081 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991582 -0.00269736 -0.01269199 -1.8464471 ] [ 0.00267159 0.99999434 -0.00204709 -0.03108822] [ 0.01269744 0.00201301 0.99991736 0.72630114] [ 0. 0. 0. 1. ]] SLAMing on 23.732557844 meters Centerline goodness : 0.134303 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991771 -0.00285796 -0.01250582 -1.84730824] [ 0.00282543 0.99999258 -0.00261811 -0.0282694 ] [ 0.01251321 0.00258256 0.99991837 0.72711807] [ 0. 0. 0. 1. ]] SLAMing on 23.762557844 meters Centerline goodness : 0.135545 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991824 -0.00304508 -0.01241966 -1.84772839] [ 0.00300705 0.99999074 -0.00307979 -0.02624496] [ 0.01242892 0.00304219 0.99991813 0.7275196 ] [ 0. 0. 0. 1. ]] SLAMing on 23.792557844 meters Centerline goodness : 0.174777 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991952 -0.00318734 -0.01227943 -1.84808564] [ 0.00314638 0.99998943 -0.00335328 -0.02523484] [ 0.01228999 0.00331438 0.99991898 0.72752597] [ 0. 0. 0. 1. ]] SLAMing on 23.822557844 meters Centerline goodness : 0.129380 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991863 -0.0035623 -0.01224934 -1.84792205] [ 0.00351932 0.99998758 -0.00352895 -0.02507845] [ 0.01226176 0.00348555 0.99991875 0.72694862] [ 0. 0. 0. 1. ]] SLAMing on 23.852557844 meters Centerline goodness : 0.141502 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991848 -0.00354502 -0.01226671 -1.84763498] [ 0.00350392 0.99998818 -0.00337047 -0.02571731] [ 0.01227851 0.00332721 0.99991908 0.72642797] [ 0. 0. 0. 1. ]] SLAMing on 23.882557844 meters Centerline goodness : 0.148821 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991732 -0.00379695 -0.01228586 -1.84736099] [ 0.003758 0.99998785 -0.00319174 -0.02717834] [ 0.01229783 0.00314531 0.99991943 0.7258884 ] [ 0. 0. 0. 1. ]] SLAMing on 23.912557844 meters Centerline goodness : 0.167958 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.73 [[ 0.99991789 -0.00374294 -0.01225571 -1.84742423] [ 0.00370712 0.9999888 -0.00294363 -0.02846794] [ 0.01226659 0.00289795 0.99992056 0.72580689] [ 0. 0. 0. 1. ]] SLAMing on 23.942557844 meters Centerline goodness : 0.146479 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.99990716 0.00472861 -0.0127791 -1.8684144 ] [-0.00477866 0.99998102 -0.00388893 -0.03302701] [ 0.01276047 0.00394964 0.99991078 0.72469856] [ 0. 0. 0. 1. ]] SLAMing on 23.972557844 meters Centerline goodness : 0.157255 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.99990812 0.00478775 -0.01268162 -1.8687203 ] [-0.00483488 0.99998151 -0.00368798 -0.03399206] [ 0.01266373 0.00374896 0.99991278 0.72474935] [ 0. 0. 0. 1. ]] SLAMing on 24.002557844000002 meters Centerline goodness : 0.125025 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.03, Z:0.72 [[ 0.9999082 0.00485653 -0.01264951 -1.86885336] [-0.004901 0.99998191 -0.00348677 -0.03491088] [ 0.01263235 0.00354845 0.99991391 0.72480362] [ 0. 0. 0. 1. ]] SLAMing on 24.032557844 meters Centerline goodness : 0.162783 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.04, Z:0.72 [[ 0.99993419 0.00394629 -0.01077202 -1.82438242] [-0.00398754 0.99998479 -0.00381018 -0.03849276] [ 0.01075682 0.00385289 0.99993472 0.72469813] [ 0. 0. 0. 1. ]] SLAMing on 24.062557844 meters Centerline goodness : 0.168586 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99992333 -0.00443709 -0.01156081 -1.84401362] [ 0.00440087 0.99998533 -0.00315668 -0.03194808] [ 0.01157465 0.00310556 0.99992819 0.72387941] [ 0. 0. 0. 1. ]] SLAMing on 24.092557844 meters Centerline goodness : 0.162426 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.9999219 -0.00445907 -0.01167479 -1.8435904 ] [ 0.00442047 0.99998468 -0.00333035 -0.0310204 ] [ 0.01168946 0.00327848 0.9999263 0.72366879] [ 0. 0. 0. 1. ]] SLAMing on 24.122557844 meters Centerline goodness : 0.141284 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991957 -0.00446907 -0.01186938 -1.84296653] [ 0.00442738 0.99998395 -0.00353579 -0.02988579] [ 0.01188499 0.00348296 0.99992331 0.72348397] [ 0. 0. 0. 1. ]] SLAMing on 24.152557844 meters Centerline goodness : 0.155333 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991807 -0.0044993 -0.0119839 -1.84259498] [ 0.00445434 0.99998295 -0.00377547 -0.02866783] [ 0.01200068 0.00372178 0.99992106 0.7233937 ] [ 0. 0. 0. 1. ]] SLAMing on 24.182557844 meters Centerline goodness : 0.136339 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991794 -0.00454248 -0.01197858 -1.84264939] [ 0.00449506 0.99998197 -0.00398252 -0.02780307] [ 0.01199645 0.00392835 0.99992032 0.72348599] [ 0. 0. 0. 1. ]] SLAMing on 24.212557844 meters Centerline goodness : 0.164512 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.03, Z:0.72 [[ 0.99991883 -0.00452798 -0.01190909 -1.84290551] [ 0.00448133 0.99998219 -0.00394115 -0.02803158] [ 0.01192673 0.00388746 0.99992132 0.72358173] [ 0. 0. 0. 1. ]] SLAMing on 24.242557844 meters Centerline goodness : 0.140241 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:0.72 [[ 0.99993633 0.00336165 -0.01077227 -1.8241899 ] [-0.00341477 0.99998208 -0.0049171 -0.03402038] [ 0.01075555 0.00495357 0.99992989 0.72452851] [ 0. 0. 0. 1. ]] SLAMing on 24.272557844 meters Centerline goodness : 0.164834 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.03, Z:0.72 [[ 0.99993862 0.00340412 -0.01054388 -1.8248901 ] [-0.00345436 0.99998275 -0.00475001 -0.03483461] [ 0.01052752 0.00478615 0.99993313 0.72469368] [ 0. 0. 0. 1. ]] SLAMing on 24.302557844 meters Centerline goodness : 0.118970 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.04, Z:0.72 [[ 0.99994151 0.00345456 -0.01024895 -1.8257449 ] [-0.00350081 0.99998375 -0.00449834 -0.03611161] [ 0.01023324 0.00453396 0.99993736 0.72481169] [ 0. 0. 0. 1. ]] SLAMing on 24.332557844 meters Centerline goodness : 0.163320 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.04, Z:0.73 [[ 0.99994453 0.00346967 -0.00994451 -1.82670461] [-0.00351196 0.99998485 -0.00423754 -0.03753137] [ 0.00992966 0.00427223 0.99994157 0.72508902] [ 0. 0. 0. 1. ]] SLAMing on 24.362557844 meters Centerline goodness : 0.157491 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.04, Z:0.73 [[ 0.99994591 -0.00548365 -0.00883768 -1.8054368 ] [ 0.00545871 0.99998106 -0.00284306 -0.03928095] [ 0.0088531 0.00279467 0.99995691 0.72621955] [ 0. 0. 0. 1. ]] SLAMing on 24.392557844 meters Centerline goodness : 0.160294 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 0.99991906 -0.00494534 -0.01172291 -1.85072396] [ 0.00491898 0.99998531 -0.00227585 -0.03848972] [ 0.01173399 0.002218 0.99992869 0.72697295] [ 0. 0. 0. 1. ]] SLAMing on 24.422557844 meters Centerline goodness : 0.147702 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99917943e-01 -4.81780334e-03 -1.18699756e-02 -1.85009554e+00] [ 4.79557024e-03 9.99986695e-01 -1.90080541e-03 -4.01612124e-02] [ 1.18789753e-02 1.84372613e-03 9.99927743e-01 7.26436934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452557844 meters Centerline goodness : 0.131726 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.73 [[ 9.99917732e-01 -4.71386076e-03 -1.19293532e-02 -1.84974060e+00] [ 4.69511841e-03 9.99987700e-01 -1.59863109e-03 -4.16394890e-02] [ 1.19367422e-02 1.54248985e-03 9.99927565e-01 7.26041322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482557844 meters Centerline goodness : 0.122049 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.72 [[ 0.99991431 0.00407012 -0.0124421 -1.87112868] [-0.00410071 0.99998863 -0.00243359 -0.04551525] [ 0.01243205 0.0024844 0.99991963 0.72480441] [ 0. 0. 0. 1. ]] SLAMing on 24.512557844 meters Centerline goodness : 0.162723 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99991422 0.00418556 -0.01241065 -1.8715892 ] [-0.00421739 0.99998788 -0.00253998 -0.04455748] [ 0.01239987 0.0025921 0.99991976 0.72559206] [ 0. 0. 0. 1. ]] SLAMing on 24.542557844 meters Centerline goodness : 0.162094 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99991144 0.00416331 -0.01264011 -1.87097269] [-0.00419927 0.99998721 -0.00281951 -0.04301006] [ 0.01262821 0.00287234 0.99991614 0.72562847] [ 0. 0. 0. 1. ]] SLAMing on 24.572557844 meters Centerline goodness : 0.157798 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:0.73 [[ 0.99990642 0.00411301 -0.0130474 -1.86981141] [-0.00415412 0.99998649 -0.00312539 -0.04143973] [ 0.01303437 0.0031793 0.99990999 0.72550235] [ 0. 0. 0. 1. ]] SLAMing on 24.602557844 meters Centerline goodness : 0.160668 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.03, Z:0.72 [[ 9.99917443e-01 -2.43157668e-03 -1.26172008e-02 -1.88518042e+00] [ 2.41201566e-03 9.99995866e-01 -1.56533158e-03 -3.38140661e-02] [ 1.26209548e-02 1.53476947e-03 9.99919175e-01 7.22298115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632557844 meters Centerline goodness : 0.109628 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:0.72 [[ 9.99914613e-01 -1.88169323e-03 -1.29315956e-02 -1.88389736e+00] [ 1.85562256e-03 9.99996222e-01 -2.02774792e-03 -2.95108453e-02] [ 1.29353624e-02 2.00357862e-03 9.99914327e-01 7.21716235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662557844000002 meters Centerline goodness : 0.162585 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:0.72 [[ 9.99914761e-01 -1.66313973e-03 -1.29500608e-02 -1.88373066e+00] [ 1.63044782e-03 9.99995459e-01 -2.53460824e-03 -2.60987234e-02] [ 1.29542174e-02 2.51327780e-03 9.99912932e-01 7.21687961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692557844 meters Centerline goodness : 0.122187 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:0.72 [[ 9.99907738e-01 -1.35772448e-03 -1.35156184e-02 -1.88213851e+00] [ 1.31767332e-03 9.99994716e-01 -2.97178845e-03 -2.27273253e-02] [ 1.35195818e-02 2.95370510e-03 9.99904244e-01 7.21528637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722557844 meters Centerline goodness : 0.174930 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:0.72 [[ 9.99903545e-01 -1.03351036e-03 -1.38503829e-02 -1.88128652e+00] [ 9.85864439e-04 9.99993575e-01 -3.44643004e-03 -1.91700266e-02] [ 1.38538558e-02 3.43244301e-03 9.99898139e-01 7.21685715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752557844000002 meters Centerline goodness : 0.115358 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:0.72 [[ 9.99905082e-01 2.44173412e-03 -1.35596831e-02 -1.88313155e+00] [-2.46191754e-03 9.99995886e-01 -1.47199473e-03 -9.61650577e-03] [ 1.35560331e-02 1.50523783e-03 9.99906980e-01 7.23300668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782557844 meters Centerline goodness : 0.178290 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.00, Z:0.72 [[ 0.99991591 0.00265517 -0.01269314 -1.8855692 ] [-0.00268304 0.99999403 -0.00217859 -0.00497954] [ 0.01268728 0.00221247 0.99991707 0.72395506] [ 0. 0. 0. 1. ]] SLAMing on 24.812557844 meters Centerline goodness : 0.177815 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.00, Z:0.72 [[ 9.99930220e-01 2.83737208e-03 -1.14675710e-02 -1.88900209e+00] [-2.87053418e-03 9.99991743e-01 -2.87639138e-03 -4.75425947e-04] [ 1.14593149e-02 2.90910871e-03 9.99930108e-01 7.24829153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842557844 meters Centerline goodness : 0.178377 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.00, Z:0.73 [[ 0.99994161 0.00278803 -0.01044094 -1.89186983] [-0.00282649 0.99998927 -0.00367087 0.00379828] [ 0.01043059 0.00370016 0.99993875 0.72549479] [ 0. 0. 0. 1. ]] SLAMing on 24.872557844 meters Centerline goodness : 0.129907 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.01, Z:0.73 [[ 0.99994612 0.00256822 -0.01005791 -1.89306679] [-0.00261349 0.9999865 -0.00449032 0.0077144 ] [ 0.01004624 0.00451637 0.99993934 0.72595141] [ 0. 0. 0. 1. ]] SLAMing on 24.902557844 meters Centerline goodness : 0.134232 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.01, Z:0.73 [[ 0.99994753 0.00232587 -0.00997638 -1.89329783] [-0.00237797 0.99998358 -0.00521316 0.01116444] [ 0.00996409 0.00523661 0.99993665 0.72604434] [ 0. 0. 0. 1. ]] SLAMing on 24.932557844 meters Centerline goodness : 0.137863 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.02, Z:0.73 [[ 0.99994957 0.00206523 -0.00982862 -1.89370394] [-0.00212575 0.99997882 -0.0061511 0.01652985] [ 0.00981571 0.00617169 0.99993278 0.72619409] [ 0. 0. 0. 1. ]] SLAMing on 24.962557844 meters Centerline goodness : 0.378106 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.02, Z:0.72 [[ 0.99993471 -0.00587304 -0.00980189 -1.91280228] [ 0.00582262 0.99996971 -0.00516431 0.02387139] [ 0.00983192 0.0051069 0.99993862 0.72409303] [ 0. 0. 0. 1. ]] SLAMing on 24.992557844 meters Centerline goodness : 0.135003 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992802 -0.00625562 -0.01023871 -1.91105171] [ 0.00619458 0.99996292 -0.00598258 0.02724633] [ 0.01027576 0.00591872 0.99992969 0.72304135] [ 0. 0. 0. 1. ]] SLAMing on 25.022557844 meters Centerline goodness : 0.130077 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992526 -0.00639665 -0.0104187 -1.91042194] [ 0.00633086 0.99995989 -0.00633611 0.0288721 ] [ 0.01045881 0.00626967 0.99992565 0.72275483] [ 0. 0. 0. 1. ]] SLAMing on 25.052557844 meters Centerline goodness : 0.135028 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99992329 -0.00648463 -0.0105527 -1.91012072] [ 0.00641466 0.99995731 -0.00665067 0.03049469] [ 0.01059538 0.00658247 0.9999222 0.72284186] [ 0. 0. 0. 1. ]] SLAMing on 25.082557844 meters Centerline goodness : 0.134915 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994306 -0.00283967 -0.01028631 -1.91088023] [ 0.00280954 0.99999172 -0.00294244 0.03086896] [ 0.01029458 0.00291337 0.99994277 0.72294583] [ 0. 0. 0. 1. ]] SLAMing on 25.112557844 meters Centerline goodness : 0.135732 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994207 -0.00293278 -0.01035604 -1.91092652] [ 0.00289899 0.99999043 -0.00327597 0.03255007] [ 0.01036555 0.00324576 0.99994101 0.72338625] [ 0. 0. 0. 1. ]] SLAMing on 25.142557844 meters Centerline goodness : 0.131388 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.03, Z:0.72 [[ 0.99994075 -0.00305309 -0.01044854 -1.91079648] [ 0.00301517 0.99998882 -0.00364263 0.0341859 ] [ 0.01045954 0.00361091 0.99993878 0.72357573] [ 0. 0. 0. 1. ]] SLAMing on 25.172557844 meters Centerline goodness : 0.134526 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993403 -0.00282003 -0.01113501 -1.90862784] [ 0.00277456 0.99998776 -0.00409725 0.03737702] [ 0.01114643 0.00406608 0.99992961 0.72280296] [ 0. 0. 0. 1. ]] SLAMing on 25.202557844 meters Centerline goodness : 0.137718 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993252 -0.00274047 -0.01128941 -1.90807871] [ 0.00269004 0.99998634 -0.00448042 0.03984055] [ 0.01130153 0.00444975 0.99992623 0.72254809] [ 0. 0. 0. 1. ]] SLAMing on 25.232557844 meters Centerline goodness : 0.135804 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99993137 -0.00260914 -0.01142175 -1.90778806] [ 0.00255393 0.999985 -0.00484564 0.04217932] [ 0.01143422 0.00481613 0.99992303 0.72263228] [ 0. 0. 0. 1. ]] SLAMing on 25.262557844 meters Centerline goodness : 0.143758 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99992766 -0.00249522 -0.01176676 -1.90697319] [ 0.0024343 0.99998358 -0.00518863 0.04430006] [ 0.01177951 0.00515961 0.99991731 0.72269157] [ 0. 0. 0. 1. ]] SLAMing on 25.292557844 meters Centerline goodness : 0.140883 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 0.99992496 -0.00242376 -0.0120084 -1.90651664] [ 0.0023573 0.99998185 -0.00554544 0.0463852 ] [ 0.01202162 0.00551671 0.99991252 0.7228835 ] [ 0. 0. 0. 1. ]] SLAMing on 25.322557844 meters Centerline goodness : 0.144006 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99921750e-01 -1.43482265e-03 -1.24272165e-02 -1.90547292e+00] [ 1.36815928e-03 9.99984639e-01 -5.37114518e-03 4.84440553e-02] [ 1.24347323e-02 5.35372248e-03 9.99908353e-01 7.22769331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352557844 meters Centerline goodness : 0.158628 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99919520e-01 -1.43964317e-03 -1.26047870e-02 -1.90506757e+00] [ 1.36760627e-03 9.99982695e-01 -5.72179858e-03 5.02883364e-02] [ 1.26128062e-02 5.70409971e-03 9.99904186e-01 7.22725621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382557844 meters Centerline goodness : 0.122659 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.05, Z:0.72 [[ 9.99938740e-01 -1.21079488e-03 -1.10022524e-02 -1.85973032e+00] [ 1.14902890e-03 9.99983556e-01 -5.61852714e-03 5.29271065e-02] [ 1.10088744e-02 5.60554104e-03 9.99923688e-01 7.22194423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412557844000002 meters Centerline goodness : 0.163527 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.05, Z:0.72 [[ 9.99939476e-01 -1.32511412e-03 -1.09218778e-02 -1.85983276e+00] [ 1.26002240e-03 9.99981418e-01 -5.96448374e-03 5.44054789e-02] [ 1.09295785e-02 5.95036094e-03 9.99922566e-01 7.21969511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442557844 meters Centerline goodness : 0.157456 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.06, Z:0.72 [[ 9.99942207e-01 -1.36592414e-03 -1.06637900e-02 -1.86072602e+00] [ 1.30046707e-03 9.99980287e-01 -6.14277830e-03 5.52497100e-02] [ 1.06719703e-02 6.12855538e-03 9.99924272e-01 7.22310439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472557844 meters Centerline goodness : 0.151376 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992403 0.00784495 -0.0095078 -1.88318114] [-0.00790597 0.99994828 -0.00639788 0.05176091] [ 0.00945712 0.00647256 0.99993433 0.72185376] [ 0. 0. 0. 1. ]] SLAMing on 25.502557844000002 meters Centerline goodness : 0.170952 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992363 0.00786984 -0.00952879 -1.88306617] [-0.00793059 0.99994836 -0.00635509 0.05157594] [ 0.00947828 0.00643017 0.99993441 0.72172592] [ 0. 0. 0. 1. ]] SLAMing on 25.532557844 meters Centerline goodness : 0.170952 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:0.72 [[ 0.99992363 0.00786984 -0.00952879 -1.88306617] [-0.00793059 0.99994836 -0.00635509 0.05157594] [ 0.00947828 0.00643017 0.99993441 0.72172592] [ 0. 0. 0. 1. ]] SLAMing on 25.562557844 meters Centerline goodness : 0.178742 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.06, Z:0.72 [[ 9.99953785e-01 -9.51400059e-04 -9.56676728e-03 -1.86317516e+00] [ 8.96541723e-04 9.99983142e-01 -5.73691508e-03 5.50573535e-02] [ 9.57206411e-03 5.72807294e-03 9.99937780e-01 7.22922632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592557844 meters Centerline goodness : 0.116889 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 9.99922902e-01 -1.91802999e-03 -1.22683190e-02 -1.90853934e+00] [ 1.82955406e-03 9.99972270e-01 -7.21890259e-03 5.30888721e-02] [ 1.22818249e-02 7.19590047e-03 9.99898683e-01 7.23772449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622557844 meters Centerline goodness : 0.142839 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:0.72 [[ 0.99989359 -0.01080467 -0.00980142 -1.88821435] [ 0.01074164 0.99992144 -0.00646071 0.05330888] [ 0.00987046 0.00635474 0.99993109 0.72406499] [ 0. 0. 0. 1. ]] SLAMing on 25.652557844 meters Centerline goodness : 0.154604 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.05, Z:0.72 [[ 0.99996204 -0.00224117 -0.00841993 -1.90878509] [ 0.00218407 0.9999746 -0.00678515 0.04640712] [ 0.00843492 0.0067665 0.99994153 0.72270426] [ 0. 0. 0. 1. ]] SLAMing on 25.682557844 meters Centerline goodness : 0.135587 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.99996341 -0.00211662 -0.00828803 -1.90934265] [ 0.0020631 0.999977 -0.00646065 0.04496545] [ 0.00830152 0.00644332 0.99994478 0.72314384] [ 0. 0. 0. 1. ]] SLAMing on 25.712557844 meters Centerline goodness : 0.134645 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 0.9999642 -0.00200656 -0.00821976 -1.90951248] [ 0.00195592 0.99997909 -0.00616354 0.04355561] [ 0.00823195 0.00614724 0.99994722 0.72315284] [ 0. 0. 0. 1. ]] SLAMing on 25.742557844 meters Centerline goodness : 0.143122 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99964801e-01 -1.79562588e-03 -8.19582383e-03 -1.90964546e+00] [ 1.74925378e-03 9.99982443e-01 -5.66168238e-03 4.12324061e-02] [ 8.20584619e-03 5.64714652e-03 9.99950386e-01 7.23255481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772557844 meters Centerline goodness : 0.159465 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99965012e-01 -1.68135167e-03 -8.19437583e-03 -1.90956580e+00] [ 1.63693580e-03 9.99983950e-01 -5.42398266e-03 4.02471404e-02] [ 8.20336394e-03 5.41037922e-03 9.99951715e-01 7.23097628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802557844 meters Centerline goodness : 0.140252 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99963504e-01 -1.54545340e-03 -8.40249534e-03 -1.90878568e+00] [ 1.50245738e-03 9.99985759e-01 -5.12096081e-03 3.89858137e-02] [ 8.41028989e-03 5.10814953e-03 9.99951586e-01 7.22646821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832557844 meters Centerline goodness : 0.145717 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99961728e-01 -1.41274875e-03 -8.63399875e-03 -1.90769732e+00] [ 1.37110695e-03 9.99987410e-01 -4.82702065e-03 3.76812143e-02] [ 8.64070942e-03 4.81499778e-03 9.99951076e-01 7.21757895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862557844 meters Centerline goodness : 0.109371 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.04, Z:0.72 [[ 9.99959681e-01 -1.30624198e-03 -8.88426198e-03 -1.90666939e+00] [ 1.26516087e-03 9.99988490e-01 -4.62808072e-03 3.68343637e-02] [ 8.89020511e-03 4.61665410e-03 9.99949824e-01 7.21055648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892557844 meters Centerline goodness : 0.181312 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.04, Z:0.72 [[ 9.99954629e-01 -1.01579761e-03 -9.47148777e-03 -1.90459931e+00] [ 9.74883778e-04 9.99990179e-01 -4.32330028e-03 3.59231410e-02] [ 9.47578635e-03 4.31387053e-03 9.99945799e-01 7.19967814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922557844 meters Centerline goodness : 0.112613 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99922261e-01 1.34109619e-04 -1.24681351e-02 -1.95045647e+00] [-1.80700166e-04 9.99993006e-01 -3.73571800e-03 3.31427315e-02] [ 1.24675469e-02 3.73768058e-03 9.99915291e-01 7.21150785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952557844 meters Centerline goodness : 0.118203 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99923229e-01 2.38717828e-04 -1.23886795e-02 -1.95079035e+00] [-2.83470006e-04 9.99993441e-01 -3.61071420e-03 3.26805250e-02] [ 1.23877363e-02 3.61394882e-03 9.99916738e-01 7.21370404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982557844 meters Centerline goodness : 0.382270 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99927058e-01 3.65102092e-04 -1.20724928e-02 -1.95174533e+00] [-4.06035666e-04 9.99994177e-01 -3.38837086e-03 3.14713934e-02] [ 1.20711854e-02 3.39302557e-03 9.99921384e-01 7.21571843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012557844 meters Centerline goodness : 0.175521 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99927993e-01 4.56124153e-04 -1.19917298e-02 -1.95181068e+00] [-4.95258830e-04 9.99994561e-01 -3.26070511e-03 3.09827266e-02] [ 1.19901773e-02 3.26640932e-03 9.99922780e-01 7.21271893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042557844 meters Centerline goodness : 0.111344 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99929038e-01 5.21994613e-04 -1.19015712e-02 -1.95169800e+00] [-5.59664583e-04 9.99994844e-01 -3.16201494e-03 3.06869661e-02] [ 1.18998593e-02 3.16845145e-03 9.99924174e-01 7.20640930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072557844 meters Centerline goodness : 0.090959 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99928981e-01 5.73684308e-04 -1.19039181e-02 -1.95141628e+00] [-6.10139379e-04 9.99995135e-01 -3.05903745e-03 3.02286808e-02] [ 1.19021052e-02 3.06608325e-03 9.99924467e-01 7.20152997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.132557844 meters Centerline goodness : 0.358020 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:0.72 [[ 9.99925789e-01 7.63112029e-04 -1.21587304e-02 -1.95059961e+00] [-7.95077927e-04 9.99996240e-01 -2.62443219e-03 2.81944318e-02] [ 1.21566820e-02 2.63390457e-03 9.99922636e-01 7.19838460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162557844000002 meters Centerline goodness : 0.139426 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99895055e-01 1.05703877e-03 -1.44485995e-02 -1.99753689e+00] [-1.09229701e-03 9.99996445e-01 -2.43257924e-03 2.47957351e-02] [ 1.44459768e-02 2.44810612e-03 9.99892655e-01 7.21221767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192557844 meters Centerline goodness : 0.125762 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99897533e-01 1.19852130e-03 -1.42649089e-02 -1.99824747e+00] [-1.22817975e-03 9.99997102e-01 -2.07054043e-03 2.31934135e-02] [ 1.42623860e-02 2.08784814e-03 9.99896107e-01 7.21693700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222557844 meters Centerline goodness : 0.130990 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99901674e-01 1.30301281e-03 -1.39622874e-02 -1.99919408e+00] [-1.32670291e-03 9.99997696e-01 -1.68759259e-03 2.12815786e-02] [ 1.39600562e-02 1.70595047e-03 9.99901098e-01 7.22082434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252557844000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.282557844 meters Centerline goodness : 0.179235 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.02, Z:0.72 [[ 9.99909846e-01 1.00572044e-03 -1.33898552e-02 -2.00054298e+00] [-1.02001280e-03 9.99998917e-01 -1.06061608e-03 1.61507268e-02] [ 1.33887740e-02 1.07417828e-03 9.99909789e-01 7.22083508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312557844 meters Centerline goodness : 0.086769 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.01, Z:0.72 [[ 9.99908213e-01 1.16723311e-03 -1.34982923e-02 -2.00006731e+00] [-1.17454671e-03 9.99999168e-01 -5.33901671e-04 1.35974601e-02] [ 1.34976578e-02 5.49707041e-04 9.99908751e-01 7.21798559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342557844 meters Centerline goodness : 0.170326 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.01, Z:0.72 [[ 9.99861255e-01 2.56174557e-04 -1.66554870e-02 -2.04350465e+00] [-2.75734729e-04 9.99999275e-01 -1.17211228e-03 8.54432187e-03] [ 1.66551747e-02 1.17654215e-03 9.99860601e-01 7.21695040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372557844 meters Centerline goodness : 0.113446 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.00, Z:0.72 [[ 9.99850902e-01 4.53674503e-04 -1.72617317e-02 -2.04176340e+00] [-4.52294117e-04 9.99999894e-01 8.38718946e-05 1.41644921e-03] [ 1.72617679e-02 -7.60520098e-05 9.99851002e-01 7.21372028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557844 meters Centerline goodness : 0.091847 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.00, Z:0.72 [[ 9.99852139e-01 7.33343169e-04 -1.71802859e-02 -2.04216861e+00] [-7.18405883e-04 9.99999359e-01 8.75598904e-04 -2.23658153e-03] [ 1.71809170e-02 -8.63127018e-04 9.99852025e-01 7.21834624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.462557844 meters Centerline goodness : 0.152444 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.01, Z:0.72 [[ 9.99872130e-01 -1.22990633e-03 -1.59440199e-02 -2.04744684e+00] [ 1.22567356e-03 9.99999211e-01 -2.75245766e-04 -9.81873708e-03] [ 1.59443458e-02 2.55668407e-04 9.99872848e-01 7.24405512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492557844 meters Centerline goodness : 0.094236 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.01, Z:0.72 [[ 9.99876844e-01 -8.05548664e-04 -1.56731513e-02 -2.04833820e+00] [ 8.17920081e-04 9.99999359e-01 7.82944117e-04 -1.49053788e-02] [ 1.56725105e-02 -7.95667078e-04 9.99876862e-01 7.24820189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522557844 meters Centerline goodness : 0.154259 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.73 [[ 9.99879531e-01 -6.49515742e-04 -1.55080899e-02 -2.04889647e+00] [ 6.67089904e-04 9.99999141e-01 1.12807933e-03 -1.64280316e-02] [ 1.55073438e-02 -1.13828872e-03 9.99879106e-01 7.25051977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552557844 meters Centerline goodness : 0.170718 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99880454e-01 -5.27019187e-04 -1.54531375e-02 -2.04891522e+00] [ 5.48381065e-04 9.99998900e-01 1.37816031e-03 -1.75579597e-02] [ 1.54523941e-02 -1.38646977e-03 9.99879643e-01 7.24839189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582557844 meters Centerline goodness : 0.168633 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99877384e-01 -4.36147986e-04 -1.56533153e-02 -2.04800718e+00] [ 4.60345305e-04 9.99998705e-01 1.54225721e-03 -1.83621876e-02] [ 1.56526223e-02 -1.54927404e-03 9.99876290e-01 7.24120804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612557844 meters Centerline goodness : 0.279668 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.02, Z:0.72 [[ 9.99869813e-01 -3.57844160e-04 -1.61315916e-02 -2.04624494e+00] [ 3.84767569e-04 9.99998538e-01 1.66591379e-03 -1.89976071e-02] [ 1.61309719e-02 -1.67190382e-03 9.99868490e-01 7.23140475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642557844 meters Centerline goodness : 0.166601 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.03, Z:0.72 [[ 9.99807606e-01 8.02350643e-03 -1.78990243e-02 -2.06553278e+00] [-8.01269477e-03 9.99967670e-01 6.75670898e-04 -2.51145185e-02] [ 1.79038669e-02 -5.32121484e-04 9.99839571e-01 7.21634856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672557844 meters Centerline goodness : 0.167033 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.03, Z:0.72 [[ 9.99808290e-01 8.26413908e-03 -1.77506963e-02 -2.06616459e+00] [-8.24470011e-03 9.99965330e-01 1.16801288e-03 -2.70918792e-02] [ 1.77597335e-02 -1.02143980e-03 9.99841762e-01 7.22067588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702557844 meters Centerline goodness : 0.159828 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:0.72 [[ 9.99849550e-01 -3.50077475e-04 -1.73422808e-02 -2.08729943e+00] [ 3.89097923e-04 9.99997400e-01 2.24669515e-03 -2.49666712e-02] [ 1.73414492e-02 -2.25310498e-03 9.99847087e-01 7.20677814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732557844 meters Centerline goodness : 0.103801 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99853331e-01 -2.55516281e-04 -1.71245981e-02 -2.08784083e+00] [ 3.01256016e-04 9.99996394e-01 2.66846968e-03 -2.71660278e-02] [ 1.71238545e-02 -2.67323719e-03 9.99849802e-01 7.20734024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762557844 meters Centerline goodness : 0.164921 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99853489e-01 -1.90971403e-04 -1.71161663e-02 -2.08776778e+00] [ 2.43948972e-04 9.99995186e-01 3.09314287e-03 -2.94508474e-02] [ 1.71154932e-02 -3.09686516e-03 9.99848723e-01 7.20594570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792557844 meters Centerline goodness : 0.364877 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 9.99844875e-01 -6.80937176e-04 -1.76000525e-02 -2.08603122e+00] [ 7.42000093e-04 9.99993728e-01 3.46317632e-03 -3.29737391e-02] [ 1.75975839e-02 -3.47569834e-03 9.99839109e-01 7.19728323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822557844000002 meters Centerline goodness : 0.107155 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99846698e-01 -6.09795069e-04 -1.74988327e-02 -2.08611734e+00] [ 6.79277624e-04 9.99991909e-01 3.96502757e-03 -3.54857628e-02] [ 1.74962733e-02 -3.97630628e-03 9.99839022e-01 7.19489506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852557844 meters Centerline goodness : 0.174480 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99845526e-01 -5.40512538e-04 -1.75679372e-02 -2.08598672e+00] [ 6.18881349e-04 9.99989882e-01 4.45576954e-03 -3.79636999e-02] [ 1.75653510e-02 -4.46595371e-03 9.99835743e-01 7.19642293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882557844 meters Centerline goodness : 0.187744 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.04, Z:0.72 [[ 9.99843110e-01 -4.83884504e-04 -1.77065504e-02 -2.08566123e+00] [ 5.72076033e-04 9.99987456e-01 4.97600288e-03 -4.07509946e-02] [ 1.77039205e-02 -4.98535169e-03 9.99830844e-01 7.19750613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912557844000002 meters Centerline goodness : 0.114403 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.04, Z:0.72 [[ 9.99826576e-01 -4.08245570e-03 -1.81700627e-02 -2.08386910e+00] [ 4.12007741e-03 9.99989445e-01 2.03358022e-03 -4.49807645e-02] [ 1.81615689e-02 -2.10808961e-03 9.99832843e-01 7.18935317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942557844 meters Centerline goodness : 0.096800 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.05, Z:0.72 [[ 9.99750975e-01 -5.19529387e-03 -2.17024856e-02 -2.12694072e+00] [ 5.22733876e-03 9.99985329e-01 1.42008507e-03 -4.79772428e-02] [ 2.16947895e-02 -1.53317767e-03 9.99763465e-01 7.18676590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972557844 meters Centerline goodness : 0.117291 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.05, Z:0.72 [[ 9.99759985e-01 4.88862342e-04 -2.19028061e-02 -2.10468221e+00] [-5.20016906e-04 9.99998861e-01 -1.41672757e-03 -5.22171674e-02] [ 2.19020886e-02 1.42777737e-03 9.99759101e-01 7.18426721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002557844000002 meters Centerline goodness : 0.194428 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.05, Z:0.72 [[ 9.99759608e-01 5.88520814e-04 -2.19175587e-02 -2.10453847e+00] [-6.11732532e-04 9.99999259e-01 -1.05235708e-03 -5.41399665e-02] [ 2.19169231e-02 1.06551178e-03 9.99759228e-01 7.18246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032557844 meters Centerline goodness : 0.192119 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.06, Z:0.72 [[ 9.99763147e-01 6.98345935e-04 -2.17523051e-02 -2.10499862e+00] [-7.15027145e-04 9.99999456e-01 -7.59102688e-04 -5.55550043e-02] [ 2.17517631e-02 7.74476381e-04 9.99763102e-01 7.18340785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.092557844 meters Centerline goodness : 0.261896 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99800835e-01 1.95556774e-03 -1.98611889e-02 -2.11128423e+00] [-1.94849617e-03 9.99998031e-01 3.75395317e-04 -5.71749225e-02] [ 1.98618839e-02 -3.36621101e-04 9.99802677e-01 7.20593426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.152557844 meters Centerline goodness : 0.163081 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99795361e-01 1.90600081e-03 -2.01395728e-02 -2.11045285e+00] [-1.90630400e-03 9.99998183e-01 4.14378918e-06 -5.55168136e-02] [ 2.01395441e-02 3.42492069e-05 9.99797178e-01 7.20366721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182557844 meters Centerline goodness : 0.172279 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99791466e-01 1.84982916e-03 -2.03372447e-02 -2.10960927e+00] [-1.85435955e-03 9.99998260e-01 -2.03907457e-04 -5.44905033e-02] [ 2.03368321e-02 2.41577500e-04 9.99793156e-01 7.19720179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212557844 meters Centerline goodness : 0.168761 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99789759e-01 1.77751173e-03 -2.04274044e-02 -2.10903874e+00] [-1.78662813e-03 9.99998312e-01 -4.28041587e-04 -5.34058566e-02] [ 2.04266091e-02 4.64447770e-04 9.99791247e-01 7.19061153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242557844 meters Centerline goodness : 0.153750 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.05, Z:0.72 [[ 9.99780845e-01 -6.19230626e-03 -1.99979116e-02 -2.08931490e+00] [ 6.20567982e-03 9.99980561e-01 6.06759740e-04 -4.80551027e-02] [ 1.99937656e-02 -7.30727402e-04 9.99799838e-01 7.20290854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272557844 meters Centerline goodness : 0.173218 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99786132e-01 1.95700761e-03 -2.05878827e-02 -2.10912531e+00] [-1.96994437e-03 9.99997875e-01 -6.08105656e-04 -5.32167209e-02] [ 2.05866489e-02 6.48532585e-04 9.99787862e-01 7.18948303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302557844 meters Centerline goodness : 0.160761 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99783654e-01 1.97551823e-03 -2.07061054e-02 -2.10893097e+00] [-1.98587372e-03 9.99997913e-01 -4.79567824e-04 -5.39809793e-02] [ 2.07051148e-02 5.20583782e-04 9.99785491e-01 7.19117680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332557844 meters Centerline goodness : 0.168446 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99756869e-01 1.75014760e-03 -2.19804392e-02 -2.10547927e+00] [-1.75763906e-03 9.99998404e-01 -3.21509092e-04 -5.57228336e-02] [ 2.19798414e-02 3.60064602e-04 9.99758349e-01 7.18708427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362557844 meters Centerline goodness : 0.289648 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.06, Z:0.72 [[ 9.99751717e-01 1.86707110e-03 -2.22040390e-02 -2.10473854e+00] [-1.86812670e-03 9.99998255e-01 -2.67981770e-05 -5.70553577e-02] [ 2.22039502e-02 6.82714815e-05 9.99753460e-01 7.18407527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.422557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.452557844 meters Centerline goodness : 0.188409 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99756719e-01 2.10148607e-03 -2.19564849e-02 -2.10579649e+00] [-2.09073377e-03 9.99997683e-01 5.12653707e-04 -5.93455235e-02] [ 2.19575114e-02 -4.66623823e-04 9.99758796e-01 7.19195362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.512557844 meters Centerline goodness : 0.161666 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.06, Z:0.72 [[ 9.99691039e-01 1.59911195e-03 -2.48046193e-02 -2.15230157e+00] [-1.60286268e-03 9.99998707e-01 -1.31329234e-04 -6.30062016e-02] [ 2.48043772e-02 1.71047057e-04 9.99692309e-01 7.21353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542557844 meters Centerline goodness : 0.154172 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99725559e-01 2.25915949e-03 -2.33174482e-02 -2.10688287e+00] [-2.25843776e-03 9.99997448e-01 5.72865062e-05 -6.26244822e-02] [ 2.33175181e-02 -4.60977896e-06 9.99728110e-01 7.21346421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572557844000002 meters Centerline goodness : 0.170957 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99722761e-01 2.33705698e-03 -2.34294737e-02 -2.10639509e+00] [-2.33679851e-03 9.99997269e-01 3.84107150e-05 -6.22926348e-02] [ 2.34294994e-02 1.63498931e-05 9.99725491e-01 7.21028249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602557844 meters Centerline goodness : 0.173393 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99723418e-01 2.38496586e-03 -2.33965825e-02 -2.10649548e+00] [-2.38704354e-03 9.99997149e-01 -6.08748520e-05 -6.16700535e-02] [ 2.33963707e-02 1.16706676e-04 9.99726261e-01 7.21069244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632557844 meters Centerline goodness : 0.163777 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99734029e-01 2.79009340e-03 -2.28929220e-02 -2.10828175e+00] [-2.79661618e-03 9.99996057e-01 -2.52915050e-04 -5.97193495e-02] [ 2.28921261e-02 3.16870498e-04 9.99737891e-01 7.21930666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662557844000002 meters Centerline goodness : 0.279904 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99736020e-01 2.79898303e-03 -2.28047576e-02 -2.10871861e+00] [-2.81311407e-03 9.99995871e-01 -5.87596380e-04 -5.78476953e-02] [ 2.28030187e-02 6.51593651e-04 9.99739765e-01 7.22202165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692557844 meters Centerline goodness : 0.164890 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99740350e-01 2.87100214e-03 -2.26050814e-02 -2.10921964e+00] [-2.89119348e-03 9.99995450e-01 -8.60589988e-04 -5.60391564e-02] [ 2.26025078e-02 9.25722200e-04 9.99744102e-01 7.22146225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722557844 meters Centerline goodness : 0.171875 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99741437e-01 2.88731470e-03 -2.25548920e-02 -2.10911924e+00] [-2.91534263e-03 9.99995018e-01 -1.20987105e-03 -5.39997469e-02] [ 2.25512864e-02 1.27531346e-03 9.99744874e-01 7.21652753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752557844000002 meters Centerline goodness : 0.166334 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 9.99756171e-01 2.93913214e-03 -2.18851659e-02 -2.11065600e+00] [-2.98201899e-03 9.99993697e-01 -1.92725394e-03 -5.00790139e-02] [ 2.18793635e-02 1.99204600e-03 9.99758633e-01 7.21322491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782557844 meters Centerline goodness : 0.168972 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 0.99976646 0.00282027 -0.02142578 -2.11218618] [-0.00287183 0.99999305 -0.00237609 -0.04789306] [ 0.02141893 0.00243706 0.99976762 0.72192512] [ 0. 0. 0. 1. ]] SLAMing on 27.812557844 meters Centerline goodness : 0.167038 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.05, Z:0.72 [[ 0.99977372 0.00271985 -0.02109765 -2.11348161] [-0.00277856 0.99999235 -0.00275435 -0.04588138] [ 0.02109 0.00281235 0.99977363 0.72262249] [ 0. 0. 0. 1. ]] SLAMing on 27.842557844 meters Centerline goodness : 0.167116 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99976788 0.00265669 -0.02138063 -2.11241094] [-0.00272775 0.99999085 -0.00329515 -0.04261952] [ 0.02137168 0.0033527 0.99976598 0.72197249] [ 0. 0. 0. 1. ]] SLAMing on 27.872557844 meters Centerline goodness : 0.164233 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99976175 0.00252491 -0.02168126 -2.11110412] [-0.00260338 0.99999016 -0.00359186 -0.04138197] [ 0.02167198 0.00364745 0.99975848 0.7210102 ] [ 0. 0. 0. 1. ]] SLAMing on 27.902557844 meters Centerline goodness : 0.171557 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975651 0.00240512 -0.02193475 -2.11003114] [-0.00248974 0.99998956 -0.00383171 -0.04044553] [ 0.02192531 0.00388538 0.99975206 0.72021995] [ 0. 0. 0. 1. ]] SLAMing on 27.932557844 meters Centerline goodness : 0.162382 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.99973973 -0.00536093 -0.02217493 -2.09034857] [ 0.00529859 0.99998185 -0.00286893 -0.03411491] [ 0.02218991 0.00275069 0.99974999 0.7217332 ] [ 0. 0. 0. 1. ]] SLAMing on 27.962557844 meters Centerline goodness : 0.177409 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.9997409 -0.005387 -0.02211575 -2.09069546] [ 0.00532286 0.99998146 -0.00295784 -0.03354101] [ 0.02213127 0.00283936 0.99975104 0.72203069] [ 0. 0. 0. 1. ]] SLAMing on 27.992557844 meters Centerline goodness : 0.120654 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.03, Z:0.72 [[ 0.9997446 -0.00525685 -0.02197932 -2.09150384] [ 0.00519938 0.99998292 -0.00267099 -0.03463138] [ 0.02199298 0.00255603 0.99975486 0.72286337] [ 0. 0. 0. 1. ]] SLAMing on 28.022557844 meters Centerline goodness : 0.162312 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975637 0.00214858 -0.02196766 -2.1093846 ] [-0.00224334 0.99998828 -0.00428989 -0.04219796] [ 0.02195818 0.00433813 0.99974948 0.72009258] [ 0. 0. 0. 1. ]] SLAMing on 28.052557844 meters Centerline goodness : 0.234777 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.04, Z:0.72 [[ 0.99975456 0.00223614 -0.0220412 -2.10899319] [-0.00232404 0.99998945 -0.00396329 -0.0440331 ] [ 0.0220321 0.00401354 0.99974921 0.71980205] [ 0. 0. 0. 1. ]] SLAMing on 28.082557844 meters Centerline goodness : 0.163522 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.04, Z:0.72 [[ 9.99794350e-01 1.78406464e-03 -2.02008772e-02 -2.06454828e+00] [-1.87947766e-03 9.99987164e-01 -4.70521192e-03 -4.36754886e-02] [ 2.01922235e-02 4.74221139e-03 9.99784870e-01 7.19768536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112557844 meters Centerline goodness : 0.136134 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.04, Z:0.72 [[ 9.99792726e-01 1.87734600e-03 -2.02726518e-02 -2.06424516e+00] [-1.96887665e-03 9.99987955e-01 -4.49596671e-03 -4.46935796e-02] [ 2.02639672e-02 4.53494917e-03 9.99784380e-01 7.19573790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142557844 meters Centerline goodness : 0.192657 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99791448e-01 1.96773911e-03 -2.03270596e-02 -2.06402973e+00] [-2.05651581e-03 9.99988435e-01 -4.34743460e-03 -4.52565572e-02] [ 2.03182699e-02 4.38833085e-03 9.99783932e-01 7.19413176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172557844 meters Centerline goodness : 0.170756 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978572 0.00214385 -0.0205895 -2.06292033] [-0.00222876 0.9999891 -0.00410162 -0.04619827] [ 0.02058048 0.00414663 0.9997796 0.71857282] [ 0. 0. 0. 1. ]] SLAMing on 28.202557844 meters Centerline goodness : 0.122675 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978338 0.00221744 -0.02069477 -2.06238128] [-0.00229972 0.99998954 -0.00395303 -0.04687224] [ 0.02068579 0.00399977 0.99977803 0.71806675] [ 0. 0. 0. 1. ]] SLAMing on 28.232557844000002 meters Centerline goodness : 0.122467 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 0.99978618 0.00243873 -0.02053419 -2.06301441] [-0.00251094 0.99999075 -0.00349132 -0.04885156] [ 0.02052549 0.00354214 0.99978306 0.71846951] [ 0. 0. 0. 1. ]] SLAMing on 28.262557844 meters Centerline goodness : 0.400948 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.05, Z:0.72 [[ 0.99977061 -0.00635246 -0.02045432 -2.08435725] [ 0.00630245 0.99997699 -0.00250848 -0.04715604] [ 0.02046979 0.00237899 0.99978764 0.71756082] [ 0. 0. 0. 1. ]] SLAMing on 28.292557844 meters Centerline goodness : 0.165578 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99816482e-01 3.13703145e-05 -1.91572770e-02 -2.06155886e+00] [-1.29907762e-04 9.99986769e-01 -5.14238127e-03 -4.97183731e-02] [ 1.91568622e-02 5.14392623e-03 9.99803258e-01 7.17204048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322557844000002 meters Centerline goodness : 0.130370 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99812024e-01 2.04174061e-04 -1.93875014e-02 -2.06075823e+00] [-2.94774937e-04 9.99989050e-01 -4.67041621e-03 -5.19701680e-02] [ 1.93863355e-02 4.67525324e-03 9.99801136e-01 7.16877307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352557844 meters Centerline goodness : 0.193093 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.05, Z:0.72 [[ 9.99808225e-01 3.55583271e-04 -1.95802846e-02 -2.05998989e+00] [-4.39202869e-04 9.99990802e-01 -4.26646712e-03 -5.38543572e-02] [ 1.95785874e-02 4.27424863e-03 9.99799185e-01 7.16410615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382557844 meters Centerline goodness : 0.169265 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99750191e-01 -3.00214906e-04 -2.23487072e-02 -2.10510074e+00] [ 2.06710457e-04 9.99991217e-01 -4.18607883e-03 -5.80988572e-02] [ 2.23497676e-02 4.18041340e-03 9.99741473e-01 7.16846235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412557844000002 meters Centerline goodness : 0.169079 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99763185e-01 -7.95539883e-05 -2.17616169e-02 -2.10712248e+00] [ 3.78236616e-06 9.99993938e-01 -3.48191202e-03 -6.13633925e-02] [ 2.17617620e-02 3.48100514e-03 9.99757125e-01 7.17881099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442557844 meters Centerline goodness : 0.175530 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.06, Z:0.72 [[ 9.99767104e-01 9.71739332e-05 -2.15807182e-02 -2.10785903e+00] [-1.62404006e-04 9.99995424e-01 -3.02087694e-03 -6.34479543e-02] [ 2.15803259e-02 3.02367818e-03 9.99762545e-01 7.18409654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472557844 meters Centerline goodness : 0.156020 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 9.99766251e-01 2.78110001e-04 -2.16186709e-02 -2.10768757e+00] [-3.32647047e-04 9.99996772e-01 -2.51912748e-03 -6.57876596e-02] [ 2.16179005e-02 2.52573002e-03 9.99763115e-01 7.18292864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502557844000002 meters Centerline goodness : 0.169949 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 9.99756761e-01 4.56655829e-04 -2.20501907e-02 -2.10643321e+00] [-4.99192513e-04 9.99998025e-01 -1.92361882e-03 -6.87453898e-02] [ 2.20492687e-02 1.93415821e-03 9.99755014e-01 7.18047197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532557844 meters Centerline goodness : 0.177150 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.07, Z:0.72 [[ 0.99974593 -0.00332638 -0.02229365 -2.10565658] [ 0.00321559 0.99998231 -0.00500369 -0.07344861] [ 0.02230989 0.00493073 0.99973894 0.71776826] [ 0. 0. 0. 1. ]] SLAMing on 28.562557844 meters Centerline goodness : 0.169751 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974606 -0.00304694 -0.02232783 -2.10567952] [ 0.00295276 0.99998661 -0.0042497 -0.07698822] [ 0.02234048 0.00418269 0.99974167 0.71800168] [ 0. 0. 0. 1. ]] SLAMing on 28.592557844 meters Centerline goodness : 0.137017 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.9997458 -0.00277256 -0.02237506 -2.10556901] [ 0.00269317 0.99998997 -0.00357758 -0.08005807] [ 0.02238475 0.00351641 0.99974325 0.71807198] [ 0. 0. 0. 1. ]] SLAMing on 28.622557844 meters Centerline goodness : 0.171736 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974617 -0.00255102 -0.02238515 -2.10536592] [ 0.0024822 0.99999211 -0.00310199 -0.08214971] [ 0.02239289 0.00304564 0.99974461 0.71778844] [ 0. 0. 0. 1. ]] SLAMing on 28.652557844 meters Centerline goodness : 0.167432 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.08, Z:0.72 [[ 0.99974716 -0.00234745 -0.02236296 -2.10536762] [ 0.00228687 0.99999365 -0.00273427 -0.08365946] [ 0.02236924 0.00268244 0.99974618 0.71769044] [ 0. 0. 0. 1. ]] SLAMing on 28.682557844 meters Centerline goodness : 0.234921 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.09, Z:0.72 [[ 9.99684096e-01 -2.05290101e-03 -2.50498437e-02 -2.15316989e+00] [ 2.00607173e-03 9.99996193e-01 -1.89443068e-03 -8.96821706e-02] [ 2.50536374e-02 1.84358044e-03 9.99684408e-01 7.19421113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712557844 meters Centerline goodness : 0.150952 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.09, Z:0.72 [[ 9.99760386e-01 -8.66632506e-04 -2.18728026e-02 -2.11053648e+00] [ 8.28241096e-04 9.99998101e-01 -1.76421024e-03 -9.33805592e-02] [ 2.18742900e-02 1.74567156e-03 9.99759205e-01 7.19775636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742557844 meters Centerline goodness : 0.171200 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.10, Z:0.72 [[ 0.9997128 0.00720408 -0.02285648 -2.13023055] [-0.00726615 0.99997013 -0.0026339 -0.1013483 ] [ 0.02283682 0.00279922 0.99973529 0.71797087] [ 0. 0. 0. 1. ]] SLAMing on 28.772557844 meters Centerline goodness : 0.120229 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.10, Z:0.72 [[ 0.99970852 0.00740226 -0.02297982 -2.12951162] [-0.00745443 0.99996983 -0.00218554 -0.10346874] [ 0.02296295 0.0023562 0.99973354 0.71727297] [ 0. 0. 0. 1. ]] SLAMing on 28.802557844 meters Centerline goodness : 0.254134 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 9.99705010e-01 7.57386137e-03 -2.30766085e-02 -2.12900689e+00] [-7.61564811e-03 9.99969515e-01 -1.72343742e-03 -1.05821049e-01] [ 2.30628519e-02 1.89867235e-03 9.99732214e-01 7.16844687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832557844 meters Centerline goodness : 0.151378 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.99972665 0.00413796 -0.02301105 -2.12927802] [-0.00424975 0.99997939 -0.00481166 -0.10937048] [ 0.02299067 0.00490814 0.99972363 0.7167592 ] [ 0. 0. 0. 1. ]] SLAMing on 28.862557844 meters Centerline goodness : 0.135505 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.99972466 0.00438742 -0.02305118 -2.12941057] [-0.00448596 0.99998101 -0.00422462 -0.11194532] [ 0.0230322 0.00432687 0.99972536 0.71715574] [ 0. 0. 0. 1. ]] SLAMing on 28.892557844 meters Centerline goodness : 0.140223 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.11, Z:0.72 [[ 0.9997241 0.00469231 -0.02301515 -2.12963602] [-0.00477487 0.99998236 -0.00353367 -0.11494914] [ 0.02299816 0.00364259 0.99972887 0.71738769] [ 0. 0. 0. 1. ]] SLAMing on 28.922557844 meters Centerline goodness : 0.133371 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.12, Z:0.72 [[ 0.99972307 0.00495838 -0.02300409 -2.12968946] [-0.00502433 0.99998343 -0.00280989 -0.11846983] [ 0.02298977 0.00292469 0.99973142 0.71747668] [ 0. 0. 0. 1. ]] SLAMing on 28.952557844 meters Centerline goodness : 0.133643 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.12, Z:0.72 [[ 9.99719603e-01 5.09122838e-03 -2.31256334e-02 -2.12938062e+00] [-5.14181145e-03 9.99984516e-01 -2.12838059e-03 -1.22513014e-01] [ 2.31144392e-02 2.24669145e-03 9.99730301e-01 7.17571954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982557844000002 meters Centerline goodness : 0.135670 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.13, Z:0.72 [[ 9.99732431e-01 1.32670371e-03 -2.30934048e-02 -2.12936850e+00] [-1.44533165e-03 9.99985843e-01 -5.12094277e-03 -1.27756475e-01] [ 2.30862839e-02 5.15295019e-03 9.99720196e-01 7.17314004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012557844 meters Centerline goodness : 0.134534 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971703 -0.00615458 -0.02297784 -2.10926095] [ 0.00607513 0.99997533 -0.003526 -0.12541792] [ 0.02299898 0.00338541 0.99972976 0.71872725] [ 0. 0. 0. 1. ]] SLAMing on 29.042557844 meters Centerline goodness : 0.133289 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971466 -0.00592173 -0.02314176 -2.10871245] [ 0.00585429 0.99997842 -0.00298073 -0.12788734] [ 0.02315891 0.0028444 0.99972775 0.71856254] [ 0. 0. 0. 1. ]] SLAMing on 29.072557844000002 meters Centerline goodness : 0.135376 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 0.99971225 -0.00571312 -0.0232978 -2.10821167] [ 0.00565801 0.99998104 -0.00243072 -0.13060221] [ 0.02331124 0.0022982 0.99972561 0.71847989] [ 0. 0. 0. 1. ]] SLAMing on 29.102557844 meters Centerline goodness : 0.135481 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.13, Z:0.72 [[ 9.99709239e-01 -5.55811177e-03 -2.34636843e-02 -2.10778951e+00] [ 5.51357575e-03 9.99982875e-01 -1.96235058e-03 -1.33124819e-01] [ 2.34741894e-02 1.83241120e-03 9.99722764e-01 7.18525650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132557844 meters Centerline goodness : 0.135296 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99708055e-01 -5.37278197e-03 -2.35571150e-02 -2.10760142e+00] [ 5.33858246e-03 9.99984603e-01 -1.51441948e-03 -1.35223307e-01] [ 2.35648889e-02 1.38821575e-03 9.99721346e-01 7.18639876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162557844000002 meters Centerline goodness : 0.153821 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99711668e-01 -4.93659355e-03 -2.34991882e-02 -2.10800014e+00] [ 4.92217194e-03 9.99987661e-01 -6.71508987e-04 -1.38194000e-01] [ 2.35022132e-02 5.55648325e-04 9.99723630e-01 7.18942707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192557844 meters Centerline goodness : 0.158475 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.14, Z:0.72 [[ 9.99713308e-01 -4.74772915e-03 -2.34682791e-02 -2.10816947e+00] [ 4.74277960e-03 9.99988717e-01 -2.66559676e-04 -1.39829304e-01] [ 2.34692799e-02 1.55178380e-04 9.99724546e-01 7.19105438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222557844 meters Centerline goodness : 0.133165 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 9.99743765e-01 1.93961627e-03 -2.25530805e-02 -2.08678685e+00] [-2.01114169e-03 9.99993019e-01 -3.14917712e-03 -1.43617288e-01] [ 2.25468149e-02 3.19372763e-03 9.99740687e-01 7.19296383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252557844000002 meters Centerline goodness : 0.148429 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.15, Z:0.72 [[ 9.99737339e-01 2.06902111e-03 -2.28248185e-02 -2.08628368e+00] [-2.12996025e-03 9.99994231e-01 -2.64587522e-03 -1.46548438e-01] [ 2.28192124e-02 2.69379621e-03 9.99735979e-01 7.19647139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282557844 meters Centerline goodness : 0.128222 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99684012e-01 1.90702243e-03 -2.50647062e-02 -2.13569659e+00] [-1.94223825e-03 9.99997161e-01 -1.38072680e-03 -1.53308899e-01] [ 2.50620019e-02 1.42897214e-03 9.99684877e-01 7.22790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312557844 meters Centerline goodness : 0.128222 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99684012e-01 1.90702243e-03 -2.50647062e-02 -2.13569659e+00] [-1.94223825e-03 9.99997161e-01 -1.38072680e-03 -1.53308899e-01] [ 2.50620019e-02 1.42897214e-03 9.99684877e-01 7.22790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342557844 meters Centerline goodness : 0.125713 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99698319e-01 2.18751945e-03 -2.44639579e-02 -2.13750383e+00] [-2.21787573e-03 9.99996804e-01 -1.21379317e-03 -1.53044846e-01] [ 2.44612245e-02 1.26768501e-03 9.99699976e-01 7.23256416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372557844 meters Centerline goodness : 0.161128 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99709537e-01 2.86800401e-03 -2.39294062e-02 -2.13893520e+00] [-2.89149006e-03 9.99995371e-01 -9.46929115e-04 -1.52743507e-01] [ 2.39265796e-02 1.01584571e-03 9.99713202e-01 7.23331077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402557844 meters Centerline goodness : 0.130496 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99701312e-01 2.86663703e-03 -2.42707409e-02 -2.13784637e+00] [-2.89680462e-03 9.99995075e-01 -1.20789311e-03 -1.51680638e-01] [ 2.42671588e-02 1.27783992e-03 9.99704692e-01 7.22882223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432557844 meters Centerline goodness : 0.123703 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.15, Z:0.72 [[ 9.99614412e-01 2.48062338e-03 -2.76563354e-02 -2.18217900e+00] [-2.50446323e-03 9.99996522e-01 -8.27397421e-04 -1.54170852e-01] [ 2.76541868e-02 8.96342662e-04 9.99617148e-01 7.23235220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462557844 meters Centerline goodness : 0.137624 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99655283e-01 4.84359915e-03 -2.58041416e-02 -2.13738001e+00] [-4.85435246e-03 9.99988155e-01 -3.54102357e-04 -1.49769874e-01] [ 2.58021209e-02 4.79242690e-04 9.99666955e-01 7.23178164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492557844 meters Centerline goodness : 0.147091 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99661448e-01 4.90255355e-03 -2.55529763e-02 -2.13796243e+00] [-4.91776725e-03 9.99987766e-01 -5.32570414e-04 -1.48528517e-01] [ 2.55500527e-02 6.58053701e-04 9.99673328e-01 7.23008470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522557844 meters Centerline goodness : 0.123766 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99665076e-01 4.83010284e-03 -2.54244955e-02 -2.13828007e+00] [-4.85197015e-03 9.99987910e-01 -7.98468875e-04 -1.47256365e-01] [ 2.54203314e-02 9.21560342e-04 9.99676426e-01 7.22934972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552557844 meters Centerline goodness : 0.123534 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.15, Z:0.72 [[ 9.99664102e-01 4.68050965e-03 -2.54906880e-02 -2.13826933e+00] [-4.71206286e-03 9.99988204e-01 -1.17790674e-03 -1.45663957e-01] [ 2.54848741e-02 1.29762480e-03 9.99674366e-01 7.23159145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582557844 meters Centerline goodness : 0.129092 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972159 0.00521312 -0.02301244 -2.09380878] [-0.00526584 0.99998365 -0.00223103 -0.14047372] [ 0.02300043 0.00235159 0.99973269 0.72291108] [ 0. 0. 0. 1. ]] SLAMing on 29.612557844 meters Centerline goodness : 0.130344 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972178 0.0051657 -0.02301487 -2.09378009] [-0.00522077 0.99998365 -0.00233375 -0.1399846 ] [ 0.02300244 0.00245325 0.9997324 0.72281924] [ 0. 0. 0. 1. ]] SLAMing on 29.642557844 meters Centerline goodness : 0.132697 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 0.99972085 0.00516541 -0.0230552 -2.09350585] [-0.00521978 0.99998373 -0.00229876 -0.14013283] [ 0.02304295 0.00241846 0.99973155 0.72249871] [ 0. 0. 0. 1. ]] SLAMing on 29.672557844 meters Centerline goodness : 0.119513 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.14, Z:0.72 [[ 9.99719112e-01 5.19318517e-03 -2.31241904e-02 -2.09337686e+00] [-5.24287579e-03 9.99984075e-01 -2.08875036e-03 -1.41146501e-01] [ 2.31129749e-02 2.20940091e-03 9.99730418e-01 7.22528257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702557844 meters Centerline goodness : 0.154947 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.14, Z:0.72 [[ 9.99741501e-01 1.52982785e-03 -2.26845868e-02 -2.09540358e+00] [-1.64525911e-03 9.99985790e-01 -5.07074299e-03 -1.44555421e-01] [ 2.26765071e-02 5.10675423e-03 9.99729812e-01 7.23856022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732557844000002 meters Centerline goodness : 0.134079 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:0.72 [[ 9.99744845e-01 1.16544022e-03 -2.25585370e-02 -2.09611391e+00] [-1.27425399e-03 9.99987621e-01 -4.80984517e-03 -1.47085274e-01] [ 2.25526521e-02 4.83736322e-03 9.99733954e-01 7.24717685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762557844 meters Centerline goodness : 0.132199 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.15, Z:0.73 [[ 9.99744305e-01 8.41797112e-04 -2.25968223e-02 -2.09613118e+00] [-9.43458355e-04 9.99989481e-01 -4.48863380e-03 -1.49860177e-01] [ 2.25928061e-02 4.50880523e-03 9.99734583e-01 7.25094287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792557844 meters Centerline goodness : 0.124967 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.15, Z:0.72 [[ 0.99966348 -0.00918646 -0.02425965 -2.11751758] [ 0.00909414 0.99995099 -0.00391301 -0.15150349] [ 0.02429441 0.00369107 0.99969803 0.7246816 ] [ 0. 0. 0. 1. ]] SLAMing on 29.822557844000002 meters Centerline goodness : 0.123450 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99969069 -0.00302156 -0.02468586 -2.09384073] [ 0.00286324 0.99997512 -0.00644636 -0.15612851] [ 0.02470473 0.00637369 0.99967447 0.72397902] [ 0. 0. 0. 1. ]] SLAMing on 29.852557844 meters Centerline goodness : 0.123350 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99968238 -0.00281776 -0.0250439 -2.09260886] [ 0.00267257 0.99997944 -0.00582901 -0.15909708] [ 0.02505981 0.00576022 0.99966936 0.72343586] [ 0. 0. 0. 1. ]] SLAMing on 29.882557844 meters Centerline goodness : 0.161325 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.16, Z:0.72 [[ 0.99967726 -0.00236392 -0.0252939 -2.0921682 ] [ 0.00224891 0.99998701 -0.00457447 -0.16496448] [ 0.02530439 0.00451611 0.99966959 0.72380122] [ 0. 0. 0. 1. ]] SLAMing on 29.912557844000002 meters Centerline goodness : 0.067013 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.72 [[ 9.99673728e-01 -2.11744629e-03 -2.54549529e-02 -2.09206277e+00] [ 2.01730956e-03 9.99990129e-01 -3.95891586e-03 -1.67835061e-01] [ 2.54630845e-02 3.90627366e-03 9.99668131e-01 7.24394077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942557844 meters Centerline goodness : 0.121799 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.72 [[ 9.99672157e-01 -1.89036678e-03 -2.55344003e-02 -2.09211947e+00] [ 1.80332244e-03 9.99992486e-01 -3.43150200e-03 -1.70379064e-01] [ 2.55406953e-02 3.38433025e-03 9.99668055e-01 7.24857219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972557844 meters Centerline goodness : 0.127424 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.17, Z:0.73 [[ 9.99676248e-01 -1.39428961e-03 -2.54058265e-02 -2.09287537e+00] [ 1.32770181e-03 9.99995640e-01 -2.63764552e-03 -1.73897023e-01] [ 2.54093934e-02 2.60306021e-03 9.99673740e-01 7.25648338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002557844000002 meters Centerline goodness : 0.122101 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.18, Z:0.73 [[ 9.99682597e-01 -1.14903444e-03 -2.51671217e-02 -2.09362344e+00] [ 1.09121750e-03 9.99996734e-01 -2.31093316e-03 -1.75046616e-01] [ 2.51696949e-02 2.28273686e-03 9.99680587e-01 7.25897877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032557844 meters Centerline goodness : 0.154085 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.18, Z:0.73 [[ 9.99689467e-01 -9.37778129e-04 -2.49015916e-02 -2.09428496e+00] [ 8.87664190e-04 9.99997559e-01 -2.02345691e-03 -1.76037930e-01] [ 2.49034284e-02 2.00072431e-03 9.99687859e-01 7.25879875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062557844 meters Centerline goodness : 0.121950 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.99967656 0.00839459 -0.02400635 -2.07344891] [-0.00846351 0.99996035 -0.00277072 -0.18016956] [ 0.02398213 0.00297301 0.99970797 0.726774 ] [ 0. 0. 0. 1. ]] SLAMing on 30.092557844 meters Centerline goodness : 0.127723 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.9996728 0.00846767 -0.02413703 -2.07308037] [-0.00853683 0.99995974 -0.00276386 -0.18019406] [ 0.02411266 0.00296901 0.99970484 0.72685034] [ 0. 0. 0. 1. ]] SLAMing on 30.122557844 meters Centerline goodness : 0.141792 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.99965649 0.00873762 -0.0247096 -2.07138896] [-0.00880548 0.99995775 -0.00263889 -0.18052198] [ 0.0246855 0.00285557 0.99969119 0.726694 ] [ 0. 0. 0. 1. ]] SLAMing on 30.152557844 meters Centerline goodness : 0.140772 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.18, Z:0.73 [[ 0.9996494 0.00882199 -0.02496504 -2.07053327] [-0.00888905 0.99995717 -0.00257669 -0.18066911] [ 0.02494124 0.0027977 0.999685 0.72641658] [ 0. 0. 0. 1. ]] SLAMing on 30.182557844 meters Centerline goodness : 0.137535 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.17, Z:0.73 [[ 9.99680924e-01 1.42638831e-03 -2.52193586e-02 -2.05058646e+00] [-1.46581381e-03 9.99997732e-01 -1.54488565e-03 -1.73537778e-01] [ 2.52170978e-02 1.58135960e-03 9.99680748e-01 7.27365541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212557844 meters Centerline goodness : 0.137556 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.17, Z:0.73 [[ 9.99680439e-01 1.48943002e-03 -2.52349122e-02 -2.05049462e+00] [-1.52625931e-03 9.99997798e-01 -1.44025999e-03 -1.73996179e-01] [ 2.52327115e-02 1.47831476e-03 9.99680511e-01 7.27298616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242557844 meters Centerline goodness : 0.192144 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99682835e-01 1.64915274e-03 -2.51298607e-02 -2.05073461e+00] [-1.67622536e-03 9.99998037e-01 -1.05628177e-03 -1.75917506e-01] [ 2.51280694e-02 1.09807007e-03 9.99683637e-01 7.27282574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272557844 meters Centerline goodness : 0.144030 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99680172e-01 1.70035804e-03 -2.52321877e-02 -2.05031563e+00] [-1.72248810e-03 9.99998151e-01 -8.55348242e-04 -1.76999478e-01] [ 2.52306867e-02 8.98536821e-04 9.99681252e-01 7.27014947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302557844 meters Centerline goodness : 0.123055 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99679774e-01 1.79412835e-03 -2.52414638e-02 -2.05026271e+00] [-1.80929856e-03 9.99998196e-01 -5.78178064e-04 -1.78304770e-01] [ 2.52403809e-02 6.23662260e-04 9.99681216e-01 7.26970612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332557844 meters Centerline goodness : 0.121706 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.18, Z:0.73 [[ 9.99683276e-01 1.89625367e-03 -2.50948637e-02 -2.05083748e+00] [-1.90272040e-03 9.99998162e-01 -2.33816012e-04 -1.79898299e-01] [ 2.50943742e-02 2.81490466e-04 9.99685047e-01 7.27321448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362557844 meters Centerline goodness : 0.143320 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 9.99707873e-01 -5.69952526e-03 -2.34879716e-02 -2.03185663e+00] [ 5.72820925e-03 9.99982928e-01 1.15411950e-03 -1.76759306e-01] [ 2.34809927e-02 -1.28832636e-03 9.99723453e-01 7.29176319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392557844000002 meters Centerline goodness : 0.148704 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 9.99718784e-01 -5.55702506e-03 -2.30536892e-02 -2.03342229e+00] [ 5.59623106e-03 9.99983002e-01 1.63647134e-03 -1.78936378e-01] [ 2.30442034e-02 -1.76502490e-03 9.99732889e-01 7.30033911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422557844 meters Centerline goodness : 0.121896 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.18, Z:0.73 [[ 0.99971956 -0.00599588 -0.0229097 -2.03402949] [ 0.00604447 0.99997963 0.00205193 -0.18275759] [ 0.02289693 -0.00218983 0.99973543 0.73079484] [ 0. 0. 0. 1. ]] SLAMing on 30.452557844 meters Centerline goodness : 0.211893 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99970744 -0.00598256 -0.02343577 -2.03275792] [ 0.00604361 0.99997852 0.00253507 -0.18562855] [ 0.02342011 -0.00267597 0.99972213 0.73100859] [ 0. 0. 0. 1. ]] SLAMing on 30.482557844000002 meters Centerline goodness : 0.126702 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99970057 -0.00588084 -0.02375266 -2.03210998] [ 0.00595571 0.99997751 0.00308244 -0.1885306 ] [ 0.023734 -0.00322298 0.99971311 0.73139083] [ 0. 0. 0. 1. ]] SLAMing on 30.512557844 meters Centerline goodness : 0.139839 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.19, Z:0.73 [[ 0.99969659 -0.00573118 -0.02395577 -2.03170168] [ 0.00581941 0.99997653 0.0036149 -0.19119094] [ 0.02393449 -0.00375321 0.99970648 0.73162394] [ 0. 0. 0. 1. ]] SLAMing on 30.542557844 meters Centerline goodness : 0.140676 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970623 -0.00545216 -0.02361622 -2.03257877] [ 0.00556099 0.99997421 0.00454468 -0.19576896] [ 0.02359083 -0.00467468 0.99971077 0.73179407] [ 0. 0. 0. 1. ]] SLAMing on 30.572557844000002 meters Centerline goodness : 0.284655 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.9997104 -0.0052877 -0.02347667 -2.03292095] [ 0.00540511 0.99997319 0.0049405 -0.19754349] [ 0.02344992 -0.00506596 0.99971218 0.73180649] [ 0. 0. 0. 1. ]] SLAMing on 30.602557844 meters Centerline goodness : 0.185695 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970924 -0.00521132 -0.02354301 -2.03255676] [ 0.00533288 0.99997276 0.00510336 -0.19824748] [ 0.02351577 -0.00522743 0.9997098 0.73145591] [ 0. 0. 0. 1. ]] SLAMing on 30.632557844 meters Centerline goodness : 0.195512 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99970318 -0.0051923 -0.02380309 -2.03150413] [ 0.00531461 0.99997298 0.00507829 -0.1980872 ] [ 0.02377608 -0.00520328 0.99970377 0.73075204] [ 0. 0. 0. 1. ]] SLAMing on 30.662557844000002 meters Centerline goodness : 0.178125 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.99969601 -0.00518632 -0.02410365 -2.03049106] [ 0.00530845 0.99997338 0.00500555 -0.19770999] [ 0.02407705 -0.00513198 0.99969693 0.73030916] [ 0. 0. 0. 1. ]] SLAMing on 30.692557844 meters Centerline goodness : 0.177334 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.20, Z:0.73 [[ 0.99969003 0.00351697 -0.02464713 -2.00969874] [-0.00344236 0.99998937 0.00306908 -0.20118577] [ 0.02465766 -0.00298329 0.9996915 0.73294677] [ 0. 0. 0. 1. ]] SLAMing on 30.722557844 meters Centerline goodness : 0.176085 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.20, Z:0.73 [[ 0.99968278 0.0034329 -0.02495086 -2.00913744] [-0.00336324 0.99999033 0.00283308 -0.20062407] [ 0.02496034 -0.00274826 0.99968466 0.73344092] [ 0. 0. 0. 1. ]] SLAMing on 30.752557844000002 meters Centerline goodness : 0.395207 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.20, Z:0.73 [[ 0.99961921 0.00260659 -0.02747078 -2.05445302] [-0.00250732 0.9999902 0.00364763 -0.20440763] [ 0.02748002 -0.00357736 0.99961595 0.7343928 ] [ 0. 0. 0. 1. ]] SLAMing on 30.782557844 meters Centerline goodness : 0.174818 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.20, Z:0.73 [[ 0.9996692 -0.00313466 -0.02552758 -2.03355812] [ 0.00329939 0.99997399 0.00641331 -0.20207044] [ 0.02550681 -0.00649541 0.99965355 0.73443909] [ 0. 0. 0. 1. ]] SLAMing on 30.812557844 meters Centerline goodness : 0.182462 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.73 [[ 0.99967157 -0.00292255 -0.02546009 -2.03384443] [ 0.00310375 0.99997012 0.00708037 -0.20515875] [ 0.02543863 -0.00715707 0.99965077 0.73468189] [ 0. 0. 0. 1. ]] SLAMing on 30.842557844 meters Centerline goodness : 0.178837 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99966364 -0.00285023 -0.02577774 -2.0332065 ] [ 0.00304411 0.99996735 0.00748505 -0.2073618 ] [ 0.02575556 -0.007561 0.99963968 0.73501787] [ 0. 0. 0. 1. ]] SLAMing on 30.872557844 meters Centerline goodness : 0.194296 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99965782 -0.00272638 -0.02601556 -2.03284068] [ 0.00293425 0.99996405 0.00795529 -0.20969563] [ 0.02599293 -0.00802891 0.99962988 0.73550748] [ 0. 0. 0. 1. ]] SLAMing on 30.902557844 meters Centerline goodness : 0.205825 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99964442 -0.00258042 -0.02654017 -2.03158705] [ 0.00281129 0.9999585 0.00866519 -0.21324564] [ 0.02651671 -0.00873672 0.99961019 0.73567688] [ 0. 0. 0. 1. ]] SLAMing on 30.932557844 meters Centerline goodness : 0.126238 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.21, Z:0.74 [[ 0.99964256 -0.00249233 -0.02661854 -2.03120047] [ 0.00272966 0.99995682 0.00888322 -0.21428223] [ 0.02659525 -0.00895271 0.99960619 0.73536967] [ 0. 0. 0. 1. ]] SLAMing on 30.962557844 meters Centerline goodness : 0.177898 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99963023 0.0064184 -0.02642367 -2.01157004] [-0.00621749 0.99995119 0.00767831 -0.21815568] [ 0.02647167 -0.00751118 0.99962134 0.73665492] [ 0. 0. 0. 1. ]] SLAMing on 30.992557844 meters Centerline goodness : 0.136495 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99962802 0.00641455 -0.02650817 -2.01109526] [-0.00621382 0.99995145 0.00764759 -0.218017 ] [ 0.02655594 -0.00748003 0.99961934 0.73619996] [ 0. 0. 0. 1. ]] SLAMing on 31.022557844 meters Centerline goodness : 0.183929 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99962448 0.00655678 -0.02660671 -2.0106578 ] [-0.00635196 0.9999496 0.00777505 -0.21826713] [ 0.02665635 -0.00760312 0.99961574 0.73593263] [ 0. 0. 0. 1. ]] SLAMing on 31.052557844 meters Centerline goodness : 0.074967 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961965 0.00661251 -0.02677358 -2.0102429 ] [-0.00640795 0.99994968 0.00771906 -0.21800494] [ 0.02682328 -0.00754456 0.99961172 0.73609062] [ 0. 0. 0. 1. ]] SLAMing on 31.082557844 meters Centerline goodness : 0.169492 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961723 0.00631106 -0.02693624 -2.01052019] [-0.00612596 0.99995709 0.00694881 -0.21584082] [ 0.02697894 -0.00678114 0.999613 0.73756704] [ 0. 0. 0. 1. ]] SLAMing on 31.112557844 meters Centerline goodness : 0.138345 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961481 0.00624857 -0.02704051 -2.0103895 ] [-0.00606822 0.99995883 0.00674632 -0.21512594] [ 0.02708155 -0.00657963 0.99961157 0.73781693] [ 0. 0. 0. 1. ]] SLAMing on 31.142557844000002 meters Centerline goodness : 0.113364 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961309 0.00637599 -0.02707441 -2.00996093] [-0.00619192 0.99995718 0.00687701 -0.21523024] [ 0.0271171 -0.0067067 0.99960977 0.7372492 ] [ 0. 0. 0. 1. ]] SLAMing on 31.172557844 meters Centerline goodness : 0.112860 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99961844 0.00649187 -0.02684814 -2.01027316] [-0.00630193 0.99995456 0.00715309 -0.21592391] [ 0.02689336 -0.00698116 0.99961393 0.73672572] [ 0. 0. 0. 1. ]] SLAMing on 31.202557844 meters Centerline goodness : 0.137678 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.9996756 0.00348097 -0.02523033 -2.01525052] [-0.00336017 0.9999827 0.00482883 -0.22059679] [ 0.02524671 -0.00474248 0.99967 0.73760368] [ 0. 0. 0. 1. ]] SLAMing on 31.232557844000002 meters Centerline goodness : 0.174829 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968461 0.00334792 -0.024889 -2.01670896] [-0.0032251 0.99998243 0.00497322 -0.22172812] [ 0.02490522 -0.00489139 0.99967785 0.73848705] [ 0. 0. 0. 1. ]] SLAMing on 31.262557844 meters Centerline goodness : 0.174829 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968461 0.00334792 -0.024889 -2.01670896] [-0.0032251 0.99998243 0.00497322 -0.22172812] [ 0.02490522 -0.00489139 0.99967785 0.73848705] [ 0. 0. 0. 1. ]] SLAMing on 31.292557844 meters Centerline goodness : 0.114097 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.9996864 0.00348571 -0.02479832 -2.01711624] [-0.00335446 0.99998016 0.00533242 -0.22331274] [ 0.02481641 -0.00524757 0.99967825 0.73880371] [ 0. 0. 0. 1. ]] SLAMing on 31.322557844000002 meters Centerline goodness : 0.122851 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.22, Z:0.74 [[ 0.99968635 0.00367784 -0.02477255 -2.01694666] [-0.00353615 0.99997715 0.00576104 -0.22469755] [ 0.02479317 -0.00567164 0.99967651 0.7383152 ] [ 0. 0. 0. 1. ]] SLAMing on 31.352557844 meters Centerline goodness : 0.137488 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.23, Z:0.74 [[ 0.99968181 0.00392298 -0.02491776 -2.01608454] [-0.00377025 0.99997384 0.00617321 -0.22586833] [ 0.02494133 -0.0060773 0.99967044 0.73750064] [ 0. 0. 0. 1. ]] SLAMing on 31.382557844 meters Centerline goodness : 0.115411 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.23, Z:0.74 [[ 0.99967526 0.00407493 -0.02515481 -2.01523788] [-0.00391676 0.99997227 0.0063338 -0.22635482] [ 0.02517992 -0.00623322 0.9996635 0.73717669] [ 0. 0. 0. 1. ]] SLAMing on 31.412557844000002 meters Centerline goodness : 0.120087 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 0.99966033 0.00402999 -0.0257485 -2.01372146] [-0.00387937 0.99997509 0.00589705 -0.22513321] [ 0.02577162 -0.00579516 0.99965106 0.73756147] [ 0. 0. 0. 1. ]] SLAMing on 31.442557844 meters Centerline goodness : 0.136588 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965356 0.00398605 -0.02601666 -2.01295202] [-0.00384072 0.99997676 0.00563328 -0.22415867] [ 0.02603851 -0.00553141 0.99964564 0.73753813] [ 0. 0. 0. 1. ]] SLAMing on 31.472557844 meters Centerline goodness : 0.173493 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99964817 0.00404029 -0.02621463 -2.01225772] [-0.00389524 0.99997683 0.00558217 -0.22379596] [ 0.02623657 -0.0054781 0.99964075 0.73729475] [ 0. 0. 0. 1. ]] SLAMing on 31.502557844000002 meters Centerline goodness : 0.179133 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965014 0.00406356 -0.02613598 -2.01231796] [-0.00391795 0.99997653 0.00561977 -0.2239659 ] [ 0.0261582 -0.00551541 0.9996426 0.73699918] [ 0. 0. 0. 1. ]] SLAMing on 31.532557844 meters Centerline goodness : 0.113307 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.22, Z:0.74 [[ 0.99965626 0.004053 -0.02590247 -2.0131614 ] [-0.00390559 0.9999759 0.00573924 -0.22455492] [ 0.02592511 -0.0056361 0.999648 0.73730781] [ 0. 0. 0. 1. ]] SLAMing on 31.562557844 meters Centerline goodness : 0.139992 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 0.99966432 0.00393565 -0.02560781 -2.01416628] [-0.00378829 0.999976 0.00580023 -0.22502243] [ 0.02563002 -0.00570127 0.99965524 0.73759104] [ 0. 0. 0. 1. ]] SLAMing on 31.592557844 meters Centerline goodness : 0.114988 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99670804e-01 4.67981443e-04 -2.56527833e-02 -2.01402484e+00] [-3.92110857e-04 9.99995535e-01 2.96254703e-03 -2.27842245e-01] [ 2.56540552e-02 -2.95151303e-03 9.99666523e-01 7.36858181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622557844 meters Centerline goodness : 0.140220 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99673901e-01 5.47367816e-04 -2.55301997e-02 -2.01423041e+00] [-4.62633138e-04 9.99994366e-01 3.32478630e-03 -2.29021149e-01] [ 2.55318757e-02 -3.31189097e-03 9.99668522e-01 7.36477301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652557844 meters Centerline goodness : 0.116201 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99671845e-01 5.83554728e-04 -2.56098066e-02 -2.01412029e+00] [-4.93304261e-04 9.99993647e-01 3.53023520e-03 -2.30062572e-01] [ 2.56117040e-02 -3.51644331e-03 9.99665782e-01 7.36600752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682557844 meters Centerline goodness : 0.114945 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99655770e-01 4.24758866e-04 -2.62328297e-02 -2.01263946e+00] [-3.23806999e-04 9.99992527e-01 3.85243063e-03 -2.32503172e-01] [ 2.62342700e-02 -3.84261013e-03 9.99648437e-01 7.36843905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712557844 meters Centerline goodness : 0.126896 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.23, Z:0.74 [[ 9.99650842e-01 5.19649782e-04 -2.64182502e-02 -2.01212622e+00] [-4.09693114e-04 9.99991232e-01 4.16739028e-03 -2.34024225e-01] [ 2.64201841e-02 -4.15511182e-03 9.99642290e-01 7.36777657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742557844 meters Centerline goodness : 0.180753 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99649550e-01 6.29007299e-04 -2.64647310e-02 -2.01196911e+00] [-5.11245609e-04 9.99989940e-01 4.45629048e-03 -2.35312958e-01] [ 2.64672678e-02 -4.44119879e-03 9.99639815e-01 7.36716992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772557844 meters Centerline goodness : 0.127848 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99652347e-01 7.56190086e-04 -2.63555212e-02 -2.01237022e+00] [-6.31155779e-04 9.99988509e-01 4.75213675e-03 -2.36557302e-01] [ 2.63588119e-02 -4.73385022e-03 9.99641338e-01 7.36914328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802557844000003 meters Centerline goodness : 0.250759 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99655713e-01 8.69876371e-04 -2.62240205e-02 -2.01296604e+00] [-7.37624487e-04 9.99986964e-01 5.05240981e-03 -2.37925054e-01] [ 2.62280737e-02 -5.03132685e-03 9.99643323e-01 7.37359611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832557844 meters Centerline goodness : 0.118690 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.24, Z:0.74 [[ 9.99657225e-01 1.01431346e-03 -2.61611038e-02 -2.01340991e+00] [-8.73179219e-04 9.99985008e-01 5.40567163e-03 -2.39559899e-01] [ 2.61661946e-02 -5.38097537e-03 9.99643124e-01 7.37870298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862557844 meters Centerline goodness : 0.156354 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99962237 0.00861644 -0.02609365 -1.99032634] [-0.00854557 0.99995949 0.00282618 -0.24350752] [ 0.02611694 -0.00260213 0.99965551 0.73706473] [ 0. 0. 0. 1. ]] SLAMing on 31.892557844000002 meters Centerline goodness : 0.155790 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961834 0.0086159 -0.02624759 -1.98934279] [-0.00854557 0.99995959 0.00279068 -0.24342362] [ 0.02627058 -0.00256531 0.99965158 0.73608027] [ 0. 0. 0. 1. ]] SLAMing on 31.922557844 meters Centerline goodness : 0.147613 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961718 0.00863926 -0.0262843 -1.98891498] [-0.00857094 0.99995959 0.00271071 -0.24291051] [ 0.02630665 -0.0024844 0.99965083 0.7355207 ] [ 0. 0. 0. 1. ]] SLAMing on 31.952557844 meters Centerline goodness : 0.162050 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99961906 0.00873506 -0.02618061 -1.98919902] [-0.00867062 0.9999591 0.00257405 -0.24204166] [ 0.02620202 -0.00234607 0.99965392 0.73574413] [ 0. 0. 0. 1. ]] SLAMing on 31.982557844000002 meters Centerline goodness : 0.134324 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964126 0.00905471 -0.02520649 -1.99209309] [-0.00899181 0.99995617 0.00260755 -0.24115378] [ 0.02522899 -0.00237996 0.99967887 0.73646142] [ 0. 0. 0. 1. ]] SLAMing on 32.01255784400001 meters Centerline goodness : 0.150465 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964188 0.00900344 -0.02520007 -1.99223739] [-0.008945 0.99995704 0.00243073 -0.24056556] [ 0.02522087 -0.00220444 0.99967947 0.73677905] [ 0. 0. 0. 1. ]] SLAMing on 32.042557844 meters Centerline goodness : 0.145564 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964133 0.00909581 -0.025189 -1.99230282] [-0.00903264 0.99995577 0.00262025 -0.24130214] [ 0.02521172 -0.00239179 0.99967927 0.73681653] [ 0. 0. 0. 1. ]] SLAMing on 32.072557844 meters Centerline goodness : 0.139673 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964452 0.00917805 -0.02503195 -1.99264681] [-0.00910677 0.99995415 0.00296033 -0.24258517] [ 0.02505798 -0.00273132 0.99968227 0.73663557] [ 0. 0. 0. 1. ]] SLAMing on 32.102557844 meters Centerline goodness : 0.174163 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.24, Z:0.74 [[ 0.99964306 0.00928393 -0.02505102 -1.99262954] [-0.00920451 0.99995225 0.00328394 -0.24422846] [ 0.02508031 -0.00305219 0.99968078 0.73668565] [ 0. 0. 0. 1. ]] SLAMing on 32.132557844000004 meters Centerline goodness : 0.115116 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.24, Z:0.74 [[ 9.99691197e-01 6.62310721e-04 -2.48409263e-02 -1.96932455e+00] [-5.86364835e-04 9.99995133e-01 3.06444826e-03 -2.43382795e-01] [ 2.48428351e-02 -3.04893610e-03 9.99686720e-01 7.36394216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162557844000006 meters Centerline goodness : 0.140781 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.24, Z:0.74 [[ 9.99685801e-01 7.20268718e-04 -2.50555291e-02 -1.96878663e+00] [-6.36688976e-04 9.99994207e-01 3.34359800e-03 -2.44901834e-01] [ 2.50577922e-02 -3.32659487e-03 9.99680469e-01 7.36414444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19255784400001 meters Centerline goodness : 0.150372 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99683434e-01 8.26935468e-04 -2.51465243e-02 -1.96881325e+00] [-7.34006536e-04 9.99992869e-01 3.70450386e-03 -2.46661572e-01] [ 2.51494084e-02 -3.68487343e-03 9.99676912e-01 7.36908906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22255784400001 meters Centerline goodness : 0.136766 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99684454e-01 9.64534710e-04 -2.51010297e-02 -1.96920656e+00] [-8.62242720e-04 9.99991282e-01 4.08571522e-03 -2.48434607e-01] [ 2.51047516e-02 -4.06278281e-03 9.99676570e-01 7.37421704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252557844 meters Centerline goodness : 0.176547 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99678856e-01 1.09128839e-03 -2.53178542e-02 -1.96852255e+00] [-9.79445450e-04 9.99989710e-01 4.42953247e-03 -2.50175343e-01] [ 2.53224276e-02 -4.40331249e-03 9.99669638e-01 7.37240848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters Centerline goodness : 0.135803 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99674566e-01 1.06752792e-03 -2.54877071e-02 -1.96765654e+00] [-9.54995070e-04 9.99989745e-01 4.42694531e-03 -2.50425491e-01] [ 2.54921717e-02 -4.40116400e-03 9.99665333e-01 7.36536372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312557844000004 meters Centerline goodness : 0.152941 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99671432e-01 1.04847946e-03 -2.56111142e-02 -1.96691935e+00] [-9.35776251e-04 9.99989829e-01 4.41214751e-03 -2.50551048e-01] [ 2.56154797e-02 -4.38673155e-03 9.99662245e-01 7.35821377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844000005 meters Centerline goodness : 0.131773 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99672393e-01 1.04265647e-03 -2.55738040e-02 -1.96683451e+00] [-9.30162656e-04 9.99989842e-01 4.41029228e-03 -2.50577815e-01] [ 2.55781427e-02 -4.38505964e-03 9.99663208e-01 7.35488296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372557844000006 meters Centerline goodness : 0.137152 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.25, Z:0.74 [[ 9.99672174e-01 1.07911453e-03 -2.55808354e-02 -1.96673003e+00] [-9.64679041e-04 9.99989475e-01 4.48540381e-03 -2.50789536e-01] [ 2.55854064e-02 -4.45925608e-03 9.99662694e-01 7.35279970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40255784400001 meters Centerline goodness : 0.116571 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971342 0.00227752 -0.02383048 -1.92285227] [-0.00219543 0.99999157 0.00347052 -0.24821474] [ 0.02383818 -0.0034172 0.99970999 0.73550486] [ 0. 0. 0. 1. ]] SLAMing on 32.432557844 meters Centerline goodness : 0.142047 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971148 0.00232713 -0.02390685 -1.92281895] [-0.00223969 0.99999071 0.00368346 -0.24940259] [ 0.0239152 -0.00362886 0.9997074 0.73582521] [ 0. 0. 0. 1. ]] SLAMing on 32.462557844 meters Centerline goodness : 0.140987 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971141 0.00241931 -0.02390051 -1.92304903] [-0.00232501 0.99998941 0.00397272 -0.25085909] [ 0.02390987 -0.00391601 0.99970645 0.73620482] [ 0. 0. 0. 1. ]] SLAMing on 32.492557844000004 meters Centerline goodness : 0.126316 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99970974 0.00249479 -0.02396269 -1.92302671] [-0.0023942 0.99998821 0.00422552 -0.25216959] [ 0.02397295 -0.00416692 0.99970392 0.73645428] [ 0. 0. 0. 1. ]] SLAMing on 32.522557844000005 meters Centerline goodness : 0.084860 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99970819 0.00253073 -0.02402369 -1.92291887] [-0.00242768 0.99998773 0.00431755 -0.25259337] [ 0.02403432 -0.00425797 0.99970207 0.73653499] [ 0. 0. 0. 1. ]] SLAMing on 32.552557844000006 meters Centerline goodness : 0.134849 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971881 0.00284783 -0.02354142 -1.92422776] [-0.0027414 0.99998588 0.00455189 -0.25258232] [ 0.02355405 -0.00448607 0.9997125 0.7366294 ] [ 0. 0. 0. 1. ]] SLAMing on 32.58255784400001 meters Centerline goodness : 0.135122 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971767 0.00287831 -0.02358599 -1.92412243] [-0.00277235 0.99998592 0.00452388 -0.25235125] [ 0.02359868 -0.00445721 0.99971158 0.73666557] [ 0. 0. 0. 1. ]] SLAMing on 32.612557844 meters Centerline goodness : 0.134135 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971069 0.00291708 -0.02387517 -1.92320256] [-0.00281536 0.99998682 0.00429299 -0.25145586] [ 0.02388737 -0.00422453 0.99970573 0.73662755] [ 0. 0. 0. 1. ]] SLAMing on 32.642557844 meters Centerline goodness : 0.118210 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971585 0.00295931 -0.02365293 -1.92367811] [-0.00286019 0.99998699 0.00422316 -0.25092415] [ 0.02366512 -0.00415431 0.99971131 0.73647482] [ 0. 0. 0. 1. ]] SLAMing on 32.672557844 meters Centerline goodness : 0.117651 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99971902 0.00287263 -0.02352951 -1.92407456] [-0.00278263 0.99998869 0.00385679 -0.24953487] [ 0.02354032 -0.00379024 0.9997157 0.73680363] [ 0. 0. 0. 1. ]] SLAMing on 32.702557844000005 meters Centerline goodness : 0.120098 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.25, Z:0.74 [[ 0.99972578 0.00290084 -0.02323703 -1.92495832] [-0.0028137 0.99998889 0.00378194 -0.2489522 ] [ 0.02324774 -0.00371552 0.99972283 0.73705836] [ 0. 0. 0. 1. ]] SLAMing on 32.732557844000006 meters Centerline goodness : 0.158339 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99973353 0.00274783 -0.02291992 -1.92626901] [-0.00267013 0.99999059 0.00342005 -0.24799955] [ 0.0229291 -0.00335794 0.99973145 0.73816842] [ 0. 0. 0. 1. ]] SLAMing on 32.76255784400001 meters Centerline goodness : 0.111376 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972992 0.0027457 -0.02307682 -1.92580925] [-0.00266738 0.99999058 0.00342414 -0.24815152] [ 0.023086 -0.00336166 0.99972783 0.73807688] [ 0. 0. 0. 1. ]] SLAMing on 32.792557844 meters Centerline goodness : 0.114385 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972801 0.00282287 -0.02315043 -1.92537953] [-0.00273666 0.99998921 0.00375503 -0.24936488] [ 0.02316078 -0.00369065 0.99972494 0.73747564] [ 0. 0. 0. 1. ]] SLAMing on 32.822557844 meters Centerline goodness : 0.109266 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99972859 0.0029099 -0.02311455 -1.92552937] [-0.002817 0.99998783 0.00405051 -0.25073273] [ 0.02312605 -0.0039843 0.99972462 0.73753695] [ 0. 0. 0. 1. ]] SLAMing on 32.852557844 meters Centerline goodness : 0.115724 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99975327 -0.00459784 -0.0217314 -1.90562011] [ 0.00470977 0.99997589 0.00510209 -0.24689206] [ 0.02170741 -0.00520318 0.99975083 0.73878733] [ 0. 0. 0. 1. ]] SLAMing on 32.882557844000004 meters Centerline goodness : 0.086388 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99977076 -0.00482914 -0.02085926 -1.90849613] [ 0.00494805 0.99997178 0.00565298 -0.24902992] [ 0.02083137 -0.0057549 0.99976644 0.73926451] [ 0. 0. 0. 1. ]] SLAMing on 32.912557844000006 meters Centerline goodness : 0.136937 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99976947 -0.00481991 -0.02092287 -1.90836173] [ 0.00494405 0.99997046 0.00588541 -0.24992948] [ 0.02089389 -0.00598749 0.99976377 0.73917971] [ 0. 0. 0. 1. ]] SLAMing on 32.94255784400001 meters Centerline goodness : 0.187127 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99976463 -0.00479634 -0.02115823 -1.90771892] [ 0.00492471 0.99996976 0.00601905 -0.25073564] [ 0.02112873 -0.00612183 0.99975802 0.73914678] [ 0. 0. 0. 1. ]] SLAMing on 32.97255784400001 meters Centerline goodness : 0.093490 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.9997626 -0.0047022 -0.02127532 -1.90731024] [ 0.00483593 0.99996885 0.00623854 -0.25150906] [ 0.02124533 -0.00633995 0.99975419 0.7388959 ] [ 0. 0. 0. 1. ]] SLAMing on 33.002557844 meters Centerline goodness : 0.149096 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978638 0.00395879 -0.020286 -1.88825124] [-0.00386788 0.99998231 0.004519 -0.25505975] [ 0.02030353 -0.00443957 0.99978401 0.74008888] [ 0. 0. 0. 1. ]] SLAMing on 33.032557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 33.062557844000004 meters Centerline goodness : 0.136568 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978909 0.0039956 -0.02014497 -1.88896271] [-0.00390055 0.99998109 0.00475524 -0.2562703 ] [ 0.02016359 -0.00467566 0.99978576 0.74065005] [ 0. 0. 0. 1. ]] SLAMing on 33.092557844000005 meters Centerline goodness : 0.141215 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.9997856 0.00397423 -0.02032138 -1.88827965] [-0.00387753 0.99998098 0.00479552 -0.25661142] [ 0.02034005 -0.00471569 0.999782 0.74024837] [ 0. 0. 0. 1. ]] SLAMing on 33.122557844000006 meters Centerline goodness : 0.141917 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978202 0.00392293 -0.02050659 -1.88760315] [-0.00382693 0.99998154 0.00471863 -0.25637994] [ 0.02052472 -0.00463913 0.99977858 0.73991144] [ 0. 0. 0. 1. ]] SLAMing on 33.15255784400001 meters Centerline goodness : 0.141917 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99978202 0.00392293 -0.02050659 -1.88760315] [-0.00382693 0.99998154 0.00471863 -0.25637994] [ 0.02052472 -0.00463913 0.99977858 0.73991144] [ 0. 0. 0. 1. ]] SLAMing on 33.182557844 meters Centerline goodness : 0.144064 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.26, Z:0.74 [[ 0.99977847 0.00377144 -0.02070716 -1.88698199] [-0.00368054 0.99998343 0.00442616 -0.25523383] [ 0.02072351 -0.00434897 0.99977579 0.73974243] [ 0. 0. 0. 1. ]] SLAMing on 33.212557844 meters Centerline goodness : 0.142102 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99977658 0.00363623 -0.02082225 -1.88661012] [-0.00355093 0.99998516 0.00413193 -0.25399322] [ 0.02083697 -0.00405707 0.99977466 0.73961788] [ 0. 0. 0. 1. ]] SLAMing on 33.242557844000004 meters Centerline goodness : 0.147632 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99977598 0.00351749 -0.02087123 -1.88653399] [-0.00343785 0.99998668 0.00385039 -0.25277053] [ 0.0208845 -0.00377777 0.99977476 0.7396749 ] [ 0. 0. 0. 1. ]] SLAMing on 33.272557844000005 meters Centerline goodness : 0.142364 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.25, Z:0.74 [[ 0.99978215 0.00346529 -0.0205826 -1.88767945] [-0.00339273 0.99998791 0.00355905 -0.25092917] [ 0.02059468 -0.00348844 0.99978182 0.74027594] [ 0. 0. 0. 1. ]] SLAMing on 33.302557844000006 meters Centerline goodness : 0.145918 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:0.74 [[ 0.99980257 -0.00357881 -0.01954501 -1.8687657 ] [ 0.00367187 0.99998208 0.00472747 -0.24444103] [ 0.01952774 -0.00479831 0.9997978 0.74186344] [ 0. 0. 0. 1. ]] SLAMing on 33.33255784400001 meters Centerline goodness : 0.153757 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:0.74 [[ 0.99981017 -0.00366356 -0.01913644 -1.86987796] [ 0.0037573 0.99998111 0.00486463 -0.24485422] [ 0.01911825 -0.00493561 0.99980505 0.74176272] [ 0. 0. 0. 1. ]] SLAMing on 33.362557844 meters Centerline goodness : 0.126018 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99979606 -0.00410346 -0.01977376 -1.86831127] [ 0.00419785 0.99997998 0.00473418 -0.24600228] [ 0.01975394 -0.00481622 0.99979327 0.74196288] [ 0. 0. 0. 1. ]] SLAMing on 33.392557844 meters Centerline goodness : 0.154669 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99979121 -0.00419191 -0.01999912 -1.86777384] [ 0.00428682 0.99997974 0.00470527 -0.24627334] [ 0.019979 -0.00479002 0.99978893 0.74188948] [ 0. 0. 0. 1. ]] SLAMing on 33.422557844 meters Centerline goodness : 0.160224 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978681 -0.00407879 -0.02024122 -1.86685695] [ 0.00417807 0.99997944 0.00486486 -0.24662507] [ 0.02022096 -0.00494839 0.99978329 0.74127262] [ 0. 0. 0. 1. ]] SLAMing on 33.452557844000005 meters Centerline goodness : 0.156887 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978354 -0.00386101 -0.02044421 -1.86599661] [ 0.00396676 0.99997895 0.00513465 -0.24703365] [ 0.02042396 -0.00521464 0.99977781 0.74062978] [ 0. 0. 0. 1. ]] SLAMing on 33.482557844000006 meters Centerline goodness : 0.157157 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978736 -0.00381437 -0.02026541 -1.86624392] [ 0.00391835 0.99997935 0.00509398 -0.24641716] [ 0.02024556 -0.00517231 0.99978166 0.7402442 ] [ 0. 0. 0. 1. ]] SLAMing on 33.51255784400001 meters Centerline goodness : 0.152154 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99978478 -0.00365378 -0.02042173 -1.8656187 ] [ 0.00376079 0.99997939 0.00520374 -0.24644371] [ 0.0204023 -0.00527942 0.99977791 0.73989002] [ 0. 0. 0. 1. ]] SLAMing on 33.542557844 meters Centerline goodness : 0.121407 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.25, Z:0.74 [[ 0.99976137 -0.00335625 -0.02158574 -1.86217894] [ 0.00346097 0.99998241 0.00481578 -0.24512152] [ 0.0215692 -0.00488934 0.9997554 0.73972816] [ 0. 0. 0. 1. ]] SLAMing on 33.572557844 meters Centerline goodness : 0.154933 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.24, Z:0.74 [[ 0.99971318 -0.00252601 -0.02381533 -1.89800253] [ 0.00262927 0.99998727 0.00430559 -0.2443813 ] [ 0.02380415 -0.00436698 0.9997071 0.73970123] [ 0. 0. 0. 1. ]] SLAMing on 33.602557844 meters Centerline goodness : 0.147869 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99971175 0.00704393 -0.02295206 -1.87683731] [-0.00697059 0.99997035 0.00327369 -0.24491966] [ 0.02297444 -0.00311276 0.99973121 0.74003666] [ 0. 0. 0. 1. ]] SLAMing on 33.632557844000004 meters Centerline goodness : 0.133968 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99971827 0.0069826 -0.02268522 -1.8774894 ] [-0.00691782 0.99997177 0.00293293 -0.24307123] [ 0.02270506 -0.00277517 0.99973836 0.7399462 ] [ 0. 0. 0. 1. ]] SLAMing on 33.662557844000006 meters Centerline goodness : 0.152854 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99972831 0.00692484 -0.0222563 -1.87869859] [-0.00686739 0.99997289 0.00265674 -0.24161683] [ 0.0222741 -0.00250318 0.99974877 0.74015382] [ 0. 0. 0. 1. ]] SLAMing on 33.69255784400001 meters Centerline goodness : 0.144679 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 0.99974434 0.00683525 -0.02155323 -1.88059428] [-0.00678868 0.99997446 0.00223315 -0.23942645] [ 0.02156794 -0.00208626 0.99976521 0.74032078] [ 0. 0. 0. 1. ]] SLAMing on 33.72255784400001 meters Centerline goodness : 0.156117 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 9.99744423e-01 6.78368629e-03 -2.15654941e-02 -1.88036914e+00] [-6.74379185e-03 9.99975413e-01 1.92210797e-03 -2.37932567e-01] [ 2.15780028e-02 -1.77618352e-03 9.99765590e-01 7.40060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752557844 meters Centerline goodness : 0.181561 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.24, Z:0.74 [[ 9.99740523e-01 6.77389954e-03 -2.17485725e-02 -1.87971396e+00] [-6.73895001e-03 9.99975882e-01 1.67986940e-03 -2.36814716e-01] [ 2.17594272e-02 -1.53287097e-03 9.99762061e-01 7.39838275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782557844 meters Centerline goodness : 0.130601 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970715 -0.00314692 -0.02399381 -1.90003318] [ 0.00319683 0.9999928 0.00204217 -0.23277874] [ 0.02398721 -0.00211828 0.99971002 0.73971349] [ 0. 0. 0. 1. ]] SLAMing on 33.812557844000004 meters Centerline goodness : 0.149863 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970675 -0.00321107 -0.02400224 -1.90014747] [ 0.00326057 0.99999264 0.00202347 -0.23287042] [ 0.02399557 -0.00210114 0.99970986 0.73988183] [ 0. 0. 0. 1. ]] SLAMing on 33.842557844000005 meters Centerline goodness : 0.179575 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.23, Z:0.74 [[ 0.99970751 -0.00318969 -0.02397347 -1.90032687] [ 0.00324368 0.99999229 0.00221381 -0.23349274] [ 0.02396623 -0.00229092 0.99971014 0.73983719] [ 0. 0. 0. 1. ]] SLAMing on 33.872557844000006 meters Centerline goodness : 0.150724 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.24, Z:0.74 [[ 0.99964249 -0.00396483 -0.02644176 -1.94552343] [ 0.00404402 0.99998749 0.00294235 -0.23877847] [ 0.02642977 -0.00304823 0.99964603 0.74123061] [ 0. 0. 0. 1. ]] SLAMing on 33.90255784400001 meters Centerline goodness : 0.140440 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.25, Z:0.74 [[ 0.99963847 0.00451992 -0.02650463 -1.92846856] [-0.0044421 0.99998565 0.00299417 -0.245405 ] [ 0.02651778 -0.00287535 0.99964421 0.74160974] [ 0. 0. 0. 1. ]] SLAMing on 33.932557844 meters Centerline goodness : 0.149710 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.9996593 -0.0031037 -0.02591635 -1.90838145] [ 0.00319708 0.99998854 0.00356228 -0.24072703] [ 0.02590499 -0.00364392 0.99965777 0.74272647] [ 0. 0. 0. 1. ]] SLAMing on 33.962557844 meters Centerline goodness : 0.386044 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967362 -0.00342906 -0.02531576 -1.91039267] [ 0.00350997 0.99998887 0.0031525 -0.23953379] [ 0.02530467 -0.00324033 0.99967453 0.74351089] [ 0. 0. 0. 1. ]] SLAMing on 33.992557844000004 meters Centerline goodness : 0.121105 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967652 -0.00358126 -0.02517982 -1.91110771] [ 0.00365497 0.99998917 0.0028821 -0.23891575] [ 0.02516923 -0.0029732 0.99967878 0.74421186] [ 0. 0. 0. 1. ]] SLAMing on 34.022557844000005 meters Centerline goodness : 0.189562 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967272 -0.00362826 -0.02532387 -1.91091649] [ 0.00369705 0.9999896 0.0026702 -0.23842854] [ 0.02531391 -0.00276295 0.99967573 0.74463897] [ 0. 0. 0. 1. ]] SLAMing on 34.052557844000006 meters Centerline goodness : 0.145559 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99966255 -0.00351883 -0.02573715 -1.90968952] [ 0.00358916 0.99998995 0.00268695 -0.23853307] [ 0.02572743 -0.00277842 0.99966513 0.74442573] [ 0. 0. 0. 1. ]] SLAMing on 34.08255784400001 meters Centerline goodness : 0.187195 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99964973 -0.00325286 -0.02626485 -1.90778235] [ 0.00333409 0.99998979 0.00304926 -0.23942317] [ 0.02625466 -0.00313576 0.99965037 0.74339061] [ 0. 0. 0. 1. ]] SLAMing on 34.112557844 meters Centerline goodness : 0.189980 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99964664 -0.00319347 -0.02638931 -1.90715488] [ 0.00327902 0.99998951 0.00319935 -0.23997529] [ 0.02637881 -0.00328475 0.99964662 0.74281429] [ 0. 0. 0. 1. ]] SLAMing on 34.142557844 meters Centerline goodness : 0.191315 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99965888 -0.00325952 -0.02591318 -1.90874634] [ 0.00336535 0.99998617 0.00404142 -0.24287411] [ 0.02589965 -0.00412725 0.99965603 0.74254165] [ 0. 0. 0. 1. ]] SLAMing on 34.172557844 meters Centerline goodness : 0.144892 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99966749 -0.00362437 -0.02552976 -1.91030348] [ 0.00373031 0.99998462 0.00410344 -0.2437592 ] [ 0.0255145 -0.00419731 0.99966564 0.74302643] [ 0. 0. 0. 1. ]] SLAMing on 34.202557844000005 meters Centerline goodness : 0.143935 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.24, Z:0.74 [[ 0.99967589 -0.00394053 -0.02515132 -1.91191784] [ 0.00404916 0.99998269 0.00426947 -0.2449546 ] [ 0.02513406 -0.00436993 0.99967454 0.74360202] [ 0. 0. 0. 1. ]] SLAMing on 34.232557844000006 meters Centerline goodness : 0.153993 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.25, Z:0.74 [[ 0.99967253 -0.00392127 -0.02528732 -1.91183369] [ 0.00404168 0.99998073 0.0047124 -0.24723149] [ 0.02526836 -0.00481306 0.99966912 0.74404245] [ 0. 0. 0. 1. ]] SLAMing on 34.26255784400001 meters Centerline goodness : 0.114426 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99973135 -0.00304059 -0.02297791 -1.86817006] [ 0.00314003 0.99998585 0.00429305 -0.24727163] [ 0.02296453 -0.00436404 0.99972676 0.74390783] [ 0. 0. 0. 1. ]] SLAMing on 34.292557844 meters Centerline goodness : 0.141068 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972749 -0.00327989 -0.02311236 -1.86784664] [ 0.00339114 0.99998285 0.00477596 -0.25052445] [ 0.02309629 -0.00485304 0.99972147 0.74408393] [ 0. 0. 0. 1. ]] SLAMing on 34.322557844 meters Centerline goodness : 0.128802 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972806 -0.00325939 -0.02309072 -1.86810861] [ 0.00337683 0.99998155 0.00504908 -0.25209982] [ 0.02307384 -0.00512568 0.99972062 0.74447511] [ 0. 0. 0. 1. ]] SLAMing on 34.352557844 meters Centerline goodness : 0.159626 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972878 -0.00320131 -0.02306749 -1.86845079] [ 0.00332293 0.99998077 0.00523594 -0.25296638] [ 0.02305029 -0.00531117 0.9997202 0.74494531] [ 0. 0. 0. 1. ]] SLAMing on 34.382557844000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 34.412557844000006 meters Centerline goodness : 0.147374 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.75 [[ 0.99972873 -0.00317199 -0.02307385 -1.86855145] [ 0.00329379 0.99998083 0.00524263 -0.25273093] [ 0.02305677 -0.00531721 0.99972002 0.7451187 ] [ 0. 0. 0. 1. ]] SLAMing on 34.44255784400001 meters Centerline goodness : 0.154300 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99972111 -0.00324326 -0.02339201 -1.86748486] [ 0.00336301 0.99998143 0.00508208 -0.2520832 ] [ 0.02337509 -0.00515933 0.99971345 0.7446632 ] [ 0. 0. 0. 1. ]] SLAMing on 34.47255784400001 meters Centerline goodness : 0.117490 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.25, Z:0.74 [[ 0.99971924 0.00478713 -0.023206 -1.84448832] [-0.00472761 0.9999854 0.00261878 -0.25135512] [ 0.02321819 -0.00250834 0.99972727 0.74376014] [ 0. 0. 0. 1. ]] SLAMing on 34.502557844 meters Centerline goodness : 0.120282 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:0.74 [[ 0.99971366 -0.00390262 -0.02360857 -1.86585658] [ 0.0040041 0.99998294 0.00425263 -0.24593051] [ 0.02359157 -0.00434595 0.99971223 0.74324808] [ 0. 0. 0. 1. ]] SLAMing on 34.532557844 meters Centerline goodness : 0.144876 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.25, Z:0.74 [[ 0.99977505 0.00489932 -0.02063613 -1.84727018] [-0.0048368 0.99998356 0.00307832 -0.2474863 ] [ 0.02065087 -0.00297782 0.99978231 0.74325156] [ 0. 0. 0. 1. ]] SLAMing on 34.562557844000004 meters Centerline goodness : 0.130007 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.74 [[ 0.99981478 -0.00280168 -0.01904076 -1.82758648] [ 0.00287442 0.99998867 0.00379378 -0.24280969] [ 0.01902992 -0.0038478 0.99981151 0.74458582] [ 0. 0. 0. 1. ]] SLAMing on 34.592557844000005 meters Centerline goodness : 0.187391 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99981313 -0.00291929 -0.01910968 -1.82769868] [ 0.00299259 0.99998827 0.00380836 -0.24319812] [ 0.01909833 -0.00386483 0.99981014 0.74508236] [ 0. 0. 0. 1. ]] SLAMing on 34.622557844000006 meters Centerline goodness : 0.123368 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99980535 -0.00307714 -0.01948823 -1.82680907] [ 0.00315171 0.99998782 0.00379702 -0.24362392] [ 0.01947631 -0.0038577 0.99980288 0.74514729] [ 0. 0. 0. 1. ]] SLAMing on 34.65255784400001 meters Centerline goodness : 0.208966 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.24, Z:0.74 [[ 0.99978493 -0.00354689 -0.02043307 -1.82389852] [ 0.0036227 0.99998669 0.00367452 -0.24401794] [ 0.02041976 -0.00374775 0.99978447 0.74415543] [ 0. 0. 0. 1. ]] SLAMing on 34.682557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 34.712557844 meters Centerline goodness : 0.160149 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.24, Z:0.75 [[ 0.99980964 -0.0051154 -0.01882883 -1.82870934] [ 0.00516496 0.99998332 0.00258483 -0.24354384] [ 0.01881529 -0.00268159 0.99981938 0.74562265] [ 0. 0. 0. 1. ]] SLAMing on 34.742557844000004 meters Centerline goodness : 0.175555 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.24, Z:0.74 [[ 9.99849225e-01 1.91021183e-03 -1.72591744e-02 -1.80698572e+00] [-1.91442398e-03 9.99998142e-01 -2.27534125e-04 -2.44696438e-01] [ 1.72587077e-02 2.60541196e-04 9.99851023e-01 7.44686970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772557844000005 meters Centerline goodness : 0.371050 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.24, Z:0.74 [[ 9.99846144e-01 1.89182276e-03 -1.74387071e-02 -1.80611268e+00] [-1.89740115e-03 9.99998154e-01 -3.03346019e-04 -2.44047173e-01] [ 1.74381011e-02 3.36387571e-04 9.99847888e-01 7.43869296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802557844000006 meters Centerline goodness : 0.119532 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 0.99982049 -0.00292062 -0.01872054 -1.7814447 ] [ 0.00297224 0.99999186 0.00273043 -0.24111367] [ 0.01871242 -0.00278558 0.99982103 0.74333546] [ 0. 0. 0. 1. ]] SLAMing on 34.83255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 34.862557844 meters Centerline goodness : 0.415520 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 0.99981475 -0.00313078 -0.01899141 -1.78051382] [ 0.00317423 0.99999241 0.00225819 -0.239205 ] [ 0.01898419 -0.00231805 0.9998171 0.74301493] [ 0. 0. 0. 1. ]] SLAMing on 34.892557844 meters Centerline goodness : 0.238370 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 9.99817755e-01 -3.34538314e-03 -1.87953432e-02 -1.78153144e+00] [ 3.37813414e-03 9.99992830e-01 1.71102688e-03 -2.36976100e-01] [ 1.87894844e-02 -1.77420824e-03 9.99821888e-01 7.43940277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922557844 meters Centerline goodness : 0.143868 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.24, Z:0.74 [[ 9.99819963e-01 -3.41478793e-03 -1.86649701e-02 -1.78189875e+00] [ 3.44208500e-03 9.99993053e-01 1.43054561e-03 -2.35416579e-01] [ 1.86599554e-02 -1.49453447e-03 9.99824771e-01 7.43929929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952557844000005 meters Centerline goodness : 0.149624 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.23, Z:0.74 [[ 9.99859581e-01 -1.51692850e-03 -1.66888197e-02 -1.73700057e+00] [ 1.53765920e-03 9.99998062e-01 1.22942889e-03 -2.32729967e-01] [ 1.66869224e-02 -1.25491797e-03 9.99859976e-01 7.43040732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982557844000006 meters Centerline goodness : 0.153967 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.23, Z:0.74 [[ 9.99800305e-01 -2.74361261e-03 -1.97945119e-02 -1.78071285e+00] [ 2.77772664e-03 9.99994704e-01 1.69611981e-03 -2.32081847e-01] [ 1.97897535e-02 -1.75076485e-03 9.99802631e-01 7.43323316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01255784400001 meters Centerline goodness : 0.202545 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.23, Z:0.74 [[ 9.99795577e-01 -2.88731000e-03 -2.00117050e-02 -1.78005770e+00] [ 2.91610733e-03 9.99994754e-01 1.40999263e-03 -2.31018991e-01] [ 2.00075289e-02 -1.46806067e-03 9.99798752e-01 7.43175045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04255784400001 meters Centerline goodness : 0.406204 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.23, Z:0.74 [[ 9.99808902e-01 4.66007620e-03 -1.89853367e-02 -1.75865857e+00] [-4.68783192e-03 9.99988007e-01 -1.41771403e-03 -2.31787416e-01] [ 1.89785024e-02 1.50644318e-03 9.99818757e-01 7.42846537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072557844 meters Centerline goodness : 0.406204 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.23, Z:0.74 [[ 9.99808902e-01 4.66007620e-03 -1.89853367e-02 -1.75865857e+00] [-4.68783192e-03 9.99988007e-01 -1.41771403e-03 -2.31787416e-01] [ 1.89785024e-02 1.50644318e-03 9.99818757e-01 7.42846537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.132557844000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.162557844000006 meters Centerline goodness : 0.166558 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.22, Z:0.74 [[ 9.99848559e-01 2.57167466e-04 -1.74009532e-02 -1.73857651e+00] [-2.26706783e-04 9.99998439e-01 1.75246807e-03 -2.20433110e-01] [ 1.74013767e-02 -1.74825776e-03 9.99847056e-01 7.43653656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19255784400001 meters Centerline goodness : 0.116495 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.22, Z:0.74 [[ 9.99798753e-01 -9.23840473e-04 -2.00399847e-02 -1.78389873e+00] [ 9.70114637e-04 9.99996886e-01 2.29949320e-03 -2.18983499e-01] [ 2.00377979e-02 -2.31847152e-03 9.99796535e-01 7.44610740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22255784400001 meters Centerline goodness : 0.138863 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99802166e-01 -9.63502436e-04 -1.98670769e-02 -1.73338708e+00] [ 9.73630924e-04 9.99999401e-01 5.00146464e-04 -2.14762113e-01] [ 1.98665831e-02 -5.19390719e-04 9.99802505e-01 7.42200634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252557844 meters Centerline goodness : 0.084707 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99795116e-01 -1.04729366e-03 -2.02145686e-02 -1.73234841e+00] [ 1.05705411e-03 9.99999330e-01 4.72163485e-04 -2.14777487e-01] [ 2.02140605e-02 -4.93434639e-04 9.99795553e-01 7.41834513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282557844 meters Centerline goodness : 0.144853 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99792736e-01 -1.09079560e-03 -2.03296751e-02 -1.73211758e+00] [ 1.10310906e-03 9.99999215e-01 5.94484674e-04 -2.15482379e-01] [ 2.03290106e-02 -6.16787308e-04 9.99793154e-01 7.41845284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312557844000004 meters Centerline goodness : 0.169791 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99796000e-01 -1.15803977e-03 -2.01647431e-02 -1.73266470e+00] [ 1.17281598e-03 9.99999052e-01 7.20963698e-04 -2.16231965e-01] [ 2.01638891e-02 -7.44466155e-04 9.99796411e-01 7.41996151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342557844000005 meters Centerline goodness : 0.173712 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99799887e-01 -1.21097738e-03 -1.99679669e-02 -1.73336818e+00] [ 1.22786838e-03 9.99998899e-01 8.33666253e-04 -2.16897883e-01] [ 1.99669353e-02 -8.58017461e-04 9.99800273e-01 7.42265298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372557844000006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.40255784400001 meters Centerline goodness : 0.124262 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.22, Z:0.74 [[ 9.99807314e-01 -1.31582873e-03 -1.95858080e-02 -1.73472919e+00] [ 1.32913796e-03 9.99998895e-01 6.66532698e-04 -2.15702311e-01] [ 1.95849093e-02 -6.92436507e-04 9.99807957e-01 7.42796779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432557844 meters Centerline goodness : 0.123268 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99804551e-01 -1.45639012e-03 -1.97164800e-02 -1.73433398e+00] [ 1.46118407e-03 9.99998906e-01 2.28740613e-04 -2.13490262e-01] [ 1.97161253e-02 -2.57505312e-04 9.99805585e-01 7.42714167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462557844 meters Centerline goodness : 0.123255 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99804162e-01 -1.59718816e-03 -1.97252684e-02 -1.73424180e+00] [ 1.59153573e-03 9.99998688e-01 -3.02252738e-04 -2.10819074e-01] [ 1.97257252e-02 2.70800076e-04 9.99805392e-01 7.42646423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492557844000004 meters Centerline goodness : 0.196954 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.21, Z:0.74 [[ 9.99806954e-01 -1.75033318e-03 -1.95701499e-02 -1.73454609e+00] [ 1.73316909e-03 9.99998098e-01 -8.93981061e-04 -2.07871968e-01] [ 1.95716774e-02 8.59890102e-04 9.99808087e-01 7.42552613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522557844000005 meters Centerline goodness : 0.123606 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.21, Z:0.74 [[ 0.99981018 0.00723547 -0.01809004 -1.71432004] [-0.00727548 0.99997123 -0.00214688 -0.20819464] [ 0.01807399 0.00227808 0.99983406 0.74275725] [ 0. 0. 0. 1. ]] SLAMing on 35.552557844000006 meters Centerline goodness : 0.173266 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.20, Z:0.74 [[ 0.99981801 0.00694102 -0.01777007 -1.71515437] [-0.0070001 0.99997017 -0.0032646 -0.20250458] [ 0.01774688 0.00338839 0.99983677 0.74283821] [ 0. 0. 0. 1. ]] SLAMing on 35.58255784400001 meters Centerline goodness : 0.134455 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.20, Z:0.74 [[ 0.99981742 0.00675168 -0.01787578 -1.71483624] [-0.00681821 0.99997005 -0.0036632 -0.2006041 ] [ 0.01785051 0.00378441 0.9998335 0.74274946] [ 0. 0. 0. 1. ]] SLAMing on 35.612557844 meters Centerline goodness : 0.122782 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.20, Z:0.74 [[ 0.99981762 0.00657467 -0.01793028 -1.71455007] [-0.00664758 0.99996987 -0.00400977 -0.19907474] [ 0.01790338 0.00412823 0.9998312 0.74248032] [ 0. 0. 0. 1. ]] SLAMing on 35.642557844 meters Centerline goodness : 0.167082 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982278 -0.00246851 -0.01866298 -1.73398916] [ 0.00241469 0.99999286 -0.00290574 -0.19231722] [ 0.01867002 0.00286016 0.99982161 0.74089861] [ 0. 0. 0. 1. ]] SLAMing on 35.672557844 meters Centerline goodness : 0.124133 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99981935 -0.00286816 -0.01878942 -1.73331675] [ 0.00280324 0.99999001 -0.00348059 -0.19012902] [ 0.01879921 0.00342729 0.9998174 0.74023792] [ 0. 0. 0. 1. ]] SLAMing on 35.702557844000005 meters Centerline goodness : 0.123257 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99981991 -0.00301023 -0.01873722 -1.73354406] [ 0.00294023 0.9999886 -0.0037619 -0.18886035] [ 0.01874833 0.00370613 0.99981737 0.74035134] [ 0. 0. 0. 1. ]] SLAMing on 35.732557844000006 meters Centerline goodness : 0.163793 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982139 -0.00314812 -0.01863533 -1.73394253] [ 0.00307215 0.99998686 -0.00410404 -0.18716534] [ 0.018648 0.00404606 0.99981792 0.74051814] [ 0. 0. 0. 1. ]] SLAMing on 35.76255784400001 meters Centerline goodness : 0.125772 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.19, Z:0.74 [[ 0.99982318 -0.00331287 -0.01851042 -1.73444076] [ 0.00322971 0.99998457 -0.00452074 -0.18510393] [ 0.01852511 0.00446016 0.99981845 0.74082626] [ 0. 0. 0. 1. ]] SLAMing on 35.79255784400001 meters Centerline goodness : 0.165155 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.99982416 -0.00347409 -0.0184276 -1.73462505] [ 0.00338434 0.99998227 -0.00489955 -0.18337786] [ 0.0184443 0.00483632 0.99981819 0.74079275] [ 0. 0. 0. 1. ]] SLAMing on 35.822557844 meters Centerline goodness : 0.146226 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.99982301 -0.00369301 -0.01844746 -1.73441221] [ 0.00359561 0.99997944 -0.00531033 -0.18176172] [ 0.0184667 0.00524306 0.99981573 0.74053863] [ 0. 0. 0. 1. ]] SLAMing on 35.852557844 meters Centerline goodness : 0.149417 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 0.9998162 -0.0040883 -0.01873125 -1.73303525] [ 0.00397626 0.99997401 -0.00601456 -0.17898485] [ 0.01875535 0.00593898 0.99980646 0.73937769] [ 0. 0. 0. 1. ]] SLAMing on 35.882557844000004 meters Centerline goodness : 0.127211 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.18, Z:0.74 [[ 9.99811854e-01 -1.21291567e-03 -1.93593554e-02 -1.73089809e+00] [ 1.15507251e-03 9.99994837e-01 -2.99876832e-03 -1.77774331e-01] [ 1.93628927e-02 2.97584266e-03 9.99808093e-01 7.38504027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912557844000006 meters Centerline goodness : 0.134499 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.18, Z:0.74 [[ 9.99746725e-01 -1.10025931e-03 -2.24783107e-02 -1.77494383e+00] [ 1.06609562e-03 9.99998259e-01 -1.53177821e-03 -1.75237004e-01] [ 2.24799569e-02 1.50742622e-03 9.99746157e-01 7.38781828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94255784400001 meters Centerline goodness : 0.153180 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99769839e-01 -1.99241916e-04 -2.14529455e-02 -1.72976047e+00] [ 1.59515553e-04 9.99998270e-01 -1.85348594e-03 -1.73998102e-01] [ 2.14532777e-02 1.84963726e-03 9.99768141e-01 7.38481623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97255784400001 meters Centerline goodness : 0.141525 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99772510e-01 -6.74890124e-04 -2.13183735e-02 -1.73050257e+00] [ 6.11222819e-04 9.99995335e-01 -2.99287392e-03 -1.68780606e-01] [ 2.13202939e-02 2.97916279e-03 9.99768258e-01 7.39282270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002557844 meters Centerline goodness : 0.163442 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.17, Z:0.74 [[ 9.99777189e-01 -9.18882110e-04 -2.10885814e-02 -1.73142327e+00] [ 8.42566590e-04 9.99993066e-01 -3.62740766e-03 -1.65785722e-01] [ 2.10917684e-02 3.60883090e-03 9.99771031e-01 7.39901813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032557844 meters Centerline goodness : 0.129752 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99782846e-01 -1.13188766e-03 -2.08081475e-02 -1.73236544e+00] [ 1.04267061e-03 9.99990220e-01 -4.29795113e-03 -1.62433359e-01] [ 2.08128088e-02 4.27532177e-03 9.99774249e-01 7.40355409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062557844000004 meters Centerline goodness : 0.117641 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99789524e-01 -1.33558417e-03 -2.04725059e-02 -1.73340868e+00] [ 1.23462236e-03 9.99987019e-01 -4.94342652e-03 -1.59047734e-01] [ 2.04788425e-02 4.91711024e-03 9.99778195e-01 7.40687033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092557844000005 meters Centerline goodness : 0.110763 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.16, Z:0.74 [[ 9.99793928e-01 -1.55496073e-03 -2.02406279e-02 -1.73415083e+00] [ 1.44242063e-03 9.99983428e-01 -5.57352151e-03 -1.55902833e-01] [ 2.02489590e-02 5.54317746e-03 9.99779602e-01 7.40979777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122557844000006 meters Centerline goodness : 0.115537 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99979424 -0.00204017 -0.02018208 -1.73411667] [ 0.00190544 0.99997579 -0.00669271 -0.15092561] [ 0.02019525 0.00665287 0.99977392 0.74078154] [ 0. 0. 0. 1. ]] SLAMing on 36.15255784400001 meters Centerline goodness : 0.113511 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99979023 -0.00226732 -0.02035568 -1.73339243] [ 0.00212221 0.9999722 -0.00714758 -0.14900881] [ 0.02037132 0.00710288 0.99976725 0.74027824] [ 0. 0. 0. 1. ]] SLAMing on 36.182557844 meters Centerline goodness : 0.113493 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978659 -0.00243809 -0.02051394 -1.73289022] [ 0.00228433 0.99996915 -0.00751573 -0.14733566] [ 0.02053163 0.00746727 0.99976132 0.74007193] [ 0. 0. 0. 1. ]] SLAMing on 36.212557844 meters Centerline goodness : 0.114443 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.999786 -0.00251624 -0.02053343 -1.7330202 ] [ 0.00235826 0.99996746 -0.00771429 -0.14620085] [ 0.02055217 0.00766421 0.99975941 0.74032365] [ 0. 0. 0. 1. ]] SLAMing on 36.242557844000004 meters Centerline goodness : 0.136075 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978587 -0.00256334 -0.0205339 -1.73319515] [ 0.00240276 0.99996637 -0.00784112 -0.1454002 ] [ 0.02055331 0.00779011 0.99975841 0.74056969] [ 0. 0. 0. 1. ]] SLAMing on 36.272557844000005 meters Centerline goodness : 0.101281 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.15, Z:0.74 [[ 0.99978493 -0.00260669 -0.02057445 -1.73311605] [ 0.00244436 0.99996572 -0.00791095 -0.14503371] [ 0.02059437 0.00785896 0.99975702 0.74056386] [ 0. 0. 0. 1. ]] SLAMing on 36.302557844000006 meters Centerline goodness : 0.133351 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972771 -0.00309577 -0.02312857 -1.77940893] [ 0.00291976 0.99996655 -0.00763981 -0.14067856] [ 0.02315144 0.0075702 0.99970331 0.74146738] [ 0. 0. 0. 1. ]] SLAMing on 36.33255784400001 meters Centerline goodness : 0.118058 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972896 -0.0032489 -0.0230532 -1.77952856] [ 0.00306374 0.9999628 -0.00806247 -0.13866314] [ 0.02307854 0.00798966 0.99970173 0.74139607] [ 0. 0. 0. 1. ]] SLAMing on 36.362557844 meters Centerline goodness : 0.143456 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.14, Z:0.74 [[ 0.99972866 -0.00342363 -0.0230411 -1.77943938] [ 0.00322785 0.99995842 -0.0085288 -0.13642323] [ 0.02306934 0.00845211 0.99969814 0.74121907] [ 0. 0. 0. 1. ]] SLAMing on 36.392557844 meters Centerline goodness : 0.118489 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 0.99972634 -0.0036072 -0.02311339 -1.77923571] [ 0.003399 0.99995336 -0.00904065 -0.1340004 ] [ 0.02314493 0.00895961 0.99969197 0.74128226] [ 0. 0. 0. 1. ]] SLAMing on 36.422557844 meters Centerline goodness : 0.118762 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99728628e-01 2.38948160e-04 -2.32940804e-02 -1.77892242e+00] [-3.72824375e-04 9.99983439e-01 -5.74304697e-03 -1.30624250e-01] [ 2.32923224e-02 5.75017306e-03 9.99712160e-01 7.41434109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452557844000005 meters Centerline goodness : 0.117808 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99721471e-01 9.46266593e-05 -2.36002440e-02 -1.77784371e+00] [-2.43184821e-04 9.99980176e-01 -6.29198174e-03 -1.27810341e-01] [ 2.35991807e-02 6.29596846e-03 9.99701675e-01 7.40974253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482557844000006 meters Centerline goodness : 0.155618 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.13, Z:0.74 [[ 9.99714726e-01 -1.08098282e-04 -2.38841876e-02 -1.77678342e+00] [-5.59589765e-05 9.99976413e-01 -6.86808981e-03 -1.25076080e-01] [ 2.38843666e-02 6.86746706e-03 9.99691140e-01 7.40434548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51255784400001 meters Centerline goodness : 0.122807 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99712787e-01 -2.93684780e-04 -2.39636817e-02 -1.77645150e+00] [ 1.18658206e-04 9.99973312e-01 -7.30492158e-03 -1.23177603e-01] [ 2.39651875e-02 7.29998002e-03 9.99686141e-01 7.40239657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54255784400001 meters Centerline goodness : 0.170500 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99719156e-01 -6.60632076e-04 -2.36890781e-02 -1.77739755e+00] [ 4.68398830e-04 9.99966927e-01 -8.11947781e-03 -1.19663160e-01] [ 2.36936586e-02 8.10610157e-03 9.99686402e-01 7.40744121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572557844 meters Centerline goodness : 0.123325 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.11, Z:0.74 [[ 0.99970878 -0.00742297 -0.0229619 -1.80106872] [ 0.00729766 0.99995805 -0.00553625 -0.11397189] [ 0.02300203 0.00536707 0.99972101 0.74101783] [ 0. 0. 0. 1. ]] SLAMing on 36.602557844 meters Centerline goodness : 0.153417 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.12, Z:0.74 [[ 9.99787970e-01 1.14032612e-03 -2.05600329e-02 -1.78233305e+00] [-1.27521906e-03 9.99977742e-01 -6.54901344e-03 -1.16029575e-01] [ 2.05521072e-02 6.57384340e-03 9.99767171e-01 7.41562866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632557844000004 meters Centerline goodness : 0.122363 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792272e-01 9.88114880e-04 -2.03577135e-02 -1.78290455e+00] [-1.12854898e-03 9.99975641e-01 -6.88799064e-03 -1.14575044e-01] [ 2.03504115e-02 6.90953449e-03 9.99769033e-01 7.41684057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662557844000006 meters Centerline goodness : 0.175428 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792916e-01 8.24516293e-04 -2.03333754e-02 -1.78285411e+00] [-9.70161637e-04 9.99973939e-01 -7.15404712e-03 -1.13606983e-01] [ 2.03269469e-02 7.17229229e-03 9.99767660e-01 7.41491073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69255784400001 meters Centerline goodness : 0.143833 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99789909e-01 6.67268880e-04 -2.04863943e-02 -1.78257375e+00] [-8.18868692e-04 9.99972340e-01 -7.39252745e-03 -1.12619528e-01] [ 2.04808948e-02 7.40775002e-03 9.99762801e-01 7.41611758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72255784400001 meters Centerline goodness : 0.143315 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99787030e-01 6.18875871e-04 -2.06279501e-02 -1.78226211e+00] [-7.73749634e-04 9.99971569e-01 -7.50082153e-03 -1.12025155e-01] [ 2.06227216e-02 7.51518495e-03 9.99759084e-01 7.41696199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752557844 meters Centerline goodness : 0.148221 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99784876e-01 5.90702235e-04 -2.07328819e-02 -1.78205337e+00] [-7.47793060e-04 9.99971068e-01 -7.56995810e-03 -1.11654547e-01] [ 2.07278104e-02 7.58383353e-03 9.99756392e-01 7.41798903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782557844 meters Centerline goodness : 0.116925 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99784937e-01 5.44869652e-04 -2.07312177e-02 -1.78211278e+00] [-7.03643324e-04 9.99970474e-01 -7.65215214e-03 -1.11257242e-01] [ 2.07264362e-02 7.66509383e-03 9.99755801e-01 7.41897781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812557844000004 meters Centerline goodness : 0.154491 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99787086e-01 4.94709821e-04 -2.06285575e-02 -1.78248905e+00] [-6.54747789e-04 9.99969738e-01 -7.75204636e-03 -1.10827654e-01] [ 2.06240982e-02 7.76390235e-03 9.99757155e-01 7.42093987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842557844000005 meters Centerline goodness : 0.119771 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.11, Z:0.74 [[ 9.99792762e-01 4.52587741e-04 -2.03525846e-02 -1.78329918e+00] [-6.12268219e-04 9.99969078e-01 -7.84016338e-03 -1.10473310e-01] [ 2.03484068e-02 7.85099984e-03 9.99762124e-01 7.42272815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872557844000006 meters Centerline goodness : 0.201477 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 0.99985068 -0.00512188 -0.0165039 -1.76236266] [ 0.0050401 0.99997483 -0.00499323 -0.10896268] [ 0.01652906 0.00490931 0.99985133 0.74189 ] [ 0. 0. 0. 1. ]] SLAMing on 36.90255784400001 meters Centerline goodness : 0.174292 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 0.99985212 -0.00517165 -0.01640069 -1.76290167] [ 0.00508601 0.99997324 -0.00525916 -0.10738442] [ 0.01642745 0.00517497 0.99985167 0.74241134] [ 0. 0. 0. 1. ]] SLAMing on 36.932557844 meters Centerline goodness : 0.178018 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 9.99866024e-01 -1.59236451e-03 -1.62910769e-02 -1.76345569e+00] [ 1.56642669e-03 9.99997485e-01 -1.60478580e-03 -1.07651015e-01] [ 1.62935914e-02 1.57905202e-03 9.99866004e-01 7.42626399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962557844 meters Centerline goodness : 0.178018 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.11, Z:0.74 [[ 9.99866024e-01 -1.59236451e-03 -1.62910769e-02 -1.76345569e+00] [ 1.56642669e-03 9.99997485e-01 -1.60478580e-03 -1.07651015e-01] [ 1.62935914e-02 1.57905202e-03 9.99866004e-01 7.42626399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992557844000004 meters Centerline goodness : 0.173322 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99806104e-01 -6.08906280e-04 -1.96820633e-02 -1.80636580e+00] [ 5.91649555e-04 9.99999435e-01 -8.82585282e-04 -1.02106482e-01] [ 1.96825896e-02 8.70769268e-04 9.99805900e-01 7.42011264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022557844000005 meters Centerline goodness : 0.170838 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99802948e-01 -7.13856980e-04 -1.98382432e-02 -1.80565312e+00] [ 6.90770974e-04 9.99999076e-01 -1.17054038e-03 -1.00770129e-01] [ 1.98390605e-02 1.15660604e-03 9.99802517e-01 7.41426173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052557844000006 meters Centerline goodness : 0.180470 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.10, Z:0.74 [[ 9.99800521e-01 -7.96151545e-04 -1.99570729e-02 -1.80518797e+00] [ 7.68753672e-04 9.99998752e-01 -1.38047444e-03 -9.97653459e-02] [ 1.99581470e-02 1.36485699e-03 9.99799885e-01 7.41148398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08255784400001 meters Centerline goodness : 0.175080 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.10, Z:0.74 [[ 9.99799115e-01 -8.40205859e-04 -2.00255877e-02 -1.80498134e+00] [ 8.09965611e-04 9.99998520e-01 -1.51814341e-03 -9.90003131e-02] [ 2.00268337e-02 1.50161840e-03 9.99798315e-01 7.41092612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112557844 meters Centerline goodness : 0.138527 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.10, Z:0.74 [[ 9.99736715e-01 -1.18341102e-03 -2.29150488e-02 -1.84980572e+00] [ 1.15038719e-03 9.99998281e-01 -1.45427027e-03 -9.60613437e-02] [ 2.29167304e-02 1.42752620e-03 9.99736358e-01 7.41287619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142557844 meters Centerline goodness : 0.130280 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.10, Z:0.74 [[ 9.99731477e-01 -1.26578882e-03 -2.31381079e-02 -1.84904398e+00] [ 1.22893138e-03 9.99997954e-01 -1.60708260e-03 -9.54376214e-02] [ 2.31400947e-02 1.57821591e-03 9.99730986e-01 7.40925737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172557844 meters Centerline goodness : 0.208480 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.09, Z:0.74 [[ 9.99723476e-01 -1.38554784e-03 -2.34745125e-02 -1.84794463e+00] [ 1.34157620e-03 9.99997316e-01 -1.88881017e-03 -9.41260397e-02] [ 2.34770665e-02 1.85679502e-03 9.99722651e-01 7.40531308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202557844000005 meters Centerline goodness : 0.321745 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.09, Z:0.74 [[ 9.99692203e-01 1.37422277e-03 -2.47711666e-02 -1.84337692e+00] [-1.36371160e-03 9.99998973e-01 4.41218714e-04 -8.92844748e-02] [ 2.47717475e-02 -4.07302181e-04 9.99693050e-01 7.38964678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232557844000006 meters Centerline goodness : 0.177030 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.09, Z:0.74 [[ 9.99688209e-01 1.20710311e-03 -2.49404703e-02 -1.84289683e+00] [-1.20886841e-03 9.99999268e-01 -5.57033818e-05 -8.68699987e-02] [ 2.49403848e-02 8.58357608e-05 9.99688937e-01 7.38938983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26255784400001 meters Centerline goodness : 0.120687 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99685989e-01 1.02065104e-03 -2.50376106e-02 -1.84257707e+00] [-1.03314060e-03 9.99999348e-01 -4.85901568e-04 -8.49595859e-02] [ 2.50370983e-02 5.11616361e-04 9.99686392e-01 7.38858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29255784400001 meters Centerline goodness : 0.126644 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99687128e-01 8.66909171e-04 -2.49978841e-02 -1.84274358e+00] [-8.87175381e-04 9.99999287e-01 -7.99637918e-04 -8.36779672e-02] [ 2.49971730e-02 8.21565241e-04 9.99687184e-01 7.38982761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322557844 meters Centerline goodness : 0.174815 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:0.74 [[ 9.99692775e-01 7.28178777e-04 -2.47754991e-02 -1.84349498e+00] [-7.55665054e-04 9.99999109e-01 -1.10006934e-03 -8.24054569e-02] [ 2.47746760e-02 1.11845335e-03 9.99692435e-01 7.39311621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352557844 meters Centerline goodness : 0.125493 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:0.74 [[ 9.99777908e-01 -5.59197220e-03 -2.03190475e-02 -1.82374604e+00] [ 5.61304905e-03 9.99983766e-01 9.80410920e-04 -7.97045917e-02] [ 2.03132352e-02 -1.09424499e-03 9.99793066e-01 7.39322234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382557844000004 meters Centerline goodness : 0.120652 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:0.74 [[ 9.99779425e-01 -5.69586288e-03 -2.02153228e-02 -1.82399018e+00] [ 5.71260547e-03 9.99983386e-01 7.70562256e-04 -7.88521485e-02] [ 2.02105979e-02 -8.85874453e-04 9.99795353e-01 7.39302992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412557844000006 meters Centerline goodness : 0.112576 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99779509e-01 1.45453019e-03 -2.09479665e-02 -1.80513619e+00] [-1.47815064e-03 9.99998289e-01 -1.11213754e-03 -8.35560076e-02] [ 2.09463131e-02 1.14285658e-03 9.99779949e-01 7.41062643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44255784400001 meters Centerline goodness : 0.110476 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99770784e-01 1.34693955e-03 -2.13674060e-02 -1.80367355e+00] [-1.37402803e-03 9.99998271e-01 -1.25311664e-03 -8.30296393e-02] [ 2.13656812e-02 1.28218882e-03 9.99770906e-01 7.40324576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47255784400001 meters Centerline goodness : 0.285038 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99763535e-01 1.29996908e-03 -2.17067924e-02 -1.80251040e+00] [-1.32867126e-03 9.99998262e-01 -1.30789713e-03 -8.26475896e-02] [ 2.17050544e-02 1.33642905e-03 9.99763524e-01 7.39781085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502557844 meters Centerline goodness : 0.114444 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.08, Z:0.74 [[ 9.99763673e-01 1.34698862e-03 -2.16975701e-02 -1.80254687e+00] [-1.37427874e-03 9.99998283e-01 -1.24288811e-03 -8.26202414e-02] [ 2.16958587e-02 1.27241289e-03 9.99763807e-01 7.39773811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532557844 meters Centerline goodness : 0.171107 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:0.74 [[ 9.99802869e-01 -7.20275225e-03 -1.85025011e-02 -1.78254972e+00] [ 7.19128423e-03 9.99973907e-01 -6.86269337e-04 -8.23272339e-02] [ 1.85069614e-02 5.53077308e-04 9.99828579e-01 7.41313256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562557844000004 meters Centerline goodness : 0.196770 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99871248e-01 -2.44192720e-04 -1.60445466e-02 -1.80750785e+00] [ 2.06726225e-04 9.99997248e-01 -2.33677150e-03 -8.65195640e-02] [ 1.60450730e-02 2.33315381e-03 9.99868547e-01 7.40389246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592557844000005 meters Centerline goodness : 0.164318 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99876266e-01 -2.40272924e-04 -1.57287987e-02 -1.80852821e+00] [ 2.03978292e-04 9.99997313e-01 -2.30909081e-03 -8.67008005e-02] [ 1.57293113e-02 2.30559676e-03 9.99873629e-01 7.40744230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622557844000006 meters Centerline goodness : 0.168804 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99880577e-01 -2.23982523e-04 -1.54525831e-02 -1.80921160e+00] [ 1.87437308e-04 9.99997183e-01 -2.36639842e-03 -8.61258289e-02] [ 1.54530696e-02 2.36321942e-03 9.99877801e-01 7.40729599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65255784400001 meters Centerline goodness : 0.172250 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.09, Z:0.74 [[ 9.99883981e-01 -1.97490067e-04 -1.52310830e-02 -1.80966466e+00] [ 1.60180134e-04 9.99996984e-01 -2.45077264e-03 -8.53645963e-02] [ 1.52315210e-02 2.44804858e-03 9.99880997e-01 7.40615998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682557844 meters Centerline goodness : 0.113076 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99886433e-01 -2.45994158e-04 -1.50685343e-02 -1.81008759e+00] [ 2.07051536e-04 9.99996635e-01 -2.58587247e-03 -8.48061842e-02] [ 1.50691197e-02 2.58245883e-03 9.99883119e-01 7.40649518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712557844 meters Centerline goodness : 0.169181 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99884269e-01 -3.95105217e-04 -1.52083164e-02 -1.80996462e+00] [ 3.50053181e-04 9.99995543e-01 -2.96487700e-03 -8.34505411e-02] [ 1.52094201e-02 2.95921015e-03 9.99879951e-01 7.41081847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742557844000004 meters Centerline goodness : 0.167525 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99880613e-01 -4.34946027e-04 -1.54457147e-02 -1.80926416e+00] [ 3.85016974e-04 9.99994692e-01 -3.23537700e-03 -8.18049075e-02] [ 1.54470399e-02 3.22904388e-03 9.99875473e-01 7.40947097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772557844000005 meters Centerline goodness : 0.168969 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99878158e-01 -4.15236411e-04 -1.56044114e-02 -1.80850477e+00] [ 3.60785317e-04 9.99993837e-01 -3.49212109e-03 -7.97713275e-02] [ 1.56057653e-02 3.48606576e-03 9.99872146e-01 7.40424035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844000006 meters Centerline goodness : 0.170085 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99878155e-01 -5.14634236e-04 -1.56016195e-02 -1.80835991e+00] [ 4.54242962e-04 9.99992392e-01 -3.87413020e-03 -7.76193259e-02] [ 1.56034946e-02 3.86657123e-03 9.99870782e-01 7.40265574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83255784400001 meters Centerline goodness : 0.110997 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:0.74 [[ 9.99879905e-01 -6.77986623e-04 -1.54827547e-02 -1.80878532e+00] [ 6.12029612e-04 9.99990720e-01 -4.26437174e-03 -7.59109084e-02] [ 1.54855022e-02 4.25438371e-03 9.99871041e-01 7.40526537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters Centerline goodness : 0.110652 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99878137e-01 -9.91724549e-04 -1.55797502e-02 -1.80878978e+00] [ 9.16512110e-04 9.99987896e-01 -4.83397511e-03 -7.37561558e-02] [ 1.55843556e-02 4.81910699e-03 9.99866943e-01 7.40933038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892557844 meters Centerline goodness : 0.116153 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99875878e-01 -1.04563226e-03 -1.57205477e-02 -1.80824058e+00] [ 9.67823573e-04 9.99987249e-01 -4.95628314e-03 -7.29833851e-02] [ 1.57255297e-02 4.94045324e-03 9.99864141e-01 7.40526744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922557844 meters Centerline goodness : 0.159389 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99873024e-01 -1.06980843e-03 -1.58994082e-02 -1.80725743e+00] [ 9.91348187e-04 9.99987298e-01 -4.94185243e-03 -7.27961239e-02] [ 1.59044931e-02 4.92546309e-03 9.99861384e-01 7.39566791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952557844000005 meters Centerline goodness : 0.103926 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99871172e-01 -1.11030363e-03 -1.60126858e-02 -1.80643779e+00] [ 1.03270229e-03 9.99987688e-01 -4.85369588e-03 -7.33219427e-02] [ 1.60178777e-02 4.83653425e-03 9.99860008e-01 7.38569191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982557844000006 meters Centerline goodness : 0.140470 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.07, Z:0.74 [[ 9.99869429e-01 -1.18308318e-03 -1.61159922e-02 -1.80571235e+00] [ 1.10557513e-03 9.99987785e-01 -4.81744805e-03 -7.37695301e-02] [ 1.61214948e-02 4.79900159e-03 9.99858523e-01 7.37664432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01255784400001 meters Centerline goodness : 0.110935 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.07, Z:0.74 [[ 0.99980945 -0.00206246 -0.01941137 -1.84950984] [ 0.00195254 0.99998196 -0.00567997 -0.06989759] [ 0.01942273 0.00564099 0.99979545 0.73771148] [ 0. 0. 0. 1. ]] SLAMing on 38.04255784400001 meters Centerline goodness : 0.171757 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99791274e-01 -1.05724883e-03 -2.04032164e-02 -1.80462046e+00] [ 9.61767628e-04 9.99988544e-01 -4.68895868e-03 -7.12222531e-02] [ 2.04079400e-02 4.66835681e-03 9.99780837e-01 7.39615705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072557844 meters Centerline goodness : 0.167315 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99786830e-01 -1.13672691e-03 -2.06155955e-02 -1.80420263e+00] [ 1.03517268e-03 9.99987282e-01 -4.93609033e-03 -6.99980349e-02] [ 2.06209443e-02 4.91369740e-03 9.99775291e-01 7.39921492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters Centerline goodness : 0.170952 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99785102e-01 -1.23196103e-03 -2.06937832e-02 -1.80407588e+00] [ 1.12468944e-03 9.99985876e-01 -5.19459792e-03 -6.89081884e-02] [ 2.06998904e-02 5.17020753e-03 9.99772366e-01 7.40105417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132557844000004 meters Centerline goodness : 0.143005 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.07, Z:0.74 [[ 9.99785686e-01 -1.31782123e-03 -2.06602236e-02 -1.80416367e+00] [ 1.20511503e-03 9.99984331e-01 -5.46672774e-03 -6.77605715e-02] [ 2.06671040e-02 5.44065820e-03 9.99771609e-01 7.40190476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844000006 meters Centerline goodness : 0.110999 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 9.99739623e-01 -4.88203520e-04 -2.28133387e-02 -1.85171357e+00] [ 3.72522879e-04 9.99987054e-01 -5.07472045e-03 -6.33479229e-02] [ 2.28155209e-02 5.06490062e-03 9.99726862e-01 7.41276796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19255784400001 meters Centerline goodness : 0.113066 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.74 [[ 9.99755905e-01 -5.35520803e-03 -2.14348490e-02 -1.82994076e+00] [ 5.32668522e-03 9.99984850e-01 -1.38754883e-03 -6.01374167e-02] [ 2.14419549e-02 1.27303344e-03 9.99769284e-01 7.41533096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22255784400001 meters Centerline goodness : 0.178664 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975603 0.00334892 -0.02183267 -1.8509775 ] [-0.00340227 0.99999132 -0.00240703 -0.0616733 ] [ 0.02182442 0.00248072 0.99975874 0.74040085] [ 0. 0. 0. 1. ]] SLAMing on 38.252557844 meters Centerline goodness : 0.109820 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975418 0.00327829 -0.02192769 -1.85095645] [-0.00333721 0.99999092 -0.00265058 -0.06054344] [ 0.0219188 0.00272311 0.99975605 0.7408199 ] [ 0. 0. 0. 1. ]] SLAMing on 38.282557844 meters Centerline goodness : 0.290908 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.06, Z:0.74 [[ 0.99975679 0.00319714 -0.02182041 -1.85150307] [-0.00326043 0.99999058 -0.00286563 -0.05968545] [ 0.02181104 0.00293607 0.9997578 0.74132787] [ 0. 0. 0. 1. ]] SLAMing on 38.312557844000004 meters Centerline goodness : 0.171927 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.74 [[ 9.99781373e-01 -4.88357717e-03 -2.03311965e-02 -1.83260321e+00] [ 4.84881447e-03 9.99986698e-01 -1.75876609e-03 -5.59778901e-02] [ 2.03395151e-02 1.65979937e-03 9.99791753e-01 7.43009923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342557844000005 meters Centerline goodness : 0.175428 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99823074e-01 -2.90045354e-03 -1.85851359e-02 -1.83939412e+00] [ 2.90032528e-03 9.99995793e-01 -3.38550216e-05 -5.41922982e-02] [ 1.85851559e-02 -2.00539078e-05 9.99827281e-01 7.45704203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372557844000006 meters Centerline goodness : 0.179673 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99825485e-01 -2.96785554e-03 -1.84442524e-02 -1.83987083e+00] [ 2.96306597e-03 9.99995569e-01 -2.87000656e-04 -5.28860286e-02] [ 1.84450224e-02 2.32299033e-04 9.99829849e-01 7.45976568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40255784400001 meters Centerline goodness : 0.173516 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99824786e-01 -3.06004864e-03 -1.84670816e-02 -1.83987503e+00] [ 3.05070333e-03 9.99995204e-01 -5.34202284e-04 -5.17469472e-02] [ 1.84686277e-02 4.77771097e-04 9.99829326e-01 7.46097802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432557844 meters Centerline goodness : 0.167843 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99822187e-01 -3.10795655e-03 -1.85993526e-02 -1.83944760e+00] [ 3.09588949e-03 9.99994978e-01 -6.77547490e-04 -5.10602023e-02] [ 1.86013650e-02 6.19845472e-04 9.99826788e-01 7.45963087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462557844 meters Centerline goodness : 0.126322 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99818897e-01 -3.11474074e-03 -1.87742322e-02 -1.83883078e+00] [ 3.10244155e-03 9.99994953e-01 -6.84200408e-04 -5.09799146e-02] [ 1.87762686e-02 6.25830539e-04 9.99823514e-01 7.45606306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492557844000004 meters Centerline goodness : 0.145129 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99814685e-01 -3.03269746e-03 -1.90104702e-02 -1.83806381e+00] [ 3.02568809e-03 9.99995344e-01 -3.97462623e-04 -5.22186461e-02] [ 1.90115871e-02 3.39869214e-04 9.99819206e-01 7.45203753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522557844000005 meters Centerline goodness : 0.116747 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.05, Z:0.75 [[ 9.99814626e-01 -2.95929064e-03 -1.90251233e-02 -1.83802656e+00] [ 2.95754652e-03 9.99995619e-01 -1.19809955e-04 -5.35699888e-02] [ 1.90253945e-02 6.35200576e-05 9.99818999e-01 7.45113938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552557844000006 meters Centerline goodness : 0.122503 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99814979e-01 -2.89189357e-03 -1.90169741e-02 -1.83795363e+00] [ 2.89590420e-03 9.99995790e-01 1.83362721e-04 -5.51241980e-02] [ 1.90163638e-02 -2.38400130e-04 9.99819144e-01 7.44861034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58255784400001 meters Centerline goodness : 0.133580 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99815201e-01 -2.83149423e-03 -1.90143897e-02 -1.83782707e+00] [ 2.84180468e-03 9.99995829e-01 5.15246175e-04 -5.68484667e-02] [ 1.90128514e-02 -5.69186139e-04 9.99819077e-01 7.44550114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61255784400001 meters Centerline goodness : 0.111538 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99816099e-01 -2.74605212e-03 -1.89796397e-02 -1.83777564e+00] [ 2.76161781e-03 9.99995872e-01 7.93964654e-04 -5.81898638e-02] [ 1.89773811e-02 -8.46233154e-04 9.99819555e-01 7.44251287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642557844 meters Centerline goodness : 0.111143 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99815916e-01 -2.67890969e-03 -1.89988915e-02 -1.83765182e+00] [ 2.69772847e-03 9.99995896e-01 9.64959447e-04 -5.89448509e-02] [ 1.89962285e-02 -1.01603566e-03 9.99819039e-01 7.44085054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672557844 meters Centerline goodness : 0.130865 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99809486e-01 -2.53562503e-03 -1.93536350e-02 -1.83648656e+00] [ 2.55805845e-03 9.99996085e-01 1.13446415e-03 -5.92357271e-02] [ 1.93506827e-02 -1.18375575e-03 9.99812057e-01 7.43652177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702557844000005 meters Centerline goodness : 0.166703 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99808991e-01 -2.52217771e-03 -1.93809438e-02 -1.83645986e+00] [ 2.54332674e-03 9.99996197e-01 1.06665713e-03 -5.87427800e-02] [ 1.93781798e-02 -1.11574546e-03 9.99811603e-01 7.43723437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732557844000006 meters Centerline goodness : 0.113924 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.06, Z:0.74 [[ 9.99800674e-01 5.88676802e-03 -1.90776955e-02 -1.85752896e+00] [-5.88724988e-03 9.99982670e-01 3.09057415e-05 -6.17414163e-02] [ 1.90775468e-02 8.14155791e-05 9.99818004e-01 7.42269801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76255784400001 meters Centerline goodness : 0.102075 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99847137e-01 -2.50566603e-03 -1.73038566e-02 -1.83777695e+00] [ 2.51938326e-03 9.99996529e-01 7.70973086e-04 -5.88871448e-02] [ 1.73018647e-02 -8.14450279e-04 9.99849980e-01 7.43513019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79255784400001 meters Centerline goodness : 0.108288 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.06, Z:0.74 [[ 9.99854084e-01 -2.56724740e-03 -1.68884508e-02 -1.83918811e+00] [ 2.57855378e-03 9.99996466e-01 6.47732888e-04 -5.84269302e-02] [ 1.68867283e-02 -6.91186152e-04 9.99857170e-01 7.44145515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822557844 meters Centerline goodness : 0.152548 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99856679e-01 5.28910232e-03 -1.60825286e-02 -1.82039022e+00] [-5.30073156e-03 9.99985719e-01 -6.80556536e-04 -6.39394927e-02] [ 1.60786994e-02 7.65708165e-04 9.99870436e-01 7.45210318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852557844 meters Centerline goodness : 0.172562 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99854519e-01 5.29737918e-03 -1.62135612e-02 -1.81997557e+00] [-5.30746656e-03 9.99985748e-01 -5.79190605e-04 -6.45584948e-02] [ 1.62102619e-02 6.65159278e-04 9.99868384e-01 7.45028484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882557844000004 meters Centerline goodness : 0.172562 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.75 [[ 9.99854519e-01 5.29737918e-03 -1.62135612e-02 -1.81997557e+00] [-5.30746656e-03 9.99985748e-01 -5.79190605e-04 -6.45584948e-02] [ 1.62102619e-02 6.65159278e-04 9.99868384e-01 7.45028484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912557844000006 meters Centerline goodness : 0.175654 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:0.74 [[ 9.99849848e-01 5.26925272e-03 -1.65080962e-02 -1.81899279e+00] [-5.27833925e-03 9.99985941e-01 -5.06906200e-04 -6.51191541e-02] [ 1.65051931e-02 5.93965419e-04 9.99863604e-01 7.44548486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94255784400001 meters Centerline goodness : 0.265451 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:0.74 [[ 9.99841389e-01 5.23519849e-03 -1.70232138e-02 -1.81735998e+00] [-5.24441096e-03 9.99986125e-01 -4.96573730e-04 -6.52169070e-02] [ 1.70203779e-02 5.85771697e-04 9.99854971e-01 7.43922190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97255784400001 meters Centerline goodness : 0.133186 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99829847e-01 5.23476897e-03 -1.76882268e-02 -1.81517576e+00] [-5.24828714e-03 9.99985970e-01 -7.17912744e-04 -6.34207896e-02] [ 1.76842205e-02 8.10623482e-04 9.99843293e-01 7.43179862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002557844 meters Centerline goodness : 0.104841 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99831559e-01 5.15882576e-03 -1.76136112e-02 -1.81550129e+00] [-5.17616769e-03 9.99986163e-01 -9.39128383e-04 -6.23795191e-02] [ 1.76085227e-02 1.03014120e-03 9.99844427e-01 7.43454244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032557844 meters Centerline goodness : 0.109164 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.06, Z:0.74 [[ 9.99835053e-01 5.04735879e-03 -1.74467820e-02 -1.81639975e+00] [-5.06897219e-03 9.99986439e-01 -1.19481841e-03 -6.14066096e-02] [ 1.74405148e-02 1.28305858e-03 9.99847079e-01 7.44317997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062557844000004 meters Centerline goodness : 0.106699 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.06, Z:0.75 [[ 9.99804857e-01 4.92598813e-03 -1.91306672e-02 -1.86529019e+00] [-4.95739260e-03 9.99986441e-01 -1.59450047e-03 -5.71761647e-02] [ 1.91225533e-02 1.68902754e-03 9.99815721e-01 7.46611759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092557844000005 meters Centerline goodness : 0.172400 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.75 [[ 9.99851186e-01 4.67785132e-03 -1.66049349e-02 -1.82526204e+00] [-4.70826243e-03 9.99987309e-01 -1.79283003e-03 -5.86360137e-02] [ 1.65963375e-02 1.87074362e-03 9.99860521e-01 7.48795630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122557844000006 meters Centerline goodness : 0.130030 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.06, Z:0.75 [[ 0.99985438 0.00461636 -0.0164287 -1.82592395] [-0.00464923 0.99998726 -0.00196336 -0.05776168] [ 0.01641942 0.00203946 0.99986311 0.74916642] [ 0. 0. 0. 1. ]] SLAMing on 39.15255784400001 meters Centerline goodness : 0.170668 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 9.99802629e-01 4.92875016e-03 -1.92460355e-02 -1.86967592e+00] [-4.96449521e-03 9.99986039e-01 -1.80993216e-03 -5.28509126e-02] [ 1.92368461e-02 1.90512178e-03 9.99813140e-01 7.48608702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182557844 meters Centerline goodness : 0.169243 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 9.99798389e-01 4.87604490e-03 -1.94783171e-02 -1.86880938e+00] [-4.91288600e-03 9.99986232e-01 -1.84398617e-03 -5.28149135e-02] [ 1.94690576e-02 1.93930916e-03 9.99808579e-01 7.48061725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212557844 meters Centerline goodness : 0.143178 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99796013e-01 -3.32764630e-03 -1.99213090e-02 -1.84806311e+00] [ 3.31122268e-03 9.99994150e-01 -8.57353284e-04 -4.95738614e-02] [ 1.99240455e-02 7.91214505e-04 9.99801183e-01 7.49607350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242557844000004 meters Centerline goodness : 0.140639 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99795559e-01 -3.34689269e-03 -1.99408839e-02 -1.84802107e+00] [ 3.32863185e-03 9.99994010e-01 -9.48869850e-04 -4.89959002e-02] [ 1.99439402e-02 8.82300000e-04 9.99800711e-01 7.49608381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272557844000005 meters Centerline goodness : 0.106597 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99794905e-01 -3.39629355e-03 -1.99652979e-02 -1.84814353e+00] [ 3.37441772e-03 9.99993669e-01 -1.12928013e-03 -4.79871844e-02] [ 1.99690069e-02 1.06167726e-03 9.99800036e-01 7.49985524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302557844000006 meters Centerline goodness : 0.114141 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99796203e-01 -3.45686078e-03 -1.98897384e-02 -1.84857750e+00] [ 3.43114343e-03 9.99993233e-01 -1.32697655e-03 -4.69872505e-02] [ 1.98941909e-02 1.25846157e-03 9.99801299e-01 7.50457425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33255784400001 meters Centerline goodness : 0.094910 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.05, Z:0.75 [[ 9.99802295e-01 -3.62554334e-03 -1.95505845e-02 -1.85001076e+00] [ 3.59204737e-03 9.99992021e-01 -1.74814246e-03 -4.51498093e-02] [ 1.95567664e-02 1.67757022e-03 9.99807341e-01 7.51444554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36255784400001 meters Centerline goodness : 0.112634 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 9.99800163e-01 -3.69573145e-03 -1.96462742e-02 -1.84951208e+00] [ 3.65870228e-03 9.99991463e-01 -1.92040330e-03 -4.42756572e-02] [ 1.96532038e-02 1.84813967e-03 9.99805149e-01 7.51014609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392557844 meters Centerline goodness : 0.132018 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979699 -0.00371365 -0.01980362 -1.84851976] [ 0.00367445 0.99999122 -0.00201557 -0.0435122 ] [ 0.01981093 0.00194239 0.99980186 0.75001876] [ 0. 0. 0. 1. ]] SLAMing on 39.422557844 meters Centerline goodness : 0.145633 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979248 -0.00370936 -0.02003105 -1.84743004] [ 0.00366896 0.99999116 -0.0020533 -0.04309507] [ 0.02003849 0.00197938 0.99979725 0.74912612] [ 0. 0. 0. 1. ]] SLAMing on 39.452557844000005 meters Centerline goodness : 0.152383 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99979084 -0.00375666 -0.02010391 -1.84716927] [ 0.00371422 0.99999079 -0.00214829 -0.04271377] [ 0.02011179 0.00207317 0.99979559 0.74901113] [ 0. 0. 0. 1. ]] SLAMing on 39.482557844000006 meters Centerline goodness : 0.141165 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:0.75 [[ 0.9997879 0.00451219 -0.02009447 -1.86787175] [-0.00458103 0.99998379 -0.0033813 -0.04616784] [ 0.02007889 0.00347264 0.99979237 0.74781188] [ 0. 0. 0. 1. ]] SLAMing on 39.51255784400001 meters Centerline goodness : 0.171041 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99977161 -0.00321358 -0.02112843 -1.84837458] [ 0.00316773 0.99999256 -0.0022032 -0.04142198] [ 0.02113535 0.00213577 0.99977434 0.75095981] [ 0. 0. 0. 1. ]] SLAMing on 39.54255784400001 meters Centerline goodness : 0.117131 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99976732 -0.00330675 -0.0213161 -1.84761616] [ 0.00325334 0.99999148 -0.00253996 -0.03967818] [ 0.02132432 0.00247002 0.99976956 0.7505101 ] [ 0. 0. 0. 1. ]] SLAMing on 39.572557844 meters Centerline goodness : 0.112039 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.04, Z:0.75 [[ 0.99976476 -0.00344782 -0.02141332 -1.84711126] [ 0.00338387 0.99998971 -0.00302201 -0.03730373] [ 0.02142352 0.00294884 0.99976614 0.75015148] [ 0. 0. 0. 1. ]] SLAMing on 39.602557844 meters Centerline goodness : 0.144843 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 0.99976479 -0.00358268 -0.0213901 -1.84708279] [ 0.0035064 0.99998736 -0.00360273 -0.03439365] [ 0.02140274 0.00352688 0.99976471 0.75012285] [ 0. 0. 0. 1. ]] SLAMing on 39.632557844000004 meters Centerline goodness : 0.145376 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 0.99976876 -0.00359032 -0.02120221 -1.84767112] [ 0.00350267 0.99998517 -0.00416987 -0.03126109] [ 0.02121687 0.00409464 0.99976651 0.75051184] [ 0. 0. 0. 1. ]] SLAMing on 39.662557844000006 meters Centerline goodness : 0.144169 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.03, Z:0.75 [[ 9.99777678e-01 1.53235246e-04 -2.10848560e-02 -1.84823039e+00] [-1.83280619e-04 9.99998971e-01 -1.42304899e-03 -2.53678141e-02] [ 2.10846163e-02 1.42659707e-03 9.99776677e-01 7.51095124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69255784400001 meters Centerline goodness : 0.138099 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99784318e-01 2.57259920e-04 -2.07665771e-02 -1.84907272e+00] [-2.97544626e-04 9.99998080e-01 -1.93681530e-03 -2.22203025e-02] [ 2.07660390e-02 1.94257655e-03 9.99782475e-01 7.51331807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72255784400001 meters Centerline goodness : 0.149406 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99790643e-01 2.52037007e-04 -2.04598919e-02 -1.84988634e+00] [-3.02095581e-04 9.99996969e-01 -2.44361466e-03 -1.94350041e-02] [ 2.04592140e-02 2.44928391e-03 9.99787688e-01 7.51527958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752557844 meters Centerline goodness : 0.150501 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.02, Z:0.75 [[ 9.99792439e-01 1.55256570e-04 -2.03728928e-02 -1.85018013e+00] [-2.14458254e-04 9.99995761e-01 -2.90375201e-03 -1.71523177e-02] [ 2.03723557e-02 2.90751844e-03 9.99788234e-01 7.51724525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782557844 meters Centerline goodness : 0.157986 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99794689e-01 -8.98612099e-05 -2.02625710e-02 -1.85066679e+00] [ 1.70438711e-05 9.99993542e-01 -3.59383109e-03 -1.41577486e-02] [ 2.02627631e-02 3.59274788e-03 9.99788234e-01 7.52141890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812557844000004 meters Centerline goodness : 0.153881 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99795477e-01 -2.02051042e-04 -2.02228345e-02 -1.85111323e+00] [ 1.22821206e-04 9.99992313e-01 -3.91900564e-03 -1.26669256e-02] [ 2.02234709e-02 3.91572032e-03 9.99787817e-01 7.52804172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842557844000005 meters Centerline goodness : 0.157123 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99794696e-01 -2.98947214e-04 -2.02601962e-02 -1.85113029e+00] [ 2.13497771e-04 9.99991075e-01 -4.21963369e-03 -1.12128128e-02] [ 2.02612769e-02 4.21444188e-03 9.99785837e-01 7.53043829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872557844000006 meters Centerline goodness : 0.124043 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99790434e-01 -3.65463066e-04 -2.04683917e-02 -1.85045231e+00] [ 2.73166014e-04 9.99989784e-01 -4.51186230e-03 -9.64882731e-03] [ 2.04698315e-02 4.50532550e-03 9.99780320e-01 7.52808941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90255784400001 meters Centerline goodness : 0.145094 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99786224e-01 -4.08882914e-04 -2.06721677e-02 -1.84974395e+00] [ 3.08123638e-04 9.99988059e-01 -4.87710161e-03 -7.63547485e-03] [ 2.06739150e-02 4.86968942e-03 9.99774412e-01 7.52511164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932557844 meters Centerline goodness : 0.207094 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.01, Z:0.75 [[ 9.99787734e-01 -4.38110968e-04 -2.05984307e-02 -1.84984238e+00] [ 3.28309279e-04 9.99985722e-01 -5.33366469e-03 -5.18331179e-03] [ 2.06004733e-02 5.32576988e-03 9.99773603e-01 7.52436278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962557844 meters Centerline goodness : 0.161923 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.00, Z:0.75 [[ 9.99798821e-01 2.54626466e-03 -1.98955771e-02 -1.85343011e+00] [-2.61105454e-03 9.99991371e-01 -3.23119903e-03 7.72631440e-04] [ 1.98871780e-02 3.28249742e-03 9.99796842e-01 7.54752875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992557844000004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 40.022557844000005 meters Centerline goodness : 0.198603 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.01, Z:0.75 [[ 9.99846867e-01 -1.63817751e-03 -1.74229581e-02 -1.87426998e+00] [ 1.63255369e-03 9.99998611e-01 -3.37000056e-04 1.09648568e-02] [ 1.74234859e-02 3.08504535e-04 9.99848152e-01 7.53289767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052557844000006 meters Centerline goodness : 0.160614 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.01, Z:0.75 [[ 9.99836942e-01 -1.65565349e-03 -1.79818777e-02 -1.87263459e+00] [ 1.64327553e-03 9.99998403e-01 -7.03111610e-04 1.30323713e-02] [ 1.79830131e-02 6.73447782e-04 9.99838066e-01 7.52800656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08255784400001 meters Centerline goodness : 0.108527 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99811278e-01 -1.48679117e-03 -1.93700009e-02 -1.86840313e+00] [ 1.46709897e-03 9.99998393e-01 -1.03080445e-03 1.55325742e-02] [ 1.93715024e-02 1.00219220e-03 9.99811853e-01 7.51416548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11255784400001 meters Centerline goodness : 0.207910 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99810984e-01 -1.59097014e-03 -1.93769334e-02 -1.86817693e+00] [ 1.56618444e-03 9.99997936e-01 -1.29424258e-03 1.67013027e-02] [ 1.93789525e-02 1.26365009e-03 9.99811412e-01 7.51054857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142557844 meters Centerline goodness : 0.159720 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99813765e-01 -1.62053356e-03 -1.92304410e-02 -1.86873466e+00] [ 1.59363168e-03 9.99997730e-01 -1.41416379e-03 1.73193007e-02] [ 1.92326891e-02 1.38325418e-03 9.99814078e-01 7.51402428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172557844 meters Centerline goodness : 0.206436 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99815672e-01 -1.58531751e-03 -1.91339453e-02 -1.86930197e+00] [ 1.55771123e-03 9.99997724e-01 -1.45760862e-03 1.78719672e-02] [ 1.91362125e-02 1.42753478e-03 9.99815867e-01 7.51965622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202557844000005 meters Centerline goodness : 0.109661 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99816187e-01 -1.57142927e-03 -1.91081864e-02 -1.86955101e+00] [ 1.54315427e-03 9.99997693e-01 -1.49438681e-03 1.82498119e-02] [ 1.91104907e-02 1.46462525e-03 9.99816305e-01 7.52292764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232557844000006 meters Centerline goodness : 0.157802 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99816454e-01 -1.54472607e-03 -1.90963741e-02 -1.86961220e+00] [ 1.51774380e-03 9.99997830e-01 -1.42736480e-03 1.78808277e-02] [ 1.90985376e-02 1.39811941e-03 9.99816629e-01 7.52329320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26255784400001 meters Centerline goodness : 0.160285 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99814097e-01 -1.47474004e-03 -1.92249088e-02 -1.86920531e+00] [ 1.45236775e-03 9.99998252e-01 -1.17762371e-03 1.64170531e-02] [ 1.92266119e-02 1.14948315e-03 9.99814491e-01 7.52178335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29255784400001 meters Centerline goodness : 0.161285 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.01, Z:0.75 [[ 0.99980526 0.00687879 -0.0184965 -1.84863242] [-0.00691528 0.99997427 -0.00190964 0.01169534] [ 0.01848289 0.00203717 0.9998271 0.75283948] [ 0. 0. 0. 1. ]] SLAMing on 40.322557844 meters Centerline goodness : 0.162699 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.01, Z:0.75 [[ 0.99980649 0.00691837 -0.018415 -1.84868336] [-0.00695521 0.99997394 -0.00193737 0.01208431] [ 0.01840112 0.00206507 0.99982855 0.75256592] [ 0. 0. 0. 1. ]] SLAMing on 40.352557844 meters Centerline goodness : 0.160625 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99815700e-01 -1.17810425e-03 -1.91618969e-02 -1.86854049e+00] [ 1.16408362e-03 9.99999047e-01 -7.42830750e-04 1.80768856e-02] [ 1.91627538e-02 7.20387796e-04 9.99816118e-01 7.51117083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382557844000004 meters Centerline goodness : 0.203494 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99813523e-01 -1.17985672e-03 -1.92750359e-02 -1.86810782e+00] [ 1.16101755e-03 9.99998837e-01 -9.88548131e-04 1.92719012e-02] [ 1.92761798e-02 9.65985134e-04 9.99813731e-01 7.50869475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412557844000006 meters Centerline goodness : 0.122514 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.02, Z:0.75 [[ 9.99755218e-01 8.95734290e-03 -2.02304077e-02 -1.89072384e+00] [-8.98136133e-03 9.99959065e-01 -1.09669676e-03 1.87973454e-02] [ 2.02197560e-02 1.27812491e-03 9.99794743e-01 7.51089522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44255784400001 meters Centerline goodness : 0.162969 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99814059e-01 3.59830776e-03 -1.89446215e-02 -1.86818739e+00] [-3.56393434e-03 9.99991942e-01 1.84786491e-03 2.25464347e-02] [ 1.89511181e-02 -1.78000393e-03 9.99818827e-01 7.50614540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47255784400001 meters Centerline goodness : 0.137772 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99819625e-01 3.60785993e-03 -1.86467411e-02 -1.86915674e+00] [-3.57816271e-03 9.99992277e-01 1.62574062e-03 2.38538549e-02] [ 1.86524626e-02 -1.55872630e-03 9.99824813e-01 7.50970322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502557844 meters Centerline goodness : 0.095655 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99823718e-01 3.58713718e-03 -1.84300091e-02 -1.87006126e+00] [-3.56139495e-03 9.99992637e-01 1.42938762e-03 2.48732700e-02] [ 1.84350008e-02 -1.36349910e-03 9.99829131e-01 7.51538885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532557844 meters Centerline goodness : 0.123745 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827655e-01 3.52697860e-03 -1.82269492e-02 -1.87070574e+00] [-3.50498184e-03 9.99993090e-01 1.23863087e-03 2.56813504e-02] [ 1.82311918e-02 -1.17453227e-03 9.99833108e-01 7.51727608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562557844000004 meters Centerline goodness : 0.119048 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99829110e-01 3.50200502e-03 -1.81517794e-02 -1.87101472e+00] [-3.48235357e-03 9.99993316e-01 1.11411342e-03 2.61804182e-02] [ 1.81555598e-02 -1.05071211e-03 9.99834622e-01 7.51884632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592557844000005 meters Centerline goodness : 0.346504 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827424e-01 3.35066366e-03 -1.82728003e-02 -1.87086865e+00] [-3.33818035e-03 9.99994174e-01 7.13622362e-04 2.79246891e-02] [ 1.82750849e-02 -6.52501305e-04 9.99832784e-01 7.52093816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622557844000006 meters Centerline goodness : 0.094296 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99827785e-01 3.31804684e-03 -1.82589938e-02 -1.87097218e+00] [-3.30774251e-03 9.99994353e-01 5.94514336e-04 2.85508231e-02] [ 1.82608633e-02 -5.34015902e-04 9.99833114e-01 7.52191227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 40.682557844 meters Centerline goodness : 0.150824 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99832211e-01 3.35371824e-03 -1.80084055e-02 -1.87176274e+00] [-3.34303639e-03 9.99994218e-01 6.23230200e-04 2.85315032e-02] [ 1.80103915e-02 -5.62922874e-04 9.99837641e-01 7.52451123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712557844 meters Centerline goodness : 0.181921 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834294e-01 3.42213256e-03 -1.78794179e-02 -1.87211858e+00] [-3.40743014e-03 9.99993831e-01 8.52708895e-04 2.73723143e-02] [ 1.78822257e-02 -7.91644728e-04 9.99839787e-01 7.52508494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742557844000004 meters Centerline goodness : 0.201244 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834160e-01 3.53024333e-03 -1.78658793e-02 -1.87204469e+00] [-3.50904344e-03 9.99993102e-01 1.21782285e-03 2.55269450e-02] [ 1.78700552e-02 -1.15492874e-03 9.99839651e-01 7.52335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772557844000005 meters Centerline goodness : 0.201244 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:0.75 [[ 9.99834160e-01 3.53024333e-03 -1.78658793e-02 -1.87204469e+00] [-3.50904344e-03 9.99993102e-01 1.21782285e-03 2.55269450e-02] [ 1.78700552e-02 -1.15492874e-03 9.99839651e-01 7.52335453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802557844000006 meters Centerline goodness : 0.126478 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99845481e-01 9.81407871e-04 -1.75513679e-02 -1.87399236e+00] [-9.94733862e-04 9.99999224e-01 -7.50542548e-04 2.06359600e-02] [ 1.75506177e-02 7.67885515e-04 9.99845681e-01 7.53501904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83255784400001 meters Centerline goodness : 0.194850 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.02, Z:0.75 [[ 9.99844602e-01 1.17423639e-03 -1.75895707e-02 -1.87395486e+00] [-1.17774239e-03 9.99999289e-01 -1.88965033e-04 1.80714439e-02] [ 1.75893363e-02 2.09651651e-04 9.99845274e-01 7.53633094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86255784400001 meters Centerline goodness : 0.087558 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99794422e-01 8.69323071e-04 -2.02573063e-02 -1.91918569e+00] [-8.75507888e-04 9.99999573e-01 -2.96446273e-04 1.43895806e-02] [ 2.02570400e-02 3.14120761e-04 9.99794756e-01 7.54191669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 40.922557844 meters Centerline goodness : 0.096146 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99783007e-01 1.26471873e-03 -2.07927824e-02 -1.91727164e+00] [-1.25064522e-03 9.99998980e-01 6.89835542e-04 9.36102396e-03] [ 2.07936337e-02 -6.63681459e-04 9.99783569e-01 7.53314677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952557844000005 meters Centerline goodness : 0.117088 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.01, Z:0.75 [[ 9.99777327e-01 1.41526124e-03 -2.10545422e-02 -1.91633891e+00] [-1.39920461e-03 9.99998719e-01 7.77332566e-04 9.27854409e-03] [ 2.10556153e-02 -7.47699863e-04 9.99778026e-01 7.52807089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982557844000006 meters Centerline goodness : 0.177549 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99717831e-01 2.60403799e-03 -2.36109640e-02 -1.96196897e+00] [-2.56849231e-03 9.99995522e-01 1.53567511e-03 8.88177267e-03] [ 2.36148572e-02 -1.47459721e-03 9.99720043e-01 7.53037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01255784400001 meters Centerline goodness : 0.139013 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99718994e-01 2.72142835e-03 -2.35483906e-02 -1.96199819e+00] [-2.69143989e-03 9.99995526e-01 1.30508283e-03 1.03085007e-02] [ 2.35518370e-02 -1.24133701e-03 9.99721846e-01 7.52773326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04255784400001 meters Centerline goodness : 0.304628 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 9.99710578e-01 2.88909246e-03 -2.38833352e-02 -1.96125993e+00] [-2.86537454e-03 9.99995367e-01 1.02723676e-03 1.20407931e-02] [ 2.38861923e-02 -9.58504757e-04 9.99714225e-01 7.52803362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072557844 meters Centerline goodness : 0.176101 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.01, Z:0.75 [[ 0.99960033 0.00606234 -0.02761196 -2.00294663] [-0.00599415 0.99997878 0.0025519 0.014354 ] [ 0.02762685 -0.00238537 0.99961546 0.75255698] [ 0. 0. 0. 1. ]] SLAMing on 41.102557844 meters Centerline goodness : 0.111968 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99625490e-01 7.05910229e-04 -2.73565704e-02 -1.98081706e+00] [-5.45225228e-04 9.99982560e-01 5.88074017e-03 1.88215996e-02] [ 2.73602445e-02 -5.86362228e-03 9.99608441e-01 7.52432922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132557844000004 meters Centerline goodness : 0.169740 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99634423e-01 6.79717582e-04 -2.70288547e-02 -1.98176244e+00] [-5.25133671e-04 9.99983469e-01 5.72590488e-03 1.96969058e-02] [ 2.70322999e-02 -5.70961786e-03 9.99618255e-01 7.52574553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162557844000006 meters Centerline goodness : 0.179503 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99643498e-01 6.41342758e-04 -2.66920469e-02 -1.98280537e+00] [-4.89349829e-04 9.99983633e-01 5.70045777e-03 1.95917858e-02] [ 2.66952660e-02 -5.68536380e-03 9.99627450e-01 7.52892851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19255784400001 meters Centerline goodness : 0.183697 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.02, Z:0.75 [[ 9.99651355e-01 6.13041672e-04 -2.63968402e-02 -1.98394981e+00] [-4.58570124e-04 9.99982739e-01 5.85755123e-03 1.82976638e-02] [ 2.63999755e-02 -5.84340422e-03 9.99634381e-01 7.53615404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22255784400001 meters Centerline goodness : 0.126654 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.9996393 0.0055246 -0.02628201 -1.96247676] [-0.00546672 0.99998247 0.00227365 0.01403262] [ 0.02629411 -0.00212915 0.99965198 0.75475752] [ 0. 0. 0. 1. ]] SLAMing on 41.252557844 meters Centerline goodness : 0.106721 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99963124 0.00565013 -0.02656044 -1.96153953] [-0.0055826 0.999981 0.00261613 0.0124958 ] [ 0.02657472 -0.00246689 0.99964379 0.7543896 ] [ 0. 0. 0. 1. ]] SLAMing on 41.282557844 meters Centerline goodness : 0.178247 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962681 0.00573669 -0.02670844 -1.96088045] [-0.0056615 0.9999798 0.00289001 0.0111732 ] [ 0.02672448 -0.00273772 0.99963909 0.75392914] [ 0. 0. 0. 1. ]] SLAMing on 41.312557844000004 meters Centerline goodness : 0.254225 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962572 0.00582933 -0.02672885 -1.96077277] [-0.00574729 0.99997854 0.00314483 0.00989762] [ 0.02674661 -0.00299004 0.99963777 0.75386926] [ 0. 0. 0. 1. ]] SLAMing on 41.342557844000005 meters Centerline goodness : 0.176244 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.01, Z:0.75 [[ 0.99962872 0.00592531 -0.02659541 -1.96124862] [-0.00583767 0.99997728 0.00337149 0.00883633] [ 0.02661478 -0.00321498 0.99964059 0.75411151] [ 0. 0. 0. 1. ]] SLAMing on 41.372557844000006 meters Centerline goodness : 0.172119 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99692513e-01 6.91229868e-04 -2.47871415e-02 -1.94142138e+00] [-5.06794596e-04 9.99972148e-01 7.44627423e-03 9.67086733e-03] [ 2.47915982e-02 -7.43142261e-03 9.99665019e-01 7.55693704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40255784400001 meters Centerline goodness : 0.158812 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99694550e-01 7.73636502e-04 -2.47023768e-02 -1.94181477e+00] [-5.87275840e-04 9.99971321e-01 7.55060369e-03 9.36855344e-03] [ 2.47075098e-02 -7.53379025e-03 9.99666335e-01 7.55996958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432557844 meters Centerline goodness : 0.092437 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99694941e-01 8.49483595e-04 -2.46840836e-02 -1.94170412e+00] [-6.58210835e-04 9.99969706e-01 7.75592167e-03 8.18527636e-03] [ 2.46899243e-02 -7.73730832e-03 9.99665215e-01 7.55747033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462557844 meters Centerline goodness : 0.179463 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:0.76 [[ 9.99695425e-01 9.36219578e-04 -2.46613149e-02 -1.94143995e+00] [-7.36116070e-04 9.99966746e-01 8.12189368e-03 5.86024760e-03] [ 2.46680987e-02 -8.10126637e-03 9.99662870e-01 7.55277825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492557844000004 meters Centerline goodness : 0.112052 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:0.75 [[ 0.99970379 -0.00265889 -0.02419202 -1.94244036] [ 0.00277244 0.99998529 0.00466135 0.00430757] [ 0.02417927 -0.00472704 0.99969646 0.75498471] [ 0. 0. 0. 1. ]] SLAMing on 41.522557844000005 meters Centerline goodness : 0.099626 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.01, Z:0.75 [[ 0.99971836 0.00501895 -0.02319522 -1.96192012] [-0.00492725 0.99997982 0.00400899 -0.00523708] [ 0.02321488 -0.00389357 0.99972292 0.75283407] [ 0. 0. 0. 1. ]] SLAMing on 41.552557844000006 meters Centerline goodness : 0.266786 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.76 [[ 0.99978084 -0.00221053 -0.02081791 -1.94439431] [ 0.00235147 0.99997447 0.00674832 -0.00764931] [ 0.02080246 -0.00679579 0.99976051 0.75531885] [ 0. 0. 0. 1. ]] SLAMing on 41.58255784400001 meters Centerline goodness : 0.175374 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.01, Z:0.76 [[ 0.99978024 -0.00197726 -0.0208702 -1.94457228] [ 0.00213056 0.99997089 0.00732599 -0.01037488] [ 0.0208551 -0.00736885 0.99975535 0.75593844] [ 0. 0. 0. 1. ]] SLAMing on 41.61255784400001 meters Centerline goodness : 0.159317 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.99974288 0.00581523 -0.02191715 -1.92402452] [-0.0056787 0.99996412 0.00628635 -0.01771508] [ 0.02195292 -0.00616027 0.99974003 0.75836182] [ 0. 0. 0. 1. ]] SLAMing on 41.642557844 meters Centerline goodness : 0.113479 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.9997245 0.00633235 -0.02260132 -1.92104887] [-0.00617045 0.99995485 0.00722609 -0.02209908] [ 0.02264606 -0.00708464 0.99971844 0.75636108] [ 0. 0. 0. 1. ]] SLAMing on 41.672557844 meters Centerline goodness : 0.172979 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.02, Z:0.76 [[ 0.99972382 0.00651626 -0.02257909 -1.92064796] [-0.00634642 0.99995109 0.0075853 -0.02376877] [ 0.02262741 -0.00743991 0.99971628 0.75556476] [ 0. 0. 0. 1. ]] SLAMing on 41.702557844000005 meters Centerline goodness : 0.173982 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.03, Z:0.76 [[ 0.99972848 0.00667693 -0.02232446 -1.92114914] [-0.00650173 0.99994757 0.00791124 -0.02534845] [ 0.02237611 -0.00776395 0.99971948 0.75530282] [ 0. 0. 0. 1. ]] SLAMing on 41.732557844000006 meters Centerline goodness : 0.143901 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:0.76 [[ 9.99781478e-01 -1.38201068e-03 -2.08587289e-02 -1.90161237e+00] [ 1.56702680e-03 9.99959555e-01 8.85622425e-03 -2.24770826e-02] [ 2.08456459e-02 -8.88697515e-03 9.99743207e-01 7.56253272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76255784400001 meters Centerline goodness : 0.110150 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:0.76 [[ 9.99784996e-01 -1.20345217e-03 -2.07005611e-02 -1.90233714e+00] [ 1.39457936e-03 9.99956513e-01 9.22099098e-03 -2.40782103e-02] [ 2.06885639e-02 -9.24787701e-03 9.99743197e-01 7.56806720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79255784400001 meters Centerline goodness : 0.115440 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99788309e-01 -1.02205691e-03 -2.05497458e-02 -1.90300452e+00] [ 1.21916033e-03 9.99953355e-01 9.58128688e-03 -2.56242107e-02] [ 2.05389947e-02 -9.60431205e-03 9.99742920e-01 7.57339618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822557844 meters Centerline goodness : 0.129162 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99796005e-01 -7.48155137e-04 -2.01838704e-02 -1.90402382e+00] [ 9.53555024e-04 9.99947842e-01 1.01687330e-02 -2.82995444e-02] [ 2.01752099e-02 -1.01859050e-02 9.99744572e-01 7.57538006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852557844 meters Centerline goodness : 0.109286 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99797881e-01 -5.74393837e-04 -2.00964595e-02 -1.90412730e+00] [ 7.87269124e-04 9.99943653e-01 1.05863687e-02 -3.02366073e-02] [ 2.00892464e-02 -1.06000503e-02 9.99741997e-01 7.57387727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882557844000004 meters Centerline goodness : 0.112485 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:0.76 [[ 9.99797616e-01 -3.83245888e-04 -2.01141640e-02 -1.90398275e+00] [ 6.07387380e-04 9.99937780e-01 1.11385396e-02 -3.29418108e-02] [ 2.01086437e-02 -1.11485024e-02 9.99735642e-01 7.57294526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912557844000006 meters Centerline goodness : 0.147171 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.76 [[ 9.99793826e-01 -1.54538094e-04 -2.03046946e-02 -1.90337322e+00] [ 3.93172189e-04 9.99930899e-01 1.17491899e-02 -3.58638993e-02] [ 2.03014758e-02 -1.17547507e-02 9.99724800e-01 7.57169732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94255784400001 meters Centerline goodness : 0.142289 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.76 [[ 9.99786745e-01 3.37965301e-05 -2.06509690e-02 -1.90221668e+00] [ 2.20838543e-04 9.99923983e-01 1.23280128e-02 -3.87329930e-02] [ 2.06498158e-02 -1.23299443e-02 9.99710737e-01 7.56805885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97255784400001 meters Centerline goodness : 0.115631 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:0.75 [[ 9.99761751e-01 -1.81270080e-03 -2.17521468e-02 -1.89685212e+00] [ 2.04909038e-03 9.99939037e-01 1.08500510e-02 -4.32560072e-02] [ 2.17311529e-02 -1.08920380e-02 9.99704517e-01 7.54118420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002557844 meters Centerline goodness : 0.144981 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.75 [[ 9.99761644e-01 -1.62809321e-03 -2.17716337e-02 -1.89688113e+00] [ 1.87451028e-03 9.99934366e-01 1.13026488e-02 -4.54274108e-02] [ 2.17518030e-02 -1.13407659e-02 9.99699078e-01 7.54321615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032557844 meters Centerline goodness : 0.148115 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99763395e-01 -1.44149981e-03 -2.17042790e-02 -1.89748746e+00] [ 1.69709834e-03 9.99929378e-01 1.17626019e-02 -4.76011323e-02] [ 2.16857904e-02 -1.17966531e-02 9.99695236e-01 7.55115947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062557844000004 meters Centerline goodness : 0.156943 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99768845e-01 -1.03448990e-03 -2.14752635e-02 -1.89864037e+00] [ 1.30697992e-03 9.99918772e-01 1.26783982e-02 -5.15810100e-02] [ 2.14604034e-02 -1.27035353e-02 9.99688987e-01 7.56164839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092557844000005 meters Centerline goodness : 0.325616 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:0.76 [[ 9.99767632e-01 -8.41424542e-04 -2.15400780e-02 -1.89817750e+00] [ 1.12458041e-03 9.99913076e-01 1.31367997e-02 -5.36764135e-02] [ 2.15271520e-02 -1.31579707e-02 9.99681674e-01 7.55714116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122557844000006 meters Centerline goodness : 0.141867 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 9.99762453e-01 -6.93706761e-04 -2.17843352e-02 -1.89704173e+00] [ 9.88793976e-04 9.99907868e-01 1.35379959e-02 -5.56979432e-02] [ 2.17729368e-02 -1.35563202e-02 9.99671029e-01 7.54865313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15255784400001 meters Centerline goodness : 0.147885 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 9.99754986e-01 -5.80857440e-04 -2.21275770e-02 -1.89561232e+00] [ 8.89998681e-04 9.99902108e-01 1.39635731e-02 -5.80344395e-02] [ 2.21173000e-02 -1.39798454e-02 9.99657636e-01 7.53975974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18255784400001 meters Centerline goodness : 0.167850 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 0.99974883 -0.00412712 -0.02202829 -1.89566743] [ 0.00435997 0.99993502 0.01053273 -0.05909412] [ 0.02198339 -0.01062613 0.99970186 0.75365256] [ 0. 0. 0. 1. ]] SLAMing on 42.212557844 meters Centerline goodness : 0.125099 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:0.75 [[ 0.99974811 -0.00391205 -0.02210004 -1.89572309] [ 0.00415885 0.99992938 0.01113254 -0.0618582 ] [ 0.02205493 -0.01122165 0.99969378 0.75416721] [ 0. 0. 0. 1. ]] SLAMing on 42.242557844000004 meters Centerline goodness : 0.165997 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:0.75 [[ 9.99810004e-01 1.56420361e-03 -1.94295861e-02 -1.87251189e+00] [-1.39600607e-03 9.99961464e-01 8.66732306e-03 -6.60197511e-02] [ 1.94423948e-02 -8.63855249e-03 9.99773659e-01 7.53789140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272557844000005 meters Centerline goodness : 0.165957 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.07, Z:0.75 [[ 9.99772074e-01 4.57477207e-04 -2.13445562e-02 -1.91949455e+00] [-2.68171147e-04 9.99960615e-01 8.87107527e-03 -7.19596029e-02] [ 2.13477739e-02 -8.86332933e-03 9.99732821e-01 7.54869498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302557844000006 meters Centerline goodness : 0.162710 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:0.75 [[ 0.99979138 0.00690185 -0.01922396 -1.89738125] [-0.00678719 0.99995883 0.00602326 -0.07474118] [ 0.01926474 -0.00589153 0.99979706 0.75411779] [ 0. 0. 0. 1. ]] SLAMing on 42.33255784400001 meters Centerline goodness : 0.248511 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99982436 0.00366311 -0.01837999 -1.89938748] [-0.00361198 0.99998952 0.00281432 -0.07627715] [ 0.0183901 -0.00274744 0.99982711 0.75386959] [ 0. 0. 0. 1. ]] SLAMing on 42.36255784400001 meters Centerline goodness : 0.166430 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99982077 0.00380182 -0.01854651 -1.89874147] [-0.00374402 0.99998803 0.00314997 -0.0778691 ] [ 0.01855826 -0.00307997 0.99982304 0.75348478] [ 0. 0. 0. 1. ]] SLAMing on 42.392557844 meters Centerline goodness : 0.131331 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:0.75 [[ 0.99981595 0.00389223 -0.01878582 -1.89775173] [-0.00383024 0.9999871 0.00333477 -0.07865402] [ 0.01879856 -0.0032622 0.99981797 0.75276012] [ 0. 0. 0. 1. ]] SLAMing on 42.422557844 meters Centerline goodness : 0.137821 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:0.75 [[ 0.9997996 -0.00314121 -0.01977124 -1.87856098] [ 0.00323006 0.99998482 0.00446401 -0.0742001 ] [ 0.01975692 -0.00452697 0.99979456 0.75427579] [ 0. 0. 0. 1. ]] SLAMing on 42.452557844000005 meters Centerline goodness : 0.151099 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.08, Z:0.75 [[ 9.99827500e-01 3.81286954e-03 -1.81777761e-02 -1.85799462e+00] [-3.78277218e-03 9.99991418e-01 1.68981988e-03 -7.85758685e-02] [ 1.81840631e-02 -1.62076600e-03 9.99833343e-01 7.54936977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482557844000006 meters Centerline goodness : 0.139854 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:0.75 [[ 0.99980748 -0.0052169 -0.01891508 -1.88000617] [ 0.00527088 0.99998218 0.00280488 -0.07779081] [ 0.01890011 -0.00290404 0.99981716 0.75457579] [ 0. 0. 0. 1. ]] SLAMing on 42.51255784400001 meters Centerline goodness : 0.150911 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:0.75 [[ 0.99980918 -0.00499838 -0.0188845 -1.88013361] [ 0.00506224 0.99998162 0.00333521 -0.08013666] [ 0.01886748 -0.00343017 0.99981611 0.75470121] [ 0. 0. 0. 1. ]] SLAMing on 42.54255784400001 meters Centerline goodness : 0.131982 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 0.99980765 0.00354876 -0.01928917 -1.85985002] [-0.00349864 0.99999042 0.00263105 -0.08689888] [ 0.01929832 -0.00256306 0.99981048 0.75620782] [ 0. 0. 0. 1. ]] SLAMing on 42.572557844 meters Centerline goodness : 0.137203 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 9.99803085e-01 9.29559955e-05 -1.98439738e-02 -1.85776481e+00] [-1.00957764e-04 9.99999914e-01 -4.02232783e-04 -9.08302020e-02] [ 1.98439347e-02 4.04156981e-04 9.99803008e-01 7.55134893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602557844 meters Centerline goodness : 0.149891 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:0.76 [[ 9.99800788e-01 3.19642304e-04 -1.99570232e-02 -1.85754104e+00] [-3.15035335e-04 9.99999923e-01 2.33987944e-04 -9.39436185e-02] [ 1.99570965e-02 -2.27654163e-04 9.99800811e-01 7.55307260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632557844000004 meters Centerline goodness : 0.133982 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99803622e-01 6.14121786e-04 -1.98076004e-02 -1.85818039e+00] [-5.95723869e-04 9.99999386e-01 9.34718309e-04 -9.70584679e-02] [ 1.98081622e-02 -9.22734890e-04 9.99803373e-01 7.55815972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662557844000006 meters Centerline goodness : 0.132211 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805788e-01 8.80515088e-04 -1.96878137e-02 -1.85873320e+00] [-8.48816186e-04 9.99998330e-01 1.61837580e-03 -1.00169953e-01] [ 1.96892058e-02 -1.60135016e-03 9.99804866e-01 7.56337502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69255784400001 meters Centerline goodness : 0.132211 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805788e-01 8.80515088e-04 -1.96878137e-02 -1.85873320e+00] [-8.48816186e-04 9.99998330e-01 1.61837580e-03 -1.00169953e-01] [ 1.96892058e-02 -1.60135016e-03 9.99804866e-01 7.56337502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72255784400001 meters Centerline goodness : 0.132627 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:0.76 [[ 9.99805792e-01 1.13117160e-03 -1.96748114e-02 -1.85872477e+00] [-1.08703779e-03 9.99996870e-01 2.25371296e-03 -1.03161285e-01] [ 1.96772991e-02 -2.23188800e-03 9.99803892e-01 7.56352899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752557844 meters Centerline goodness : 0.136548 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:0.76 [[ 9.99759674e-01 7.46154928e-03 -2.06135833e-02 -1.83458062e+00] [-7.47752637e-03 9.99971799e-01 -6.98105889e-04 -1.09516806e-01] [ 2.06077930e-02 8.52076728e-04 9.99787274e-01 7.55957882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782557844 meters Centerline goodness : 0.130525 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:0.76 [[ 9.99759126e-01 7.58168312e-03 -2.05963108e-02 -1.83451303e+00] [-7.59260826e-03 9.99971073e-01 -4.52294374e-04 -1.10620411e-01] [ 2.05922859e-02 6.08565147e-04 9.99787771e-01 7.55786443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812557844000004 meters Centerline goodness : 0.130723 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99806951e-01 7.63335106e-04 -1.96335796e-02 -1.81808104e+00] [-7.36122522e-04 9.99998759e-01 1.39321227e-03 -1.06074349e-01] [ 1.96346188e-02 -1.37849060e-03 9.99806272e-01 7.58423889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842557844000005 meters Centerline goodness : 0.129150 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99832634e-01 1.61016826e-03 -1.82239186e-02 -1.82258440e+00] [-1.56865991e-03 9.99996144e-01 2.29175099e-03 -1.07886112e-01] [ 1.82275384e-02 -2.26278030e-03 9.99831304e-01 7.59857861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872557844000006 meters Centerline goodness : 0.128229 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99830458e-01 1.62777438e-03 -1.83413605e-02 -1.82209034e+00] [-1.58523697e-03 9.99996021e-01 2.33350723e-03 -1.08211774e-01] [ 1.83450859e-02 -2.30403620e-03 9.99829060e-01 7.59521550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90255784400001 meters Centerline goodness : 0.163338 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99824649e-01 1.61610571e-03 -1.86563738e-02 -1.82086073e+00] [-1.57215484e-03 9.99995955e-01 2.37023606e-03 -1.08708801e-01] [ 1.86601289e-02 -2.34048972e-03 9.99823145e-01 7.58779794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93255784400001 meters Centerline goodness : 0.129599 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99818813e-01 1.62586498e-03 -1.89657134e-02 -1.81972861e+00] [-1.58002536e-03 9.99995795e-01 2.43170742e-03 -1.09200573e-01] [ 1.89695872e-02 -2.40130052e-03 9.99817178e-01 7.58124768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962557844 meters Centerline goodness : 0.128867 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 9.99816102e-01 1.69051098e-03 -1.91024843e-02 -1.81914921e+00] [-1.64172411e-03 9.99995352e-01 2.56934757e-03 -1.09727942e-01] [ 1.91067391e-02 -2.53751406e-03 9.99814230e-01 7.57703104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992557844000004 meters Centerline goodness : 0.131726 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 0.99982153 0.00197032 -0.01878881 -1.82054144] [-0.00190957 0.99999289 0.00325102 -0.11247578] [ 0.01879509 -0.00321456 0.99981819 0.75883978] [ 0. 0. 0. 1. ]] SLAMing on 43.022557844000005 meters Centerline goodness : 0.135519 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.11, Z:0.76 [[ 0.99982147 0.002055 -0.01878289 -1.82082155] [-0.00198627 0.99999127 0.00367756 -0.11472259] [ 0.01879028 -0.00363959 0.99981682 0.75941565] [ 0. 0. 0. 1. ]] SLAMing on 43.052557844000006 meters Centerline goodness : 0.135678 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99981765 0.00215405 -0.01897456 -1.82036103] [-0.0020764 0.99998939 0.00411078 -0.1169673 ] [ 0.01898322 -0.00407063 0.99981152 0.75952007] [ 0. 0. 0. 1. ]] SLAMing on 43.08255784400001 meters Centerline goodness : 0.134141 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99981332 0.00221508 -0.01919439 -1.81958936] [-0.0021311 0.99998807 0.00439469 -0.11844825] [ 0.01920389 -0.00435296 0.99980611 0.75915242] [ 0. 0. 0. 1. ]] SLAMing on 43.11255784400001 meters Centerline goodness : 0.130873 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99980977 0.00231127 -0.01936693 -1.81888155] [-0.00222106 0.99998659 0.00467794 -0.11978156] [ 0.01937748 -0.00463403 0.9998015 0.75869291] [ 0. 0. 0. 1. ]] SLAMing on 43.142557844 meters Centerline goodness : 0.133591 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:0.76 [[ 0.99979602 0.00226597 -0.02006969 -1.81703319] [-0.00216215 0.99998418 0.00519281 -0.12303366] [ 0.02008114 -0.00514835 0.9997851 0.75873175] [ 0. 0. 0. 1. ]] SLAMing on 43.172557844 meters Centerline goodness : 0.133980 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979283 0.00241023 -0.02021128 -1.81683481] [-0.00229715 0.99998159 0.00561657 -0.12513687] [ 0.02022444 -0.00556898 0.99977996 0.75909464] [ 0. 0. 0. 1. ]] SLAMing on 43.202557844000005 meters Centerline goodness : 0.130058 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979257 0.00255709 -0.02020612 -1.81702622] [-0.00243681 0.99997918 0.00597476 -0.12670257] [ 0.02022098 -0.00592428 0.99977798 0.75944682] [ 0. 0. 0. 1. ]] SLAMing on 43.232557844000006 meters Centerline goodness : 0.141945 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99979521 0.00268457 -0.02005827 -1.81760717] [-0.00256047 0.99997744 0.00621041 -0.12753796] [ 0.02007449 -0.00615778 0.99977952 0.75979942] [ 0. 0. 0. 1. ]] SLAMing on 43.26255784400001 meters Centerline goodness : 0.121396 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.9998065 0.00292543 -0.0194524 -1.81975872] [-0.00279609 0.99997383 0.0066731 -0.12940137] [ 0.01947142 -0.00661742 0.99978851 0.76089776] [ 0. 0. 0. 1. ]] SLAMing on 43.29255784400001 meters Centerline goodness : 0.128087 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 0.99980996 0.00305767 -0.01925321 -1.82069587] [-0.00292221 0.99997081 0.00705951 -0.13131432] [ 0.01927424 -0.00700191 0.99978972 0.76171443] [ 0. 0. 0. 1. ]] SLAMing on 43.322557844 meters Centerline goodness : 0.123778 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 9.99833412e-01 -1.85359586e-04 -1.82514224e-02 -1.82375610e+00] [ 2.55698957e-04 9.99992550e-01 3.85165356e-03 -1.32283437e-01] [ 1.82505725e-02 -3.85567879e-03 9.99826010e-01 7.62328791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352557844 meters Centerline goodness : 0.155546 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.13, Z:0.76 [[ 9.99831681e-01 -2.39953251e-05 -1.83468851e-02 -1.82354196e+00] [ 1.03087223e-04 9.99990707e-01 4.30998339e-03 -1.34399992e-01] [ 1.83466111e-02 -4.31114927e-03 9.99822392e-01 7.62393688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382557844000004 meters Centerline goodness : 0.123582 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 9.99825775e-01 7.55276779e-05 -1.86658684e-02 -1.82245591e+00] [ 1.18857808e-05 9.99989035e-01 4.68290883e-03 -1.36283317e-01] [ 1.86660174e-02 -4.68231480e-03 9.99814811e-01 7.61953944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412557844000006 meters Centerline goodness : 0.121058 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 9.99818611e-01 1.74636609e-04 -1.90450798e-02 -1.82125513e+00] [-7.70052856e-05 9.99986854e-01 5.12694073e-03 -1.38683727e-01] [ 1.90457248e-02 -5.12454419e-03 9.99805481e-01 7.61581392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44255784400001 meters Centerline goodness : 0.124419 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:0.76 [[ 0.99981153 -0.00365596 -0.01906682 -1.82103625] [ 0.00369502 0.99999115 0.00201403 -0.14341627] [ 0.01905928 -0.00208411 0.99981618 0.76140408] [ 0. 0. 0. 1. ]] SLAMing on 43.47255784400001 meters Centerline goodness : 0.125354 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.15, Z:0.76 [[ 9.99813955e-01 2.51808812e-03 -1.91236856e-02 -1.79820224e+00] [-2.53696622e-03 9.99996318e-01 -9.62961872e-04 -1.48081340e-01] [ 1.91211904e-02 1.01129886e-03 9.99816662e-01 7.60966500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502557844 meters Centerline goodness : 0.121575 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.15, Z:0.76 [[ 9.99798055e-01 2.73778957e-03 -1.99086503e-02 -1.79576128e+00] [-2.74248802e-03 9.99996218e-01 -2.08701987e-04 -1.51893769e-01] [ 1.99080036e-02 2.63259075e-04 9.99801781e-01 7.60337909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532557844 meters Centerline goodness : 0.126943 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:0.76 [[ 9.99733054e-01 9.77375470e-04 -2.30838744e-02 -1.83746853e+00] [-9.87447493e-04 9.99999422e-01 -4.24928360e-04 -1.59015103e-01] [ 2.30834458e-02 4.47609041e-04 9.99733442e-01 7.59860884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562557844000004 meters Centerline goodness : 0.159656 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.16, Z:0.76 [[ 9.99730804e-01 1.19003801e-03 -2.31711554e-02 -1.83728693e+00] [-1.18536667e-03 9.99999274e-01 2.15335821e-04 -1.62127923e-01] [ 2.31713948e-02 -1.87811538e-04 9.99731490e-01 7.59984658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592557844000005 meters Centerline goodness : 0.122414 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.17, Z:0.76 [[ 9.99754193e-01 1.52890948e-03 -2.21182104e-02 -1.84108739e+00] [-1.50714605e-03 9.99998364e-01 1.00059593e-03 -1.65161313e-01] [ 2.21197040e-02 -9.67014604e-04 9.99754862e-01 7.61976502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844000006 meters Centerline goodness : 0.120654 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99804029e-01 3.37177720e-03 -1.95073228e-02 -1.80020030e+00] [-3.35038215e-03 9.99993750e-01 1.12934757e-03 -1.63272324e-01] [ 1.95110088e-02 -1.06376927e-03 9.99809076e-01 7.63548292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65255784400001 meters Centerline goodness : 0.121568 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99804185e-01 3.37438269e-03 -1.94988361e-02 -1.80029274e+00] [-3.35331273e-03 9.99993758e-01 1.11317003e-03 -1.63153536e-01] [ 1.95024707e-02 -1.04756636e-03 9.99809260e-01 7.63707375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68255784400001 meters Centerline goodness : 0.113425 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99798697e-01 3.30451020e-03 -1.97900188e-02 -1.79920819e+00] [-3.28572763e-03 9.99994120e-01 9.81533310e-04 -1.62805326e-01] [ 1.97931459e-02 -9.16311113e-04 9.99803677e-01 7.63131486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712557844 meters Centerline goodness : 0.123721 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.16, Z:0.76 [[ 9.99780442e-01 3.31244867e-03 -2.06904447e-02 -1.79575225e+00] [-3.30002105e-03 9.99994353e-01 6.34759802e-04 -1.61250317e-01] [ 2.06924305e-02 -5.66341533e-04 9.99785728e-01 7.61260940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742557844000004 meters Centerline goodness : 0.127207 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.15, Z:0.76 [[ 0.99978838 -0.00412267 -0.02015443 -1.77651585] [ 0.00416576 0.99998912 0.00209689 -0.15369854] [ 0.02014557 -0.00218041 0.99979468 0.76167894] [ 0. 0. 0. 1. ]] SLAMing on 43.772557844000005 meters Centerline goodness : 0.119076 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.15, Z:0.76 [[ 0.99979158 -0.00408804 -0.02000217 -1.77698223] [ 0.00413246 0.99998909 0.00217976 -0.15395229] [ 0.01999304 -0.00226197 0.99979756 0.76178316] [ 0. 0. 0. 1. ]] SLAMing on 43.802557844000006 meters Centerline goodness : 0.123987 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979335 -0.00403106 -0.01992513 -1.77747291] [ 0.00407999 0.99998876 0.00241535 -0.15506881] [ 0.01991517 -0.00249615 0.99979856 0.76228539] [ 0. 0. 0. 1. ]] SLAMing on 43.83255784400001 meters Centerline goodness : 0.144825 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.9997869 -0.00409454 -0.02023336 -1.77691779] [ 0.00414809 0.999988 0.00260551 -0.15648615] [ 0.02022245 -0.00268889 0.99979189 0.7627172 ] [ 0. 0. 0. 1. ]] SLAMing on 43.86255784400001 meters Centerline goodness : 0.133764 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99977496 -0.00422338 -0.02078932 -1.77563887] [ 0.00428156 0.99998704 0.00275451 -0.15785229] [ 0.02077742 -0.0028429 0.99978008 0.76294214] [ 0. 0. 0. 1. ]] SLAMing on 43.892557844 meters Centerline goodness : 0.162402 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 0.99976691 -0.00373599 -0.02126414 -1.77408157] [ 0.00382083 0.9999849 0.0039505 -0.16140071] [ 0.02124906 -0.00403083 0.99976609 0.76168482] [ 0. 0. 0. 1. ]] SLAMing on 43.922557844 meters Centerline goodness : 0.120478 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 0.99977242 -0.00348312 -0.0210468 -1.77417519] [ 0.00357892 0.9999834 0.00451584 -0.1626828 ] [ 0.02103072 -0.00459013 0.99976829 0.76071218] [ 0. 0. 0. 1. ]] SLAMing on 43.952557844000005 meters Centerline goodness : 0.161687 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.999781 -0.00348147 -0.02063575 -1.77524676] [ 0.00357945 0.99998249 0.00471291 -0.16328436] [ 0.02061898 -0.00478574 0.99977595 0.76058732] [ 0. 0. 0. 1. ]] SLAMing on 43.982557844000006 meters Centerline goodness : 0.120682 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99978985 -0.00381034 -0.02014292 -1.77696212] [ 0.00390036 0.99998257 0.00443171 -0.16286001] [ 0.02012569 -0.00450935 0.99978729 0.76129592] [ 0. 0. 0. 1. ]] SLAMing on 44.01255784400001 meters Centerline goodness : 0.122150 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979249 -0.00414437 -0.01994479 -1.77803109] [ 0.00422377 0.99998331 0.00394084 -0.16177975] [ 0.01992812 -0.00402426 0.99979332 0.76229233] [ 0. 0. 0. 1. ]] SLAMing on 44.04255784400001 meters Centerline goodness : 0.121768 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.9997906 -0.00423361 -0.02002077 -1.77802557] [ 0.0043085 0.99998388 0.00369867 -0.16100339] [ 0.02000479 -0.00378415 0.99979272 0.76267129] [ 0. 0. 0. 1. ]] SLAMing on 44.072557844 meters Centerline goodness : 0.118232 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 9.99773417e-01 -1.58039797e-03 -2.12277184e-02 -1.77388556e+00] [ 1.70656127e-03 9.99980982e-01 5.92652896e-03 -1.56630502e-01] [ 2.12179484e-02 -5.96141251e-03 9.99757101e-01 7.61255322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102557844 meters Centerline goodness : 0.151819 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.16, Z:0.76 [[ 9.99774393e-01 -1.66074154e-03 -2.11755877e-02 -1.77386896e+00] [ 1.78285655e-03 9.99981884e-01 5.74920839e-03 -1.55761211e-01] [ 2.11656561e-02 -5.78566436e-03 9.99759242e-01 7.60954931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132557844000004 meters Centerline goodness : 0.124836 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99976024 0.00665128 -0.02086183 -1.75589041] [-0.00655114 0.99996671 0.00486478 -0.16125199] [ 0.02089349 -0.00472694 0.99977053 0.76218681] [ 0. 0. 0. 1. ]] SLAMing on 44.162557844000006 meters Centerline goodness : 0.162623 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99978664 -0.00320539 -0.02040579 -1.77841286] [ 0.00331261 0.99998087 0.00522302 -0.1561319 ] [ 0.02038865 -0.0052895 0.99977814 0.76156918] [ 0. 0. 0. 1. ]] SLAMing on 44.19255784400001 meters Centerline goodness : 0.154813 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979653 -0.00327913 -0.01990318 -1.77968492] [ 0.00338931 0.99997911 0.00550421 -0.15698945] [ 0.01988471 -0.00557055 0.99978676 0.76116214] [ 0. 0. 0. 1. ]] SLAMing on 44.22255784400001 meters Centerline goodness : 0.163476 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.16, Z:0.76 [[ 0.99979387 -0.00329107 -0.02003445 -1.77935711] [ 0.00340463 0.99997832 0.00563653 -0.15770677] [ 0.02001547 -0.00570358 0.9997834 0.76115166] [ 0. 0. 0. 1. ]] SLAMing on 44.252557844 meters Centerline goodness : 0.134753 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.999817 0.00275529 -0.01893063 -1.75651547] [-0.00271283 0.99999375 0.00226828 -0.1594097 ] [ 0.01893676 -0.00221651 0.99981823 0.76006773] [ 0. 0. 0. 1. ]] SLAMing on 44.282557844 meters Centerline goodness : 0.168016 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99981363 0.00269911 -0.01911596 -1.75606915] [-0.00265209 0.9999934 0.00248432 -0.16087986] [ 0.01912254 -0.00243316 0.99981419 0.76006754] [ 0. 0. 0. 1. ]] SLAMing on 44.312557844000004 meters Centerline goodness : 0.162241 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99981512 0.00267671 -0.01904082 -1.75643973] [-0.00262476 0.99999277 0.00275288 -0.1624894 ] [ 0.01904805 -0.00270239 0.99981492 0.7603953 ] [ 0. 0. 0. 1. ]] SLAMing on 44.342557844000005 meters Centerline goodness : 0.148426 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99984366 0.00233897 -0.01752654 -1.76096307] [-0.00228886 0.99999324 0.00287857 -0.16386046] [ 0.01753315 -0.00283801 0.99984225 0.76172429] [ 0. 0. 0. 1. ]] SLAMing on 44.372557844000006 meters Centerline goodness : 0.125996 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.16, Z:0.76 [[ 0.99984569 0.00235354 -0.01740876 -1.76155493] [-0.00230132 0.99999279 0.00301908 -0.16447253] [ 0.01741574 -0.00297855 0.9998439 0.76221227] [ 0. 0. 0. 1. ]] SLAMing on 44.40255784400001 meters Centerline goodness : 0.161479 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.17, Z:0.76 [[ 9.99796576e-01 5.94699422e-04 -2.01606642e-02 -1.80628813e+00] [-5.34519590e-04 9.99995386e-01 2.99026967e-03 -1.65613809e-01] [ 2.01623495e-02 -2.97888511e-03 9.99792281e-01 7.62554507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43255784400001 meters Centerline goodness : 0.128064 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99772849e-01 2.00737136e-04 -2.13122049e-02 -1.80297387e+00] [-1.38593492e-04 9.99995735e-01 2.91730817e-03 -1.66525277e-01] [ 2.13126996e-02 -2.91369177e-03 9.99768613e-01 7.61734086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters Centerline goodness : 0.157810 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99770398e-01 2.68711268e-04 -2.14261251e-02 -1.80251239e+00] [-2.01161009e-04 9.99995003e-01 3.15479831e-03 -1.67599260e-01] [ 2.14268657e-02 -3.14976386e-03 9.99765457e-01 7.61378287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492557844000004 meters Centerline goodness : 0.137747 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.17, Z:0.76 [[ 0.99974685 0.00893699 -0.02064839 -1.7831117 ] [-0.00889061 0.99995775 0.00233685 -0.17333004] [ 0.02066841 -0.00215268 0.99978407 0.76211735] [ 0. 0. 0. 1. ]] SLAMing on 44.522557844000005 meters Centerline goodness : 0.173671 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.17, Z:0.76 [[ 9.99760134e-01 -3.54688685e-04 -2.18986180e-02 -1.80385521e+00] [ 4.29139154e-04 9.99994144e-01 3.39517362e-03 -1.70265739e-01] [ 2.18972856e-02 -3.40375679e-03 9.99754432e-01 7.61326586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552557844000006 meters Centerline goodness : 0.122148 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792045e-01 -6.62708011e-05 -2.03927236e-02 -1.75847095e+00] [ 1.13282993e-04 9.99997339e-01 2.30419493e-03 -1.70388020e-01] [ 2.03925167e-02 -2.30602591e-03 9.99789392e-01 7.61059594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58255784400001 meters Centerline goodness : 0.122148 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792045e-01 -6.62708011e-05 -2.03927236e-02 -1.75847095e+00] [ 1.13282993e-04 9.99997339e-01 2.30419493e-03 -1.70388020e-01] [ 2.03925167e-02 -2.30602591e-03 9.99789392e-01 7.61059594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61255784400001 meters Centerline goodness : 0.124981 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99787898e-01 -1.33565789e-04 -2.05946934e-02 -1.75792634e+00] [ 1.79158002e-04 9.99997538e-01 2.21195535e-03 -1.70356226e-01] [ 2.05943473e-02 -2.21517590e-03 9.99785460e-01 7.61006398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642557844 meters Centerline goodness : 0.154453 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.17, Z:0.76 [[ 9.99792485e-01 -1.58410438e-04 -2.03705949e-02 -1.75854408e+00] [ 1.99649653e-04 9.99997935e-01 2.02243045e-03 -1.69289770e-01] [ 2.03702324e-02 -2.02607775e-03 9.99790452e-01 7.61123067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672557844 meters Centerline goodness : 0.151636 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.17, Z:0.76 [[ 9.99784649e-01 9.03271259e-03 -1.86833215e-02 -1.73862176e+00] [-9.01308820e-03 9.99958738e-01 1.13430910e-03 -1.71489066e-01] [ 1.86927964e-02 -9.65670400e-04 9.99824808e-01 7.61429302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702557844000005 meters Centerline goodness : 0.161484 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.17, Z:0.76 [[ 9.99787955e-01 8.93572484e-03 -1.85525969e-02 -1.73884992e+00] [-8.92193840e-03 9.99959858e-01 8.25738424e-04 -1.69928096e-01] [ 1.85592307e-02 -6.60038204e-04 9.99827545e-01 7.61278028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732557844000006 meters Centerline goodness : 0.124109 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.16, Z:0.76 [[ 9.99811789e-01 1.84511965e-03 -1.93127536e-02 -1.71947166e+00] [-1.81451825e-03 9.99997071e-01 1.60192094e-03 -1.63797809e-01] [ 1.93156528e-02 -1.56657609e-03 9.99812208e-01 7.63073665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76255784400001 meters Centerline goodness : 0.160429 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.16, Z:0.76 [[ 9.99809419e-01 1.78536815e-03 -1.94406324e-02 -1.71901841e+00] [-1.75524918e-03 9.99997233e-01 1.56623211e-03 -1.63790915e-01] [ 1.94433749e-02 -1.53181046e-03 9.99809786e-01 7.62810747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79255784400001 meters Centerline goodness : 0.124057 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 0.99980735 0.00179167 -0.01954635 -1.71877188] [-0.0017565 0.99999681 0.00181651 -0.16519476] [ 0.01954954 -0.00178183 0.9998073 0.76277073] [ 0. 0. 0. 1. ]] SLAMing on 44.822557844 meters Centerline goodness : 0.158767 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99799482e-01 1.59643145e-03 -1.99611368e-02 -1.71775492e+00] [-1.55638669e-03 9.99996746e-01 2.02151049e-03 -1.67014002e-01] [ 1.99642990e-02 -1.99003789e-03 9.99798713e-01 7.62732673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852557844 meters Centerline goodness : 0.124612 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99787797e-01 1.25164562e-03 -2.05619395e-02 -1.71614563e+00] [-1.20851306e-03 9.99997044e-01 2.10998148e-03 -1.68641169e-01] [ 2.05645197e-02 -2.08468436e-03 9.99786354e-01 7.62538998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882557844000004 meters Centerline goodness : 0.127332 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.17, Z:0.76 [[ 9.99779402e-01 1.13621560e-03 -2.09727439e-02 -1.71491843e+00] [-1.08780697e-03 9.99996718e-01 2.31943249e-03 -1.70127537e-01] [ 2.09753105e-02 -2.29610653e-03 9.99777357e-01 7.62161796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912557844000006 meters Centerline goodness : 0.126052 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.17, Z:0.76 [[ 9.99776819e-01 1.19983138e-03 -2.10919849e-02 -1.71441593e+00] [-1.14592208e-03 9.99996047e-01 2.56781439e-03 -1.71243958e-01] [ 2.10949825e-02 -2.54307153e-03 9.99774242e-01 7.61739883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94255784400001 meters Centerline goodness : 0.151798 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.17, Z:0.76 [[ 9.99783765e-01 1.24418287e-03 -2.07575267e-02 -1.71569107e+00] [-1.18858558e-03 9.99995674e-01 2.69053841e-03 -1.71651172e-01] [ 2.07607844e-02 -2.66528452e-03 9.99780919e-01 7.62558520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97255784400001 meters Centerline goodness : 0.125572 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99839972e-01 1.42096639e-03 -1.78328428e-02 -1.67385056e+00] [-1.39593119e-03 9.99998023e-01 1.41625071e-03 -1.70623911e-01] [ 1.78348200e-02 -1.39113065e-03 9.99839979e-01 7.63443416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002557844 meters Centerline goodness : 0.163788 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99843180e-01 1.36080067e-03 -1.76568416e-02 -1.67457458e+00] [-1.34013928e-03 9.99998404e-01 1.18194275e-03 -1.69580007e-01] [ 1.76584218e-02 -1.15809477e-03 9.99843407e-01 7.63985257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032557844 meters Centerline goodness : 0.155994 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:0.76 [[ 9.99839107e-01 1.59138789e-03 -1.78669509e-02 -1.67360386e+00] [-1.57729977e-03 9.99998434e-01 8.02566055e-04 -1.66568845e-01] [ 1.78682001e-02 -7.74255390e-04 9.99840051e-01 7.63212096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062557844000004 meters Centerline goodness : 0.160900 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.16, Z:0.76 [[ 9.99834505e-01 1.50197100e-03 -1.81302813e-02 -1.67236596e+00] [-1.49522218e-03 9.99998808e-01 3.85790202e-04 -1.64364949e-01] [ 1.81308391e-02 -3.58617557e-04 9.99835559e-01 7.62222536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092557844000005 meters Centerline goodness : 0.335065 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.16, Z:0.76 [[ 9.99799684e-01 3.73632875e-03 -1.96629526e-02 -1.62910606e+00] [-3.73201827e-03 9.99993003e-01 2.55908991e-04 -1.62468526e-01] [ 1.96637712e-02 -1.82475230e-04 9.99806633e-01 7.63537787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122557844000006 meters Centerline goodness : 0.161879 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.16, Z:0.76 [[ 9.99732017e-01 3.12484068e-03 -2.29374951e-02 -1.67307678e+00] [-3.11419148e-03 9.99995026e-01 4.99976477e-04 -1.60037905e-01] [ 2.29389434e-02 -4.28410740e-04 9.99736776e-01 7.63882647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15255784400001 meters Centerline goodness : 0.128806 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.15, Z:0.77 [[ 9.99727073e-01 -4.17098453e-03 -2.29865905e-02 -1.65375269e+00] [ 4.19966594e-03 9.99990462e-01 1.19961224e-03 -1.53849098e-01] [ 2.29813677e-02 -1.29582083e-03 9.99735054e-01 7.65761953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18255784400001 meters Centerline goodness : 0.128257 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.16, Z:0.77 [[ 9.99751186e-01 4.55719818e-03 -2.18357089e-02 -1.63470145e+00] [-4.56587459e-03 9.99989516e-01 -3.47510202e-04 -1.55946123e-01] [ 2.18338963e-02 4.47122844e-04 9.99761512e-01 7.67298572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212557844 meters Centerline goodness : 0.120942 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.15, Z:0.76 [[ 9.99843943e-01 -4.13057911e-04 -1.76612014e-02 -1.65547085e+00] [ 4.45989969e-04 9.99998169e-01 1.86075761e-03 -1.47513275e-01] [ 1.76604005e-02 -1.86834394e-03 9.99842297e-01 7.64945336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242557844000004 meters Centerline goodness : 0.147666 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.14, Z:0.76 [[ 9.99847171e-01 -5.62468567e-04 -1.74733820e-02 -1.65579464e+00] [ 5.85764189e-04 9.99998946e-01 1.32811683e-03 -1.44823973e-01] [ 1.74726166e-02 -1.33814914e-03 9.99846447e-01 7.64726093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272557844000005 meters Centerline goodness : 0.125879 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.14, Z:0.76 [[ 9.99844531e-01 -7.44039112e-04 -1.76170300e-02 -1.65507216e+00] [ 7.57667648e-04 9.99999419e-01 7.66938305e-04 -1.42171887e-01] [ 1.76164491e-02 -7.80166924e-04 9.99844514e-01 7.64061221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844000006 meters Centerline goodness : 0.153580 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.14, Z:0.76 [[ 9.99836580e-01 -9.11869659e-04 -1.80549714e-02 -1.65356779e+00] [ 9.15871878e-04 9.99999558e-01 2.13401091e-04 -1.39589507e-01] [ 1.80547688e-02 -2.29902258e-04 9.99836973e-01 7.63351519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33255784400001 meters Centerline goodness : 0.144952 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.14, Z:0.76 [[ 9.99832465e-01 -1.09986231e-03 -1.82710587e-02 -1.65272181e+00] [ 1.09272075e-03 9.99999323e-01 -4.00846480e-04 -1.36644623e-01] [ 1.82714872e-02 3.80814159e-04 9.99832990e-01 7.62850181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36255784400001 meters Centerline goodness : 0.160686 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.13, Z:0.77 [[ 9.99832830e-01 1.78545918e-03 -1.81968209e-02 -1.65526899e+00] [-1.75722369e-03 9.99997227e-01 1.56754265e-03 -1.30003698e-01] [ 1.81995693e-02 -1.53530472e-03 9.99833195e-01 7.65508551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392557844 meters Centerline goodness : 0.173928 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.12, Z:0.77 [[ 0.99983087 -0.00510025 -0.01766987 -1.68030715] [ 0.00517248 0.99997844 0.00404451 -0.12438698] [ 0.01764886 -0.00413522 0.9998357 0.76653141] [ 0. 0. 0. 1. ]] SLAMing on 45.422557844 meters Centerline goodness : 0.124830 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.12, Z:0.77 [[ 0.9998656 0.00364037 -0.01598548 -1.66119225] [-0.00360108 0.99999043 0.00248612 -0.12488318] [ 0.01599438 -0.00242822 0.99986913 0.76758496] [ 0. 0. 0. 1. ]] SLAMing on 45.452557844000005 meters Centerline goodness : 0.162184 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.12, Z:0.77 [[ 0.99986925 0.00346569 -0.01579464 -1.6618671 ] [-0.00343407 0.99999204 0.00202908 -0.12286289] [ 0.01580154 -0.00197458 0.9998732 0.76794096] [ 0. 0. 0. 1. ]] SLAMing on 45.482557844000006 meters Centerline goodness : 0.128902 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99897660e-01 4.21442677e-03 -1.36714637e-02 -1.62171356e+00] [-4.19641924e-03 9.99990290e-01 1.34558139e-03 -1.18583940e-01] [ 1.36770018e-02 -1.28807249e-03 9.99905636e-01 7.70050669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51255784400001 meters Centerline goodness : 0.116421 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99899420e-01 4.18544401e-03 -1.35510906e-02 -1.62209118e+00] [-4.16847153e-03 9.99990492e-01 1.28048356e-03 -1.18149703e-01] [ 1.35563211e-02 -1.22386744e-03 9.99907360e-01 7.70108459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54255784400001 meters Centerline goodness : 0.178219 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99900228e-01 4.14591526e-03 -1.35035060e-02 -1.62205542e+00] [-4.12942504e-03 9.99990694e-01 1.24883363e-03 -1.18110299e-01] [ 1.35085579e-02 -1.19294732e-03 9.99908044e-01 7.69795626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572557844 meters Centerline goodness : 0.124078 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.77 [[ 9.99902416e-01 -4.25581506e-03 -1.33058668e-02 -1.60019682e+00] [ 4.27565609e-03 9.99989789e-01 1.46305765e-03 -1.14428173e-01] [ 1.32995044e-02 -1.51980619e-03 9.99910403e-01 7.69921729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602557844 meters Centerline goodness : 0.161583 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.77 [[ 9.99900371e-01 -4.26061990e-03 -1.34571756e-02 -1.59955946e+00] [ 4.28212974e-03 9.99989599e-01 1.56998227e-03 -1.15173221e-01] [ 1.34503465e-02 -1.62745123e-03 9.99908216e-01 7.69429907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632557844000004 meters Centerline goodness : 0.114168 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99877161e-01 4.21408739e-03 -1.50965141e-02 -1.57837859e+00] [-4.19768305e-03 9.99990565e-01 1.11815363e-03 -1.19005971e-01] [ 1.51010837e-02 -1.05464589e-03 9.99885416e-01 7.70180659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662557844000006 meters Centerline goodness : 0.157233 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99872181e-01 4.17957918e-03 -1.54321983e-02 -1.57723599e+00] [-4.16528052e-03 9.99990866e-01 9.58572969e-04 -1.18129786e-01] [ 1.54360638e-02 -8.94171010e-04 9.99880457e-01 7.69724699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69255784400001 meters Centerline goodness : 0.125648 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.77 [[ 0.99984876 -0.00459843 -0.01677229 -1.59656381] [ 0.0046321 0.99998733 0.00196926 -0.11244435] [ 0.01676303 -0.00204665 0.9998574 0.76890877] [ 0. 0. 0. 1. ]] SLAMing on 45.72255784400001 meters Centerline goodness : 0.175928 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99875963e-01 4.25546797e-03 -1.51640595e-02 -1.57734404e+00] [-4.24666126e-03 9.99990795e-01 6.12914865e-04 -1.14574802e-01] [ 1.51665282e-02 -5.48442216e-04 9.99884831e-01 7.70210501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75255784400001 meters Centerline goodness : 0.170729 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99990954 -0.0026466 -0.01318752 -1.56073043] [ 0.00267483 0.99999417 0.00212405 -0.10821173] [ 0.01318182 -0.00215913 0.99991078 0.77211182] [ 0. 0. 0. 1. ]] SLAMing on 45.782557844 meters Centerline goodness : 0.168688 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99991802 -0.00199711 -0.01264789 -1.56204731] [ 0.00202434 0.99999566 0.00214028 -0.10612851] [ 0.01264356 -0.00216571 0.99991772 0.77195857] [ 0. 0. 0. 1. ]] SLAMing on 45.812557844000004 meters Centerline goodness : 0.137627 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.999914 -0.00204397 -0.01295399 -1.5608971 ] [ 0.00206861 0.99999608 0.00188904 -0.10499182] [ 0.01295008 -0.00191567 0.99991431 0.77126005] [ 0. 0. 0. 1. ]] SLAMing on 45.842557844000005 meters Centerline goodness : 0.154423 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.9999057 -0.00200265 -0.01358597 -1.55882553] [ 0.00202585 0.99999651 0.00169409 -0.10411199] [ 0.01358253 -0.00172145 0.99990627 0.77060301] [ 0. 0. 0. 1. ]] SLAMing on 45.872557844000006 meters Centerline goodness : 0.345741 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.77 [[ 0.99989738 -0.00180817 -0.01421097 -1.55669655] [ 0.00183583 0.99999645 0.00193371 -0.10495118] [ 0.01420742 -0.0019596 0.99989715 0.76971348] [ 0. 0. 0. 1. ]] SLAMing on 45.90255784400001 meters Centerline goodness : 0.123647 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99990142 -0.00178013 -0.01392804 -1.55769944] [ 0.0018096 0.99999615 0.00210359 -0.10576237] [ 0.01392424 -0.00212859 0.99990079 0.77016584] [ 0. 0. 0. 1. ]] SLAMing on 45.93255784400001 meters Centerline goodness : 0.167342 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99903324e-01 6.48069891e-03 -1.23021272e-02 -1.54097732e+00] [-6.46812026e-03 9.99978518e-01 1.06199038e-03 -1.12829672e-01] [ 1.23087454e-02 -9.82316075e-04 9.99923762e-01 7.71746074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962557844 meters Centerline goodness : 0.126913 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99906205e-01 6.53464174e-03 -1.20366333e-02 -1.54202789e+00] [-6.52019234e-03 9.99977975e-01 1.23930375e-03 -1.13787854e-01] [ 1.20444666e-02 -1.16070634e-03 9.99926789e-01 7.72416493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992557844000004 meters Centerline goodness : 0.123159 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99991573 -0.00279145 -0.01267828 -1.56307993] [ 0.00281706 0.99999403 0.00200222 -0.11029615] [ 0.01267261 -0.00203777 0.99991762 0.7720554 ] [ 0. 0. 0. 1. ]] SLAMing on 46.022557844000005 meters Centerline goodness : 0.364534 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.11, Z:0.77 [[ 9.99939069e-01 -1.95538104e-03 -1.08643497e-02 -1.51933670e+00] [ 1.97171062e-03 9.99996942e-01 1.49253553e-03 -1.09395690e-01] [ 1.08613980e-02 -1.51386594e-03 9.99939867e-01 7.72290565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052557844000006 meters Centerline goodness : 0.125082 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.11, Z:0.77 [[ 9.99937871e-01 -1.82271996e-03 -1.09969323e-02 -1.51923672e+00] [ 1.83945592e-03 9.99997165e-01 1.51195236e-03 -1.09667814e-01] [ 1.09941453e-02 -1.53208680e-03 9.99938389e-01 7.72982366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08255784400001 meters Centerline goodness : 0.361629 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.11, Z:0.77 [[ 9.99928916e-01 7.12598244e-03 -9.55950571e-03 -1.49962391e+00] [-7.12170940e-03 9.99974525e-01 4.80961291e-04 -1.13773202e-01] [ 9.56268950e-03 -4.12847081e-04 9.99954191e-01 7.74067040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11255784400001 meters Centerline goodness : 0.122969 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.11, Z:0.77 [[ 9.99926998e-01 7.24148421e-03 -9.67264379e-03 -1.49942686e+00] [-7.23592657e-03 9.99973635e-01 6.09446023e-04 -1.14335640e-01] [ 9.67680207e-03 -5.39410992e-04 9.99953033e-01 7.74322098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142557844 meters Centerline goodness : 0.124516 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99923274e-01 7.54127603e-03 -9.82731015e-03 -1.49887823e+00] [-7.52981269e-03 9.99970927e-01 1.20295717e-03 -1.16919553e-01] [ 9.83609627e-03 -1.12886706e-03 9.99950987e-01 7.74038633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172557844 meters Centerline goodness : 0.139585 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99920958e-01 7.67008238e-03 -9.96229679e-03 -1.49840398e+00] [-7.65499080e-03 9.99969496e-01 1.55211927e-03 -1.18665269e-01] [ 9.97389777e-03 -1.47573530e-03 9.99949170e-01 7.73813499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844000005 meters Centerline goodness : 0.123398 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.12, Z:0.77 [[ 0.99993356 -0.00169375 -0.01140162 -1.51941556] [ 0.00172182 0.99999551 0.00245232 -0.11739203] [ 0.01139741 -0.00247179 0.99993199 0.77357584] [ 0. 0. 0. 1. ]] SLAMing on 46.232557844000006 meters Centerline goodness : 0.119484 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99991028 0.00691552 -0.01147179 -1.50073806] [-0.00688859 0.99997343 0.00238576 -0.12526207] [ 0.01148798 -0.00230652 0.99993135 0.77444463] [ 0. 0. 0. 1. ]] SLAMing on 46.26255784400001 meters Centerline goodness : 0.120447 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990991 0.00716261 -0.01135183 -1.50106538] [-0.00713013 0.99997038 0.00289853 -0.12722284] [ 0.01137225 -0.00281733 0.99993136 0.77450091] [ 0. 0. 0. 1. ]] SLAMing on 46.29255784400001 meters Centerline goodness : 0.123173 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990945 0.00735203 -0.01127149 -1.50130113] [-0.00731546 0.99996785 0.00328255 -0.12872022] [ 0.01129526 -0.00319979 0.99993109 0.77457334] [ 0. 0. 0. 1. ]] SLAMing on 46.322557844 meters Centerline goodness : 0.119883 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99990517 0.00754125 -0.01152271 -1.50053759] [-0.00749836 0.99996482 0.00376051 -0.13105372] [ 0.01155066 -0.00367375 0.99992654 0.77439684] [ 0. 0. 0. 1. ]] SLAMing on 46.352557844 meters Centerline goodness : 0.121093 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.77 [[ 9.99916840e-01 -7.73863961e-04 -1.28730237e-02 -1.47882066e+00] [ 8.21778671e-04 9.99992753e-01 3.71722916e-03 -1.24811380e-01] [ 1.28700538e-02 -3.72749881e-03 9.99910230e-01 7.74534207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382557844000004 meters Centerline goodness : 0.121514 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.13, Z:0.77 [[ 9.99912174e-01 -7.39116891e-04 -1.32324278e-02 -1.47738181e+00] [ 7.88866858e-04 9.99992639e-01 3.75487602e-03 -1.25037918e-01] [ 1.32295551e-02 -3.76498487e-03 9.99905397e-01 7.73564532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412557844000006 meters Centerline goodness : 0.143194 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 0.99986935 0.0072409 -0.01445195 -1.49700682] [-0.00719979 0.99996989 0.00289471 -0.12990467] [ 0.01447247 -0.00279028 0.99989138 0.77195652] [ 0. 0. 0. 1. ]] SLAMing on 46.44255784400001 meters Centerline goodness : 0.150669 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99993869 0.00246963 -0.01079421 -1.47251712] [-0.00241633 0.99998484 0.00494764 -0.13030688] [ 0.01080627 -0.00492125 0.9999295 0.77107674] [ 0. 0. 0. 1. ]] SLAMing on 46.47255784400001 meters Centerline goodness : 0.119707 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99994032 0.00259543 -0.01061253 -1.47349301] [-0.00253809 0.99998213 0.00541236 -0.13270167] [ 0.01062639 -0.0053851 0.99992904 0.77200538] [ 0. 0. 0. 1. ]] SLAMing on 46.50255784400001 meters Centerline goodness : 0.119707 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.13, Z:0.77 [[ 0.99994032 0.00259543 -0.01061253 -1.47349301] [-0.00253809 0.99998213 0.00541236 -0.13270167] [ 0.01062639 -0.0053851 0.99992904 0.77200538] [ 0. 0. 0. 1. ]] SLAMing on 46.532557844 meters Centerline goodness : 0.119755 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99947188e-01 -6.42642236e-04 -1.02570824e-02 -1.47418650e+00] [ 6.66847985e-04 9.99997001e-01 2.35666034e-03 -1.35011872e-01] [ 1.02555372e-02 -2.36337579e-03 9.99944618e-01 7.71709213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562557844000004 meters Centerline goodness : 0.143529 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99943486e-01 -5.84425116e-04 -1.06152809e-02 -1.47297273e+00] [ 6.13859734e-04 9.99995976e-01 2.76980686e-03 -1.37262553e-01] [ 1.06136194e-02 -2.77616662e-03 9.99939820e-01 7.71155819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592557844000005 meters Centerline goodness : 0.122836 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99940126e-01 -4.52931360e-04 -1.09333881e-02 -1.47194341e+00] [ 4.88512511e-04 9.99994593e-01 3.25190599e-03 -1.39631357e-01] [ 1.09318561e-02 -3.25705238e-03 9.99934941e-01 7.70749197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622557844000006 meters Centerline goodness : 0.135932 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.14, Z:0.77 [[ 9.99939397e-01 -2.10511972e-04 -1.10071354e-02 -1.47136674e+00] [ 2.56163577e-04 9.99991372e-01 4.14621026e-03 -1.42867057e-01] [ 1.10061676e-02 -4.14877862e-03 9.99930824e-01 7.69814158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65255784400001 meters Centerline goodness : 0.120364 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.77 [[ 9.99930609e-01 -3.66276982e-03 -1.11964912e-02 -1.47079118e+00] [ 3.67801142e-03 9.99992337e-01 1.34099595e-03 -1.47910356e-01] [ 1.11914936e-02 -1.38208372e-03 9.99936418e-01 7.69886538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68255784400001 meters Centerline goodness : 0.122427 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.77 [[ 0.99992981 -0.00351778 -0.01131404 -1.47084205] [ 0.00353848 0.9999921 0.0018099 -0.15033975] [ 0.01130758 -0.0018498 0.99993436 0.7705358 ] [ 0. 0. 0. 1. ]] SLAMing on 46.712557844 meters Centerline goodness : 0.123371 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:0.77 [[ 9.99912252e-01 5.12873126e-03 -1.22140733e-02 -1.48948482e+00] [-5.11997234e-03 9.99986613e-01 7.48278823e-04 -1.59483673e-01] [ 1.22177475e-02 -6.85677446e-04 9.99925125e-01 7.70604981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844000004 meters Centerline goodness : 0.135475 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99992028 0.00809796 -0.00968832 -1.44942127] [-0.00808225 0.99996596 0.00166013 -0.16095394] [ 0.00970143 -0.00158169 0.99995169 0.7720736 ] [ 0. 0. 0. 1. ]] SLAMing on 46.772557844000005 meters Centerline goodness : 0.134484 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:0.77 [[ 9.99957631e-01 3.70993592e-04 -9.19776627e-03 -1.47315874e+00] [-3.34109002e-04 9.99991899e-01 4.01138046e-03 -1.58897966e-01] [ 9.19917995e-03 -4.00813744e-03 9.99949654e-01 7.72548871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802557844000006 meters Centerline goodness : 0.131219 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99991249 0.01010959 -0.00853229 -1.45237929] [-0.01007958 0.99994289 0.0035528 -0.16363093] [ 0.00856772 -0.00346649 0.99995729 0.77328799] [ 0. 0. 0. 1. ]] SLAMing on 46.83255784400001 meters Centerline goodness : 0.115099 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99990621 0.01026365 -0.0090679 -1.45072129] [-0.01023196 0.99994141 0.00353403 -0.16353319] [ 0.00910364 -0.00344092 0.99995264 0.77298849] [ 0. 0. 0. 1. ]] SLAMing on 46.86255784400001 meters Centerline goodness : 0.115149 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99989803 0.01043173 -0.0097521 -1.44846771] [-0.01039759 0.99993966 0.00354499 -0.16349245] [ 0.0097885 -0.00344323 0.99994616 0.7722812 ] [ 0. 0. 0. 1. ]] SLAMing on 46.892557844 meters Centerline goodness : 0.138742 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.16, Z:0.77 [[ 0.99989291 0.0105559 -0.01013602 -1.44701558] [-0.01051957 0.99993808 0.00363047 -0.16367655] [ 0.01017371 -0.00352345 0.99994204 0.7715628 ] [ 0. 0. 0. 1. ]] SLAMing on 46.922557844 meters Centerline goodness : 0.146361 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.17, Z:0.77 [[ 0.99989155 0.01081681 -0.00999386 -1.44734192] [-0.01077502 0.99993302 0.00422522 -0.16591149] [ 0.01003889 -0.00411707 0.99994113 0.77144472] [ 0. 0. 0. 1. ]] SLAMing on 46.952557844000005 meters Centerline goodness : 0.138614 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:0.77 [[ 9.99949612e-01 1.15897511e-03 -9.97147377e-03 -1.46808412e+00] [-1.11155168e-03 9.99988053e-01 4.76013837e-03 -1.63177064e-01] [ 9.97687152e-03 -4.74881471e-03 9.99938954e-01 7.70888963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982557844000006 meters Centerline goodness : 0.112599 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99946689e-01 1.23029121e-03 -1.02521442e-02 -1.46761632e+00] [-1.17754224e-03 9.99986047e-01 5.14961345e-03 -1.65241152e-01] [ 1.02583367e-02 -5.13726658e-03 9.99934185e-01 7.71349811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01255784400001 meters Centerline goodness : 0.135573 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994315 -0.00263257 -0.01033282 -1.46696952] [ 0.00265149 0.99999483 0.00181733 -0.16866572] [ 0.01032799 -0.00184462 0.99994496 0.77072358] [ 0. 0. 0. 1. ]] SLAMing on 47.04255784400001 meters Centerline goodness : 0.115057 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994355 -0.00245074 -0.01033856 -1.46673977] [ 0.00247831 0.99999341 0.00265474 -0.17187603] [ 0.01033199 -0.00268021 0.99994303 0.77007512] [ 0. 0. 0. 1. ]] SLAMing on 47.072557844 meters Centerline goodness : 0.143801 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 0.99994641 -0.00229479 -0.01009463 -1.46736356] [ 0.00232921 0.99999151 0.00339976 -0.17464179] [ 0.01008674 -0.00342309 0.99994327 0.76983367] [ 0. 0. 0. 1. ]] SLAMing on 47.102557844 meters Centerline goodness : 0.149479 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.18, Z:0.77 [[ 0.99994879 -0.00223269 -0.00987096 -1.46811626] [ 0.0022702 0.99999024 0.00379095 -0.17620993] [ 0.0098624 -0.00381317 0.99994409 0.770067 ] [ 0. 0. 0. 1. ]] SLAMing on 47.132557844000004 meters Centerline goodness : 0.137315 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.18, Z:0.77 [[ 0.99994933 -0.00216857 -0.00983009 -1.46853029] [ 0.002207 0.99998996 0.00389971 -0.17679094] [ 0.00982153 -0.00392121 0.99994408 0.77070184] [ 0. 0. 0. 1. ]] SLAMing on 47.162557844000006 meters Centerline goodness : 0.113303 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99943860e-01 1.05535903e-03 -1.05433635e-02 -1.46680460e+00] [-9.86148097e-04 9.99977948e-01 6.56745062e-03 -1.74544687e-01] [ 1.05500620e-02 -6.55668461e-03 9.99922850e-01 7.71578023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19255784400001 meters Centerline goodness : 0.148671 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.77 [[ 9.99941731e-01 1.07528218e-03 -1.07414476e-02 -1.46605810e+00] [-1.00505369e-03 9.99978100e-01 6.54134450e-03 -1.74476162e-01] [ 1.07482462e-02 -6.53016761e-03 9.99920913e-01 7.71175010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22255784400001 meters Centerline goodness : 0.113138 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988903 0.0092725 -0.01165975 -1.48367588] [-0.00921525 0.99994526 0.00495454 -0.18196403] [ 0.01170505 -0.00484654 0.99991975 0.77018862] [ 0. 0. 0. 1. ]] SLAMing on 47.25255784400001 meters Centerline goodness : 0.132298 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988859 0.00931365 -0.01166503 -1.48365995] [-0.00925561 0.99994456 0.00502023 -0.18233062] [ 0.01171114 -0.0049117 0.99991936 0.77021184] [ 0. 0. 0. 1. ]] SLAMing on 47.282557844 meters Centerline goodness : 0.112981 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.9998878 0.00937631 -0.01168176 -1.48369431] [-0.00931694 0.99994346 0.00512634 -0.18282771] [ 0.01172917 -0.00501692 0.99991863 0.77040808] [ 0. 0. 0. 1. ]] SLAMing on 47.312557844000004 meters Centerline goodness : 0.131802 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:0.77 [[ 0.99988717 0.00947544 -0.01165642 -1.48396644] [-0.00941355 0.99994137 0.00535246 -0.18378999] [ 0.01170645 -0.00524213 0.99991774 0.77079867] [ 0. 0. 0. 1. ]] SLAMing on 47.342557844000005 meters Centerline goodness : 0.159688 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:0.77 [[ 0.99988 0.00964038 -0.01212601 -1.48278427] [-0.00957307 0.99993852 0.00559645 -0.1850731 ] [ 0.01217922 -0.00547969 0.99991082 0.77101762] [ 0. 0. 0. 1. ]] SLAMing on 47.372557844000006 meters Centerline goodness : 0.137237 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99918700e-01 1.97701202e-04 -1.27496593e-02 -1.50094920e+00] [-1.21164940e-04 9.99981972e-01 6.00349760e-03 -1.79171039e-01] [ 1.27506163e-02 -6.00146470e-03 9.99900697e-01 7.69665934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40255784400001 meters Centerline goodness : 0.132504 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99924199e-01 1.72442481e-04 -1.23112253e-02 -1.50193199e+00] [-1.01072772e-04 9.99983189e-01 5.79751157e-03 -1.77968409e-01] [ 1.23120180e-02 -5.79582779e-03 9.99907407e-01 7.69386965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43255784400001 meters Centerline goodness : 0.134274 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99929138e-01 1.60378692e-04 -1.19034832e-02 -1.50322528e+00] [-9.35983762e-05 9.99984257e-01 5.61049416e-03 -1.76702259e-01] [ 1.19041956e-02 -5.60898245e-03 9.99913411e-01 7.69798686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462557844 meters Centerline goodness : 0.138842 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:0.77 [[ 9.99931898e-01 9.29959353e-05 -1.16700914e-02 -1.50395773e+00] [-3.00033380e-05 9.99985431e-01 5.39783996e-03 -1.75545709e-01] [ 1.16704234e-02 -5.39712221e-03 9.99917333e-01 7.70015801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492557844000004 meters Centerline goodness : 0.178154 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99989631 0.00762904 -0.01221344 -1.52395836] [-0.00757682 0.99996198 0.00431591 -0.18005876] [ 0.0122459 -0.00422293 0.9999161 0.76893645] [ 0. 0. 0. 1. ]] SLAMing on 47.522557844000005 meters Centerline goodness : 0.138680 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99988898 0.00736714 -0.01295213 -1.5222631 ] [-0.00731998 0.99996642 0.0036851 -0.17838436] [ 0.01297885 -0.00358988 0.99990933 0.76937818] [ 0. 0. 0. 1. ]] SLAMing on 47.552557844000006 meters Centerline goodness : 0.140788 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99988903 0.00731456 -0.01297808 -1.52225089] [-0.00726815 0.99996704 0.00361958 -0.1781707 ] [ 0.01300412 -0.00352485 0.99990923 0.76944568] [ 0. 0. 0. 1. ]] SLAMing on 47.58255784400001 meters Centerline goodness : 0.111653 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99989078 0.0072916 -0.01285546 -1.52269452] [-0.00724547 0.99996716 0.00363181 -0.17816138] [ 0.01288152 -0.00353827 0.99991077 0.76954846] [ 0. 0. 0. 1. ]] SLAMing on 47.61255784400001 meters Centerline goodness : 0.116340 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99991313 -0.00199378 -0.01302931 -1.54281265] [ 0.00205796 0.99998581 0.00491471 -0.17452388] [ 0.01301933 -0.00494109 0.99990304 0.76832108] [ 0. 0. 0. 1. ]] SLAMing on 47.642557844 meters Centerline goodness : 0.116953 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99991927 -0.002182 -0.01251754 -1.54440642] [ 0.00224385 0.99998533 0.00492969 -0.1748714 ] [ 0.0125066 -0.00495738 0.9999095 0.76867306] [ 0. 0. 0. 1. ]] SLAMing on 47.672557844 meters Centerline goodness : 0.121661 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99993257 0.00526989 -0.01034857 -1.52371092] [-0.00524688 0.9999837 0.00224995 -0.17621525] [ 0.01036026 -0.0021955 0.99994392 0.76786071] [ 0. 0. 0. 1. ]] SLAMing on 47.702557844000005 meters Centerline goodness : 0.155738 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99993117 0.005393 -0.01042019 -1.52333906] [-0.00536586 0.99998214 0.00263041 -0.1780072 ] [ 0.01043419 -0.00257431 0.99994225 0.76750738] [ 0. 0. 0. 1. ]] SLAMing on 47.732557844000006 meters Centerline goodness : 0.113147 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992941 0.0054574 -0.01055393 -1.52288413] [-0.00542775 0.99998125 0.00283568 -0.17903103] [ 0.01056921 -0.00277819 0.99994028 0.76730826] [ 0. 0. 0. 1. ]] SLAMing on 47.76255784400001 meters Centerline goodness : 0.139019 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992632 0.00549493 -0.01082412 -1.52210808] [-0.00546276 0.99998058 0.00299971 -0.17996498] [ 0.01084039 -0.00294036 0.99993692 0.7672138 ] [ 0. 0. 0. 1. ]] SLAMing on 47.79255784400001 meters Centerline goodness : 0.116660 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99992245 0.00548416 -0.01118092 -1.52101659] [-0.00545051 0.99998053 0.0030373 -0.18032847] [ 0.01119736 -0.00297612 0.99993288 0.76688016] [ 0. 0. 0. 1. ]] SLAMing on 47.822557844 meters Centerline goodness : 0.133047 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.18, Z:0.77 [[ 0.99991001 0.00562518 -0.01217908 -1.51749647] [-0.00559024 0.99998017 0.00290074 -0.17912951] [ 0.01219515 -0.00283239 0.99992162 0.76500216] [ 0. 0. 0. 1. ]] SLAMing on 47.852557844 meters Centerline goodness : 0.138563 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.18, Z:0.76 [[ 0.99989855 0.00599054 -0.01292327 -1.51474348] [-0.00595191 0.99997771 0.00302504 -0.17893418] [ 0.01294111 -0.00294782 0.99991192 0.76375971] [ 0. 0. 0. 1. ]] SLAMing on 47.882557844000004 meters Centerline goodness : 0.142260 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987747 0.00589264 -0.01450219 -1.55258668] [-0.0058571 0.99997974 0.00249149 -0.17961647] [ 0.01451658 -0.00240624 0.99989173 0.76287954] [ 0. 0. 0. 1. ]] SLAMing on 47.912557844000006 meters Centerline goodness : 0.135892 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987336 0.00583677 -0.01480554 -1.55180972] [-0.00580479 0.99998073 0.00220241 -0.17861645] [ 0.01481811 -0.00211619 0.99988797 0.76304477] [ 0. 0. 0. 1. ]] SLAMing on 47.94255784400001 meters Centerline goodness : 0.137049 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.76 [[ 0.99987238 0.00571176 -0.01491958 -1.55202619] [-0.00568566 0.99998223 0.00179113 -0.17726852] [ 0.01492954 -0.00170608 0.99988709 0.76406013] [ 0. 0. 0. 1. ]] SLAMing on 47.97255784400001 meters Centerline goodness : 0.133156 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99883878e-01 5.57066996e-03 -1.41844025e-02 -1.55494671e+00] [-5.55182842e-03 9.99983654e-01 1.36735860e-03 -1.75614686e-01] [ 1.41917877e-02 -1.28845045e-03 9.99898461e-01 7.65931914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00255784400001 meters Centerline goodness : 0.129976 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 9.99885677e-01 5.53711961e-03 -1.40702784e-02 -1.55526029e+00] [-5.51921092e-03 9.99983909e-01 1.31131499e-03 -1.75360482e-01] [ 1.40773129e-02 -1.23350825e-03 9.99900149e-01 7.65974478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032557844 meters Centerline goodness : 0.114729 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 9.99885457e-01 5.58040250e-03 -1.40688647e-02 -1.55506574e+00] [-5.56092579e-03 9.99983525e-01 1.42312403e-03 -1.75766786e-01] [ 1.40765745e-02 -1.34472510e-03 9.99900016e-01 7.65628146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844000004 meters Centerline goodness : 0.111364 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99883604e-01 5.62216507e-03 -1.41834620e-02 -1.55467710e+00] [-5.60085098e-03 9.99983126e-01 1.54201710e-03 -1.76436760e-01] [ 1.41918922e-02 -1.46239816e-03 9.99898221e-01 7.65498809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092557844000005 meters Centerline goodness : 0.136288 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99880770e-01 5.61981318e-03 -1.43827372e-02 -1.55429549e+00] [-5.59872839e-03 9.99983193e-01 1.50582376e-03 -1.76504435e-01] [ 1.43909579e-02 -1.42511918e-03 9.99895429e-01 7.65733638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844000006 meters Centerline goodness : 0.113403 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.77 [[ 9.99877244e-01 5.61596785e-03 -1.46272847e-02 -1.55383429e+00] [-5.59630922e-03 9.99983382e-01 1.38455503e-03 -1.76053981e-01] [ 1.46348172e-02 -1.30252626e-03 9.99892057e-01 7.66038883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15255784400001 meters Centerline goodness : 0.135537 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.77 [[ 9.99873028e-01 5.57060275e-03 -1.49297160e-02 -1.55346324e+00] [-5.55618714e-03 9.99984057e-01 1.00686931e-03 -1.74613233e-01] [ 1.49350869e-02 -9.23789169e-04 9.99888039e-01 7.66796110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18255784400001 meters Centerline goodness : 0.249697 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.17, Z:0.77 [[ 0.99989443 -0.00205004 -0.01438525 -1.53492626] [ 0.00207936 0.99999579 0.00202384 -0.16582509] [ 0.01438105 -0.00205353 0.99989448 0.76767122] [ 0. 0. 0. 1. ]] SLAMing on 48.212557844 meters Centerline goodness : 0.133196 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99989584 -0.00208862 -0.0142813 -1.53523665] [ 0.00211629 0.99999591 0.00192262 -0.16540293] [ 0.01427722 -0.00195264 0.99989617 0.76775007] [ 0. 0. 0. 1. ]] SLAMing on 48.242557844000004 meters Centerline goodness : 0.120940 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99989769 -0.00212597 -0.01414517 -1.53568309] [ 0.00215164 0.99999607 0.00179939 -0.16478636] [ 0.01414129 -0.00182965 0.99989833 0.76788397] [ 0. 0. 0. 1. ]] SLAMing on 48.272557844000005 meters Centerline goodness : 0.166984 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99990002 -0.00214582 -0.01397688 -1.53649612] [ 0.00216992 0.99999618 0.00170936 -0.16412121] [ 0.01397315 -0.00173952 0.99990086 0.76846668] [ 0. 0. 0. 1. ]] SLAMing on 48.302557844000006 meters Centerline goodness : 0.133587 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.16, Z:0.77 [[ 0.99990155 -0.00211722 -0.01387144 -1.53718069] [ 0.00214285 0.99999602 0.00183274 -0.16462141] [ 0.01386751 -0.00186229 0.99990211 0.76918937] [ 0. 0. 0. 1. ]] SLAMing on 48.33255784400001 meters Centerline goodness : 0.143878 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990319 -0.00209342 -0.01375579 -1.53782213] [ 0.00212192 0.99999563 0.00205729 -0.16580265] [ 0.01375143 -0.00208628 0.99990327 0.76982756] [ 0. 0. 0. 1. ]] SLAMing on 48.36255784400001 meters Centerline goodness : 0.204616 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.9999029 -0.00209577 -0.01377684 -1.5380225 ] [ 0.00212734 0.99999514 0.00227771 -0.16704673] [ 0.013772 -0.0023068 0.9999025 0.77028068] [ 0. 0. 0. 1. ]] SLAMing on 48.392557844 meters Centerline goodness : 0.204616 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.9999029 -0.00209577 -0.01377684 -1.5380225 ] [ 0.00212734 0.99999514 0.00227771 -0.16704673] [ 0.013772 -0.0023068 0.9999025 0.77028068] [ 0. 0. 0. 1. ]] SLAMing on 48.422557844 meters Centerline goodness : 0.118067 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990763 -0.00212424 -0.01342426 -1.53890828] [ 0.0021602 0.99999412 0.00266449 -0.16849087] [ 0.01341852 -0.00269324 0.99990634 0.76995911] [ 0. 0. 0. 1. ]] SLAMing on 48.452557844000005 meters Centerline goodness : 0.134116 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.999909 -0.00209519 -0.01332647 -1.53907777] [ 0.00213292 0.99999376 0.00281753 -0.16927052] [ 0.01332049 -0.0028457 0.99990723 0.76982273] [ 0. 0. 0. 1. ]] SLAMing on 48.482557844000006 meters Centerline goodness : 0.113548 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990766 -0.00208843 -0.01342778 -1.53873827] [ 0.00212959 0.99999308 0.00305176 -0.17072381] [ 0.01342131 -0.00308008 0.99990519 0.76974564] [ 0. 0. 0. 1. ]] SLAMing on 48.51255784400001 meters Centerline goodness : 0.127861 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990621 -0.00204637 -0.01354189 -1.53868306] [ 0.0020891 0.99999288 0.00314184 -0.17109388] [ 0.01353537 -0.00316983 0.99990337 0.77018109] [ 0. 0. 0. 1. ]] SLAMing on 48.54255784400001 meters Centerline goodness : 0.135828 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.17, Z:0.77 [[ 0.99990443 -0.00204028 -0.01367362 -1.5386115 ] [ 0.00208084 0.99999348 0.00295256 -0.17048755] [ 0.01366751 -0.00298073 0.99990215 0.77079231] [ 0. 0. 0. 1. ]] SLAMing on 48.572557844 meters Centerline goodness : 0.171665 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.77 [[ 0.99988856 0.00761098 -0.01284319 -1.51804668] [-0.00758597 0.99996924 0.00199479 -0.1717276 ] [ 0.01285798 -0.00189714 0.99991553 0.7715467 ] [ 0. 0. 0. 1. ]] SLAMing on 48.602557844 meters Centerline goodness : 0.125118 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.77 [[ 0.99988431 0.00762104 -0.01316349 -1.51702855] [-0.00759884 0.99996962 0.00173541 -0.17064635] [ 0.01317632 -0.00163518 0.99991185 0.77140978] [ 0. 0. 0. 1. ]] SLAMing on 48.632557844000004 meters Centerline goodness : 0.134762 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99984216 0.00653985 -0.0165194 -1.56128903] [-0.00650011 0.99997585 0.00245849 -0.17327275] [ 0.01653508 -0.00235073 0.99986052 0.77222164] [ 0. 0. 0. 1. ]] SLAMing on 48.662557844000006 meters Centerline goodness : 0.141266 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99983489 0.00658841 -0.01693482 -1.55988703] [-0.00655112 0.999976 0.0022563 -0.1722639 ] [ 0.01694928 -0.00214498 0.99985405 0.77177363] [ 0. 0. 0. 1. ]] SLAMing on 48.69255784400001 meters Centerline goodness : 0.132177 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99982701 0.006691 -0.01735484 -1.55830509] [-0.00665431 0.9999755 0.00217082 -0.17158394] [ 0.01736894 -0.00205496 0.99984704 0.77103649] [ 0. 0. 0. 1. ]] SLAMing on 48.72255784400001 meters Centerline goodness : 0.173817 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981579 0.0068642 -0.017924 -1.55621356] [-0.00682493 0.99997418 0.00225143 -0.17177834] [ 0.01793899 -0.00212868 0.99983682 0.7701167 ] [ 0. 0. 0. 1. ]] SLAMing on 48.75255784400001 meters Centerline goodness : 0.139184 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981373 0.00691247 -0.01802026 -1.55608639] [-0.00686997 0.99997348 0.00241915 -0.17275676] [ 0.0180365 -0.0022949 0.9998347 0.77030729] [ 0. 0. 0. 1. ]] SLAMing on 48.782557844 meters Centerline goodness : 0.201604 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.17, Z:0.77 [[ 0.99981597 0.00696195 -0.0178763 -1.55676886] [-0.00691403 0.99997234 0.00274069 -0.17435684] [ 0.01789489 -0.00261659 0.99983645 0.77078138] [ 0. 0. 0. 1. ]] SLAMing on 48.812557844000004 meters Centerline goodness : 0.114010 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99982171 0.0069696 -0.01754928 -1.55786557] [-0.00691562 0.99997117 0.00313517 -0.17612569] [ 0.01757062 -0.00301324 0.99984108 0.77104998] [ 0. 0. 0. 1. ]] SLAMing on 48.842557844000005 meters Centerline goodness : 0.141594 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99982515 0.00710644 -0.01729621 -1.55898572] [-0.00704163 0.99996797 0.00380473 -0.17935925] [ 0.0173227 -0.00368228 0.99984317 0.77197053] [ 0. 0. 0. 1. ]] SLAMing on 48.872557844000006 meters Centerline goodness : 0.158746 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.18, Z:0.77 [[ 0.99985351 0.00497257 -0.01637802 -1.56186035] [-0.00493767 0.99998545 0.00217061 -0.18404833] [ 0.01638857 -0.00208942 0.99986352 0.77224357] [ 0. 0. 0. 1. ]] SLAMing on 48.90255784400001 meters Centerline goodness : 0.146415 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.19, Z:0.77 [[ 0.99985021 0.00505928 -0.01655192 -1.56134665] [-0.00501911 0.99998436 0.00246762 -0.18539426] [ 0.01656414 -0.00238417 0.99985996 0.77207558] [ 0. 0. 0. 1. ]] SLAMing on 48.93255784400001 meters Centerline goodness : 0.182974 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.77 [[ 0.99985704 -0.00318751 -0.01660514 -1.54067842] [ 0.00323993 0.99998985 0.00313095 -0.17930062] [ 0.016595 -0.0031843 0.99985722 0.77196892] [ 0. 0. 0. 1. ]] SLAMing on 48.962557844 meters Centerline goodness : 0.161987 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.19, Z:0.77 [[ 0.99988616 0.00435736 -0.01444597 -1.56121491] [-0.0043108 0.99998542 0.00325288 -0.19172521] [ 0.01445993 -0.00319023 0.99989036 0.77049619] [ 0. 0. 0. 1. ]] SLAMing on 48.992557844000004 meters Centerline goodness : 0.201228 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990746 0.00235132 -0.01339908 -1.56543606] [-0.00232645 0.99999554 0.00187138 -0.19656206] [ 0.01340342 -0.00184003 0.99990848 0.77201172] [ 0. 0. 0. 1. ]] SLAMing on 49.022557844000005 meters Centerline goodness : 0.145932 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990647 0.00248561 -0.01344855 -1.56573414] [-0.00245477 0.99999432 0.00230919 -0.19875147] [ 0.01345421 -0.00227596 0.9999069 0.77280388] [ 0. 0. 0. 1. ]] SLAMing on 49.052557844000006 meters Centerline goodness : 0.138005 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990193 0.0025617 -0.01376824 -1.56515272] [-0.00252437 0.99999309 0.00272767 -0.20106418] [ 0.01377514 -0.00269265 0.99990149 0.77324412] [ 0. 0. 0. 1. ]] SLAMing on 49.08255784400001 meters Centerline goodness : 0.138033 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.9998969 0.00273637 -0.01409585 -1.56424501] [-0.00268964 0.99999083 0.00333286 -0.20422974] [ 0.01410484 -0.00329461 0.99989509 0.77316847] [ 0. 0. 0. 1. ]] SLAMing on 49.11255784400001 meters Centerline goodness : 0.157657 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989682 0.00281834 -0.01408592 -1.56412739] [-0.00276915 0.99999 0.00351046 -0.20505702] [ 0.01409567 -0.00347109 0.99989463 0.77292303] [ 0. 0. 0. 1. ]] SLAMing on 49.142557844 meters Centerline goodness : 0.121630 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989701 0.00284405 -0.01406691 -1.56395239] [-0.00279458 0.99998985 0.00353469 -0.20517823] [ 0.01407682 -0.00349501 0.99989481 0.77255301] [ 0. 0. 0. 1. ]] SLAMing on 49.172557844 meters Centerline goodness : 0.135906 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989767 0.00286661 -0.01401552 -1.56399956] [-0.0028174 0.9999898 0.00352952 -0.20510724] [ 0.0140255 -0.00348967 0.99989555 0.77242207] [ 0. 0. 0. 1. ]] SLAMing on 49.202557844000005 meters Centerline goodness : 0.116194 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:0.77 [[ 0.99989872 0.00288926 -0.0139356 -1.56437017] [-0.00284025 0.99998972 0.0035357 -0.20504456] [ 0.01394567 -0.00349576 0.99989664 0.77273488] [ 0. 0. 0. 1. ]] SLAMing on 49.232557844000006 meters Centerline goodness : 0.375633 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.20, Z:0.77 [[ 0.99990398 0.00297657 -0.01353402 -1.56550764] [-0.0029326 0.99999036 0.00326784 -0.20312249] [ 0.01354362 -0.00322784 0.99990307 0.77290465] [ 0. 0. 0. 1. ]] SLAMing on 49.26255784400001 meters Centerline goodness : 0.147937 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989951 0.00306177 -0.0138417 -1.56453734] [-0.00302033 0.9999909 0.00301444 -0.20173466] [ 0.0138508 -0.00297233 0.99989966 0.77270797] [ 0. 0. 0. 1. ]] SLAMing on 49.29255784400001 meters Centerline goodness : 0.386362 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989527 0.00311366 -0.01413346 -1.5635076 ] [-0.00307466 0.99999141 0.00278 -0.20059181] [ 0.014142 -0.00273625 0.99989625 0.77234204] [ 0. 0. 0. 1. ]] SLAMing on 49.32255784400001 meters Centerline goodness : 0.175980 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 0.99989269 0.00302461 -0.0143341 -1.56281089] [-0.00299116 0.99999275 0.00235479 -0.19896789] [ 0.01434112 -0.00231166 0.99989449 0.77219407] [ 0. 0. 0. 1. ]] SLAMing on 49.352557844 meters Centerline goodness : 0.128045 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.20, Z:0.77 [[ 9.99897960e-01 2.58846103e-03 -1.40488556e-02 -1.56402996e+00] [-2.56888521e-03 9.99995705e-01 1.41127756e-03 -1.95534887e-01] [ 1.40524483e-02 -1.37504365e-03 9.99900314e-01 7.73031064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382557844000004 meters Centerline goodness : 0.137736 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99861538e-01 1.27713055e-03 -1.65913891e-02 -1.61062266e+00] [-1.23911714e-03 9.99996584e-01 2.30123080e-03 -1.98134731e-01] [ 1.65942714e-02 -2.28035349e-03 9.99859705e-01 7.75154516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412557844000006 meters Centerline goodness : 0.152543 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.77 [[ 9.99863794e-01 1.16987363e-03 -1.64628513e-02 -1.61080074e+00] [-1.13737759e-03 9.99997387e-01 1.98312516e-03 -1.96460243e-01] [ 1.64651283e-02 -1.96413057e-03 9.99862511e-01 7.74822121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44255784400001 meters Centerline goodness : 0.112180 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.77 [[ 9.99888330e-01 3.06352224e-03 -1.46267520e-02 -1.56556905e+00] [-3.04544416e-03 9.99994571e-01 1.25807368e-03 -1.90098891e-01] [ 1.46305267e-02 -1.21338823e-03 9.99892232e-01 7.73169703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47255784400001 meters Centerline goodness : 0.133836 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99838392e-01 1.39792368e-03 -1.79230354e-02 -1.60975073e+00] [-1.36738999e-03 9.99997593e-01 1.71574212e-03 -1.91838187e-01] [ 1.79253908e-02 -1.69095707e-03 9.99837897e-01 7.74016916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50255784400001 meters Centerline goodness : 0.156620 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99837326e-01 1.22870892e-03 -1.79947886e-02 -1.60951335e+00] [-1.20349218e-03 9.99998279e-01 1.41209805e-03 -1.90606354e-01] [ 1.79964927e-02 -1.39021175e-03 9.99837084e-01 7.73897903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532557844 meters Centerline goodness : 0.141716 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99842747e-01 9.75551818e-04 -1.77067489e-02 -1.61067094e+00] [-9.53336055e-04 9.99998748e-01 1.26304698e-03 -1.90253437e-01] [ 1.77079589e-02 -1.24596788e-03 9.99842425e-01 7.74342868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844000004 meters Centerline goodness : 0.360337 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99843864e-01 9.30215466e-04 -1.76460124e-02 -1.61082113e+00] [-9.09337902e-04 9.99998877e-01 1.19111892e-03 -1.89858377e-01] [ 1.76471006e-02 -1.17488676e-03 9.99843588e-01 7.74286497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592557844000005 meters Centerline goodness : 0.221774 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99847995e-01 8.85053610e-04 -1.74127458e-02 -1.61140844e+00] [-8.63256011e-04 9.99998834e-01 1.25929519e-03 -1.90057212e-01] [ 1.74138400e-02 -1.24407211e-03 9.99847594e-01 7.74149730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844000006 meters Centerline goodness : 0.112401 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99853889e-01 7.79542653e-04 -1.70761078e-02 -1.61255888e+00] [-7.57422556e-04 9.99998866e-01 1.30181192e-03 -1.90421343e-01] [ 1.70771032e-02 -1.28868788e-03 9.99853345e-01 7.74507351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65255784400001 meters Centerline goodness : 0.139227 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99986356 0.00666976 -0.015112 -1.5909477 ] [-0.0067149 0.99997314 -0.00293853 -0.19096623] [ 0.01509199 0.00303961 0.99988149 0.77411576] [ 0. 0. 0. 1. ]] SLAMing on 49.68255784400001 meters Centerline goodness : 0.173481 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99986281 0.00669792 -0.0151492 -1.59079842] [-0.00674099 0.99997338 -0.00279356 -0.19163351] [ 0.01513009 0.0028953 0.99988134 0.77393051] [ 0. 0. 0. 1. ]] SLAMing on 49.712557844 meters Centerline goodness : 0.137594 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:0.77 [[ 9.99822903e-01 5.45143651e-03 -1.80123586e-02 -1.63461490e+00] [-5.48028868e-03 9.99983777e-01 -1.55282624e-03 -1.95619921e-01] [ 1.80036012e-02 1.65126416e-03 9.99836558e-01 7.74470887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742557844000004 meters Centerline goodness : 0.186131 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:0.77 [[ 0.99985143 0.00663882 -0.01590723 -1.58922947] [-0.00666621 0.99997639 -0.00166964 -0.19244425] [ 0.01589577 0.00177543 0.99987208 0.77240108] [ 0. 0. 0. 1. ]] SLAMing on 49.772557844000005 meters Centerline goodness : 0.157048 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:0.77 [[ 9.99814458e-01 4.98590898e-03 -1.86061722e-02 -1.63408967e+00] [-5.00745657e-03 9.99986845e-01 -1.11167886e-03 -1.95645492e-01] [ 1.86003847e-02 1.20464220e-03 9.99826272e-01 7.73365834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802557844000006 meters Centerline goodness : 0.175580 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.77 [[ 9.99829191e-01 -2.47242047e-03 -1.83159829e-02 -1.61437953e+00] [ 2.46213260e-03 9.99996798e-01 -5.84216890e-04 -1.90462690e-01] [ 1.83173687e-02 5.39020722e-04 9.99832078e-01 7.74518829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83255784400001 meters Centerline goodness : 0.138787 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.20, Z:0.78 [[ 9.99803735e-01 6.89168500e-03 -1.85740969e-02 -1.63549684e+00] [-6.89927979e-03 9.99976140e-01 -3.44842276e-04 -1.98630365e-01] [ 1.85712772e-02 4.72922487e-04 9.99827427e-01 7.75405982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86255784400001 meters Centerline goodness : 0.181483 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99833027e-01 -3.89392870e-04 -1.82692970e-02 -1.61574643e+00] [ 3.99239717e-04 9.99999777e-01 5.35339219e-04 -1.93493469e-01] [ 1.82690845e-02 -5.42543661e-04 9.99832959e-01 7.76807785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892557844 meters Centerline goodness : 0.144802 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99830406e-01 -3.74499072e-04 -1.84124784e-02 -1.61534257e+00] [ 3.85651070e-04 9.99999744e-01 6.02129108e-04 -1.93921004e-01] [ 1.84122482e-02 -6.09127783e-04 9.99830295e-01 7.76718899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922557844 meters Centerline goodness : 0.209749 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99824222e-01 -3.70932605e-04 -1.87453112e-02 -1.61447806e+00] [ 3.83142011e-04 9.99999717e-01 6.47744020e-04 -1.94417170e-01] [ 1.87450656e-02 -6.54812277e-04 9.99824081e-01 7.76677029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952557844000005 meters Centerline goodness : 0.129508 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99820748e-01 -3.92591950e-04 -1.89292942e-02 -1.61384683e+00] [ 4.07008464e-04 9.99999630e-01 7.57751545e-04 -1.95205134e-01] [ 1.89289897e-02 -7.65320099e-04 9.99820538e-01 7.76411054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982557844000006 meters Centerline goodness : 0.138353 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.20, Z:0.78 [[ 9.99803526e-01 -3.97671750e-04 -1.98179753e-02 -1.65401186e+00] [ 4.22847851e-04 9.99999109e-01 1.26619277e-03 -1.98859234e-01] [ 1.98174541e-02 -1.27432399e-03 9.99802803e-01 7.76235873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01255784400001 meters Centerline goodness : 0.143990 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99838539e-01 8.69003856e-04 -1.79482689e-02 -1.61038656e+00] [-8.66256133e-04 9.99999612e-01 1.60865216e-04 -1.95292390e-01] [ 1.79484017e-02 -1.45291445e-04 9.99838904e-01 7.76176583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04255784400001 meters Centerline goodness : 0.186665 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:0.78 [[ 9.99837239e-01 7.97328972e-04 -1.80238611e-02 -1.61026131e+00] [-7.96623644e-04 9.99999682e-01 4.63126305e-05 -1.95049475e-01] [ 1.80238923e-02 -3.19468587e-05 9.99837556e-01 7.76338305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07255784400001 meters Centerline goodness : 0.115049 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99845376e-01 8.81287700e-04 -1.75626429e-02 -1.61161405e+00] [-8.82553609e-04 9.99999608e-01 -6.43291983e-05 -1.93840748e-01] [ 1.75625794e-02 7.98192254e-05 9.99845763e-01 7.76548635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102557844 meters Centerline goodness : 0.143170 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99853945e-01 9.51909184e-04 -1.70640775e-02 -1.61289659e+00] [-9.55707393e-04 9.99999520e-01 -2.14431744e-04 -1.92395743e-01] [ 1.70638652e-02 2.30708690e-04 9.99854375e-01 7.76582301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132557844000004 meters Centerline goodness : 0.114334 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.19, Z:0.78 [[ 9.99858746e-01 8.21312217e-04 -1.67873139e-02 -1.61387966e+00] [-8.30554099e-04 9.99999507e-01 -5.43563271e-04 -1.91099055e-01] [ 1.67868591e-02 5.57429262e-04 9.99858935e-01 7.77144078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162557844000006 meters Centerline goodness : 0.141386 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.19, Z:0.78 [[ 9.99863621e-01 8.24754257e-04 -1.64942339e-02 -1.61503655e+00] [-8.34178607e-04 9.99999493e-01 -5.64500567e-04 -1.91065059e-01] [ 1.64937599e-02 5.78182718e-04 9.99863802e-01 7.77880639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19255784400001 meters Centerline goodness : 0.149337 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.20, Z:0.78 [[ 0.99983662 0.00946598 -0.01539893 -1.59704382] [-0.00949851 0.99995281 -0.00204097 -0.19673424] [ 0.01537888 0.00218691 0.99987935 0.77954859] [ 0. 0. 0. 1. ]] SLAMing on 50.22255784400001 meters Centerline goodness : 0.188900 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.20, Z:0.78 [[ 0.99983702 0.00949267 -0.01535649 -1.59730132] [-0.00952387 0.99995273 -0.00196001 -0.19718948] [ 0.01533716 0.00210595 0.99988016 0.77978242] [ 0. 0. 0. 1. ]] SLAMing on 50.25255784400001 meters Centerline goodness : 0.084742 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99852803e-01 2.88398480e-03 -1.69131505e-02 -1.57834158e+00] [-2.88266258e-03 9.99995840e-01 1.02555993e-04 -1.91984694e-01] [ 1.69133759e-02 -5.37859912e-05 9.99856957e-01 7.80530288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282557844 meters Centerline goodness : 0.188422 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847688e-01 2.85837414e-03 -1.72171456e-02 -1.57727063e+00] [-2.85479010e-03 9.99995898e-01 2.32740441e-04 -1.93095808e-01] [ 1.72177402e-02 -1.83553655e-04 9.99851747e-01 7.80111093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312557844000004 meters Centerline goodness : 0.188422 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847688e-01 2.85837414e-03 -1.72171456e-02 -1.57727063e+00] [-2.85479010e-03 9.99995898e-01 2.32740441e-04 -1.93095808e-01] [ 1.72177402e-02 -1.83553655e-04 9.99851747e-01 7.80111093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342557844000005 meters Centerline goodness : 0.084283 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99841610e-01 2.82340751e-03 -1.75722182e-02 -1.57634159e+00] [-2.81674735e-03 9.99995951e-01 4.03755272e-04 -1.94581404e-01] [ 1.75732870e-02 -3.54194822e-04 9.99845515e-01 7.80128565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372557844000006 meters Centerline goodness : 0.182907 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99839419e-01 2.87994009e-03 -1.76873252e-02 -1.57623273e+00] [-2.86957202e-03 9.99995696e-01 6.11538158e-04 -1.95844249e-01] [ 1.76890103e-02 -5.60684904e-04 9.99843380e-01 7.80462290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40255784400001 meters Centerline goodness : 0.123481 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99841797e-01 2.94776636e-03 -1.75411675e-02 -1.57675401e+00] [-2.93538590e-03 9.99995424e-01 7.31499552e-04 -1.96245888e-01] [ 1.75432435e-02 -6.79893731e-04 9.99845874e-01 7.80719281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43255784400001 meters Centerline goodness : 0.190717 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:0.78 [[ 9.99846844e-01 3.00603974e-03 -1.72409881e-02 -1.57756768e+00] [-2.99380902e-03 9.99995248e-01 7.35164526e-04 -1.95883554e-01] [ 1.72431161e-02 -6.83435706e-04 9.99851093e-01 7.80773961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462557844 meters Centerline goodness : 0.134689 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99851651e-01 3.09155392e-03 -1.69445877e-02 -1.57770185e+00] [-3.08238855e-03 9.99995089e-01 5.66992973e-04 -1.94457303e-01] [ 1.69462574e-02 -5.14679057e-04 9.99856269e-01 7.79728108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492557844000004 meters Centerline goodness : 0.143497 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99847626e-01 2.99521302e-03 -1.71974983e-02 -1.57647345e+00] [-2.98964863e-03 9.99995470e-01 3.49258076e-04 -1.93637039e-01] [ 1.71984665e-02 -2.97790381e-04 9.99852051e-01 7.78717326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522557844000005 meters Centerline goodness : 0.328321 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99830495e-01 3.31228415e-03 -1.81110329e-02 -1.57341565e+00] [-3.30557706e-03 9.99994456e-01 4.00255516e-04 -1.93421844e-01] [ 1.81122582e-02 -3.40320256e-04 9.99835902e-01 7.77701000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552557844000006 meters Centerline goodness : 0.137218 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99812681e-01 3.75735230e-03 -1.89864527e-02 -1.57049583e+00] [-3.74830116e-03 9.99992844e-01 5.12280447e-04 -1.92951591e-01] [ 1.89882416e-02 -4.41017545e-04 9.99819610e-01 7.76651284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58255784400001 meters Centerline goodness : 0.147431 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99814170e-01 3.65198728e-03 -1.89284937e-02 -1.57090056e+00] [-3.64620246e-03 9.99993295e-01 3.40117165e-04 -1.92450856e-01] [ 1.89296088e-02 -2.71036841e-04 9.99820782e-01 7.77086061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61255784400001 meters Centerline goodness : 0.136963 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99815218e-01 3.47118358e-03 -1.89071704e-02 -1.57117710e+00] [-3.46970489e-03 9.99993974e-01 1.11011563e-04 -1.91974742e-01] [ 1.89074418e-02 -4.53887480e-05 9.99821237e-01 7.77426820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters Centerline goodness : 0.132777 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:0.78 [[ 9.99817171e-01 3.30726971e-03 -1.88331052e-02 -1.57146758e+00] [-3.30929667e-03 9.99994521e-01 -7.64633260e-05 -1.91560529e-01] [ 1.88327491e-02 1.38773679e-04 9.99822638e-01 7.77538899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672557844 meters Centerline goodness : 0.119354 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.78 [[ 9.99838972e-01 3.86124975e-03 -1.75248348e-02 -1.53098521e+00] [-3.85354775e-03 9.99992463e-01 4.73238646e-04 -1.88646699e-01] [ 1.75265301e-02 -4.05629654e-04 9.99846316e-01 7.77074030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702557844000005 meters Centerline goodness : 0.116931 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 0.99979508 0.00288966 -0.02003631 -1.57712372] [-0.00285213 0.99999412 0.00190168 -0.19126899] [ 0.02004168 -0.00184414 0.99979744 0.77848061] [ 0. 0. 0. 1. ]] SLAMing on 50.732557844000006 meters Centerline goodness : 0.156861 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 0.99979231 0.00280623 -0.02018588 -1.57637302] [-0.00277179 0.99999466 0.0017336 -0.19061551] [ 0.02019064 -0.00167729 0.99979474 0.77786655] [ 0. 0. 0. 1. ]] SLAMing on 50.76255784400001 meters Centerline goodness : 0.133629 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99799936e-01 -4.07120928e-04 -1.99980551e-02 -1.57619940e+00] [ 3.72797931e-04 9.99998451e-01 -1.72001476e-03 -1.91010218e-01] [ 1.99987244e-02 1.71221541e-03 9.99798539e-01 7.77022415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79255784400001 meters Centerline goodness : 0.115036 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99799800e-01 -5.10255721e-04 -2.00025050e-02 -1.57613343e+00] [ 4.71670886e-04 9.99998019e-01 -1.93367045e-03 -1.90108447e-01] [ 2.00034520e-02 1.92384873e-03 9.99798060e-01 7.76887066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82255784400001 meters Centerline goodness : 0.138174 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99809008e-01 -4.70273675e-04 -1.95378015e-02 -1.57746436e+00] [ 4.35400240e-04 9.99998305e-01 -1.78913659e-03 -1.89899685e-01] [ 1.95386098e-02 1.78028812e-03 9.99807518e-01 7.76835846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852557844 meters Centerline goodness : 0.124155 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99822939e-01 -1.93137298e-04 -1.88163066e-02 -1.58014573e+00] [ 1.70424632e-04 9.99999255e-01 -1.20866956e-03 -1.90756221e-01] [ 1.88165260e-02 1.20524879e-03 9.99822227e-01 7.77611213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882557844000004 meters Centerline goodness : 0.144679 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99821116e-01 -3.26699364e-04 -1.89110862e-02 -1.58003248e+00] [ 2.99972983e-04 9.99998952e-01 -1.41608471e-03 -1.90454934e-01] [ 1.89115290e-02 1.41015858e-03 9.99820167e-01 7.77851639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912557844000006 meters Centerline goodness : 0.116489 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99814456e-01 -4.86826399e-04 -1.92566226e-02 -1.57902684e+00] [ 4.56142177e-04 9.99998619e-01 -1.59779755e-03 -1.90221433e-01] [ 1.92573739e-02 1.58871733e-03 9.99813297e-01 7.77683247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94255784400001 meters Centerline goodness : 0.181876 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99808550e-01 -4.83619145e-04 -1.95609255e-02 -1.57788140e+00] [ 4.47905054e-04 9.99998225e-01 -1.83012735e-03 -1.89137406e-01] [ 1.95617759e-02 1.82101553e-03 9.99806992e-01 7.77127140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97255784400001 meters Centerline goodness : 0.117190 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:0.78 [[ 9.99792951e-01 2.42619389e-03 -2.02031953e-02 -1.57580436e+00] [-2.41246159e-03 9.99996842e-01 7.04053755e-04 -1.85748135e-01] [ 2.02048397e-02 -6.55168548e-04 9.99795647e-01 7.76591373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00255784400001 meters Centerline goodness : 0.176670 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99793858e-01 4.04790280e-03 -1.98961296e-02 -1.53503577e+00] [-4.02233818e-03 9.99991033e-01 1.32475490e-03 -1.81789670e-01] [ 1.99013136e-02 -1.24445285e-03 9.99801175e-01 7.76857955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032557844 meters Centerline goodness : 0.140692 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99806783e-01 3.94085966e-03 -1.92578868e-02 -1.53699571e+00] [-3.92602516e-03 9.99991967e-01 8.08053819e-04 -1.78999014e-01] [ 1.92609166e-02 -7.32290741e-04 9.99814223e-01 7.77484579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844000004 meters Centerline goodness : 0.142205 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99810828e-01 3.68561254e-03 -1.90977674e-02 -1.53787968e+00] [-3.67939407e-03 9.99993166e-01 3.60740015e-04 -1.77344092e-01] [ 1.90989664e-02 -2.90403561e-04 9.99817556e-01 7.78213114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092557844000005 meters Centerline goodness : 0.114961 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99814686e-01 3.60053814e-03 -1.89110852e-02 -1.53842235e+00] [-3.59807259e-03 9.99993513e-01 1.64399024e-04 -1.76253362e-01] [ 1.89115545e-02 -9.63251008e-05 9.99821156e-01 7.78237737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122557844000006 meters Centerline goodness : 0.211206 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99818849e-01 3.47378445e-03 -1.87136934e-02 -1.53859258e+00] [-3.47455246e-03 9.99993964e-01 -8.52641667e-06 -1.75230621e-01] [ 1.87135508e-02 7.35465815e-05 9.99824883e-01 7.77544755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15255784400001 meters Centerline goodness : 0.145274 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.18, Z:0.78 [[ 9.99822761e-01 3.48702932e-03 -1.85010025e-02 -1.53948746e+00] [-3.48646599e-03 9.99993920e-01 6.27030308e-05 -1.75611598e-01] [ 1.85011087e-02 1.81119865e-06 9.99828840e-01 7.78155369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18255784400001 meters Centerline goodness : 0.144172 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.17, Z:0.78 [[ 9.99846041e-01 -3.93644987e-03 -1.70996590e-02 -1.52114575e+00] [ 3.95824375e-03 9.99991396e-01 1.24086350e-03 -1.70935286e-01] [ 1.70946273e-02 -1.30835707e-03 9.99853020e-01 7.80397729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212557844 meters Centerline goodness : 0.188988 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:0.78 [[ 9.99872848e-01 5.33266901e-03 -1.50283188e-02 -1.50298491e+00] [-5.32251350e-03 9.99985579e-01 7.15674011e-04 -1.74990812e-01] [ 1.50319185e-02 -6.35594582e-04 9.99886812e-01 7.81401515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242557844000004 meters Centerline goodness : 0.137398 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99889028e-01 4.77194313e-03 -1.41124060e-02 -1.54603218e+00] [-4.75665196e-03 9.99988063e-01 1.11689396e-03 -1.76795316e-01] [ 1.41175673e-02 -1.04964222e-03 9.99899791e-01 7.80965760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272557844000005 meters Centerline goodness : 0.292040 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99891476e-01 4.72500238e-03 -1.39538787e-02 -1.54627941e+00] [-4.71096898e-03 9.99988364e-01 1.03839723e-03 -1.76246243e-01] [ 1.39586228e-02 -9.72548244e-04 9.99902101e-01 7.80655088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302557844000006 meters Centerline goodness : 0.145241 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.18, Z:0.78 [[ 9.99890266e-01 4.60012486e-03 -1.40816995e-02 -1.54561692e+00] [-4.59043420e-03 9.99989204e-01 7.20419168e-04 -1.75085981e-01] [ 1.40848615e-02 -6.55698999e-04 9.99900588e-01 7.80190524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33255784400001 meters Centerline goodness : 0.191379 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99889447e-01 4.55651791e-03 -1.41538447e-02 -1.54522364e+00] [-4.54815175e-03 9.99989463e-01 6.23220095e-04 -1.74693014e-01] [ 1.41565353e-02 -5.58777363e-04 9.99899635e-01 7.79838834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36255784400001 meters Centerline goodness : 0.123118 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99890811e-01 4.50694022e-03 -1.40731757e-02 -1.54519512e+00] [-4.50040569e-03 9.99989750e-01 4.95960210e-04 -1.73847353e-01] [ 1.40752667e-02 -4.32571057e-04 9.99900845e-01 7.79402706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392557844 meters Centerline goodness : 0.184994 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.17, Z:0.78 [[ 9.99892845e-01 4.54015823e-03 -1.39170581e-02 -1.54536300e+00] [-4.53381443e-03 9.99989603e-01 4.87345796e-04 -1.73325784e-01] [ 1.39191261e-02 -4.24196216e-04 9.99903034e-01 7.78922383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422557844 meters Centerline goodness : 0.161604 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.16, Z:0.78 [[ 0.99990237 -0.00257446 -0.01373409 -1.52623483] [ 0.0026004 0.99999487 0.00187094 -0.16416462] [ 0.01372921 -0.00190647 0.99990393 0.77948332] [ 0. 0. 0. 1. ]] SLAMing on 51.452557844000005 meters Centerline goodness : 0.287057 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.16, Z:0.78 [[ 9.99901172e-01 -2.71517540e-03 -1.37939925e-02 -1.52601287e+00] [ 2.73602002e-03 9.99995143e-01 1.49249039e-03 -1.62423535e-01] [ 1.37898731e-02 -1.53008353e-03 9.99903744e-01 7.79361859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844000006 meters Centerline goodness : 0.149456 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.16, Z:0.78 [[ 9.99869767e-01 5.30909784e-03 -1.52401517e-02 -1.54772400e+00] [-5.30740351e-03 9.99985904e-01 1.51618235e-04 -1.62079155e-01] [ 1.52407419e-02 -7.07128550e-05 9.99883851e-01 7.78867348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51255784400001 meters Centerline goodness : 0.124014 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.15, Z:0.78 [[ 9.99862559e-01 -7.04900643e-04 -1.65640141e-02 -1.52833803e+00] [ 7.30141855e-04 9.99998581e-01 1.51786033e-03 -1.50835857e-01] [ 1.65629207e-02 -1.52974580e-03 9.99861655e-01 7.79993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.57255784400001 meters Centerline goodness : 0.115622 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985617 0.00238804 -0.01679125 -1.52608352] [-0.00233144 0.99999154 0.00338914 -0.14119525] [ 0.0167992 -0.00334951 0.99985327 0.77749919] [ 0. 0. 0. 1. ]] SLAMing on 51.602557844 meters Centerline goodness : 0.128868 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.9998544 0.0020942 -0.0169351 -1.52556245] [-0.00204886 0.99999427 0.00269416 -0.13809008] [ 0.01694064 -0.00265907 0.99985296 0.77715183] [ 0. 0. 0. 1. ]] SLAMing on 51.632557844000004 meters Centerline goodness : 0.190694 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985199 0.00186179 -0.01710356 -1.52524213] [-0.0018245 0.99999593 0.00219516 -0.13590727] [ 0.01710757 -0.00216363 0.99985131 0.77726011] [ 0. 0. 0. 1. ]] SLAMing on 51.662557844000006 meters Centerline goodness : 0.127159 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985125 0.00176609 -0.01715684 -1.5254524 ] [-0.00173166 0.99999646 0.00202185 -0.13509725] [ 0.01716035 -0.00199184 0.99985077 0.77781705] [ 0. 0. 0. 1. ]] SLAMing on 51.69255784400001 meters Centerline goodness : 0.136436 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99985266 0.00166877 -0.01708438 -1.526047 ] [-0.00163555 0.99999675 0.00195824 -0.13489958] [ 0.0170876 -0.00193001 0.99985213 0.77852899] [ 0. 0. 0. 1. ]] SLAMing on 51.72255784400001 meters Centerline goodness : 0.111893 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99985366 0.00164373 -0.01702833 -1.52648322] [-0.0016089 0.99999659 0.00205863 -0.13552314] [ 0.01703165 -0.00203093 0.99985289 0.77904516] [ 0. 0. 0. 1. ]] SLAMing on 51.75255784400001 meters Centerline goodness : 0.214708 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99851879e-01 1.28366458e-03 -1.71631111e-02 -1.52607222e+00] [-1.24807966e-03 9.99997050e-01 2.08388778e-03 -1.36983018e-01] [ 1.71657355e-02 -2.06215818e-03 9.99850531e-01 7.79073561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782557844 meters Centerline goodness : 0.141476 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99852331e-01 1.29749332e-03 -1.71357094e-02 -1.52622402e+00] [-1.25885049e-03 9.99996641e-01 2.26569952e-03 -1.37945770e-01] [ 1.71385916e-02 -2.24379365e-03 9.99850606e-01 7.79187043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812557844000004 meters Centerline goodness : 0.126118 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99855993e-01 1.37570611e-03 -1.69145177e-02 -1.52694197e+00] [-1.33447480e-03 9.99996112e-01 2.44867348e-03 -1.38565735e-01] [ 1.69178205e-02 -2.42574886e-03 9.99853941e-01 7.79446518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842557844000005 meters Centerline goodness : 0.120149 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99860038e-01 1.43459080e-03 -1.66687350e-02 -1.52789214e+00] [-1.39199482e-03 9.99995737e-01 2.56676279e-03 -1.38936356e-01] [ 1.66723462e-02 -2.54320075e-03 9.99857772e-01 7.79981033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872557844000006 meters Centerline goodness : 0.092792 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99861433e-01 1.50124349e-03 -1.65789111e-02 -1.52849712e+00] [-1.45648124e-03 9.99995263e-01 2.71169564e-03 -1.39562440e-01] [ 1.65829035e-02 -2.68717302e-03 9.99858883e-01 7.80645217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90255784400001 meters Centerline goodness : 0.125238 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99857444e-01 1.49752723e-03 -1.68180917e-02 -1.52762479e+00] [-1.45165303e-03 9.99995194e-01 2.73954670e-03 -1.39855602e-01] [ 1.68221134e-02 -2.71474213e-03 9.99854813e-01 7.80255073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93255784400001 meters Centerline goodness : 0.125962 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99852078e-01 1.49033997e-03 -1.71347698e-02 -1.52627939e+00] [-1.44363466e-03 9.99995210e-01 2.73780851e-03 -1.40033926e-01] [ 1.71387680e-02 -2.71266718e-03 9.99849441e-01 7.79346653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962557844 meters Centerline goodness : 0.196475 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99848129e-01 1.48831955e-03 -1.73638707e-02 -1.52527007e+00] [-1.44152548e-03 9.99995297e-01 2.70711478e-03 -1.40014171e-01] [ 1.73678181e-02 -2.68167319e-03 9.99845572e-01 7.78564876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992557844000004 meters Centerline goodness : 0.059721 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.78 [[ 9.99847096e-01 1.50260791e-03 -1.74220412e-02 -1.52497432e+00] [-1.45626793e-03 9.99995369e-01 2.67222947e-03 -1.39849284e-01] [ 1.74259758e-02 -2.64644971e-03 9.99844654e-01 7.78293036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022557844000005 meters Centerline goodness : 0.119181 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 9.99850785e-01 1.49106286e-03 -1.72099819e-02 -1.52553992e+00] [-1.44798030e-03 9.99995788e-01 2.51553649e-03 -1.38955382e-01] [ 1.72136603e-02 -2.49024143e-03 9.99848733e-01 7.78282977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052557844000006 meters Centerline goodness : 0.123174 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.9998706 0.00188815 -0.01597566 -1.52884227] [-0.0018475 0.99999502 0.00255896 -0.13750509] [ 0.01598041 -0.00252912 0.99986911 0.77852819] [ 0. 0. 0. 1. ]] SLAMing on 52.08255784400001 meters Centerline goodness : 0.124305 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:0.78 [[ 0.99987373 0.00183351 -0.01578483 -1.52911577] [-0.00179697 0.99999567 0.00232902 -0.13635666] [ 0.01578903 -0.00230036 0.9998727 0.77811856] [ 0. 0. 0. 1. ]] SLAMing on 52.11255784400001 meters Centerline goodness : 0.114061 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987353 0.00170248 -0.01581243 -1.52874032] [-0.00167101 0.9999966 0.00200357 -0.13497078] [ 0.01581579 -0.00197689 0.99987297 0.7775858 ] [ 0. 0. 0. 1. ]] SLAMing on 52.142557844 meters Centerline goodness : 0.157177 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987235 0.00158796 -0.01589856 -1.52818288] [-0.00156294 0.99999752 0.00158591 -0.13280608] [ 0.01590104 -0.00156086 0.99987235 0.77689052] [ 0. 0. 0. 1. ]] SLAMing on 52.172557844 meters Centerline goodness : 0.144519 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99873053e-01 1.56739033e-03 -1.58562881e-02 -1.52833632e+00] [-1.54367395e-03 9.99997672e-01 1.50783687e-03 -1.32277381e-01] [ 1.58586146e-02 -1.48316852e-03 9.99873144e-01 7.76884555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202557844000005 meters Centerline goodness : 0.144519 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99873053e-01 1.56739033e-03 -1.58562881e-02 -1.52833632e+00] [-1.54367395e-03 9.99997672e-01 1.50783687e-03 -1.32277381e-01] [ 1.58586146e-02 -1.48316852e-03 9.99873144e-01 7.76884555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232557844000006 meters Centerline goodness : 0.141387 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99987242 0.00159554 -0.0158936 -1.52842421] [-0.00157054 0.99999751 0.00158507 -0.13267066] [ 0.01589608 -0.0015599 0.99987243 0.77721833] [ 0. 0. 0. 1. ]] SLAMing on 52.26255784400001 meters Centerline goodness : 0.121993 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99868461e-01 1.51844117e-03 -1.61479084e-02 -1.52785512e+00] [-1.49216829e-03 9.99997544e-01 1.63893846e-03 -1.33488450e-01] [ 1.61503573e-02 -1.61462748e-03 9.99868271e-01 7.77383876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29255784400001 meters Centerline goodness : 0.130390 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99866200e-01 1.48394382e-03 -1.62904862e-02 -1.52743028e+00] [-1.45628082e-03 9.99997478e-01 1.70983927e-03 -1.34241830e-01] [ 1.62929824e-02 -1.68588698e-03 9.99865839e-01 7.77327396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32255784400001 meters Centerline goodness : 0.128426 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99865988e-01 1.42184455e-03 -1.63090099e-02 -1.52718578e+00] [-1.39621298e-03 9.99997773e-01 1.58289850e-03 -1.33684583e-01] [ 1.63112242e-02 -1.55991552e-03 9.99865746e-01 7.76960222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352557844 meters Centerline goodness : 0.125154 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99870148e-01 1.42795672e-03 -1.60514247e-02 -1.52711229e+00] [-1.40827381e-03 9.99998243e-01 1.23747691e-03 -1.30654195e-01] [ 1.60531635e-02 -1.21471142e-03 9.99870402e-01 7.75806724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382557844000004 meters Centerline goodness : 0.382361 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99870665e-01 1.33183464e-03 -1.60274838e-02 -1.52701133e+00] [-1.31628073e-03 9.99998653e-01 9.80961907e-04 -1.29415179e-01] [ 1.60287687e-02 -9.59738366e-04 9.99871070e-01 7.75499735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412557844000006 meters Centerline goodness : 0.135540 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 9.99869464e-01 1.22838349e-03 -1.61104491e-02 -1.52678387e+00] [-1.21557901e-03 9.99998938e-01 8.04562131e-04 -1.28822997e-01] [ 1.61114202e-02 -7.84873583e-04 9.99869895e-01 7.75471136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44255784400001 meters Centerline goodness : 0.171950 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99827353e-01 -6.62624384e-04 -1.85694699e-02 -1.57504849e+00] [ 6.74810007e-04 9.99999561e-01 6.49959900e-04 -1.32100715e-01] [ 1.85690310e-02 -6.62378551e-04 9.99827361e-01 7.78363317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47255784400001 meters Centerline goodness : 0.107831 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99828729e-01 -6.48285718e-04 -1.84957512e-02 -1.57558184e+00] [ 6.60630689e-04 9.99999563e-01 6.61346874e-04 -1.31895829e-01] [ 1.84953144e-02 -6.73452465e-04 9.99828720e-01 7.78904448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50255784400001 meters Centerline goodness : 0.142374 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99828896e-01 -6.38925115e-04 -1.84870392e-02 -1.57569308e+00] [ 6.52194954e-04 9.99999534e-01 7.11771299e-04 -1.32019025e-01] [ 1.84865758e-02 -7.23706665e-04 9.99828847e-01 7.79027934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532557844 meters Centerline goodness : 0.165763 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99824115e-01 -6.96872425e-04 -1.87417305e-02 -1.57478687e+00] [ 7.10570224e-04 9.99999485e-01 7.24222307e-04 -1.32378983e-01] [ 1.87412162e-02 -7.37412244e-04 9.99824096e-01 7.78567849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844000004 meters Centerline goodness : 0.161412 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99815490e-01 -8.27773489e-04 -1.91911390e-02 -1.57313582e+00] [ 8.40798695e-04 9.99999422e-01 6.70650642e-04 -1.32750915e-01] [ 1.91905728e-02 -6.86662785e-04 9.99815608e-01 7.77759345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592557844000005 meters Centerline goodness : 0.146863 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99812341e-01 -8.74153211e-04 -1.93524947e-02 -1.57239864e+00] [ 8.87986956e-04 9.99999356e-01 7.06248447e-04 -1.33240724e-01] [ 1.93518649e-02 -7.23300676e-04 9.99812473e-01 7.77197531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622557844000006 meters Centerline goodness : 0.128135 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99817208e-01 -8.19323285e-04 -1.91018066e-02 -1.57301232e+00] [ 8.36441006e-04 9.99999256e-01 8.88158710e-04 -1.33978022e-01] [ 1.91010647e-02 -9.03973896e-04 9.99817149e-01 7.77158480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65255784400001 meters Centerline goodness : 0.140093 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99790745e-01 6.92302008e-03 -1.92493408e-02 -1.59347649e+00] [-6.92201885e-03 9.99976036e-01 1.18642446e-04 -1.39079145e-01] [ 1.92497009e-02 1.46266806e-05 9.99814707e-01 7.76108252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68255784400001 meters Centerline goodness : 0.159807 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99787764e-01 6.85569622e-03 -1.94274487e-02 -1.59315523e+00] [-6.85792425e-03 9.99976483e-01 -4.80637742e-05 -1.38443814e-01] [ 1.94266623e-02 1.81285545e-04 9.99811268e-01 7.76357316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712557844 meters Centerline goodness : 0.144243 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:0.78 [[ 9.99784711e-01 6.74119381e-03 -1.96236679e-02 -1.59271438e+00] [-6.74957116e-03 9.99977156e-01 -3.60699172e-04 -1.37150185e-01] [ 1.96207881e-02 4.93072860e-04 9.99807372e-01 7.76504758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742557844000004 meters Centerline goodness : 0.152873 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.78 [[ 9.99790896e-01 6.68601847e-03 -1.93251729e-02 -1.59368203e+00] [-6.70267076e-03 9.99977219e-01 -7.97045319e-04 -1.34677428e-01] [ 1.93194036e-02 9.26408925e-04 9.99812934e-01 7.76840678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772557844000005 meters Centerline goodness : 0.161739 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99844025e-01 -6.57404677e-04 -1.76491605e-02 -1.57575843e+00] [ 6.68738113e-04 9.99999574e-01 6.36257491e-04 -1.25775570e-01] [ 1.76487347e-02 -6.47960917e-04 9.99844039e-01 7.77601564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802557844000006 meters Centerline goodness : 0.146755 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 9.99849378e-01 -7.22476956e-04 -1.73407029e-02 -1.57668940e+00] [ 7.30287861e-04 9.99999635e-01 4.44109560e-04 -1.24810549e-01] [ 1.73403757e-02 -4.56706372e-04 9.99849540e-01 7.77814063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83255784400001 meters Centerline goodness : 0.149855 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 9.99850250e-01 -7.66642470e-04 -1.72884139e-02 -1.57690677e+00] [ 7.73821107e-04 9.99999617e-01 4.08542441e-04 -1.24747627e-01] [ 1.72880941e-02 -4.21859402e-04 9.99850461e-01 7.77947675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86255784400001 meters Centerline goodness : 0.149781 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99810252e-01 6.43893512e-03 -1.83847942e-02 -1.59535717e+00] [-6.45763307e-03 9.99978691e-01 -9.57848095e-04 -1.30917663e-01] [ 1.83782349e-02 1.07638860e-03 9.99830527e-01 7.76150690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89255784400001 meters Centerline goodness : 0.147247 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99821407e-01 -1.92090098e-03 -1.88006470e-02 -1.57429710e+00] [ 1.91420211e-03 9.99998098e-01 -3.74299637e-04 -1.25813743e-01] [ 1.88013302e-02 3.38244552e-04 9.99823182e-01 7.76330211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922557844 meters Centerline goodness : 0.149577 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99811393e-01 -1.89985651e-03 -1.93279263e-02 -1.57262657e+00] [ 1.89951282e-03 9.99998195e-01 -3.61405178e-05 -1.27619052e-01] [ 1.93279600e-02 -5.79942323e-07 9.99813198e-01 7.75737621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952557844000005 meters Centerline goodness : 0.092841 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99813977e-01 -1.86157423e-03 -1.91975642e-02 -1.57322806e+00] [ 1.86412541e-03 9.99998256e-01 1.14996619e-04 -1.28437026e-01] [ 1.91973167e-02 -1.50761894e-04 9.99815703e-01 7.76268418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844000006 meters Centerline goodness : 0.139403 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99817388e-01 -1.82055160e-03 -1.90230617e-02 -1.57407849e+00] [ 1.82590070e-03 9.99998298e-01 2.63825206e-04 -1.29315953e-01] [ 1.90225490e-02 -2.98511250e-04 9.99819010e-01 7.77039237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01255784400001 meters Centerline goodness : 0.127028 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 9.99821080e-01 -1.79584961e-03 -1.88303948e-02 -1.57488374e+00] [ 1.80242440e-03 9.99998320e-01 3.32192382e-04 -1.29710857e-01] [ 1.88297666e-02 -3.66073309e-04 9.99822637e-01 7.77599097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04255784400001 meters Centerline goodness : 0.123356 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99807347e-01 6.73451234e-03 -1.84367844e-02 -1.59771858e+00] [-6.72755242e-03 9.99977273e-01 4.39499107e-04 -1.34817091e-01] [ 1.84393252e-02 -3.15380003e-04 9.99829931e-01 7.77252110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07255784400001 meters Centerline goodness : 0.121059 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99802022e-01 6.84046178e-03 -1.86848901e-02 -1.59676419e+00] [-6.83389694e-03 9.99976562e-01 4.15173952e-04 -1.34302637e-01] [ 1.86872922e-02 -2.87401143e-04 9.99825336e-01 7.76777616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102557844 meters Centerline goodness : 0.147124 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99796119e-01 6.84409176e-03 -1.89968059e-02 -1.59549962e+00] [-6.83994774e-03 9.99976567e-01 2.83109934e-04 -1.33753788e-01] [ 1.89982984e-02 -1.53115054e-04 9.99819504e-01 7.76119845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132557844000004 meters Centerline goodness : 0.142327 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 9.99800166e-01 -1.08134792e-03 -1.99614363e-02 -1.57503161e+00] [ 1.08523610e-03 9.99999394e-01 1.83953133e-04 -1.25048970e-01] [ 1.99612253e-02 -2.05579245e-04 9.99800734e-01 7.76801838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162557844000006 meters Centerline goodness : 0.141389 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99797138e-01 -1.14114215e-03 -2.01092058e-02 -1.57438293e+00] [ 1.14255130e-03 9.99999346e-01 5.85863816e-05 -1.24676307e-01] [ 2.01091257e-02 -8.15502959e-05 9.99797788e-01 7.76350869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19255784400001 meters Centerline goodness : 0.126590 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99797861e-01 -1.13093245e-03 -2.00738161e-02 -1.57423750e+00] [ 1.12957293e-03 9.99999359e-01 -7.90644694e-05 -1.23763549e-01] [ 2.00738926e-02 5.63736483e-05 9.99798498e-01 7.75877002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22255784400001 meters Centerline goodness : 0.152466 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99798167e-01 -1.13646495e-03 -2.00582759e-02 -1.57407272e+00] [ 1.13350562e-03 9.99999345e-01 -1.58905285e-04 -1.23232095e-01] [ 2.00584433e-02 1.36137044e-04 9.99798800e-01 7.75499216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25255784400001 meters Centerline goodness : 0.147886 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99795616e-01 -1.13058005e-03 -2.01853280e-02 -1.57356892e+00] [ 1.12766880e-03 9.99999352e-01 -1.55608110e-04 -1.23248349e-01] [ 2.01854909e-02 1.32813941e-04 9.99796243e-01 7.75176498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282557844 meters Centerline goodness : 0.034054 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99763031e-01 6.25773120e-03 -2.08500136e-02 -1.59248582e+00] [-6.28793088e-03 9.99979274e-01 -1.38318040e-03 -1.29239334e-01] [ 2.08409259e-02 1.51395607e-03 9.99781658e-01 7.73343013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312557844000004 meters Centerline goodness : 0.124309 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99757774e-01 6.27585281e-03 -2.10951960e-02 -1.59182330e+00] [-6.30517876e-03 9.99979246e-01 -1.32394697e-03 -1.29528250e-01] [ 2.10864493e-02 1.45663525e-03 9.99776595e-01 7.73265477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342557844000005 meters Centerline goodness : 0.112561 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99753362e-01 6.38136697e-03 -2.12718979e-02 -1.59101856e+00] [-6.40697327e-03 9.99978830e-01 -1.13582687e-03 -1.30245307e-01] [ 2.12641994e-02 1.27183522e-03 9.99773082e-01 7.72667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372557844000006 meters Centerline goodness : 0.146077 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99750407e-01 6.45967728e-03 -2.13868260e-02 -1.59042823e+00] [-6.48293522e-03 9.99978467e-01 -1.01833428e-03 -1.30562894e-01] [ 2.13797874e-02 1.15672952e-03 9.99770757e-01 7.72192452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40255784400001 meters Centerline goodness : 0.122069 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99751489e-01 6.49033508e-03 -2.13268840e-02 -1.59044359e+00] [-6.51208849e-03 9.99978344e-01 -9.50708304e-04 -1.30770607e-01] [ 2.13202517e-02 1.08935460e-03 9.99772104e-01 7.71978695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43255784400001 meters Centerline goodness : 0.060058 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 9.99751525e-01 6.39786901e-03 -2.13531074e-02 -1.59047647e+00] [-6.42306356e-03 9.99978754e-01 -1.11152454e-03 -1.30265353e-01] [ 2.13455424e-02 1.24840072e-03 9.99771379e-01 7.72182074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462557844 meters Centerline goodness : 0.129711 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.77 [[ 0.99975535 0.00618675 -0.02123571 -1.59108472] [-0.00622236 0.99997934 -0.00161122 -0.128131 ] [ 0.02122531 0.00174297 0.9997732 0.77269278] [ 0. 0. 0. 1. ]] SLAMing on 53.492557844000004 meters Centerline goodness : 0.140154 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99788555e-01 1.00590902e-03 -2.05385991e-02 -1.56912233e+00] [-9.78291532e-04 9.99998604e-01 1.35466580e-03 -1.23018124e-01] [ 2.05399331e-02 -1.33428662e-03 9.99788143e-01 7.72742144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522557844000005 meters Centerline goodness : 0.134728 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99798745e-01 1.03802770e-03 -2.00347711e-02 -1.57055923e+00] [-1.01718044e-03 9.99998931e-01 1.05071636e-03 -1.20757276e-01] [ 2.00358403e-02 -1.03012592e-03 9.99798732e-01 7.72923082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552557844000006 meters Centerline goodness : 0.148533 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99812407e-01 1.05319112e-03 -1.93401379e-02 -1.57261908e+00] [-1.03863458e-03 9.99999170e-01 7.62688628e-04 -1.18736404e-01] [ 1.93409251e-02 -7.42458217e-04 9.99812671e-01 7.73323782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58255784400001 meters Centerline goodness : 0.160977 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99819685e-01 9.54509454e-04 -1.89654203e-02 -1.57397808e+00] [-9.46856371e-04 9.99999467e-01 4.12503732e-04 -1.16890455e-01] [ 1.89658039e-02 -3.94471822e-04 9.99820055e-01 7.73979687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61255784400001 meters Centerline goodness : 0.137544 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 9.99818830e-01 6.08923699e-04 -1.90246130e-02 -1.57376073e+00] [-6.17432876e-04 9.99999712e-01 -4.41401467e-04 -1.12988407e-01] [ 1.90243388e-02 4.53067920e-04 9.99818918e-01 7.73762404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64255784400001 meters Centerline goodness : 0.151398 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 9.99816535e-01 4.43751872e-04 -1.91493787e-02 -1.57327904e+00] [-4.59137958e-04 9.99999575e-01 -7.99088044e-04 -1.11395384e-01] [ 1.91490160e-02 8.07733646e-04 9.99816315e-01 7.73412474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672557844 meters Centerline goodness : 0.145479 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 9.99776177e-01 -6.98069632e-03 -1.99716078e-02 -1.55324600e+00] [ 6.98526347e-03 9.99975590e-01 1.58929969e-04 -1.04101256e-01] [ 1.99700109e-02 -2.98401339e-04 9.99800535e-01 7.75601777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844000005 meters Centerline goodness : 0.116061 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 9.99776679e-01 -6.97934222e-03 -1.99469678e-02 -1.55357766e+00] [ 6.98642999e-03 9.99975554e-01 2.85665923e-04 -1.04648057e-01] [ 1.99444864e-02 -4.24960222e-04 9.99800999e-01 7.76064220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732557844000006 meters Centerline goodness : 0.118456 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.78 [[ 9.99777053e-01 -7.04475683e-03 -1.99051660e-02 -1.55397717e+00] [ 7.05382827e-03 9.99975047e-01 3.85558011e-04 -1.05346904e-01] [ 1.99019532e-02 -5.25879674e-04 9.99801798e-01 7.76615429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76255784400001 meters Centerline goodness : 0.140482 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.78 [[ 9.99773918e-01 -7.11208259e-03 -2.00382541e-02 -1.55390280e+00] [ 7.12364486e-03 9.99974499e-01 5.05688181e-04 -1.06298475e-01] [ 2.00341466e-02 -6.48319260e-04 9.99799086e-01 7.77110060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79255784400001 meters Centerline goodness : 0.170583 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.78 [[ 9.99804060e-01 -5.85590065e-04 -1.97863213e-02 -1.57311115e+00] [ 5.62627926e-04 9.99999162e-01 -1.16605251e-03 -1.13127035e-01] [ 1.97869875e-02 1.15469170e-03 9.99803552e-01 7.75107464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82255784400001 meters Centerline goodness : 0.121942 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.78 [[ 9.99804549e-01 -5.92823424e-04 -1.97613680e-02 -1.57315767e+00] [ 5.72927487e-04 9.99999323e-01 -1.01245600e-03 -1.14089776e-01] [ 1.97619549e-02 1.00093628e-03 9.99804212e-01 7.75110543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852557844 meters Centerline goodness : 0.124732 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99811410e-01 -6.78224965e-04 -1.94083362e-02 -1.57394385e+00] [ 6.62345225e-04 9.99999441e-01 -8.24608095e-04 -1.15435012e-01] [ 1.94088846e-02 8.11597564e-04 9.99811300e-01 7.74989510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882557844000004 meters Centerline goodness : 0.137993 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99810312e-01 -6.79682518e-04 -1.94648091e-02 -1.57384847e+00] [ 6.65128772e-04 9.99999494e-01 -7.54159465e-04 -1.15873925e-01] [ 1.94653118e-02 7.41069806e-04 9.99810258e-01 7.75083416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912557844000006 meters Centerline goodness : 0.122667 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.78 [[ 9.99742356e-01 -2.00513335e-03 -2.26097481e-02 -1.61791782e+00] [ 1.99242146e-03 9.99997844e-01 -5.84743472e-04 -1.18543660e-01] [ 2.26108719e-02 5.39544669e-04 9.99744196e-01 7.75349787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94255784400001 meters Centerline goodness : 0.122444 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.77 [[ 9.99736561e-01 -2.05819606e-03 -2.28598527e-02 -1.61705108e+00] [ 2.04241580e-03 9.99997660e-01 -7.13630837e-04 -1.17919109e-01] [ 2.28612680e-02 6.66753514e-04 9.99738425e-01 7.74904433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97255784400001 meters Centerline goodness : 0.127770 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.12, Z:0.77 [[ 9.99695728e-01 -3.00228309e-04 -2.46649626e-02 -1.60956430e+00] [ 3.20991815e-04 9.99999597e-01 8.37866972e-04 -1.17900736e-01] [ 2.46647011e-02 -8.45529284e-04 9.99695422e-01 7.71349483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00255784400001 meters Centerline goodness : 0.119834 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.12, Z:0.77 [[ 9.99691477e-01 -4.58285419e-04 -2.48342610e-02 -1.60878139e+00] [ 4.69746290e-04 9.99999786e-01 4.55662514e-04 -1.16171822e-01] [ 2.48340469e-02 -4.67187734e-04 9.99691478e-01 7.70763829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032557844 meters Centerline goodness : 0.144354 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99692583e-01 -6.05942326e-04 -2.47865392e-02 -1.60890890e+00] [ 6.06659072e-04 9.99999816e-01 2.13971457e-05 -1.14089058e-01] [ 2.47865217e-02 -3.64275467e-05 9.99692766e-01 7.70739140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062557844000004 meters Centerline goodness : 0.134759 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99697082e-01 8.37620017e-03 -2.31426832e-02 -1.58835320e+00] [-8.40736516e-03 9.99963877e-01 -1.24967478e-03 -1.13603485e-01] [ 2.31313797e-02 1.44386522e-03 9.99731391e-01 7.71609618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092557844000005 meters Centerline goodness : 0.125644 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99970068 0.00818769 -0.02305445 -1.58874075] [-0.008231 0.99996453 -0.00178439 -0.11100391] [ 0.02303902 0.00197361 0.99973262 0.77181454] [ 0. 0. 0. 1. ]] SLAMing on 54.122557844000006 meters Centerline goodness : 0.125644 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99970068 0.00818769 -0.02305445 -1.58874075] [-0.008231 0.99996453 -0.00178439 -0.11100391] [ 0.02303902 0.00197361 0.99973262 0.77181454] [ 0. 0. 0. 1. ]] SLAMing on 54.15255784400001 meters Centerline goodness : 0.141247 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99969187 0.00799025 -0.02350158 -1.58685214] [-0.00805603 0.99996389 -0.00270556 -0.10603242] [ 0.02347911 0.00289406 0.99972014 0.77050975] [ 0. 0. 0. 1. ]] SLAMing on 54.18255784400001 meters Centerline goodness : 0.143724 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99969507 0.00783074 -0.0234191 -1.58678006] [-0.00790491 0.99996402 -0.00307658 -0.1041326 ] [ 0.02339416 0.00326077 0.999721 0.76993174] [ 0. 0. 0. 1. ]] SLAMing on 54.212557844 meters Centerline goodness : 0.122877 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99969877 0.00771689 -0.02329829 -1.58721988] [-0.00779663 0.99996405 -0.00333362 -0.10278914] [ 0.02327172 0.00351427 0.999723 0.77006378] [ 0. 0. 0. 1. ]] SLAMing on 54.242557844000004 meters Centerline goodness : 0.138076 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99970384 0.00761816 -0.0231125 -1.58794456] [-0.00770091 0.99996425 -0.00349334 -0.10210267] [ 0.02308506 0.00367029 0.99972677 0.77040851] [ 0. 0. 0. 1. ]] SLAMing on 54.272557844000005 meters Centerline goodness : 0.146422 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.9997058 0.00740048 -0.0230987 -1.58863309] [-0.00748875 0.99996498 -0.00373717 -0.10172358] [ 0.02307024 0.00390905 0.9997262 0.77144373] [ 0. 0. 0. 1. ]] SLAMing on 54.302557844000006 meters Centerline goodness : 0.125615 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99970673 0.00734407 -0.0230763 -1.58874935] [-0.00743335 0.99996521 -0.00378535 -0.10160619] [ 0.0230477 0.00395577 0.99972654 0.77150214] [ 0. 0. 0. 1. ]] SLAMing on 54.33255784400001 meters Centerline goodness : 0.136000 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.10, Z:0.77 [[ 0.99971136 0.00735307 -0.0228722 -1.58943212] [-0.0074408 0.99996527 -0.0037531 -0.1015718 ] [ 0.02284381 0.00392221 0.99973135 0.77169007] [ 0. 0. 0. 1. ]] SLAMing on 54.36255784400001 meters Centerline goodness : 0.146365 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.10, Z:0.77 [[ 9.99795124e-01 -6.07974339e-05 -2.02411927e-02 -1.57166910e+00] [ 2.02755396e-05 9.99997995e-01 -2.00215111e-03 -9.54061720e-02] [ 2.02412739e-02 2.00133052e-03 9.99793121e-01 7.72633861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39255784400001 meters Centerline goodness : 0.130790 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.10, Z:0.77 [[ 9.99805707e-01 -2.75005295e-05 -1.97115902e-02 -1.57359850e+00] [-1.14268389e-05 9.99998050e-01 -1.97473133e-03 -9.53385055e-02] [ 1.97116061e-02 1.97457289e-03 9.99803758e-01 7.73661611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422557844 meters Centerline goodness : 0.169522 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.10, Z:0.77 [[ 9.99815493e-01 -2.04426515e-05 -1.92088654e-02 -1.57545036e+00] [-1.74046652e-05 9.99998059e-01 -1.97013540e-03 -9.53161557e-02] [ 1.92088684e-02 1.97010622e-03 9.99813552e-01 7.74689386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452557844000005 meters Centerline goodness : 0.135157 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.09, Z:0.77 [[ 9.99816354e-01 -9.79405342e-05 -1.91637532e-02 -1.57551891e+00] [ 5.58749028e-05 9.99997588e-01 -2.19558539e-03 -9.41452947e-02] [ 1.91639220e-02 2.19411140e-03 9.99813948e-01 7.74584416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482557844000006 meters Centerline goodness : 0.125949 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99738353e-01 -1.03117193e-04 -2.28738789e-02 -1.61794233e+00] [ 7.84976446e-05 9.99999417e-01 -1.07721243e-03 -9.65730301e-02] [ 2.28739767e-02 1.07513504e-03 9.99737778e-01 7.73950559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51255784400001 meters Centerline goodness : 0.129275 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99728578e-01 -1.35277220e-04 -2.32970394e-02 -1.61653965e+00] [ 1.04900201e-04 9.99999143e-01 -1.30511756e-03 -9.53470099e-02] [ 2.32971960e-02 1.30231945e-03 9.99727735e-01 7.73372288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54255784400001 meters Centerline goodness : 0.128942 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99726102e-01 -1.98731802e-04 -2.34026153e-02 -1.61620450e+00] [ 1.63781573e-04 9.99998869e-01 -1.49533989e-03 -9.44594644e-02] [ 2.34028860e-02 1.49109740e-03 9.99725003e-01 7.73253276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57255784400001 meters Centerline goodness : 0.130411 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99733393e-01 -1.34652094e-04 -2.30894915e-02 -1.61746096e+00] [ 9.84698800e-05 9.99998766e-01 -1.56817230e-03 -9.37369609e-02] [ 2.30896741e-02 1.56548060e-03 9.99732172e-01 7.73973194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602557844 meters Centerline goodness : 0.137429 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99738580e-01 -9.64190216e-05 -2.28639795e-02 -1.61825238e+00] [ 6.19044991e-05 9.99998858e-01 -1.51026182e-03 -9.38317977e-02] [ 2.28640990e-02 1.50845163e-03 9.99737444e-01 7.74306665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632557844000004 meters Centerline goodness : 0.129722 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.09, Z:0.77 [[ 9.99742658e-01 -4.21638438e-05 -2.26851488e-02 -1.61885172e+00] [ 1.06264981e-05 9.99999033e-01 -1.39033867e-03 -9.43906528e-02] [ 2.26851855e-02 1.38973981e-03 9.99741692e-01 7.74537933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844000006 meters Centerline goodness : 0.126965 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99743074e-01 -2.93004773e-05 -2.26668168e-02 -1.61888271e+00] [ 2.66893480e-07 9.99999180e-01 -1.28088689e-03 -9.51290705e-02] [ 2.26668357e-02 1.28055174e-03 9.99742254e-01 7.74543227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69255784400001 meters Centerline goodness : 0.150742 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99739037e-01 -2.02575048e-05 -2.28441850e-02 -1.61832750e+00] [-6.15600995e-06 9.99999332e-01 -1.15617584e-03 -9.60222551e-02] [ 2.28441931e-02 1.15601475e-03 9.99738369e-01 7.74394753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72255784400001 meters Centerline goodness : 0.130082 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99731163e-01 -1.68127142e-05 -2.31862484e-02 -1.61720613e+00] [-7.61083207e-06 9.99999445e-01 -1.05327479e-03 -9.66762072e-02] [ 2.31862532e-02 1.05316810e-03 9.99730608e-01 7.73985809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75255784400001 meters Centerline goodness : 0.124841 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99717614e-01 -1.79117500e-06 -2.37632508e-02 -1.61504921e+00] [-2.01585665e-05 9.99999573e-01 -9.23444707e-04 -9.74580962e-02] [ 2.37632423e-02 9.23662973e-04 9.99717188e-01 7.72861666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters Centerline goodness : 0.131976 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715259e-01 3.02977960e-05 -2.38621082e-02 -1.61456275e+00] [-4.90529391e-05 9.99999690e-01 -7.85395196e-04 -9.83451723e-02] [ 2.38620770e-02 7.86342068e-04 9.99714951e-01 7.72509874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812557844000004 meters Centerline goodness : 0.121851 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99716465e-01 1.06184113e-04 -2.38113261e-02 -1.61462447e+00] [-1.19826779e-04 9.99999830e-01 -5.71522517e-04 -9.94972768e-02] [ 2.38112613e-02 5.74213704e-04 9.99716307e-01 7.72423045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842557844000005 meters Centerline goodness : 0.122445 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.10, Z:0.77 [[ 9.99719545e-01 3.17996789e-04 -2.36797538e-02 -1.61524400e+00] [-3.20867183e-04 9.99999942e-01 -1.17417766e-04 -1.01401071e-01] [ 2.36797151e-02 1.24982891e-04 9.99719588e-01 7.72899846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872557844000006 meters Centerline goodness : 0.144996 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715467e-01 4.06950958e-04 -2.38499195e-02 -1.61482363e+00] [-4.05004668e-04 9.99999914e-01 8.64360431e-05 -1.02324895e-01] [ 2.38499526e-02 -7.67521205e-05 9.99715546e-01 7.72931191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90255784400001 meters Centerline goodness : 0.121795 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99712388e-01 4.88377104e-04 -2.39771249e-02 -1.61437534e+00] [-4.80580891e-04 9.99999830e-01 3.30913345e-04 -1.03647945e-01] [ 2.39772824e-02 -3.19295222e-04 9.99712453e-01 7.72780381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93255784400001 meters Centerline goodness : 0.143581 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99711247e-01 5.46578023e-04 -2.40234207e-02 -1.61422121e+00] [-5.34458508e-04 9.99999727e-01 5.10905263e-04 -1.04729964e-01] [ 2.40236933e-02 -4.97918216e-04 9.99711265e-01 7.72742391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters Centerline goodness : 0.128314 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99717357e-01 6.33415994e-04 -2.37656041e-02 -1.61467923e+00] [-6.18988593e-04 9.99999620e-01 6.14422075e-04 -1.05035661e-01] [ 2.37659842e-02 -5.99537775e-04 9.99717369e-01 7.72389329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992557844000004 meters Centerline goodness : 0.122938 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99715538e-01 6.03792913e-04 -2.38428082e-02 -1.61418785e+00] [-5.92265873e-04 9.99999704e-01 4.90518528e-04 -1.04399069e-01] [ 2.38430973e-02 -4.76257712e-04 9.99715600e-01 7.71865510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844000005 meters Centerline goodness : 0.128000 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99711352e-01 5.73002954e-04 -2.40184007e-02 -1.61333297e+00] [-5.64255595e-04 9.99999772e-01 3.70969723e-04 -1.03824396e-01] [ 2.40186078e-02 -3.57310126e-04 9.99711448e-01 7.71160286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052557844000006 meters Centerline goodness : 0.119826 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99705563e-01 5.30968610e-04 -2.42591215e-02 -1.61236504e+00] [-5.25270567e-04 9.99999833e-01 2.41254125e-04 -1.03205079e-01] [ 2.42592455e-02 -2.28440488e-04 9.99705675e-01 7.70553033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08255784400001 meters Centerline goodness : 0.134144 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99700952e-01 5.39021707e-04 -2.44482324e-02 -1.61174299e+00] [-5.33601921e-04 9.99999832e-01 2.28207409e-04 -1.03103553e-01] [ 2.44483513e-02 -2.15093541e-04 9.99701071e-01 7.70306110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11255784400001 meters Centerline goodness : 0.121667 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99698452e-01 6.01196040e-04 -2.45488134e-02 -1.61144579e+00] [-5.92370368e-04 9.99999757e-01 3.66785719e-04 -1.03746344e-01] [ 2.45490280e-02 -3.52133125e-04 9.99698565e-01 7.70262493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14255784400001 meters Centerline goodness : 0.123517 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.10, Z:0.77 [[ 9.99701217e-01 6.99084133e-04 -2.44333394e-02 -1.61200631e+00] [-6.84702955e-04 9.99999587e-01 5.96949366e-04 -1.04827700e-01] [ 2.44337466e-02 -5.80041428e-04 9.99701283e-01 7.70730596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172557844 meters Centerline goodness : 0.122014 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99705115e-01 7.47784535e-04 -2.42718693e-02 -1.61265541e+00] [-7.31039104e-04 9.99999489e-01 6.98776869e-04 -1.05244500e-01] [ 2.42723795e-02 -6.80827125e-04 9.99705151e-01 7.71108728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844000005 meters Centerline goodness : 0.119459 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 9.99711233e-01 7.85054005e-04 -2.40173554e-02 -1.61347881e+00] [-7.66246251e-04 9.99999393e-01 7.92283029e-04 -1.05593567e-01] [ 2.40179628e-02 -7.73651035e-04 9.99711228e-01 7.71407338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232557844000006 meters Centerline goodness : 0.133596 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99713418e-01 9.27552686e-03 -2.20691442e-02 -1.59375748e+00] [-9.28910861e-03 9.99956724e-01 -5.12981219e-04 -1.08346451e-01] [ 2.20634310e-02 7.17836885e-04 9.99756315e-01 7.72000490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26255784400001 meters Centerline goodness : 0.119757 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99710488e-01 9.25719415e-03 -2.22091131e-02 -1.59338103e+00] [-9.27150363e-03 9.99956872e-01 -5.41422141e-04 -1.08270143e-01] [ 2.22031432e-02 7.47177265e-04 9.99753201e-01 7.71971081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29255784400001 meters Centerline goodness : 0.118979 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99706996e-01 9.30998768e-03 -2.23438082e-02 -1.59283710e+00] [-9.32180340e-03 9.99956461e-01 -4.24714786e-04 -1.08741616e-01] [ 2.23388813e-02 6.32874930e-04 9.99750256e-01 7.71625126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32255784400001 meters Centerline goodness : 0.162097 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99702859e-01 9.41417407e-03 -2.24848103e-02 -1.59256897e+00] [-9.42014824e-03 9.99955617e-01 -1.59791946e-04 -1.09939219e-01] [ 2.24823080e-02 3.71554711e-04 9.99747172e-01 7.71766717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352557844 meters Centerline goodness : 0.118910 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 9.99699413e-01 9.59242352e-03 -2.25625518e-02 -1.59258375e+00] [-9.58921178e-03 9.99953991e-01 2.50538741e-04 -1.11776453e-01] [ 2.25639170e-02 -3.41063446e-05 9.99745402e-01 7.72087929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382557844000004 meters Centerline goodness : 0.121088 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99973796 0.00584702 -0.0221321 -1.59399903] [-0.00591517 0.99997796 -0.00301493 -0.11476469] [ 0.02211398 0.00314506 0.99975051 0.77244249] [ 0. 0. 0. 1. ]] SLAMing on 55.412557844000006 meters Centerline goodness : 0.120391 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99975879 -0.00280372 -0.02178307 -1.57395124] [ 0.00275094 0.99999321 -0.00245225 -0.1118869 ] [ 0.0217898 0.00239174 0.99975971 0.77352467] [ 0. 0. 0. 1. ]] SLAMing on 55.44255784400001 meters Centerline goodness : 0.120019 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99976015 -0.00265915 -0.02173884 -1.57405321] [ 0.00261583 0.99999454 -0.00202104 -0.11408835] [ 0.0217441 0.00196369 0.99976164 0.77354275] [ 0. 0. 0. 1. ]] SLAMing on 55.47255784400001 meters Centerline goodness : 0.119417 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 0.9997615 -0.00248502 -0.021697 -1.57425743] [ 0.00244996 0.99999565 -0.00164217 -0.11571752] [ 0.02170099 0.00158862 0.99976324 0.77370206] [ 0. 0. 0. 1. ]] SLAMing on 55.50255784400001 meters Centerline goodness : 0.122743 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 9.99765190e-01 -2.35568106e-03 -2.15410413e-02 -1.57476882e+00] [ 2.32504832e-03 9.99996250e-01 -1.44699832e-03 -1.16346642e-01] [ 2.15443692e-02 1.39657459e-03 9.99766918e-01 7.73892051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532557844 meters Centerline goodness : 0.135769 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99766993e-01 -2.28751666e-03 -2.14645446e-02 -1.57509970e+00] [ 2.25808662e-03 9.99996477e-01 -1.39523733e-03 -1.16397788e-01] [ 2.14676606e-02 1.34644343e-03 9.99768637e-01 7.74149087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562557844000004 meters Centerline goodness : 0.121038 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99768818e-01 -2.26811897e-03 -2.13814336e-02 -1.57525808e+00] [ 2.23655295e-03 9.99996374e-01 -1.50012582e-03 -1.15795068e-01] [ 2.13847585e-02 1.45195831e-03 9.99770266e-01 7.74099255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592557844000005 meters Centerline goodness : 0.149960 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99772456e-01 -1.78463345e-03 -2.12567788e-02 -1.57516041e+00] [ 1.75186280e-03 9.99997248e-01 -1.56017831e-03 -1.14163480e-01] [ 2.12595046e-02 1.52258434e-03 9.99772832e-01 7.73257643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622557844000006 meters Centerline goodness : 0.120635 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.9997826 -0.00168163 -0.02078304 -1.57629225] [ 0.00164638 0.99999718 -0.00171305 -0.11291816] [ 0.02078586 0.00167846 0.99978254 0.77307539] [ 0. 0. 0. 1. ]] SLAMing on 55.65255784400001 meters Centerline goodness : 0.120474 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 9.99794321e-01 -1.60654219e-03 -2.02171957e-02 -1.57777415e+00] [ 1.56970884e-03 9.99997080e-01 -1.83761961e-03 -1.11892082e-01] [ 2.02200888e-02 1.80550654e-03 9.99793923e-01 7.73161756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68255784400001 meters Centerline goodness : 0.135681 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99979114 0.00763717 -0.01895656 -1.55699436] [-0.00769699 0.99996562 -0.00308446 -0.11260265] [ 0.01893235 0.00322972 0.99981555 0.77409628] [ 0. 0. 0. 1. ]] SLAMing on 55.712557844 meters Centerline goodness : 0.126303 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99978889 0.00762768 -0.0190786 -1.55672163] [-0.00768755 0.99996575 -0.00306687 -0.11284133] [ 0.01905456 0.00321289 0.99981328 0.77414827] [ 0. 0. 0. 1. ]] SLAMing on 55.742557844000004 meters Centerline goodness : 0.136287 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99978815 0.00767127 -0.01910006 -1.55688638] [-0.00772757 0.99996601 -0.00287551 -0.11388762] [ 0.01907735 0.0030225 0.99981344 0.77451094] [ 0. 0. 0. 1. ]] SLAMing on 55.772557844000005 meters Centerline goodness : 0.148844 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.9998159 -0.00211555 -0.01907046 -1.57949745] [ 0.00207279 0.99999529 -0.0022616 -0.1125577 ] [ 0.01907515 0.00222166 0.99981558 0.77443704] [ 0. 0. 0. 1. ]] SLAMing on 55.802557844000006 meters Centerline goodness : 0.127380 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99986626 0.00330809 -0.01601642 -1.55741271] [-0.0033996 0.99997804 -0.00568958 -0.11419217] [ 0.01599724 0.00574326 0.99985554 0.77343693] [ 0. 0. 0. 1. ]] SLAMing on 55.83255784400001 meters Centerline goodness : 0.121831 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.12, Z:0.77 [[ 0.99986787 0.00322922 -0.01593148 -1.55782316] [-0.00331078 0.99998153 -0.00509614 -0.117975 ] [ 0.01591472 0.00514821 0.9998601 0.77393686] [ 0. 0. 0. 1. ]] SLAMing on 55.86255784400001 meters Centerline goodness : 0.119188 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99868113e-01 4.12830673e-04 -1.62353574e-02 -1.55461812e+00] [-5.23767599e-04 9.99976542e-01 -6.82938657e-03 -1.25701100e-01] [ 1.62321572e-02 6.83698941e-03 9.99844874e-01 7.71125151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89255784400001 meters Centerline goodness : 0.246951 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99857588e-01 4.74004322e-04 -1.68694507e-02 -1.55240592e+00] [-5.81842899e-04 9.99979426e-01 -6.38820254e-03 -1.28451545e-01] [ 1.68660755e-02 6.39710816e-03 9.99837293e-01 7.70146448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922557844 meters Centerline goodness : 0.121687 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99851181e-01 5.58207606e-04 -1.72424875e-02 -1.55097106e+00] [-6.64418359e-04 9.99980839e-01 -6.15471351e-03 -1.29734821e-01] [ 1.72387215e-02 6.16525380e-03 9.99832394e-01 7.69338721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952557844000005 meters Centerline goodness : 0.138049 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99840271e-01 1.30884493e-03 -1.78247042e-02 -1.54918421e+00] [-1.41246392e-03 9.99982171e-01 -5.80187560e-03 -1.29361803e-01] [ 1.78167927e-02 5.82612562e-03 9.99824294e-01 7.68561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982557844000006 meters Centerline goodness : 0.215006 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99984443 0.00160823 -0.01756493 -1.54972331] [-0.00171403 0.99998047 -0.0060103 -0.12723536] [ 0.01755492 0.00603947 0.99982766 0.76820783] [ 0. 0. 0. 1. ]] SLAMing on 56.01255784400001 meters Centerline goodness : 0.215006 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99984443 0.00160823 -0.01756493 -1.54972331] [-0.00171403 0.99998047 -0.0060103 -0.12723536] [ 0.01755492 0.00603947 0.99982766 0.76820783] [ 0. 0. 0. 1. ]] SLAMing on 56.04255784400001 meters Centerline goodness : 0.147304 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.12, Z:0.77 [[ 0.99984795 -0.00263117 -0.01723811 -1.52864014] [ 0.00258215 0.99999256 -0.00286573 -0.12070795] [ 0.01724552 0.00282079 0.99984731 0.76840134] [ 0. 0. 0. 1. ]] SLAMing on 56.07255784400001 meters Centerline goodness : 0.140678 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99982949 0.00606291 -0.01744242 -1.5515989 ] [-0.00612053 0.99997598 -0.00325153 -0.12257197] [ 0.01742229 0.00335773 0.99984258 0.76810681] [ 0. 0. 0. 1. ]] SLAMing on 56.102557844 meters Centerline goodness : 0.140706 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.12, Z:0.77 [[ 9.99844456e-01 1.64471530e-03 -1.75601386e-02 -1.53009020e+00] [-1.64547090e-03 9.99998646e-01 -2.85805816e-05 -1.16045624e-01] [ 1.75600678e-02 5.74708332e-05 9.99845808e-01 7.68287781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132557844000004 meters Centerline goodness : 0.128485 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.77 [[ 0.9998194 -0.00531976 -0.01824482 -1.5537324 ] [ 0.00537339 0.99998138 0.00289169 -0.11279272] [ 0.0182291 -0.0029892 0.99982937 0.76864287] [ 0. 0. 0. 1. ]] SLAMing on 56.162557844000006 meters Centerline goodness : 0.137121 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.77 [[ 9.99860583e-01 2.57952249e-03 -1.64972741e-02 -1.53435482e+00] [-2.57578582e-03 9.99996652e-01 2.47746614e-04 -1.11505458e-01] [ 1.64978579e-02 -2.05218630e-04 9.99863880e-01 7.69811340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19255784400001 meters Centerline goodness : 0.134435 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99863205e-01 2.48097984e-03 -1.63528311e-02 -1.53516321e+00] [-2.47663672e-03 9.99996892e-01 2.85834291e-04 -1.12111970e-01] [ 1.63534894e-02 -2.45295168e-04 9.99866243e-01 7.70584086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22255784400001 meters Centerline goodness : 0.138053 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.11, Z:0.77 [[ 9.99871070e-01 2.43229118e-03 -1.58722380e-02 -1.53682598e+00] [-2.42402516e-03 9.99996916e-01 5.40002905e-04 -1.13538940e-01] [ 1.58735025e-02 -5.01458578e-04 9.99873882e-01 7.71414309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25255784400001 meters Centerline goodness : 0.130885 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.77 [[ 0.99984474 -0.00659526 -0.01633988 -1.56051849] [ 0.00663139 0.99997568 0.00215829 -0.11356334] [ 0.01632525 -0.00226631 0.99986417 0.77188747] [ 0. 0. 0. 1. ]] SLAMing on 56.282557844 meters Centerline goodness : 0.122308 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.12, Z:0.77 [[ 0.99983903 -0.00728216 -0.01639797 -1.56022536] [ 0.00732109 0.99997052 0.00231543 -0.11674327] [ 0.01638063 -0.00243511 0.99986286 0.77207754] [ 0. 0. 0. 1. ]] SLAMing on 56.312557844000004 meters Centerline goodness : 0.141691 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.12, Z:0.77 [[ 9.99869305e-01 -1.38536280e-03 -1.61075478e-02 -1.53731792e+00] [ 1.36792025e-03 9.99998466e-01 -1.09384784e-03 -1.19174750e-01] [ 1.61090385e-02 1.07167104e-03 9.99869667e-01 7.71558435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342557844000005 meters Centerline goodness : 0.126999 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99802941e-01 -3.45872816e-03 -1.95478043e-02 -1.58038941e+00] [ 3.43572199e-03 9.99993365e-01 -1.21037983e-03 -1.24429215e-01] [ 1.95518610e-02 1.14298049e-03 9.99808191e-01 7.71543448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372557844000006 meters Centerline goodness : 0.120803 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99795844e-01 -3.41629882e-03 -1.99148018e-02 -1.57923731e+00] [ 3.39704427e-03 9.99993729e-01 -1.00059536e-03 -1.25539826e-01] [ 1.99180953e-02 9.32739621e-04 9.99801180e-01 7.71172548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40255784400001 meters Centerline goodness : 0.148385 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99791832e-01 -3.36932092e-03 -2.01231111e-02 -1.57843785e+00] [ 3.35199197e-03 9.99993982e-01 -8.94814182e-04 -1.25950834e-01] [ 2.01260049e-02 8.27175404e-04 9.99797109e-01 7.70709970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43255784400001 meters Centerline goodness : 0.145402 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99790642e-01 -3.32281038e-03 -2.01898876e-02 -1.57809679e+00] [ 3.30708260e-03 9.99994202e-01 -8.12331336e-04 -1.26263408e-01] [ 2.01924697e-02 7.45391642e-04 9.99795833e-01 7.70417288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46255784400001 meters Centerline goodness : 0.145591 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99793111e-01 -3.25041502e-03 -2.00791031e-02 -1.57845307e+00] [ 3.23699335e-03 9.99994515e-01 -7.00904800e-04 -1.26811225e-01] [ 2.00812712e-02 6.35763867e-04 9.99798149e-01 7.70548027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492557844000004 meters Centerline goodness : 0.147717 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99798854e-01 -3.18559420e-03 -1.98016183e-02 -1.57934644e+00] [ 3.17306963e-03 9.99994745e-01 -6.63889027e-04 -1.26674346e-01] [ 1.98036291e-02 6.00923574e-04 9.99803708e-01 7.70861859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522557844000005 meters Centerline goodness : 0.143325 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.77 [[ 9.99806137e-01 -3.12757891e-03 -1.94398397e-02 -1.58052447e+00] [ 3.11398667e-03 9.99994885e-01 -7.29426494e-04 -1.25898483e-01] [ 1.94420216e-02 6.68749683e-04 9.99810762e-01 7.71309301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552557844000006 meters Centerline goodness : 0.145372 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99806549e-01 -3.24039232e-03 -1.94000943e-02 -1.58058172e+00] [ 3.21876889e-03 9.99994163e-01 -1.14572582e-03 -1.23993865e-01] [ 1.94036937e-02 1.08305976e-03 9.99811144e-01 7.71196917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58255784400001 meters Centerline goodness : 0.196530 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 9.99801032e-01 -3.36355871e-03 -1.96616899e-02 -1.57952171e+00] [ 3.33640743e-03 9.99993435e-01 -1.41356313e-03 -1.23006614e-01] [ 1.96663154e-02 1.34768247e-03 9.99805691e-01 7.70503748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61255784400001 meters Centerline goodness : 0.134042 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.9997975 -0.00345252 -0.01982547 -1.57869256] [ 0.00341916 0.99999268 -0.00171622 -0.12157717] [ 0.01983125 0.00164808 0.99980198 0.76971853] [ 0. 0. 0. 1. ]] SLAMing on 56.64255784400001 meters Centerline goodness : 0.140329 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99979646 -0.00347675 -0.01987325 -1.57828616] [ 0.00343725 0.99999205 -0.00202132 -0.1196645 ] [ 0.01988012 0.0019526 0.99980046 0.76914372] [ 0. 0. 0. 1. ]] SLAMing on 56.672557844 meters Centerline goodness : 0.144583 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99980891 -0.00337092 -0.01925574 -1.57982486] [ 0.00332356 0.99999137 -0.00249091 -0.11617687] [ 0.01926397 0.00242644 0.99981149 0.76896363] [ 0. 0. 0. 1. ]] SLAMing on 56.702557844000005 meters Centerline goodness : 0.133929 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.77 [[ 0.99981006 -0.00345217 -0.01918115 -1.58017528] [ 0.00340036 0.99999048 -0.00273299 -0.1150146 ] [ 0.01919041 0.00266725 0.99981229 0.76922732] [ 0. 0. 0. 1. ]] SLAMing on 56.732557844000006 meters Centerline goodness : 0.144979 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99981064 -0.00352303 -0.01913838 -1.58040672] [ 0.0034679 0.99998974 -0.00291322 -0.11419287] [ 0.01914845 0.0028463 0.9998126 0.76941812] [ 0. 0. 0. 1. ]] SLAMing on 56.76255784400001 meters Centerline goodness : 0.143659 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.77 [[ 0.99980152 0.00414159 -0.01948747 -1.600144 ] [-0.00422045 0.99998307 -0.00400688 -0.11913191] [ 0.01947054 0.00408833 0.99980207 0.76788692] [ 0. 0. 0. 1. ]] SLAMing on 56.79255784400001 meters Centerline goodness : 0.133385 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979478 -0.0027591 -0.02006956 -1.58085694] [ 0.00269975 0.9999919 -0.00298378 -0.11270833] [ 0.02007763 0.00292898 0.99979413 0.76951123] [ 0. 0. 0. 1. ]] SLAMing on 56.82255784400001 meters Centerline goodness : 0.142798 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979172 -0.00282912 -0.02021171 -1.57979372] [ 0.00276391 0.99999089 -0.00325356 -0.11128611] [ 0.02022074 0.00319702 0.99979043 0.76824175] [ 0. 0. 0. 1. ]] SLAMing on 56.852557844 meters Centerline goodness : 0.135723 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979379 -0.00288519 -0.02010119 -1.57982985] [ 0.00281679 0.99999015 -0.00342987 -0.11043234] [ 0.02011089 0.00337254 0.99979207 0.76778895] [ 0. 0. 0. 1. ]] SLAMing on 56.882557844000004 meters Centerline goodness : 0.148445 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979876 -0.00290925 -0.01984903 -1.58058761] [ 0.00284009 0.9999898 -0.00351174 -0.10996184] [ 0.01985904 0.00345466 0.99979682 0.76793855] [ 0. 0. 0. 1. ]] SLAMing on 56.912557844000006 meters Centerline goodness : 0.120184 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99980205 -0.0029219 -0.01968059 -1.58123114] [ 0.00285198 0.99998953 -0.00357973 -0.1095547 ] [ 0.01969085 0.00352289 0.99979991 0.76824996] [ 0. 0. 0. 1. ]] SLAMing on 56.94255784400001 meters Centerline goodness : 0.140936 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99979616 -0.00299848 -0.0199664 -1.58049245] [ 0.00292403 0.99998867 -0.00375699 -0.10868538] [ 0.01997744 0.00369784 0.99979359 0.76820543] [ 0. 0. 0. 1. ]] SLAMing on 56.97255784400001 meters Centerline goodness : 0.142602 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978999 -0.00306333 -0.02026327 -1.5794095 ] [ 0.00298468 0.9999879 -0.00391071 -0.10803976] [ 0.02027501 0.00384941 0.99978703 0.76763558] [ 0. 0. 0. 1. ]] SLAMing on 57.00255784400001 meters Centerline goodness : 0.118628 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978395 -0.00313052 -0.02054873 -1.57833834] [ 0.00304694 0.99998696 -0.00409716 -0.10724979] [ 0.02056129 0.00403366 0.99978046 0.76700532] [ 0. 0. 0. 1. ]] SLAMing on 57.032557844 meters Centerline goodness : 0.139175 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.77 [[ 0.99978183 -0.00321225 -0.0206389 -1.57794413] [ 0.00312419 0.99998589 -0.0042975 -0.10633844] [ 0.02065241 0.00423208 0.99977776 0.7666837 ] [ 0. 0. 0. 1. ]] SLAMing on 57.062557844000004 meters Centerline goodness : 0.147196 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.11, Z:0.77 [[ 0.99972054 -0.00426986 -0.02325114 -1.62430154] [ 0.00418111 0.99998379 -0.00386424 -0.10967705] [ 0.02326726 0.00376594 0.99972219 0.76779484] [ 0. 0. 0. 1. ]] SLAMing on 57.092557844000005 meters Centerline goodness : 0.135971 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 0.99977195 0.00426388 -0.02092518 -1.60579519] [-0.0043767 0.99997612 -0.00534871 -0.11106169] [ 0.02090187 0.00543907 0.99976674 0.76863794] [ 0. 0. 0. 1. ]] SLAMing on 57.122557844000006 meters Centerline goodness : 0.121054 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.11, Z:0.77 [[ 0.99977729 0.00421119 -0.02067916 -1.60693377] [-0.00432132 0.9999767 -0.00528399 -0.11149823] [ 0.02065642 0.00537218 0.9997722 0.76950565] [ 0. 0. 0. 1. ]] SLAMing on 57.15255784400001 meters Centerline goodness : 0.138930 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977483 -0.00320445 -0.02097671 -1.58745651] [ 0.00311945 0.9999868 -0.00408327 -0.10699525] [ 0.02098952 0.00401691 0.99977163 0.77163504] [ 0. 0. 0. 1. ]] SLAMing on 57.18255784400001 meters Centerline goodness : 0.145747 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977296 -0.00309829 -0.0210815 -1.58722267] [ 0.00301925 0.9999883 -0.00377996 -0.10835725] [ 0.02109297 0.00371546 0.99977061 0.77173926] [ 0. 0. 0. 1. ]] SLAMing on 57.21255784400001 meters Centerline goodness : 0.122435 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.11, Z:0.77 [[ 0.99977394 -0.0029783 -0.02105229 -1.58750964] [ 0.00290775 0.99999006 -0.003381 -0.1102356 ] [ 0.02106215 0.00331902 0.99977266 0.77214953] [ 0. 0. 0. 1. ]] SLAMing on 57.242557844000004 meters Centerline goodness : 0.119172 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99982836 0.00283746 -0.01830843 -1.56547792] [-0.00296158 0.99997279 -0.00675611 -0.11154877] [ 0.01828876 0.00680918 0.99980956 0.77122192] [ 0. 0. 0. 1. ]] SLAMing on 57.272557844000005 meters Centerline goodness : 0.122928 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.11, Z:0.77 [[ 0.99983433 0.00284927 -0.01797772 -1.56668788] [-0.0029633 0.99997564 -0.00631928 -0.11417293] [ 0.01795927 0.00637151 0.99981842 0.77193155] [ 0. 0. 0. 1. ]] SLAMing on 57.302557844000006 meters Centerline goodness : 0.136538 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.11, Z:0.77 [[ 0.99984889 -0.00567597 -0.01643089 -1.54696824] [ 0.00558995 0.99997046 -0.00527643 -0.11426997] [ 0.01646035 0.00518378 0.99985108 0.77340761] [ 0. 0. 0. 1. ]] SLAMing on 57.33255784400001 meters Centerline goodness : 0.119416 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99984805 -0.00553368 -0.01653058 -1.5468455 ] [ 0.00545444 0.99997344 -0.00483503 -0.11623745] [ 0.0165569 0.00474413 0.99985167 0.7736513 ] [ 0. 0. 0. 1. ]] SLAMing on 57.36255784400001 meters Centerline goodness : 0.120862 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.77 [[ 0.99985671 0.00210081 -0.01679697 -1.56638271] [-0.00219266 0.99998274 -0.00545168 -0.12399678] [ 0.01678522 0.00548773 0.99984406 0.77211842] [ 0. 0. 0. 1. ]] SLAMing on 57.39255784400001 meters Centerline goodness : 0.121694 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99985966 0.00213717 -0.01661614 -1.56702078] [-0.00221887 0.99998553 -0.00489972 -0.12780836] [ 0.01660543 0.0049359 0.99984994 0.7725277 ] [ 0. 0. 0. 1. ]] SLAMing on 57.422557844 meters Centerline goodness : 0.118609 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99986006 0.0022538 -0.01657633 -1.56729692] [-0.00233033 0.99998671 -0.00459905 -0.12923678] [ 0.01656574 0.00463704 0.99985203 0.77281966] [ 0. 0. 0. 1. ]] SLAMing on 57.452557844000005 meters Centerline goodness : 0.152431 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.77 [[ 0.99985833 0.00238696 -0.01666194 -1.56701327] [-0.00246011 0.99998742 -0.0043711 -0.13013135] [ 0.01665129 0.00441147 0.99985163 0.77278251] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844000006 meters Centerline goodness : 0.082666 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99983246 -0.00520377 -0.01754917 -1.54631827] [ 0.0051436 0.99998074 -0.00347249 -0.12374906] [ 0.0175669 0.00338164 0.99983997 0.77397377] [ 0. 0. 0. 1. ]] SLAMing on 57.51255784400001 meters Centerline goodness : 0.120727 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.12, Z:0.77 [[ 0.99982734 -0.00518312 -0.01784423 -1.5453061 ] [ 0.0051233 0.99998111 -0.00339634 -0.12435558] [ 0.01786149 0.00330433 0.99983501 0.77357073] [ 0. 0. 0. 1. ]] SLAMing on 57.54255784400001 meters Centerline goodness : 0.121583 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.77 [[ 0.99982496 -0.0051373 -0.01799049 -1.54494072] [ 0.00507973 0.99998183 -0.00324453 -0.12533769] [ 0.01800684 0.00315257 0.99983289 0.77355674] [ 0. 0. 0. 1. ]] SLAMing on 57.57255784400001 meters Centerline goodness : 0.121170 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.9998338 -0.00482718 -0.01758016 -1.54617409] [ 0.00478189 0.99998514 -0.0026173 -0.12794583] [ 0.01759254 0.0025328 0.99984203 0.77387068] [ 0. 0. 0. 1. ]] SLAMing on 57.602557844 meters Centerline goodness : 0.151152 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 0.99983662 -0.00467622 -0.01746051 -1.54659676] [ 0.00463679 0.99998661 -0.00229789 -0.12928365] [ 0.01747102 0.00221655 0.99984491 0.77411104] [ 0. 0. 0. 1. ]] SLAMing on 57.632557844000004 meters Centerline goodness : 0.120706 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.9998487 0.00393294 -0.01694424 -1.5266921 ] [-0.00399714 0.99998495 -0.00375711 -0.13394298] [ 0.01692921 0.00382427 0.99984938 0.77552447] [ 0. 0. 0. 1. ]] SLAMing on 57.662557844000006 meters Centerline goodness : 0.191095 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99982459 0.00431322 -0.01822608 -1.52271483] [-0.00437947 0.99998394 -0.00359652 -0.1344708 ] [ 0.01821027 0.00367571 0.99982742 0.77471599] [ 0. 0. 0. 1. ]] SLAMing on 57.69255784400001 meters Centerline goodness : 0.119757 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.78 [[ 9.99800435e-01 -6.90079912e-04 -1.99653032e-02 -1.49959734e+00] [ 6.71462508e-04 9.99999334e-01 -9.39176534e-04 -1.27310384e-01] [ 1.99659380e-02 9.25583155e-04 9.99800232e-01 7.75189902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72255784400001 meters Centerline goodness : 0.147120 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.13, Z:0.77 [[ 9.99802937e-01 -5.68656051e-04 -1.98434897e-02 -1.49951287e+00] [ 5.46433862e-04 9.99999218e-01 -1.12527717e-03 -1.25846630e-01] [ 1.98441141e-02 1.11421227e-03 9.99802465e-01 7.74457197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75255784400001 meters Centerline goodness : 0.137734 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99806198e-01 -6.08257953e-04 -1.96773186e-02 -1.49956343e+00] [ 5.79364417e-04 9.99998746e-01 -1.47403498e-03 -1.24118245e-01] [ 1.96781905e-02 1.46234897e-03 9.99805296e-01 7.73802514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782557844 meters Centerline goodness : 0.172953 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99809949e-01 -7.04658423e-04 -1.94825251e-02 -1.49997609e+00] [ 6.69054435e-04 9.99998095e-01 -1.83394089e-03 -1.22443517e-01] [ 1.94837803e-02 1.82055748e-03 9.99808516e-01 7.73604390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812557844000004 meters Centerline goodness : 0.226776 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99813903e-01 -7.48193916e-04 -1.92768997e-02 -1.50061550e+00] [ 7.08659612e-04 9.99997632e-01 -2.05761366e-03 -1.21252231e-01] [ 1.92783935e-02 2.04356998e-03 9.99812066e-01 7.73747736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842557844000005 meters Centerline goodness : 0.142123 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.77 [[ 9.99818316e-01 -6.98188274e-04 -1.90485831e-02 -1.50174264e+00] [ 6.59095845e-04 9.99997664e-01 -2.05844946e-03 -1.20681972e-01] [ 1.90499758e-02 2.04552063e-03 9.99816440e-01 7.74518172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872557844000006 meters Centerline goodness : 0.190169 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99817123e-01 -6.39576710e-04 -1.91130993e-02 -1.50186959e+00] [ 6.05912689e-04 9.99998255e-01 -1.76704529e-03 -1.22166611e-01] [ 1.91141961e-02 1.75514127e-03 9.99815767e-01 7.75013507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90255784400001 meters Centerline goodness : 0.151083 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99812085e-01 -7.10341043e-04 -1.93724019e-02 -1.50131345e+00] [ 6.82181179e-04 9.99998701e-01 -1.46017691e-03 -1.24271476e-01] [ 1.93734140e-02 1.44668703e-03 9.99811271e-01 7.75243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93255784400001 meters Centerline goodness : 0.151083 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.12, Z:0.78 [[ 9.99812085e-01 -7.10341043e-04 -1.93724019e-02 -1.50131345e+00] [ 6.82181179e-04 9.99998701e-01 -1.46017691e-03 -1.24271476e-01] [ 1.93734140e-02 1.44668703e-03 9.99811271e-01 7.75243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96255784400001 meters Centerline goodness : 0.149037 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.78 [[ 9.99747711e-01 -3.26886542e-03 -2.22222648e-02 -1.54496010e+00] [ 3.23373818e-03 9.99993465e-01 -1.61647408e-03 -1.30206420e-01] [ 2.22274036e-02 1.54420527e-03 9.99751748e-01 7.75275148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992557844000004 meters Centerline goodness : 0.208523 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:0.77 [[ 9.99738119e-01 -3.29734742e-03 -2.26455280e-02 -1.54364192e+00] [ 3.26989259e-03 9.99993874e-01 -1.24929480e-03 -1.32414858e-01] [ 2.26495086e-02 1.17491919e-03 9.99742777e-01 7.74869225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844000005 meters Centerline goodness : 0.128809 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.78 [[ 9.99738371e-01 -3.27638499e-03 -2.26374549e-02 -1.54365526e+00] [ 3.26007291e-03 9.99994399e-01 -7.57446385e-04 -1.35158903e-01] [ 2.26398098e-02 6.83448462e-04 9.99743453e-01 7.75010306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052557844000006 meters Centerline goodness : 0.186705 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.78 [[ 9.99737028e-01 -3.23566683e-03 -2.27025379e-02 -1.54389165e+00] [ 3.22134421e-03 9.99994589e-01 -6.67425024e-04 -1.35625683e-01] [ 2.27045746e-02 5.94116821e-04 9.99742041e-01 7.75687427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08255784400001 meters Centerline goodness : 0.428043 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.14, Z:0.77 [[ 9.99734227e-01 4.45274410e-03 -2.26196261e-02 -1.56410218e+00] [-4.48754000e-03 9.99988824e-01 -1.48777866e-03 -1.40876676e-01] [ 2.26127486e-02 1.58888973e-03 9.99743037e-01 7.74382700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11255784400001 meters Centerline goodness : 0.152170 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.78 [[ 9.99749504e-01 -2.83490078e-03 -2.22011975e-02 -1.54527539e+00] [ 2.83490118e-03 9.99995981e-01 -3.14550280e-05 -1.33382990e-01] [ 2.22011975e-02 -3.14910523e-05 9.99753523e-01 7.75579251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14255784400001 meters Centerline goodness : 0.202161 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.78 [[ 9.99755009e-01 -2.79838404e-03 -2.19565553e-02 -1.54590826e+00] [ 2.79639478e-03 9.99996083e-01 -1.21302537e-04 -1.32586869e-01] [ 2.19568087e-02 5.98736227e-05 9.99758918e-01 7.75588191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172557844 meters Centerline goodness : 0.136604 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99981415 0.00519638 -0.01856504 -1.52529468] [-0.00523636 0.99998407 -0.00210567 -0.13216622] [ 0.0185538 0.0022025 0.99982544 0.77472007] [ 0. 0. 0. 1. ]] SLAMing on 58.202557844000005 meters Centerline goodness : 0.128329 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99981489 0.00509743 -0.01855244 -1.52552648] [-0.0051401 0.99998425 -0.00225332 -0.13166965] [ 0.01854066 0.00234826 0.99982535 0.77499415] [ 0. 0. 0. 1. ]] SLAMing on 58.232557844000006 meters Centerline goodness : 0.129872 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.78 [[ 0.99981266 0.00502881 -0.01869128 -1.52517165] [-0.00507563 0.9999841 -0.00245806 -0.13087071] [ 0.01867862 0.00255247 0.99982228 0.77501094] [ 0. 0. 0. 1. ]] SLAMing on 58.26255784400001 meters Centerline goodness : 0.189502 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979984 0.00490162 -0.01939751 -1.52274909] [-0.00495615 0.9999839 -0.00276411 -0.12963823] [ 0.01938365 0.00285969 0.99980803 0.77387832] [ 0. 0. 0. 1. ]] SLAMing on 58.29255784400001 meters Centerline goodness : 0.189502 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979984 0.00490162 -0.01939751 -1.52274909] [-0.00495615 0.9999839 -0.00276411 -0.12963823] [ 0.01938365 0.00285969 0.99980803 0.77387832] [ 0. 0. 0. 1. ]] SLAMing on 58.32255784400001 meters Centerline goodness : 0.143389 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99979517 0.00488646 -0.01964017 -1.5219054 ] [-0.00494034 0.99998416 -0.00269571 -0.13030121] [ 0.01962669 0.00279219 0.99980348 0.77348971] [ 0. 0. 0. 1. ]] SLAMing on 58.352557844 meters Centerline goodness : 0.190473 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.13, Z:0.77 [[ 0.99980104 0.00489123 -0.019338 -1.5230518 ] [-0.00494068 0.99998464 -0.00251034 -0.13120974] [ 0.01932543 0.00260538 0.99980985 0.77401173] [ 0. 0. 0. 1. ]] SLAMing on 58.382557844000004 meters Centerline goodness : 0.199587 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:0.77 [[ 9.99804138e-01 -4.50012224e-03 -1.92726513e-02 -1.54574540e+00] [ 4.47286294e-03 9.99988935e-01 -1.45727559e-03 -1.28818964e-01] [ 1.92789959e-02 1.37078623e-03 9.99813203e-01 7.73807470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412557844000006 meters Centerline goodness : 0.189649 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985633 0.00280221 -0.01671707 -1.5254215 ] [-0.00286594 0.99998871 -0.00378922 -0.13034434] [ 0.01670627 0.00383658 0.99985308 0.77343129] [ 0. 0. 0. 1. ]] SLAMing on 58.44255784400001 meters Centerline goodness : 0.213927 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985706 0.00290542 -0.01665566 -1.52564231] [-0.00296241 0.99998984 -0.00339797 -0.13223876] [ 0.01664562 0.00344682 0.99985551 0.77349826] [ 0. 0. 0. 1. ]] SLAMing on 58.47255784400001 meters Centerline goodness : 0.298421 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.13, Z:0.77 [[ 0.99985402 0.00303582 -0.01681426 -1.52514723] [-0.00308652 0.99999077 -0.00298973 -0.13417814] [ 0.01680503 0.00304119 0.99985416 0.77331755] [ 0. 0. 0. 1. ]] SLAMing on 58.50255784400001 meters Centerline goodness : 0.197572 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 0.99985037 0.00309239 -0.0170198 -1.52443771] [-0.00313902 0.99999139 -0.00271368 -0.13566692] [ 0.01701126 0.0027667 0.99985147 0.77304342] [ 0. 0. 0. 1. ]] SLAMing on 58.532557844 meters Centerline goodness : 0.152413 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 9.99837716e-01 3.19467323e-04 -1.80122159e-02 -1.52084746e+00] [-4.19175013e-04 9.99984610e-01 -5.53205564e-03 -1.38271672e-01] [ 1.80101714e-02 5.53870815e-03 9.99822462e-01 7.71791125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562557844000004 meters Centerline goodness : 0.206507 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99783134e-01 -9.62409336e-04 -2.08028636e-02 -1.56515837e+00] [ 8.63016374e-04 9.99988173e-01 -4.78629967e-03 -1.42955440e-01] [ 2.08072239e-02 4.76730848e-03 9.99772140e-01 7.72320145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592557844000005 meters Centerline goodness : 0.238752 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.14, Z:0.77 [[ 0.99975212 -0.00823608 -0.02068479 -1.54536243] [ 0.00816289 0.99996013 -0.00362027 -0.13891078] [ 0.02071378 0.00345052 0.99977949 0.77387022] [ 0. 0. 0. 1. ]] SLAMing on 58.622557844000006 meters Centerline goodness : 0.283743 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.14, Z:0.77 [[ 0.99975084 -0.00812322 -0.02079113 -1.54501284] [ 0.00805448 0.99996182 -0.00338794 -0.13991963] [ 0.02081786 0.00321964 0.9997781 0.77375451] [ 0. 0. 0. 1. ]] SLAMing on 58.65255784400001 meters Centerline goodness : 0.188255 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.14, Z:0.77 [[ 0.99974837 -0.00802843 -0.02094628 -1.54450352] [ 0.00796266 0.99996311 -0.00322161 -0.14063718] [ 0.02097137 0.00305402 0.99977541 0.77357478] [ 0. 0. 0. 1. ]] SLAMing on 58.68255784400001 meters Centerline goodness : 0.126863 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:0.77 [[ 0.99978599 0.00152363 -0.02063152 -1.52333233] [-0.00161265 0.99998946 -0.00429914 -0.14308243] [ 0.02062475 0.00433149 0.9997779 0.77435678] [ 0. 0. 0. 1. ]] SLAMing on 58.71255784400001 meters Centerline goodness : 0.147212 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.15, Z:0.78 [[ 9.99718620e-01 1.16814844e-03 -2.36921333e-02 -1.56797947e+00] [-1.24760331e-03 9.99993647e-01 -3.33913529e-03 -1.45327730e-01] [ 2.36880822e-02 3.36775411e-03 9.99713726e-01 7.75040455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742557844000004 meters Centerline goodness : 0.194338 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99717523e-01 1.14246366e-03 -2.37396092e-02 -1.56766239e+00] [-1.23166214e-03 9.99992236e-01 -3.74308710e-03 -1.43183545e-01] [ 2.37351485e-02 3.77126894e-03 9.99711168e-01 7.74630638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772557844000005 meters Centerline goodness : 0.179117 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:0.77 [[ 9.99715501e-01 1.20033218e-03 -2.38217504e-02 -1.56726155e+00] [-1.29826063e-03 9.99990769e-01 -4.09584390e-03 -1.41045014e-01] [ 2.38166142e-02 4.12560547e-03 9.99707831e-01 7.74192037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802557844000006 meters Centerline goodness : 0.191495 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.78 [[ 9.99633652e-01 1.16869385e-03 -2.70406181e-02 -1.61265048e+00] [-1.24448759e-03 9.99995344e-01 -2.78629965e-03 -1.42871141e-01] [ 2.70372358e-02 2.81893061e-03 9.99630452e-01 7.75316807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83255784400001 meters Centerline goodness : 0.231620 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.78 [[ 9.99638576e-01 1.15551979e-03 -2.68585580e-02 -1.61307771e+00] [-1.24093133e-03 9.99994226e-01 -3.16359891e-03 -1.40622817e-01] [ 2.68547473e-02 3.19578514e-03 9.99634238e-01 7.75170295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86255784400001 meters Centerline goodness : 0.122037 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.77 [[ 9.99638067e-01 1.10098044e-03 -2.68797868e-02 -1.61275733e+00] [-1.19847214e-03 9.99992762e-01 -3.61111129e-03 -1.37957477e-01] [ 2.68756165e-02 3.64201898e-03 9.99632151e-01 7.74566369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89255784400001 meters Centerline goodness : 0.156455 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:0.78 [[ 0.99960004 -0.0060359 -0.02762837 -1.5926314 ] [ 0.00595797 0.99997804 -0.00290208 -0.13148307] [ 0.02764528 0.00273631 0.99961405 0.77588045] [ 0. 0. 0. 1. ]] SLAMing on 58.922557844 meters Centerline goodness : 0.144491 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.14, Z:0.77 [[ 9.99604349e-01 1.50461183e-03 -2.80870195e-02 -1.61265270e+00] [-1.60935412e-03 9.99991834e-01 -3.70697359e-03 -1.38044266e-01] [ 2.80812126e-02 3.75070889e-03 9.99598608e-01 7.74815697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952557844000005 meters Centerline goodness : 0.149808 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99968899 0.00214693 -0.02484571 -1.57319124] [-0.0022624 0.99998677 -0.00462031 -0.13411062] [ 0.02483546 0.00467508 0.99968062 0.77640274] [ 0. 0. 0. 1. ]] SLAMing on 58.982557844000006 meters Centerline goodness : 0.146281 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970104 0.00220144 -0.02435135 -1.57517721] [-0.0023109 0.99998735 -0.00446778 -0.13454726] [ 0.0243412 0.00452272 0.99969348 0.77758774] [ 0. 0. 0. 1. ]] SLAMing on 59.01255784400001 meters Centerline goodness : 0.142652 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970955 0.00224079 -0.02399573 -1.57652599] [-0.00234699 0.99998757 -0.00439837 -0.1346844 ] [ 0.02398557 0.00445341 0.99970239 0.77832825] [ 0. 0. 0. 1. ]] SLAMing on 59.04255784400001 meters Centerline goodness : 0.175066 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99970582 0.00205697 -0.02416698 -1.57584285] [-0.0021744 0.99998595 -0.00483374 -0.13275127] [ 0.0241567 0.00488487 0.99969625 0.77796548] [ 0. 0. 0. 1. ]] SLAMing on 59.07255784400001 meters Centerline goodness : 0.136608 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99969846 0.00192125 -0.02448038 -1.57446245] [-0.00205078 0.99998402 -0.00526748 -0.13070473] [ 0.02446986 0.00531609 0.99968643 0.77701902] [ 0. 0. 0. 1. ]] SLAMing on 59.102557844 meters Centerline goodness : 0.174956 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:0.78 [[ 0.99968995 0.00180733 -0.02483431 -1.57303191] [-0.00195219 0.99998122 -0.00581016 -0.12793206] [ 0.02482334 0.00585684 0.9996747 0.77605111] [ 0. 0. 0. 1. ]] SLAMing on 59.132557844000004 meters Centerline goodness : 0.159597 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 0.99969047 0.00166492 -0.02482307 -1.5727392 ] [-0.00182514 0.99997764 -0.00643329 -0.12474121] [ 0.02481181 0.0064766 0.99967116 0.77541028] [ 0. 0. 0. 1. ]] SLAMing on 59.162557844000006 meters Centerline goodness : 0.147670 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99695956e-01 1.50461053e-03 -2.46116137e-02 -1.57330216e+00] [-1.67953206e-03 9.99973468e-01 -7.08814935e-03 -1.21355097e-01] [ 2.46002958e-02 7.12733024e-03 9.99671959e-01 7.75348275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19255784400001 meters Centerline goodness : 0.148476 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.12, Z:0.78 [[ 9.99702410e-01 1.32597098e-03 -2.43584199e-02 -1.57428366e+00] [-1.51328458e-03 9.99969417e-01 -7.67306807e-03 -1.18432009e-01] [ 2.43475007e-02 7.70764586e-03 9.99673843e-01 7.75819509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22255784400001 meters Centerline goodness : 0.139520 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.12, Z:0.78 [[ 9.99626132e-01 6.07194921e-04 -2.73354597e-02 -1.62113846e+00] [-8.04374735e-04 9.99973735e-01 -7.20291643e-03 -1.17516721e-01] [ 2.73303682e-02 7.22221144e-03 9.99600365e-01 7.77584107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25255784400001 meters Centerline goodness : 0.142879 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99968841 0.00190855 -0.02488845 -1.57697369] [-0.00210174 0.99996785 -0.00773849 -0.11080044] [ 0.02487288 0.00778839 0.99966028 0.77716448] [ 0. 0. 0. 1. ]] SLAMing on 59.282557844 meters Centerline goodness : 0.126270 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99969172 0.00177194 -0.02476521 -1.57731696] [-0.00197107 0.99996591 -0.0080185 -0.10953702] [ 0.02475016 0.00806484 0.99966114 0.77719986] [ 0. 0. 0. 1. ]] SLAMing on 59.312557844000004 meters Centerline goodness : 0.145228 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99969747 0.00166127 -0.02453996 -1.57811056] [-0.00186338 0.99996452 -0.00821536 -0.10876109] [ 0.02452544 0.0082586 0.99966509 0.77757368] [ 0. 0. 0. 1. ]] SLAMing on 59.342557844000005 meters Centerline goodness : 0.139801 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 9.99702517e-01 1.56525928e-03 -2.43398387e-02 -1.57893204e+00] [-1.76859248e-03 9.99963702e-01 -8.33464379e-03 -1.08397505e-01] [ 2.43259094e-02 8.37521163e-03 9.99668998e-01 7.78118710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372557844000006 meters Centerline goodness : 0.122342 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 9.99704287e-01 1.48569383e-03 -2.42720108e-02 -1.57927810e+00] [-1.69270928e-03 9.99962351e-01 -8.51066008e-03 -1.07529740e-01] [ 2.42584528e-02 8.54922883e-03 9.99669164e-01 7.78385339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40255784400001 meters Centerline goodness : 0.143742 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 0.99966253 -0.00339772 -0.02575411 -1.55508977] [ 0.00325333 0.99997877 -0.00564641 -0.10066454] [ 0.02577275 0.00556072 0.99965236 0.77825852] [ 0. 0. 0. 1. ]] SLAMing on 59.43255784400001 meters Centerline goodness : 0.130143 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.10, Z:0.78 [[ 0.99965858 -0.00350123 -0.02589345 -1.55441887] [ 0.00335077 0.99997726 -0.00585175 -0.0997634 ] [ 0.02591335 0.00576299 0.99964758 0.77777948] [ 0. 0. 0. 1. ]] SLAMing on 59.46255784400001 meters Centerline goodness : 0.124885 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99957079 -0.00519216 -0.02883185 -1.60003617] [ 0.0050241 0.99996998 -0.00589866 -0.1035409 ] [ 0.02886161 0.00575128 0.99956687 0.77857812] [ 0. 0. 0. 1. ]] SLAMing on 59.492557844000004 meters Centerline goodness : 0.120001 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99961599 0.00303795 -0.02754351 -1.58175081] [-0.00325162 0.99996494 -0.00771609 -0.10618897] [ 0.0275191 0.00780269 0.99959082 0.78052087] [ 0. 0. 0. 1. ]] SLAMing on 59.522557844000005 meters Centerline goodness : 0.155590 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.11, Z:0.78 [[ 0.99961885 0.00304121 -0.0274391 -1.58224696] [-0.0032527 0.99996532 -0.00766619 -0.10637504] [ 0.02741483 0.00775252 0.99959408 0.78088972] [ 0. 0. 0. 1. ]] SLAMing on 59.552557844000006 meters Centerline goodness : 0.120229 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99958915 -0.00590105 -0.02804837 -1.60233651] [ 0.00572895 0.99996429 -0.00621214 -0.10334432] [ 0.02808402 0.0060489 0.99958726 0.77921901] [ 0. 0. 0. 1. ]] SLAMing on 59.58255784400001 meters Centerline goodness : 0.150084 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.10, Z:0.78 [[ 0.99957164 -0.00603302 -0.02863799 -1.60066892] [ 0.00586325 0.99996476 -0.00600825 -0.10473451] [ 0.02867323 0.00583776 0.99957179 0.77897198] [ 0. 0. 0. 1. ]] SLAMing on 59.61255784400001 meters Centerline goodness : 0.121701 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.99955997 -0.00609651 -0.02902926 -1.59985117] [ 0.00593223 0.99996592 -0.00574202 -0.10659598] [ 0.02906328 0.00556728 0.99956207 0.77935029] [ 0. 0. 0. 1. ]] SLAMing on 59.64255784400001 meters Centerline goodness : 0.153366 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.11, Z:0.78 [[ 9.99590013e-01 1.29131269e-04 -2.86319759e-02 -1.61873302e+00] [-3.39016654e-04 9.99973109e-01 -7.32572093e-03 -1.14876562e-01] [ 2.86302600e-02 7.33242419e-03 9.99563176e-01 7.77272130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672557844 meters Centerline goodness : 0.119495 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.9995598 -0.00792851 -0.02858938 -1.59753716] [ 0.00774604 0.99994895 -0.00648758 -0.11241842] [ 0.02863936 0.00626327 0.99957019 0.77876438] [ 0. 0. 0. 1. ]] SLAMing on 59.702557844000005 meters Centerline goodness : 0.119449 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.11, Z:0.78 [[ 0.99955296 -0.00781717 -0.0288579 -1.5968612 ] [ 0.0076446 0.99995226 -0.0060853 -0.11438505] [ 0.02890409 0.00586197 0.999565 0.77882072] [ 0. 0. 0. 1. ]] SLAMing on 59.732557844000006 meters Centerline goodness : 0.160599 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99954877 -0.00768089 -0.02903906 -1.59648591] [ 0.0075173 0.99995528 -0.00573828 -0.11597035] [ 0.02908184 0.0055174 0.99956181 0.77904105] [ 0. 0. 0. 1. ]] SLAMing on 59.76255784400001 meters Centerline goodness : 0.137733 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955184 -0.00742182 -0.02900071 -1.59683988] [ 0.00727668 0.99996048 -0.00510724 -0.11904186] [ 0.02903747 0.00489393 0.99956634 0.77954242] [ 0. 0. 0. 1. ]] SLAMing on 59.79255784400001 meters Centerline goodness : 0.219101 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955639 -0.0072904 -0.0288768 -1.59708451] [ 0.00715328 0.99996266 -0.00484863 -0.12019697] [ 0.02891107 0.00463991 0.99957122 0.77941364] [ 0. 0. 0. 1. ]] SLAMing on 59.82255784400001 meters Centerline goodness : 0.219101 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99955639 -0.0072904 -0.0288768 -1.59708451] [ 0.00715328 0.99996266 -0.00484863 -0.12019697] [ 0.02891107 0.00463991 0.99957122 0.77941364] [ 0. 0. 0. 1. ]] SLAMing on 59.852557844 meters Centerline goodness : 0.121878 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 9.99590619e-01 5.54317653e-04 -2.86057214e-02 -1.61730313e+00] [-7.09821472e-04 9.99985026e-01 -5.42624076e-03 -1.26451948e-01] [ 2.86022852e-02 5.44432432e-03 9.99576044e-01 7.77418949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882557844000004 meters Centerline goodness : 0.119758 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.12, Z:0.78 [[ 0.99958146 -0.00448847 -0.02857907 -1.59450487] [ 0.0044248 0.99998759 -0.0022907 -0.12412836] [ 0.02858899 0.00216328 0.99958891 0.77731442] [ 0. 0. 0. 1. ]] SLAMing on 59.912557844000006 meters Centerline goodness : 0.122828 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 0.99954751 0.00367665 -0.02985401 -1.61523796] [-0.00375963 0.99998922 -0.00272384 -0.12968916] [ 0.02984367 0.00283485 0.99955056 0.77623922] [ 0. 0. 0. 1. ]] SLAMing on 59.94255784400001 meters Centerline goodness : 0.143048 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950771 0.00402447 -0.03111511 -1.57518836] [-0.00410729 0.99998819 -0.00259838 -0.12800697] [ 0.03110429 0.0027249 0.99951243 0.7784771 ] [ 0. 0. 0. 1. ]] SLAMing on 59.97255784400001 meters Centerline goodness : 0.152291 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950702 0.00387779 -0.03115583 -1.57582031] [-0.00396547 0.99998835 -0.00275306 -0.12810311] [ 0.03114479 0.00287525 0.99951075 0.77968936] [ 0. 0. 0. 1. ]] SLAMing on 60.00255784400001 meters Centerline goodness : 0.123305 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99950882 0.00387156 -0.03109855 -1.57628574] [-0.00395806 0.99998847 -0.00272029 -0.12834261] [ 0.03108766 0.00284205 0.99951262 0.78019769] [ 0. 0. 0. 1. ]] SLAMing on 60.03255784400001 meters Centerline goodness : 0.149722 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951154 0.00387933 -0.03101034 -1.57647222] [-0.0039647 0.99998852 -0.00269196 -0.12823574] [ 0.03099954 0.00281359 0.99951544 0.78005472] [ 0. 0. 0. 1. ]] SLAMing on 60.062557844000004 meters Centerline goodness : 0.122431 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951567 0.00387223 -0.03087774 -1.57666082] [-0.00396052 0.99998824 -0.00279855 -0.12743864] [ 0.03086654 0.00291949 0.99951925 0.7798111 ] [ 0. 0. 0. 1. ]] SLAMing on 60.092557844000005 meters Centerline goodness : 0.119968 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99951789 0.00386525 -0.03080668 -1.57660816] [-0.00395249 0.99998835 -0.00277149 -0.12722318] [ 0.03079561 0.00289192 0.99952152 0.77935623] [ 0. 0. 0. 1. ]] SLAMing on 60.122557844000006 meters Centerline goodness : 0.151948 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.13, Z:0.78 [[ 0.99950302 0.00256328 -0.03141885 -1.61698417] [-0.00270149 0.99998686 -0.0043572 -0.1277763 ] [ 0.03140727 0.00443991 0.99949681 0.77794229] [ 0. 0. 0. 1. ]] SLAMing on 60.15255784400001 meters Centerline goodness : 0.145276 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950204 -0.00475298 -0.03119411 -1.59757736] [ 0.00464949 0.99998345 -0.00338919 -0.12292078] [ 0.03120971 0.00324246 0.9995076 0.77966021] [ 0. 0. 0. 1. ]] SLAMing on 60.18255784400001 meters Centerline goodness : 0.122997 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950364 -0.0046864 -0.03115314 -1.59776315] [ 0.00458573 0.99998403 -0.00330213 -0.12312484] [ 0.03116812 0.00315763 0.99950917 0.77979639] [ 0. 0. 0. 1. ]] SLAMing on 60.21255784400001 meters Centerline goodness : 0.164023 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99950627 -0.0046172 -0.0310788 -1.59802914] [ 0.00451973 0.99998465 -0.00320565 -0.12335137] [ 0.03109312 0.0030636 0.9995118 0.77989454] [ 0. 0. 0. 1. ]] SLAMing on 60.242557844000004 meters Centerline goodness : 0.151332 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954577 0.00412824 -0.02985325 -1.57787223] [-0.00426029 0.99998142 -0.00436114 -0.12639048] [ 0.0298347 0.00448634 0.99954478 0.7809341 ] [ 0. 0. 0. 1. ]] SLAMing on 60.272557844000005 meters Centerline goodness : 0.153762 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954492 0.00415782 -0.02987765 -1.5777878 ] [-0.00428764 0.99998164 -0.00428242 -0.12687245] [ 0.0298593 0.00440857 0.99954439 0.78092316] [ 0. 0. 0. 1. ]] SLAMing on 60.302557844000006 meters Centerline goodness : 0.149713 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954352 0.00421411 -0.02991654 -1.57765007] [-0.00434252 0.99998163 -0.00422861 -0.12723562] [ 0.02989817 0.00435659 0.99954346 0.78089001] [ 0. 0. 0. 1. ]] SLAMing on 60.33255784400001 meters Centerline goodness : 0.149172 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.13, Z:0.78 [[ 0.99954524 0.00428948 -0.02984812 -1.57774374] [-0.00441816 0.99998122 -0.0042465 -0.12678597] [ 0.02982934 0.00437645 0.99954543 0.78070759] [ 0. 0. 0. 1. ]] SLAMing on 60.36255784400001 meters Centerline goodness : 0.154403 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.13, Z:0.78 [[ 9.99498268e-01 -2.46740469e-03 -3.15772667e-02 -1.60109888e+00] [ 2.43229553e-03 9.99996380e-01 -1.15021316e-03 -1.26117388e-01] [ 3.15799904e-02 1.07283082e-03 9.99500652e-01 7.81463489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39255784400001 meters Centerline goodness : 0.152503 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 9.99495548e-01 -2.49039231e-03 -3.16614518e-02 -1.60059144e+00] [ 2.44434990e-03 9.99995898e-01 -1.49283289e-03 -1.24268865e-01] [ 3.16650397e-02 1.41468816e-03 9.99497536e-01 7.80900154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422557844 meters Centerline goodness : 0.143172 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.12, Z:0.78 [[ 0.99948829 -0.00254447 -0.03188558 -1.59966879] [ 0.00248439 0.99999506 -0.00192364 -0.12206948] [ 0.03189032 0.00184344 0.99948967 0.78018552] [ 0. 0. 0. 1. ]] SLAMing on 60.452557844000005 meters Centerline goodness : 0.141850 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 0.99949081 0.00656946 -0.03122454 -1.57903909] [-0.00667695 0.99997213 -0.00333951 -0.12170506] [ 0.03120173 0.00354629 0.99950682 0.78126573] [ 0. 0. 0. 1. ]] SLAMing on 60.482557844000006 meters Centerline goodness : 0.147428 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.12, Z:0.78 [[ 0.99950748 0.00648583 -0.03070399 -1.58027409] [-0.00661139 0.99997019 -0.00398948 -0.11812763] [ 0.0306772 0.00419051 0.99952056 0.78095961] [ 0. 0. 0. 1. ]] SLAMing on 60.51255784400001 meters Centerline goodness : 0.137832 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99526669e-01 -7.25781866e-04 -3.07556704e-02 -1.56118386e+00] [ 6.26493908e-04 9.99994562e-01 -3.23779482e-03 -1.10728991e-01] [ 3.07578530e-02 3.21699403e-03 9.99521688e-01 7.82791877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54255784400001 meters Centerline goodness : 0.124253 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99524364e-01 -8.40150215e-04 -3.08275708e-02 -1.56103715e+00] [ 7.33219342e-04 9.99993677e-01 -3.47981699e-03 -1.09631613e-01] [ 3.08302994e-02 3.45555849e-03 9.99518660e-01 7.82835880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57255784400001 meters Centerline goodness : 0.121483 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99523078e-01 -9.26309405e-04 -3.08668025e-02 -1.56099974e+00] [ 8.14440100e-04 9.99993056e-01 -3.63663509e-03 -1.08904101e-01] [ 3.08699568e-02 3.60976154e-03 9.99516891e-01 7.82937470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.632557844000004 meters Centerline goodness : 0.153370 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.11, Z:0.78 [[ 9.99550503e-01 -1.33953813e-03 -2.99499105e-02 -1.56410366e+00] [ 1.21183326e-03 9.99990099e-01 -4.28169299e-03 -1.06152573e-01] [ 2.99553495e-02 4.24347409e-03 9.99542230e-01 7.84197330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662557844000006 meters Centerline goodness : 0.141666 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 9.99556496e-01 -1.44762512e-03 -2.97441593e-02 -1.56497735e+00] [ 1.31316400e-03 9.99988834e-01 -4.53962575e-03 -1.04824988e-01] [ 2.97503988e-02 4.49855345e-03 9.99547236e-01 7.84724953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69255784400001 meters Centerline goodness : 0.121990 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.10, Z:0.78 [[ 9.99556406e-01 -1.58275902e-03 -2.97403205e-02 -1.56497126e+00] [ 1.43912565e-03 9.99987201e-01 -4.85036819e-03 -1.03319984e-01] [ 2.97476168e-02 4.80541654e-03 9.99545891e-01 7.84658903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72255784400001 meters Centerline goodness : 0.122486 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99952445 -0.00728003 -0.02996449 -1.54209849] [ 0.00721467 0.99997135 -0.00228871 -0.098681 ] [ 0.02998029 0.00207143 0.99954834 0.78469911] [ 0. 0. 0. 1. ]] SLAMing on 60.75255784400001 meters Centerline goodness : 0.152838 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99951061 -0.00736776 -0.0304016 -1.54070292] [ 0.00730052 0.99997066 -0.00232194 -0.09866901] [ 0.03041782 0.00209885 0.99953507 0.78424193] [ 0. 0. 0. 1. ]] SLAMing on 60.78255784400001 meters Centerline goodness : 0.122373 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99949593 -0.00741227 -0.03086974 -1.53944468] [ 0.00734932 0.99997068 -0.00215225 -0.09978107] [ 0.03088479 0.00192429 0.9995211 0.78418324] [ 0. 0. 0. 1. ]] SLAMing on 60.812557844000004 meters Centerline goodness : 0.120645 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.78 [[ 0.99947835 -0.00849189 -0.03115946 -1.53880651] [ 0.00841799 0.99996144 -0.00250206 -0.10219887] [ 0.03117951 0.00223845 0.99951129 0.78458213] [ 0. 0. 0. 1. ]] SLAMing on 60.842557844000005 meters Centerline goodness : 0.148447 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.10, Z:0.79 [[ 0.99948148 -0.00849725 -0.03105738 -1.53933224] [ 0.00843628 0.99996222 -0.00209363 -0.10438404] [ 0.031074 0.00183054 0.99951541 0.78513409] [ 0. 0. 0. 1. ]] SLAMing on 60.872557844000006 meters Centerline goodness : 0.122599 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99949689 -0.00213221 -0.03164531 -1.52599302] [ 0.00203168 0.99999279 -0.00320858 -0.10993142] [ 0.03165193 0.00314267 0.99949401 0.78828799] [ 0. 0. 0. 1. ]] SLAMing on 60.90255784400001 meters Centerline goodness : 0.138235 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99950428 -0.00199871 -0.03141982 -1.527085 ] [ 0.00191395 0.99999445 -0.00272756 -0.11211674] [ 0.03142509 0.00266607 0.99950255 0.7891962 ] [ 0. 0. 0. 1. ]] SLAMing on 60.93255784400001 meters Centerline goodness : 0.122140 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.11, Z:0.79 [[ 0.99950919 -0.00190397 -0.03126921 -1.52788763] [ 0.00183357 0.99999572 -0.00228005 -0.11439916] [ 0.03127342 0.00222159 0.9995084 0.78996365] [ 0. 0. 0. 1. ]] SLAMing on 60.96255784400001 meters Centerline goodness : 0.121036 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99955638 0.00409441 -0.02950063 -1.50716371] [-0.00427045 0.99997344 -0.00590667 -0.11732567] [ 0.02947567 0.00603003 0.99954731 0.79030049] [ 0. 0. 0. 1. ]] SLAMing on 60.992557844000004 meters Centerline goodness : 0.122537 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99955398 0.00422258 -0.02956371 -1.50720892] [-0.00438462 0.99997571 -0.0054183 -0.11998749] [ 0.02954011 0.00554551 0.99954821 0.79062293] [ 0. 0. 0. 1. ]] SLAMing on 61.022557844000005 meters Centerline goodness : 0.127659 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.12, Z:0.79 [[ 0.99954812 0.0043713 -0.02973951 -1.50674953] [-0.00452066 0.9999775 -0.00495675 -0.12227598] [ 0.02971717 0.00508895 0.99954539 0.79054591] [ 0. 0. 0. 1. ]] SLAMing on 61.052557844000006 meters Centerline goodness : 0.127845 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99952341 -0.00343847 -0.03067781 -1.48479008] [ 0.00334253 0.99998936 -0.00317829 -0.12045178] [ 0.03068841 0.00307423 0.99952427 0.79060076] [ 0. 0. 0. 1. ]] SLAMing on 61.08255784400001 meters Centerline goodness : 0.128889 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99951553 -0.00331861 -0.03094671 -1.48407442] [ 0.00323387 0.99999088 -0.00278786 -0.12250489] [ 0.03095568 0.00268643 0.99951715 0.7905683 ] [ 0. 0. 0. 1. ]] SLAMing on 61.11255784400001 meters Centerline goodness : 0.129757 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.12, Z:0.79 [[ 0.99951581 -0.00326106 -0.03094372 -1.4845753 ] [ 0.00318713 0.99999195 -0.00243837 -0.12462136] [ 0.03095142 0.00233857 0.99951815 0.79129367] [ 0. 0. 0. 1. ]] SLAMing on 61.14255784400001 meters Centerline goodness : 0.127831 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 0.99952535 -0.00329606 -0.03063008 -1.48609339] [ 0.00323359 0.99999259 -0.00208878 -0.12673503] [ 0.03063674 0.00198874 0.99952861 0.79233105] [ 0. 0. 0. 1. ]] SLAMing on 61.172557844 meters Centerline goodness : 0.127487 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 0.99953155 -0.00325219 -0.03043191 -1.4869437 ] [ 0.00320233 0.99999345 -0.00168697 -0.12869007] [ 0.0304372 0.00158873 0.99953542 0.79279733] [ 0. 0. 0. 1. ]] SLAMing on 61.202557844000005 meters Centerline goodness : 0.125738 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.13, Z:0.79 [[ 9.99534661e-01 -3.12500220e-03 -3.03429859e-02 -1.48724725e+00] [ 3.08991443e-03 9.99994502e-01 -1.20319231e-03 -1.30684158e-01] [ 3.03465791e-02 1.10887518e-03 9.99538821e-01 7.92774248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232557844000006 meters Centerline goodness : 0.123447 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99958074 0.0030873 -0.02878902 -1.4645154 ] [-0.0032031 0.99998696 -0.0039769 -0.13596212] [ 0.02877637 0.00406745 0.9995776 0.7917213 ] [ 0. 0. 0. 1. ]] SLAMing on 61.26255784400001 meters Centerline goodness : 0.154334 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99957746 0.00321823 -0.02888843 -1.46437598] [-0.00332116 0.9999883 -0.00351566 -0.13835568] [ 0.02887678 0.00361012 0.99957646 0.79192094] [ 0. 0. 0. 1. ]] SLAMing on 61.29255784400001 meters Centerline goodness : 0.164641 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99957384 0.00335104 -0.02899851 -1.46418564] [-0.0034417 0.99998934 -0.00307717 -0.14062667] [ 0.02898789 0.00317566 0.99957472 0.79202256] [ 0. 0. 0. 1. ]] SLAMing on 61.32255784400001 meters Centerline goodness : 0.073364 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.14, Z:0.79 [[ 0.99956984 0.00344442 -0.02912508 -1.46402291] [-0.00352205 0.99999038 -0.00261454 -0.14315513] [ 0.02911579 0.002716 0.99957236 0.79228288] [ 0. 0. 0. 1. ]] SLAMing on 61.352557844 meters Centerline goodness : 0.075505 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:0.79 [[ 0.99957129 0.00358019 -0.02905878 -1.4645129 ] [-0.00364081 0.9999913 -0.00203348 -0.14616403] [ 0.02905125 0.00213841 0.99957564 0.79283394] [ 0. 0. 0. 1. ]] SLAMing on 61.382557844000004 meters Centerline goodness : 0.124019 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.15, Z:0.79 [[ 9.99574558e-01 3.74831788e-03 -2.89249445e-02 -1.46522793e+00] [-3.78981488e-03 9.99991866e-01 -1.37995589e-03 -1.49472980e-01] [ 2.89195367e-02 1.48898899e-03 9.99580634e-01 7.93420960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412557844000006 meters Centerline goodness : 0.127991 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.15, Z:0.79 [[ 9.99527417e-01 -6.41238840e-03 -3.00636719e-02 -1.48622149e+00] [ 6.40612335e-03 9.99979434e-01 -3.04706765e-04 -1.53300214e-01] [ 3.00650076e-02 1.11971175e-04 9.99547939e-01 7.92860188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44255784400001 meters Centerline goodness : 0.171325 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.16, Z:0.79 [[ 9.99522977e-01 -6.24713095e-03 -3.02455403e-02 -1.48579308e+00] [ 6.26060160e-03 9.99980341e-01 3.50696845e-04 -1.56660470e-01] [ 3.02427549e-02 -5.39884832e-04 9.99542437e-01 7.92909344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47255784400001 meters Centerline goodness : 0.161984 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.16, Z:0.79 [[ 9.99584510e-01 -5.87339133e-03 -2.82189875e-02 -1.44136165e+00] [ 5.86620168e-03 9.99982737e-01 -3.37560272e-04 -1.59089066e-01] [ 2.82204830e-02 1.71881747e-04 9.99601708e-01 7.93213312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50255784400001 meters Centerline goodness : 0.155587 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.16, Z:0.79 [[ 9.99584004e-01 -5.67727896e-03 -2.82769943e-02 -1.44127129e+00] [ 5.68846899e-03 9.99983771e-01 3.15301639e-04 -1.62402499e-01] [ 2.82747453e-02 -4.76023279e-04 9.99600076e-01 7.93300572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53255784400001 meters Centerline goodness : 0.085493 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.17, Z:0.79 [[ 9.99582086e-01 -5.46789090e-03 -2.83858420e-02 -1.44113017e+00] [ 5.49687229e-03 9.99984447e-01 9.43047913e-04 -1.65528109e-01] [ 2.83802441e-02 -1.09868715e-03 9.99596596e-01 7.93498448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562557844000004 meters Centerline goodness : 0.079949 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.17, Z:0.79 [[ 0.9995825 -0.00525412 -0.02841148 -1.44129505] [ 0.00529964 0.99998479 0.00152723 -0.16828485] [ 0.02840302 -0.00167717 0.99959515 0.7938799 ] [ 0. 0. 0. 1. ]] SLAMing on 61.592557844000005 meters Centerline goodness : 0.192079 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.17, Z:0.79 [[ 9.99620703e-01 1.33238271e-03 -2.75077419e-02 -1.41909394e+00] [-1.36566928e-03 9.99998358e-01 -1.19132883e-03 -1.73416469e-01] [ 2.75061094e-02 1.22844344e-03 9.99620881e-01 7.93694938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622557844000006 meters Centerline goodness : 0.141189 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:0.79 [[ 9.99543213e-01 3.90749961e-06 -3.02219287e-02 -1.46316698e+00] [-1.96836779e-05 9.99999864e-01 -5.21713481e-04 -1.75372603e-01] [ 3.02219226e-02 5.22070048e-04 9.99543077e-01 7.93457537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65255784400001 meters Centerline goodness : 0.085465 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99594143e-01 1.10099563e-03 -2.84664288e-02 -1.41873827e+00] [-1.12936930e-03 9.99998881e-01 -9.80682947e-04 -1.75679507e-01] [ 2.84653173e-02 1.01243404e-03 9.99594268e-01 7.93500574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68255784400001 meters Centerline goodness : 0.166063 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99592765e-01 1.14169451e-03 -2.85131633e-02 -1.41844760e+00] [-1.16528183e-03 9.99998992e-01 -8.10640362e-04 -1.76588951e-01] [ 2.85122091e-02 8.43536112e-04 9.99593088e-01 7.93153962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71255784400001 meters Centerline goodness : 0.173770 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99588270e-01 1.12842119e-03 -2.86708482e-02 -1.41783387e+00] [-1.14908248e-03 9.99999092e-01 -7.04171620e-04 -1.77349531e-01] [ 2.86700276e-02 7.36826861e-04 9.99588659e-01 7.92739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742557844000004 meters Centerline goodness : 0.173770 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.18, Z:0.79 [[ 9.99588270e-01 1.12842119e-03 -2.86708482e-02 -1.41783387e+00] [-1.14908248e-03 9.99999092e-01 -7.04171620e-04 -1.77349531e-01] [ 2.86700276e-02 7.36826861e-04 9.99588659e-01 7.92739126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772557844000005 meters Centerline goodness : 0.169786 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.17, Z:0.79 [[ 9.99555344e-01 -6.43423247e-03 -2.91155525e-02 -1.39726411e+00] [ 6.43818096e-03 9.99979274e-01 4.18700855e-05 -1.73561635e-01] [ 2.91146796e-02 -2.29302663e-04 9.99576052e-01 7.94410499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802557844000006 meters Centerline goodness : 0.085951 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99564426e-01 1.26924201e-03 -2.94847068e-02 -1.37617997e+00] [-1.31586425e-03 9.99997915e-01 -1.56188551e-03 -1.77510938e-01] [ 2.94826629e-02 1.60000306e-03 9.99564011e-01 7.94837609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83255784400001 meters Centerline goodness : 0.180560 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99563461e-01 1.22350269e-03 -2.95193362e-02 -1.37604853e+00] [-1.26887784e-03 9.99998042e-01 -1.51844973e-03 -1.77802815e-01] [ 2.95174205e-02 1.55524330e-03 9.99563056e-01 7.94714955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86255784400001 meters Centerline goodness : 0.133541 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99563486e-01 1.15259178e-03 -2.95213472e-02 -1.37606708e+00] [-1.19851291e-03 9.99998099e-01 -1.53787545e-03 -1.77887944e-01] [ 2.95195185e-02 1.57258586e-03 9.99562967e-01 7.94720426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89255784400001 meters Centerline goodness : 0.126361 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99567372e-01 1.08924952e-03 -2.93918674e-02 -1.37648551e+00] [-1.13729801e-03 9.99998044e-01 -1.61808659e-03 -1.77603809e-01] [ 2.93900474e-02 1.65081387e-03 9.99566656e-01 7.94855176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922557844 meters Centerline goodness : 0.125243 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.18, Z:0.79 [[ 9.99571840e-01 1.01853286e-03 -2.92420900e-02 -1.37688211e+00] [-1.07014191e-03 9.99997897e-01 -1.74929349e-03 -1.76985863e-01] [ 2.92402468e-02 1.77983770e-03 9.99570828e-01 7.94844790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952557844000005 meters Centerline goodness : 0.086879 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99576954e-01 8.72218480e-04 -2.90714859e-02 -1.37734431e+00] [-9.34767281e-04 9.99997278e-01 -2.13803063e-03 -1.74857199e-01] [ 2.90695419e-02 2.16430122e-03 9.99575048e-01 7.94846737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982557844000006 meters Centerline goodness : 0.126079 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99576754e-01 7.78567959e-04 -2.90810297e-02 -1.37732429e+00] [-8.46606646e-04 9.99996933e-01 -2.32738500e-03 -1.74027161e-01] [ 2.90791285e-02 2.35102013e-03 9.99574348e-01 7.94847413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01255784400001 meters Centerline goodness : 0.157961 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.17, Z:0.79 [[ 9.99574786e-01 6.76552844e-04 -2.91511607e-02 -1.37708961e+00] [-7.50556911e-04 9.99996524e-01 -2.52776460e-03 -1.73235940e-01] [ 2.91493492e-02 2.54856936e-03 9.99571818e-01 7.94743760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04255784400001 meters Centerline goodness : 0.146325 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:0.80 [[ 0.99953441 -0.00683764 -0.0297358 -1.35667061] [ 0.00677875 0.99997486 -0.00208067 -0.168319 ] [ 0.02974928 0.00187813 0.99955563 0.79625987] [ 0. 0. 0. 1. ]] SLAMing on 62.07255784400001 meters Centerline goodness : 0.086985 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:0.80 [[ 0.99952811 -0.00695262 -0.02992011 -1.35600691] [ 0.00688441 0.99997346 -0.00238213 -0.16688414] [ 0.02993588 0.00217502 0.99954945 0.79591877] [ 0. 0. 0. 1. ]] SLAMing on 62.102557844 meters Centerline goodness : 0.133728 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.17, Z:0.80 [[ 9.99527537e-01 -3.70410626e-03 -3.05120017e-02 -1.35455052e+00] [ 3.73200207e-03 9.99992669e-01 8.57358929e-04 -1.66501573e-01] [ 3.05086023e-02 -9.70824713e-04 9.99534033e-01 7.95876014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132557844000004 meters Centerline goodness : 0.125523 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99526665e-01 1.56155681e-04 -3.07639670e-02 -1.35442638e+00] [-2.24132305e-05 9.99990549e-01 4.34767024e-03 -1.64847689e-01] [ 3.07643552e-02 -4.34492281e-03 9.99517222e-01 7.96589021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162557844000006 meters Centerline goodness : 0.162852 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99530067e-01 7.97896308e-05 -3.06535203e-02 -1.35469380e+00] [ 4.01038805e-05 9.99992353e-01 3.91061300e-03 -1.62656603e-01] [ 3.06535979e-02 -3.91000460e-03 9.99522420e-01 7.96663351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19255784400001 meters Centerline goodness : 0.133225 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.16, Z:0.80 [[ 9.99532580e-01 3.18031564e-05 -3.05715773e-02 -1.35481584e+00] [ 7.46232533e-05 9.99993942e-01 3.48007352e-03 -1.60415455e-01] [ 3.05715027e-02 -3.48072821e-03 9.99526522e-01 7.96600555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22255784400001 meters Centerline goodness : 0.126277 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99951808 0.00938946 -0.02958787 -1.33406911] [-0.00932312 0.99995371 0.00237906 -0.16176567] [ 0.02960884 -0.00210206 0.99955935 0.79733388] [ 0. 0. 0. 1. ]] SLAMing on 62.25255784400001 meters Centerline goodness : 0.084626 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99952118 0.00939156 -0.02948242 -1.33430311] [-0.0093346 0.99995429 0.00206897 -0.15985808] [ 0.0295005 -0.00179278 0.99956316 0.7973621 ] [ 0. 0. 0. 1. ]] SLAMing on 62.28255784400001 meters Centerline goodness : 0.125492 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.16, Z:0.80 [[ 0.99952123 0.00984008 -0.02933407 -1.33475555] [-0.00978968 0.99995035 0.00186126 -0.15709374] [ 0.02935092 -0.0015732 0.99956793 0.79752555] [ 0. 0. 0. 1. ]] SLAMing on 62.312557844000004 meters Centerline goodness : 0.123217 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:0.80 [[ 9.99518969e-01 9.75859351e-03 -2.94380727e-02 -1.33447319e+00] [-9.72059258e-03 9.99951726e-01 1.43371334e-03 -1.54981164e-01] [ 2.94506426e-02 -1.14686817e-03 9.99565578e-01 7.97578699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342557844000005 meters Centerline goodness : 0.039818 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.15, Z:0.80 [[ 9.99517455e-01 9.65965091e-03 -2.95220129e-02 -1.33421824e+00] [-9.63641744e-03 9.99953137e-01 9.29164330e-04 -1.52538752e-01] [ 2.95296049e-02 -6.44229526e-04 9.99563699e-01 7.97610932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372557844000006 meters Centerline goodness : 0.143978 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:0.80 [[ 0.99954048 0.00254067 -0.03020559 -1.35771921] [-0.00244182 0.99999154 0.00330905 -0.14763088] [ 0.03021374 -0.00323377 0.99953823 0.79826322] [ 0. 0. 0. 1. ]] SLAMing on 62.40255784400001 meters Centerline goodness : 0.169757 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.9995278 0.00664126 -0.03000111 -1.35844249] [-0.00643908 0.99995594 0.00683064 -0.14441741] [ 0.03004515 -0.00663423 0.99952653 0.79868364] [ 0. 0. 0. 1. ]] SLAMing on 62.43255784400001 meters Centerline goodness : 0.158597 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.14, Z:0.80 [[ 9.99566306e-01 -3.40306461e-04 -2.94462785e-02 -1.33959028e+00] [ 5.74638517e-04 9.99968234e-01 7.94985516e-03 -1.37273537e-01] [ 2.94426377e-02 -7.96332832e-03 9.99534750e-01 8.00493283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46255784400001 meters Centerline goodness : 0.173741 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.14, Z:0.80 [[ 0.99949357 -0.00151495 -0.03178527 -1.38517295] [ 0.00177977 0.99996393 0.00830467 -0.1383728 ] [ 0.03177154 -0.00835703 0.99946022 0.80089922] [ 0. 0. 0. 1. ]] SLAMing on 62.492557844000004 meters Centerline goodness : 0.177155 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.99951822 0.00552148 -0.0305423 -1.3644394 ] [-0.00536507 0.99997208 0.00520068 -0.14042197] [ 0.03057016 -0.00503432 0.99951995 0.8012571 ] [ 0. 0. 0. 1. ]] SLAMing on 62.522557844000005 meters Centerline goodness : 0.133868 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:0.80 [[ 0.99951749 0.00551434 -0.03056748 -1.36455298] [-0.0053555 0.99997174 0.00527566 -0.14101602] [ 0.03059571 -0.00510941 0.99951878 0.80150545] [ 0. 0. 0. 1. ]] SLAMing on 62.552557844000006 meters Centerline goodness : 0.163439 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.14, Z:0.80 [[ 0.99954041 -0.00186367 -0.03025708 -1.3454298 ] [ 0.00206145 0.99997671 0.00650661 -0.13676239] [ 0.03024425 -0.00656599 0.99952097 0.80360093] [ 0. 0. 0. 1. ]] SLAMing on 62.58255784400001 meters Centerline goodness : 0.120818 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959013 0.00705899 -0.02774427 -1.3261092 ] [-0.00689802 0.99995884 0.00589365 -0.14000727] [ 0.02778473 -0.00569985 0.99959768 0.80385397] [ 0. 0. 0. 1. ]] SLAMing on 62.61255784400001 meters Centerline goodness : 0.123718 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959164 0.00702794 -0.02769781 -1.32647138] [-0.00686826 0.99995927 0.00585596 -0.14003272] [ 0.02773783 -0.00566334 0.99959919 0.80426308] [ 0. 0. 0. 1. ]] SLAMing on 62.64255784400001 meters Centerline goodness : 0.123443 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.999592 0.00698397 -0.02769598 -1.32672637] [-0.00682612 0.99995994 0.00579003 -0.1399575 ] [ 0.0277353 -0.00559861 0.99959962 0.80468712] [ 0. 0. 0. 1. ]] SLAMing on 62.672557844 meters Centerline goodness : 0.155075 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959177 0.00695406 -0.02771155 -1.32667353] [-0.00679799 0.99996052 0.00572205 -0.13967587] [ 0.02775025 -0.00553133 0.99959958 0.80470679] [ 0. 0. 0. 1. ]] SLAMing on 62.702557844000005 meters Centerline goodness : 0.123864 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.99959649 0.00717697 -0.02748351 -1.32684842] [-0.00702589 0.99995969 0.00558982 -0.13819155] [ 0.02752252 -0.00539446 0.99960663 0.80411402] [ 0. 0. 0. 1. ]] SLAMing on 62.732557844000006 meters Centerline goodness : 0.153135 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.14, Z:0.80 [[ 0.9995998 0.00709757 -0.02738382 -1.32696525] [-0.0069558 0.99996193 0.00526867 -0.1367203 ] [ 0.02742017 -0.00507608 0.99961111 0.80393527] [ 0. 0. 0. 1. ]] SLAMing on 62.76255784400001 meters Centerline goodness : 0.122833 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.81 [[ 9.99614851e-01 2.95000372e-05 -2.77515492e-02 -1.30786549e+00] [ 1.30585101e-04 9.99983364e-01 5.76668177e-03 -1.30201702e-01] [ 2.77512577e-02 -5.76808468e-03 9.99598218e-01 8.05471696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79255784400001 meters Centerline goodness : 0.136953 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.81 [[ 9.99613705e-01 -2.70376475e-05 -2.77928100e-02 -1.30761000e+00] [ 1.78527164e-04 9.99985142e-01 5.44820602e-03 -1.28456283e-01] [ 2.77922497e-02 -5.45106317e-03 9.99598858e-01 8.05202355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82255784400001 meters Centerline goodness : 0.122456 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.80 [[ 9.99610567e-01 -5.43984563e-05 -2.79054129e-02 -1.30705764e+00] [ 1.98093093e-04 9.99986737e-01 5.14660776e-03 -1.26661707e-01] [ 2.79047628e-02 -5.15013137e-03 9.99597319e-01 8.04722057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852557844 meters Centerline goodness : 0.153792 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.13, Z:0.80 [[ 9.99612323e-01 -7.05584963e-05 -2.78424079e-02 -1.30701664e+00] [ 2.08668177e-04 9.99987690e-01 4.95753292e-03 -1.25478527e-01] [ 2.78417153e-02 -4.96142082e-03 9.99600032e-01 8.04429942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882557844000004 meters Centerline goodness : 0.136597 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99657549e-01 1.28104056e-03 -2.61370075e-02 -1.26181620e+00] [-1.17417960e-03 9.99990892e-01 4.10343058e-03 -1.22976350e-01] [ 2.61420261e-02 -4.07133582e-03 9.99649948e-01 8.04385628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912557844000006 meters Centerline goodness : 0.121621 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99653093e-01 1.28927761e-03 -2.63064962e-02 -1.26139789e+00] [-1.18327615e-03 9.99991120e-01 4.04464736e-03 -1.22893060e-01] [ 2.63114773e-02 -4.01211639e-03 9.99645742e-01 8.04532406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94255784400001 meters Centerline goodness : 0.123785 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 9.99658191e-01 1.36221556e-03 -2.61083552e-02 -1.26202610e+00] [-1.25600568e-03 9.99990872e-01 4.08400896e-03 -1.22852764e-01] [ 2.61136802e-02 -4.04982077e-03 9.99650776e-01 8.04764671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97255784400001 meters Centerline goodness : 0.122499 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.81 [[ 0.99967817 0.00160762 -0.02531761 -1.26455275] [-0.00149998 0.99998976 0.00427001 -0.12317475] [ 0.02532421 -0.00423066 0.99967034 0.80568783] [ 0. 0. 0. 1. ]] SLAMing on 63.00255784400001 meters Centerline goodness : 0.202384 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.81 [[ 0.99967645 0.00161871 -0.02538457 -1.26434079] [-0.00151065 0.99998972 0.00427563 -0.12335096] [ 0.02539123 -0.0042359 0.99966862 0.80566812] [ 0. 0. 0. 1. ]] SLAMing on 63.03255784400001 meters Centerline goodness : 0.121989 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 0.99967213 0.00173796 -0.02554631 -1.26342696] [-0.00162464 0.99998875 0.00445596 -0.12392046] [ 0.02555377 -0.00441299 0.99966371 0.80491938] [ 0. 0. 0. 1. ]] SLAMing on 63.062557844000004 meters Centerline goodness : 0.111227 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.12, Z:0.80 [[ 0.99966596 0.00197039 -0.02576991 -1.26217078] [-0.00184788 0.99998688 0.00477703 -0.12476947] [ 0.02577898 -0.00472782 0.99965649 0.80391902] [ 0. 0. 0. 1. ]] SLAMing on 63.092557844000005 meters Centerline goodness : 0.121618 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99965652 0.00220751 -0.02611438 -1.26062318] [-0.00207656 0.99998514 0.00504037 -0.12541699] [ 0.02612512 -0.00498441 0.99964625 0.80301882] [ 0. 0. 0. 1. ]] SLAMing on 63.122557844000006 meters Centerline goodness : 0.153677 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99964389 0.00237221 -0.02657927 -1.25884108] [-0.00223667 0.99998435 0.00512799 -0.12554233] [ 0.02659102 -0.00506671 0.99963356 0.80224407] [ 0. 0. 0. 1. ]] SLAMing on 63.15255784400001 meters Centerline goodness : 0.140064 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.13, Z:0.80 [[ 0.99960813 0.00255148 -0.02787594 -1.25487548] [-0.00241312 0.99998461 0.004996 -0.12539145] [ 0.02788826 -0.00492677 0.99959891 0.80157444] [ 0. 0. 0. 1. ]] SLAMing on 63.18255784400001 meters Centerline goodness : 0.187669 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99519644e-01 1.36413513e-03 -3.09615900e-02 -1.29887625e+00] [-1.19295359e-03 9.99983906e-01 5.54663455e-03 -1.28753376e-01] [ 3.09686581e-02 -5.50703445e-03 9.99505185e-01 8.01407004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21255784400001 meters Centerline goodness : 0.123176 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.80 [[ 0.99954442 0.00245975 -0.03008162 -1.25597496] [-0.00228243 0.99997983 0.00592747 -0.12658458] [ 0.0300956 -0.00585611 0.99952987 0.80169476] [ 0. 0. 0. 1. ]] SLAMing on 63.242557844000004 meters Centerline goodness : 0.202900 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99465110e-01 1.42692068e-03 -3.26719826e-02 -1.30197841e+00] [-1.20078347e-03 9.99975197e-01 6.94001656e-03 -1.30837967e-01] [ 3.26810751e-02 -6.89707243e-03 9.99442033e-01 8.02363002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272557844000005 meters Centerline goodness : 0.189566 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 0.99947179 0.00154236 -0.03246173 -1.30284403] [-0.00130829 0.999973 0.00723071 -0.13213155] [ 0.032472 -0.00718442 0.99944682 0.80294598] [ 0. 0. 0. 1. ]] SLAMing on 63.302557844000006 meters Centerline goodness : 0.137063 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.81 [[ 0.99954204 0.00194371 -0.03019806 -1.26248902] [-0.00176464 0.99998071 0.00595518 -0.13034718] [ 0.03020905 -0.00589917 0.99952619 0.80523846] [ 0. 0. 0. 1. ]] SLAMing on 63.33255784400001 meters Centerline goodness : 0.125452 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.13, Z:0.81 [[ 0.99954564 0.00214496 -0.03006499 -1.26331137] [-0.00194708 0.99997626 0.0066092 -0.13363745] [ 0.03007846 -0.00654766 0.9995261 0.80605671] [ 0. 0. 0. 1. ]] SLAMing on 63.36255784400001 meters Centerline goodness : 0.138491 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.81 [[ 9.99487384e-01 3.11270394e-04 -3.20136243e-02 -1.30936685e+00] [-8.65214741e-05 9.99975345e-01 7.02156045e-03 -1.38609900e-01] [ 3.20150206e-02 -7.01519122e-03 9.99462768e-01 8.06207199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39255784400001 meters Centerline goodness : 0.126465 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99955033 0.00689627 -0.02918185 -1.28743023] [-0.00677854 0.99996849 0.00413167 -0.13975325] [ 0.02920942 -0.003932 0.99956558 0.80522631] [ 0. 0. 0. 1. ]] SLAMing on 63.422557844 meters Centerline goodness : 0.127087 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99956754 0.0067064 -0.02863148 -1.28975652] [-0.00658794 0.99996935 0.00422961 -0.14104736] [ 0.02865897 -0.00403916 0.99958109 0.80656193] [ 0. 0. 0. 1. ]] SLAMing on 63.452557844000005 meters Centerline goodness : 0.241183 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.15, Z:0.81 [[ 0.99945852 0.01499036 -0.02929099 -1.30858706] [-0.01490382 0.9998839 0.00317085 -0.148311 ] [ 0.02933512 -0.00273259 0.9995659 0.80543297] [ 0. 0. 0. 1. ]] SLAMing on 63.482557844000006 meters Centerline goodness : 0.126140 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99949804 0.00768276 -0.03073519 -1.28797916] [-0.00756245 0.99996329 0.00402865 -0.14007876] [ 0.03076501 -0.00379419 0.99951944 0.80655148] [ 0. 0. 0. 1. ]] SLAMing on 63.51255784400001 meters Centerline goodness : 0.130262 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.81 [[ 0.99948559 0.00781031 -0.03110561 -1.28633185] [-0.00768857 0.99996232 0.00403139 -0.13961901] [ 0.03113593 -0.00379016 0.99950797 0.8055485 ] [ 0. 0. 0. 1. ]] SLAMing on 63.54255784400001 meters Centerline goodness : 0.124849 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99947187 0.00794846 -0.03150874 -1.28470983] [-0.00782451 0.99996116 0.00405537 -0.13925971] [ 0.03153975 -0.00380669 0.99949525 0.80469097] [ 0. 0. 0. 1. ]] SLAMing on 63.57255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.60255784400001 meters Centerline goodness : 0.195954 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500123e-01 -7.17853715e-04 -3.16067948e-02 -1.30291035e+00] [ 8.67960643e-04 9.99988410e-01 4.73573406e-03 -1.32400573e-01] [ 3.16030289e-02 -4.76080023e-03 9.99489161e-01 8.02999988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632557844000004 meters Centerline goodness : 0.195954 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500123e-01 -7.17853715e-04 -3.16067948e-02 -1.30291035e+00] [ 8.67960643e-04 9.99988410e-01 4.73573406e-03 -1.32400573e-01] [ 3.16030289e-02 -4.76080023e-03 9.99489161e-01 8.02999988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662557844000006 meters Centerline goodness : 0.190225 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99504249e-01 -7.12091791e-04 -3.14761780e-02 -1.30338252e+00] [ 8.61611792e-04 9.99988409e-01 4.73695090e-03 -1.32551433e-01] [ 3.14724400e-02 -4.76172280e-03 9.99493277e-01 8.03203916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69255784400001 meters Centerline goodness : 0.184620 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99509771e-01 -6.82889547e-04 -3.13009728e-02 -1.30397688e+00] [ 8.33889050e-04 9.99988078e-01 4.81131527e-03 -1.32946184e-01] [ 3.12973140e-02 -4.83505816e-03 9.99498424e-01 8.03464741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72255784400001 meters Centerline goodness : 0.089535 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99514910e-01 -6.29974429e-04 -3.11375716e-02 -1.30455686e+00] [ 7.83328923e-04 9.99987624e-01 4.91310972e-03 -1.33345416e-01] [ 3.11340911e-02 -4.93511738e-03 9.99503033e-01 8.03718190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.78255784400001 meters Centerline goodness : 0.175990 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99515676e-01 -5.18160034e-04 -3.11150420e-02 -1.30425492e+00] [ 6.75548883e-04 9.99987031e-01 5.04798883e-03 -1.33712096e-01] [ 3.11120228e-02 -5.06656370e-03 9.99503063e-01 8.03158975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812557844000004 meters Centerline goodness : 0.186019 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99507257e-01 -5.41652235e-04 -3.13839032e-02 -1.30311563e+00] [ 6.99502531e-04 9.99987161e-01 5.01889693e-03 -1.33772998e-01] [ 3.13807818e-02 -5.03837703e-03 9.99494803e-01 8.02409994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842557844000005 meters Centerline goodness : 0.175282 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99500463e-01 -5.81055768e-04 -3.15988305e-02 -1.30214412e+00] [ 7.38256907e-04 9.99987409e-01 4.96346435e-03 -1.33747973e-01] [ 3.15955486e-02 -4.98431298e-03 9.99488308e-01 8.01689162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872557844000006 meters Centerline goodness : 0.205927 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99498408e-01 -5.43631104e-04 -3.16644473e-02 -1.30183767e+00] [ 7.03737534e-04 9.99987024e-01 5.04542186e-03 -1.34186888e-01] [ 3.16612936e-02 -5.06517457e-03 9.99485821e-01 8.01445675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90255784400001 meters Centerline goodness : 0.129836 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.13, Z:0.80 [[ 9.99502180e-01 -5.01866460e-04 -3.15458349e-02 -1.30220003e+00] [ 6.64021094e-04 9.99986621e-01 5.13002068e-03 -1.34551779e-01] [ 3.15428383e-02 -5.14841395e-03 9.99489141e-01 8.01548009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93255784400001 meters Centerline goodness : 0.179345 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.80 [[ 9.99530608e-01 -6.75874015e-05 -3.06359227e-02 -1.30541307e+00] [ 2.42429218e-04 9.99983706e-01 5.70340657e-03 -1.36057160e-01] [ 3.06350381e-02 -5.70815648e-03 9.99514338e-01 8.02927138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96255784400001 meters Centerline goodness : 0.188149 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.14, Z:0.80 [[ 9.99537296e-01 6.76441478e-05 -3.04169252e-02 -1.30626499e+00] [ 1.13555091e-04 9.99982260e-01 5.95541775e-03 -1.37113886e-01] [ 3.04167885e-02 -5.95611615e-03 9.99519556e-01 8.03437335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992557844000004 meters Centerline goodness : 0.267933 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.14, Z:0.80 [[ 0.99955906 0.00780622 -0.02864879 -1.28529238] [-0.00770787 0.99996402 0.00354171 -0.13886332] [ 0.0286754 -0.00331933 0.99958326 0.80336954] [ 0. 0. 0. 1. ]] SLAMing on 64.022557844 meters Centerline goodness : 0.177879 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99551796e-01 -1.16850308e-03 -2.99139126e-02 -1.30251471e+00] [ 1.31119677e-03 9.99987854e-01 4.75097338e-03 -1.35427338e-01] [ 2.99079978e-02 -4.78806699e-03 9.99541188e-01 8.01501031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052557844 meters Centerline goodness : 0.277485 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99548008e-01 -1.08433463e-03 -3.00433673e-02 -1.30202165e+00] [ 1.23275926e-03 9.99987126e-01 4.92226423e-03 -1.36237898e-01] [ 3.00376431e-02 -4.95707565e-03 9.99536476e-01 8.01267431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 64.112557844 meters Centerline goodness : 0.142374 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.14, Z:0.80 [[ 9.99555797e-01 -9.41037022e-04 -2.97879619e-02 -1.30262459e+00] [ 1.09573552e-03 9.99985997e-01 5.17742540e-03 -1.37457511e-01] [ 2.97826727e-02 -5.20776530e-03 9.99542831e-01 8.01207723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142557844 meters Centerline goodness : 0.138684 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99957083 0.00786034 -0.02821989 -1.28348688] [-0.00776059 0.99996325 0.00364262 -0.14061831] [ 0.02824749 -0.00342206 0.9995951 0.80255812] [ 0. 0. 0. 1. ]] SLAMing on 64.172557844 meters Centerline goodness : 0.181572 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99957575 0.00795399 -0.02801876 -1.28443954] [-0.0078462 0.9999614 0.00395473 -0.14224495] [ 0.02804913 -0.00373321 0.99959957 0.80325038] [ 0. 0. 0. 1. ]] SLAMing on 64.202557844 meters Centerline goodness : 0.139358 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.14, Z:0.80 [[ 0.99956945 0.00802031 -0.02822393 -1.28407356] [-0.00790708 0.99996025 0.00412112 -0.14331832] [ 0.02825586 -0.00389617 0.99959313 0.80357283] [ 0. 0. 0. 1. ]] SLAMing on 64.232557844 meters Centerline goodness : 0.208858 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 9.99605161e-01 4.93316823e-03 -2.76619854e-02 -1.28538543e+00] [-4.89894779e-03 9.99987149e-01 1.30472684e-03 -1.45627270e-01] [ 2.76680664e-02 -1.16869706e-03 9.99616483e-01 8.03204154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262557844 meters Centerline goodness : 0.198866 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99960533 0.00496204 -0.02765057 -1.28577861] [-0.00492069 0.99998667 0.00156333 -0.14713895] [ 0.02765796 -0.00142666 0.99961643 0.8037459 ] [ 0. 0. 0. 1. ]] SLAMing on 64.292557844 meters Centerline goodness : 0.174142 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99961346 0.00507341 -0.02733466 -1.28674268] [-0.00502024 0.99998537 0.00201327 -0.14899164] [ 0.02734447 -0.00187527 0.99962431 0.80382466] [ 0. 0. 0. 1. ]] SLAMing on 64.322557844 meters Centerline goodness : 0.085411 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.15, Z:0.80 [[ 0.99961337 0.00527178 -0.02730069 -1.28654087] [-0.00519821 0.99998267 0.00276486 -0.15262872] [ 0.02731479 -0.00262188 0.99962344 0.80344799] [ 0. 0. 0. 1. ]] SLAMing on 64.352557844 meters Centerline goodness : 0.129537 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.16, Z:0.80 [[ 9.99622507e-01 1.79988543e-03 -2.74154077e-02 -1.28553534e+00] [-1.81035298e-03 9.99998298e-01 -3.56997031e-04 -1.55000120e-01] [ 2.74147185e-02 4.06493832e-04 9.99624063e-01 8.02364556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382557844 meters Centerline goodness : 0.183293 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:0.80 [[ 9.99603265e-01 1.75283731e-03 -2.81111990e-02 -1.28361017e+00] [-1.75264294e-03 9.99998464e-01 3.15538365e-05 -1.57975186e-01] [ 2.81112111e-02 1.77275764e-05 9.99604802e-01 8.02219854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412557844 meters Centerline goodness : 0.133240 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.16, Z:0.80 [[ 9.99612073e-01 -3.11967165e-04 -2.78497160e-02 -1.28454589e+00] [ 2.71995077e-04 9.99998928e-01 -1.43905480e-03 -1.63507563e-01] [ 2.78501350e-02 1.43092157e-03 9.99611086e-01 8.02126673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442557844 meters Centerline goodness : 0.186301 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99613404e-01 -2.79466907e-05 -2.78036437e-02 -1.28449058e+00] [ 5.60276608e-06 9.99999677e-01 -8.03710542e-04 -1.66169330e-01] [ 2.78036572e-02 8.03244053e-04 9.99613081e-01 8.01866696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472557844 meters Centerline goodness : 0.152934 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99608796e-01 -3.52911965e-05 -2.79688085e-02 -1.28358060e+00] [ 1.29490301e-05 9.99999681e-01 -7.99005112e-04 -1.66317105e-01] [ 2.79688277e-02 7.98330369e-04 9.99608477e-01 8.01129157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502557844 meters Centerline goodness : 0.127644 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99587094e-01 2.05582892e-04 -2.87332315e-02 -1.28094593e+00] [-2.27742900e-04 9.99999679e-01 -7.67962273e-04 -1.66403084e-01] [ 2.87330644e-02 7.74188967e-04 9.99586820e-01 8.00363286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532557844 meters Centerline goodness : 0.084567 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99581465e-01 1.25648830e-04 -2.89288685e-02 -1.28009410e+00] [-1.53889218e-04 9.99999514e-01 -9.73976587e-04 -1.65571347e-01] [ 2.89287321e-02 9.78020785e-04 9.99580998e-01 7.99763774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562557844 meters Centerline goodness : 0.133457 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99580384e-01 1.35010785e-04 -2.89661407e-02 -1.27992190e+00] [-1.64357681e-04 9.99999476e-01 -1.01076632e-03 -1.65237847e-01] [ 2.89659891e-02 1.01510300e-03 9.99579882e-01 7.99628350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592557844 meters Centerline goodness : 0.163442 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99579133e-01 2.85476010e-04 -2.90082076e-02 -1.28006455e+00] [-3.05264845e-04 9.99999724e-01 -6.77754300e-04 -1.66579789e-01] [ 2.90080061e-02 6.86324242e-04 9.99578944e-01 8.00022935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622557844 meters Centerline goodness : 0.114176 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99574078e-01 3.17802726e-04 -2.91815442e-02 -1.27969272e+00] [-3.32094308e-04 9.99999827e-01 -4.84902016e-04 -1.67807660e-01] [ 2.91813851e-02 4.94386510e-04 9.99574010e-01 8.00122343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652557844 meters Centerline goodness : 0.130210 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99569821e-01 3.29895416e-04 -2.93268405e-02 -1.27938738e+00] [-3.39257540e-04 9.99999893e-01 -3.14258823e-04 -1.68947464e-01] [ 2.93267337e-02 3.24072987e-04 9.99569826e-01 8.00224448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682557844 meters Centerline goodness : 0.084577 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.16, Z:0.80 [[ 9.99564261e-01 -6.84981154e-03 -2.87118245e-02 -1.26002424e+00] [ 6.87402380e-03 9.99976096e-01 7.44665778e-04 -1.63149590e-01] [ 2.87060374e-02 -9.41707063e-04 9.99587453e-01 8.01697851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712557844 meters Centerline goodness : 0.151680 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:0.80 [[ 9.99547104e-01 -6.52044973e-03 -2.93780578e-02 -1.29990229e+00] [ 6.55166857e-03 9.99978070e-01 9.66524231e-04 -1.65095704e-01] [ 2.93711114e-02 -1.15856179e-03 9.99567904e-01 8.01613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742557844 meters Centerline goodness : 0.133167 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.17, Z:0.80 [[ 9.99548781e-01 -6.53133800e-03 -2.93185152e-02 -1.30010765e+00] [ 6.56343025e-03 9.99977962e-01 9.98503647e-04 -1.65297928e-01] [ 2.93113475e-02 -1.19048313e-03 9.99569621e-01 8.01617908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772557844 meters Centerline goodness : 0.153000 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99611264e-01 4.97522980e-04 -2.78760421e-02 -1.27811007e+00] [-5.55405483e-04 9.99997706e-01 -2.06872043e-03 -1.65525582e-01] [ 2.78749490e-02 2.08339875e-03 9.99609247e-01 8.00971831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802557844 meters Centerline goodness : 0.187607 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99611261e-01 4.85092581e-04 -2.78763687e-02 -1.27800108e+00] [-5.40321124e-04 9.99997906e-01 -1.97369734e-03 -1.66055850e-01] [ 2.78753529e-02 1.98799228e-03 9.99609430e-01 8.00717104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832557844 meters Centerline goodness : 0.173882 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99609721e-01 6.06013098e-04 -2.79291566e-02 -1.27744014e+00] [-6.51873931e-04 9.99998454e-01 -1.63296579e-03 -1.67133827e-01] [ 2.79281238e-02 1.65053477e-03 9.99608571e-01 7.99912740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862557844 meters Centerline goodness : 0.104866 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:0.80 [[ 9.99592672e-01 1.17753074e-03 -2.85149556e-02 -1.27479701e+00] [-1.19844017e-03 9.99999025e-01 -7.16200281e-04 -1.69563689e-01] [ 2.85140845e-02 7.50082021e-04 9.99593109e-01 7.98061560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892557844 meters Centerline goodness : 0.131005 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.17, Z:0.80 [[ 9.99589365e-01 1.28349951e-03 -2.86261103e-02 -1.27441148e+00] [-1.30158805e-03 9.99998965e-01 -6.13264933e-04 -1.69819178e-01] [ 2.86252936e-02 6.50272508e-04 9.99590001e-01 7.97939163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922557844 meters Centerline goodness : 0.034511 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99591269e-01 1.14500882e-03 -2.85654441e-02 -1.27518241e+00] [-1.17236050e-03 9.99998870e-01 -9.40779695e-04 -1.69038404e-01] [ 2.85643346e-02 9.73884168e-04 9.99591482e-01 7.99077284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952557844 meters Centerline goodness : 0.157598 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.17, Z:0.80 [[ 9.99601430e-01 1.20518345e-03 -2.82051265e-02 -1.27682884e+00] [-1.23264402e-03 9.99998783e-01 -9.56235554e-04 -1.68745091e-01] [ 2.82039398e-02 9.90621308e-04 9.99601699e-01 8.00324823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982557844 meters Centerline goodness : 0.188217 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.17, Z:0.80 [[ 0.9995975 0.01051345 -0.02634962 -1.2579531 ] [-0.01056535 0.99994251 -0.00183118 -0.17194469] [ 0.02632886 0.00210884 0.99965111 0.80193447] [ 0. 0. 0. 1. ]] SLAMing on 65.012557844 meters Centerline goodness : 0.386585 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.17, Z:0.80 [[ 0.99961014 0.01055007 -0.02585088 -1.25934248] [-0.01060509 0.99994178 -0.00199234 -0.17073994] [ 0.02582835 0.00226571 0.99966382 0.80215927] [ 0. 0. 0. 1. ]] SLAMing on 65.042557844 meters Centerline goodness : 0.127473 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99615859e-01 5.40931536e-03 -2.71822296e-02 -1.24011280e+00] [-5.41579032e-03 9.99985321e-01 -1.64590352e-04 -1.60116231e-01] [ 2.71809403e-02 3.11740382e-04 9.99630481e-01 8.03042303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072557844 meters Centerline goodness : 0.110415 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99603212e-01 5.41099101e-03 -2.76430751e-02 -1.23873659e+00] [-5.42943819e-03 9.99985085e-01 -5.92319910e-04 -1.58300782e-01] [ 2.76394578e-02 7.42171252e-04 9.99617682e-01 8.03018459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102557844 meters Centerline goodness : 0.129444 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.16, Z:0.80 [[ 9.99587122e-01 5.39923625e-03 -2.82211709e-02 -1.23707497e+00] [-5.43110377e-03 9.99984697e-01 -1.05267629e-03 -1.56509056e-01] [ 2.82150554e-02 1.20551378e-03 9.99601149e-01 8.02966134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132557844 meters Centerline goodness : 0.182450 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99958463 0.00518732 -0.02834898 -1.2368942 ] [-0.00523754 0.99998484 -0.00169747 -0.15341302] [ 0.02833975 0.00184524 0.99959665 0.80312394] [ 0. 0. 0. 1. ]] SLAMing on 65.162557844 meters Centerline goodness : 0.130562 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99958919 0.0051524 -0.02819388 -1.23763163] [-0.00520702 0.99998471 -0.00186453 -0.15239001] [ 0.02818384 0.00201057 0.99960073 0.80359297] [ 0. 0. 0. 1. ]] SLAMing on 65.192557844 meters Centerline goodness : 0.130499 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99959704 0.00508363 -0.02792712 -1.23867616] [-0.0051392 0.99998495 -0.00191839 -0.15196396] [ 0.02791695 0.00206114 0.99960812 0.8040131 ] [ 0. 0. 0. 1. ]] SLAMing on 65.222557844 meters Centerline goodness : 0.126234 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.15, Z:0.80 [[ 0.99960365 0.0051627 -0.02767455 -1.23929167] [-0.00520921 0.99998514 -0.00160878 -0.15288601] [ 0.02766583 0.00175231 0.99961569 0.80374573] [ 0. 0. 0. 1. ]] SLAMing on 65.252557844 meters Centerline goodness : 0.129215 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 9.99599526e-01 -1.97280515e-03 -2.82293236e-02 -1.21980979e+00] [ 1.95963015e-03 9.99997958e-01 -4.94370745e-04 -1.48878754e-01] [ 2.82302413e-02 4.38853728e-04 9.99601351e-01 8.05988876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282557844 meters Centerline goodness : 0.180687 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 9.99591716e-01 -2.04238280e-03 -2.84996575e-02 -1.21918735e+00] [ 2.03548958e-03 9.99997892e-01 -2.70879481e-04 -1.50566257e-01] [ 2.85001507e-02 2.12758129e-04 9.99593766e-01 8.06166507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312557844 meters Centerline goodness : 0.135547 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.15, Z:0.81 [[ 0.99958203 -0.00605796 -0.0282679 -1.22023162] [ 0.00595344 0.99997513 -0.00378012 -0.15310051] [ 0.02829009 0.00361025 0.99959324 0.80684303] [ 0. 0. 0. 1. ]] SLAMing on 65.342557844 meters Centerline goodness : 0.193668 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.15, Z:0.81 [[ 9.99675153e-01 8.99974350e-04 -2.54711360e-02 -1.19952936e+00] [-1.06046812e-03 9.99979667e-01 -6.28819948e-03 -1.54845796e-01] [ 2.54649588e-02 6.31316810e-03 9.99655781e-01 8.06009640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.372557844 meters Centerline goodness : 0.086788 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.16, Z:0.81 [[ 9.99688322e-01 8.85757276e-04 -2.49494268e-02 -1.20094020e+00] [-1.02746735e-03 9.99983411e-01 -5.66764626e-03 -1.57007154e-01] [ 2.49439927e-02 5.69151450e-03 9.99672648e-01 8.05645540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402557844 meters Centerline goodness : 0.130623 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.16, Z:0.81 [[ 9.99675876e-01 8.94479399e-04 -2.54429290e-02 -1.19965113e+00] [-1.03019576e-03 9.99985310e-01 -5.32154101e-03 -1.59130506e-01] [ 2.54377953e-02 5.34602737e-03 9.99662112e-01 8.05583574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432557844 meters Centerline goodness : 0.084882 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99640120e-01 -1.36411490e-03 -2.67912215e-02 -1.19370858e+00] [ 1.17887122e-03 9.99975300e-01 -6.92892018e-03 -1.65179893e-01] [ 2.68000116e-02 6.89484320e-03 9.99617037e-01 8.02661782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462557844 meters Centerline goodness : 0.085568 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99626828e-01 -1.22723346e-03 -2.72891520e-02 -1.19228348e+00] [ 1.05233114e-03 9.99978821e-01 -6.42266297e-03 -1.67891725e-01] [ 2.72964561e-02 6.39154899e-03 9.99606949e-01 8.02392905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492557844 meters Centerline goodness : 0.133861 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.80 [[ 9.99623052e-01 -1.04787387e-03 -2.74345715e-02 -1.19196329e+00] [ 8.83990097e-04 9.99981699e-01 -5.98506930e-03 -1.69965049e-01] [ 2.74403410e-02 5.95856135e-03 9.99605684e-01 8.02498473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522557844 meters Centerline goodness : 0.072189 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961427 -0.00811365 -0.02656084 -1.17291555] [ 0.0079916 0.99995703 -0.00469809 -0.16632475] [ 0.02659782 0.00448402 0.99963616 0.80423985] [ 0. 0. 0. 1. ]] SLAMing on 65.552557844 meters Centerline goodness : 0.072189 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961427 -0.00811365 -0.02656084 -1.17291555] [ 0.0079916 0.99995703 -0.00469809 -0.16632475] [ 0.02659782 0.00448402 0.99963616 0.80423985] [ 0. 0. 0. 1. ]] SLAMing on 65.582557844 meters Centerline goodness : 0.187970 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.80 [[ 0.99961756 -0.00807761 -0.02644769 -1.17354753] [ 0.00795692 0.99995746 -0.00466555 -0.16664039] [ 0.02648425 0.00445333 0.99963931 0.80494236] [ 0. 0. 0. 1. ]] SLAMing on 65.612557844 meters Centerline goodness : 0.129987 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.81 [[ 0.99961922 -0.00799209 -0.02641097 -1.17382967] [ 0.00787091 0.99995803 -0.00468901 -0.16651435] [ 0.02644734 0.00447935 0.99964017 0.80546399] [ 0. 0. 0. 1. ]] SLAMing on 65.642557844 meters Centerline goodness : 0.166315 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99962334 0.001393 -0.02740866 -1.15680302] [-0.0014946 0.99999209 -0.00368662 -0.17162078] [ 0.02740331 0.0037262 0.99961751 0.80656528] [ 0. 0. 0. 1. ]] SLAMing on 65.672557844 meters Centerline goodness : 0.191235 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.18, Z:0.81 [[ 9.99520939e-01 5.18329888e-04 -3.09454899e-02 -1.20032234e+00] [-6.02012185e-04 9.99996187e-01 -2.69492819e-03 -1.75016372e-01] [ 3.09439750e-02 2.71226672e-03 9.99517441e-01 8.06819246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702557844 meters Centerline goodness : 0.193820 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.17, Z:0.81 [[ 9.99519739e-01 5.18001054e-04 -3.09842463e-02 -1.20001006e+00] [-6.04987999e-04 9.99995902e-01 -2.79814830e-03 -1.74670459e-01] [ 3.09826698e-02 2.81554955e-03 9.99515956e-01 8.06493918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.732557844 meters Centerline goodness : 0.147056 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.17, Z:0.81 [[ 9.99534812e-01 7.23331220e-04 -3.04899529e-02 -1.20113005e+00] [-8.11909980e-04 9.99995486e-01 -2.89289835e-03 -1.73554429e-01] [ 3.04877227e-02 2.91630770e-03 9.99530887e-01 8.06251944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762557844 meters Centerline goodness : 0.165042 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.9996041 0.00279477 -0.02799706 -1.15862028] [-0.00286076 0.99999322 -0.0023174 -0.16845878] [ 0.0279904 0.00239657 0.99960532 0.80623472] [ 0. 0. 0. 1. ]] SLAMing on 65.792557844 meters Centerline goodness : 0.160811 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961135 0.00281229 -0.02773525 -1.15948147] [-0.00288074 0.9999929 -0.00242844 -0.16747766] [ 0.02772822 0.00250739 0.99961235 0.80651715] [ 0. 0. 0. 1. ]] SLAMing on 65.822557844 meters Centerline goodness : 0.130368 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961466 0.00280855 -0.02761605 -1.16008576] [-0.0028779 0.9999928 -0.00247152 -0.16719757] [ 0.02760891 0.00255004 0.99961555 0.80698061] [ 0. 0. 0. 1. ]] SLAMing on 65.852557844 meters Centerline goodness : 0.194508 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961473 0.0028017 -0.02761413 -1.16033089] [-0.00287014 0.99999291 -0.00243912 -0.1674575 ] [ 0.0276071 0.00251744 0.99961568 0.80737002] [ 0. 0. 0. 1. ]] SLAMing on 65.882557844 meters Centerline goodness : 0.144574 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961533 0.00280479 -0.027592 -1.16039193] [-0.0028719 0.99999301 -0.00239285 -0.16766497] [ 0.02758509 0.00247117 0.9996164 0.80736694] [ 0. 0. 0. 1. ]] SLAMing on 65.912557844 meters Centerline goodness : 0.127866 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99961634 0.00280583 -0.02755546 -1.16035679] [-0.00287036 0.99999323 -0.00230251 -0.16814416] [ 0.02754881 0.00238072 0.99961762 0.80713339] [ 0. 0. 0. 1. ]] SLAMing on 65.942557844 meters Centerline goodness : 0.127033 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99962072 0.00283621 -0.02739289 -1.16100818] [-0.0028966 0.99999346 -0.00216522 -0.16884433] [ 0.02738657 0.00224375 0.9996224 0.80752668] [ 0. 0. 0. 1. ]] SLAMing on 65.972557844 meters Centerline goodness : 0.125067 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.17, Z:0.81 [[ 0.99963153 0.00267189 -0.0270125 -1.16222504] [-0.00272876 0.99999414 -0.00206868 -0.16953671] [ 0.02700681 0.00214163 0.99963296 0.80767127] [ 0. 0. 0. 1. ]] SLAMing on 66.002557844 meters Centerline goodness : 0.142420 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.17, Z:0.81 [[ 9.99561184e-01 7.23901805e-04 -2.96127454e-02 -1.20759860e+00] [-7.68434619e-04 9.99998591e-01 -1.49248683e-03 -1.73886495e-01] [ 2.96116232e-02 1.51458736e-03 9.99560332e-01 8.08259830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032557844 meters Centerline goodness : 0.131904 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.17, Z:0.81 [[ 0.99955553 0.00874794 -0.02849949 -1.18568523] [-0.00885747 0.99995385 -0.00371936 -0.17482214] [ 0.02846564 0.00397014 0.99958689 0.80757461] [ 0. 0. 0. 1. ]] SLAMing on 66.062557844 meters Centerline goodness : 0.084567 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954747 0.00871278 -0.02879145 -1.18487748] [-0.00883118 0.99995305 -0.00398781 -0.17400014] [ 0.02875536 0.00424027 0.99957749 0.80767146] [ 0. 0. 0. 1. ]] SLAMing on 66.092557844 meters Centerline goodness : 0.094723 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954498 0.00861258 -0.02890763 -1.18446722] [-0.00873827 0.9999529 -0.00422446 -0.17305904] [ 0.02886989 0.00447514 0.99957316 0.80750431] [ 0. 0. 0. 1. ]] SLAMing on 66.122557844 meters Centerline goodness : 0.131296 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.17, Z:0.81 [[ 0.99954667 0.0085343 -0.02887236 -1.18441331] [-0.00866745 0.99995236 -0.00448971 -0.1716894 ] [ 0.02883267 0.00473792 0.99957302 0.80725728] [ 0. 0. 0. 1. ]] SLAMing on 66.152557844 meters Centerline goodness : 0.126392 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.17, Z:0.81 [[ 0.99955632 0.00261063 -0.02967055 -1.16700139] [-0.00270688 0.9999912 -0.00320417 -0.16508825] [ 0.02966193 0.00328307 0.9995546 0.80968712] [ 0. 0. 0. 1. ]] SLAMing on 66.182557844 meters Centerline goodness : 0.127517 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.16, Z:0.81 [[ 0.99954692 0.00285414 -0.0299633 -1.16576468] [-0.0029488 0.9999908 -0.00311527 -0.16478125] [ 0.02995413 0.00320221 0.99954614 0.80909016] [ 0. 0. 0. 1. ]] SLAMing on 66.212557844 meters Centerline goodness : 0.196347 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.16, Z:0.81 [[ 0.99948959 0.00363883 -0.03173822 -1.16007503] [-0.00374087 0.99998802 -0.00315626 -0.163609 ] [ 0.03172636 0.00327338 0.99949123 0.80786443] [ 0. 0. 0. 1. ]] SLAMing on 66.242557844 meters Centerline goodness : 0.151254 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.16, Z:0.81 [[ 0.99947662 0.00344478 -0.03216541 -1.15838568] [-0.00355887 0.99998758 -0.00349036 -0.16255234] [ 0.03215299 0.003603 0.99947646 0.80690795] [ 0. 0. 0. 1. ]] SLAMing on 66.272557844 meters Centerline goodness : 0.145072 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99948785 0.00491898 -0.03162023 -1.1103564 ] [-0.0050658 0.99997675 -0.00456478 -0.15643555] [ 0.03159704 0.00472263 0.99948953 0.80584942] [ 0. 0. 0. 1. ]] SLAMing on 66.302557844 meters Centerline goodness : 0.090709 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99948887 0.00486428 -0.03159641 -1.11046142] [-0.00501016 0.99997715 -0.00453947 -0.15614081] [ 0.03157361 0.00469546 0.9994904 0.80562891] [ 0. 0. 0. 1. ]] SLAMing on 66.332557844 meters Centerline goodness : 0.144743 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.16, Z:0.81 [[ 0.99950301 0.00468694 -0.03117305 -1.11198257] [-0.00483686 0.99997709 -0.00473558 -0.15528064] [ 0.03115014 0.00488401 0.99950278 0.80619191] [ 0. 0. 0. 1. ]] SLAMing on 66.362557844 meters Centerline goodness : 0.160940 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.15, Z:0.81 [[ 0.99954051 0.00420088 -0.03001864 -1.11622504] [-0.00435299 0.99997801 -0.00500365 -0.15461335] [ 0.02999696 0.00513202 0.99953681 0.80783416] [ 0. 0. 0. 1. ]] SLAMing on 66.392557844 meters Centerline goodness : 0.120484 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.16, Z:0.81 [[ 0.99954941 0.00422799 -0.02971711 -1.11705788] [-0.0043693 0.99997945 -0.00469161 -0.15575671] [ 0.02969667 0.00481934 0.99954734 0.80771516] [ 0. 0. 0. 1. ]] SLAMing on 66.422557844 meters Centerline goodness : 0.157990 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99961721 0.00528099 -0.02715783 -1.07344107] [-0.00543345 0.99996987 -0.00554334 -0.15331337] [ 0.02712773 0.00568878 0.99961579 0.80752757] [ 0. 0. 0. 1. ]] SLAMing on 66.452557844 meters Centerline goodness : 0.067088 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.15, Z:0.81 [[ 0.99959792 -0.00394975 -0.02807829 -1.09334841] [ 0.00383817 0.99998453 -0.00402659 -0.15155648] [ 0.02809376 0.00391721 0.99959762 0.80625162] [ 0. 0. 0. 1. ]] SLAMing on 66.482557844 meters Centerline goodness : 0.084440 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99965038 0.0037281 -0.02617663 -1.0723561 ] [-0.00390183 0.99997068 -0.00658891 -0.15281837] [ 0.0261513 0.00668874 0.99963562 0.80596631] [ 0. 0. 0. 1. ]] SLAMing on 66.512557844 meters Centerline goodness : 0.128818 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.16, Z:0.81 [[ 0.99957273 0.00249636 -0.02912267 -1.11768232] [-0.00266789 0.99997932 -0.00585243 -0.15503468] [ 0.02910746 0.00592762 0.99955871 0.80682565] [ 0. 0. 0. 1. ]] SLAMing on 66.542557844 meters Centerline goodness : 0.123082 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99960606 0.00478402 -0.02765578 -1.07365853] [-0.0049455 0.9999711 -0.00577355 -0.14882133] [ 0.02762736 0.00590804 0.99960083 0.80705915] [ 0. 0. 0. 1. ]] SLAMing on 66.572557844 meters Centerline goodness : 0.194067 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.15, Z:0.81 [[ 0.99959283 0.00505089 -0.02808331 -1.07210465] [-0.00522068 0.99996852 -0.00597564 -0.14716746] [ 0.02805224 0.00611982 0.99958772 0.8066525 ] [ 0. 0. 0. 1. ]] SLAMing on 66.602557844 meters Centerline goodness : 0.144587 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99954405 0.00721203 -0.02932044 -1.06755679] [-0.00734978 0.99996244 -0.00459287 -0.14213162] [ 0.02928621 0.00480628 0.99955951 0.80566027] [ 0. 0. 0. 1. ]] SLAMing on 66.632557844 meters Centerline goodness : 0.146090 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99953391 0.00714798 -0.0296795 -1.06632316] [-0.00730162 0.99996048 -0.00507159 -0.13994032] [ 0.02964208 0.00528593 0.9995466 0.80534423] [ 0. 0. 0. 1. ]] SLAMing on 66.662557844 meters Centerline goodness : 0.152506 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.14, Z:0.81 [[ 0.99952833 0.00681445 -0.02994477 -1.06578692] [-0.00699208 0.99995855 -0.005831 -0.13703909] [ 0.02990379 0.00603763 0.99953455 0.80552878] [ 0. 0. 0. 1. ]] SLAMing on 66.692557844 meters Centerline goodness : 0.128808 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.80 [[ 9.99594213e-01 -9.01054783e-04 -2.84709943e-02 -1.08356032e+00] [ 7.39112439e-04 9.99983493e-01 -5.69798832e-03 -1.29583858e-01] [ 2.84756585e-02 5.67463289e-03 9.99578379e-01 8.04823099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722557844 meters Centerline goodness : 0.192784 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 9.99603694e-01 -8.83273306e-04 -2.81367078e-02 -1.08514713e+00] [ 7.25693644e-04 9.99983999e-01 -5.61022017e-03 -1.29869382e-01] [ 2.81412129e-02 5.58757817e-03 9.99588341e-01 8.06024757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752557844 meters Centerline goodness : 0.153377 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.9996361 -0.00852262 -0.02559361 -1.0656965 ] [ 0.00840058 0.99995284 -0.00487238 -0.12563735] [ 0.02563393 0.00465561 0.99966056 0.80738947] [ 0. 0. 0. 1. ]] SLAMing on 66.782557844 meters Centerline goodness : 0.094127 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99973806 -0.00515247 -0.02229945 -1.08951514] [ 0.00497519 0.99995564 -0.00799833 -0.13145401] [ 0.02233967 0.00788529 0.99971934 0.80715875] [ 0. 0. 0. 1. ]] SLAMing on 66.812557844 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99974562 -0.0051813 -0.021951 -1.09059063] [ 0.00501331 0.99995778 -0.00770124 -0.13249645] [ 0.02198998 0.00758924 0.99972939 0.80715734] [ 0. 0. 0. 1. ]] SLAMing on 66.842557844 meters Centerline goodness : 0.089253 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.13, Z:0.81 [[ 0.99975081 -0.0025959 -0.02217173 -1.09049502] [ 0.00249027 0.99998543 -0.00479023 -0.13256051] [ 0.02218384 0.00473382 0.9997427 0.80740049] [ 0. 0. 0. 1. ]] SLAMing on 66.872557844 meters Centerline goodness : 0.097954 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.14, Z:0.81 [[ 0.99973618 -0.002745 -0.02280419 -1.08907469] [ 0.00264962 0.99998762 -0.00421154 -0.13587841] [ 0.02281547 0.00415001 0.99973108 0.8071597 ] [ 0. 0. 0. 1. ]] SLAMing on 66.902557844 meters Centerline goodness : 0.158319 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99970512 0.00490545 -0.02378253 -1.10458458] [-0.00505969 0.99996653 -0.00642934 -0.14508407] [ 0.0237502 0.00654777 0.99969648 0.80579002] [ 0. 0. 0. 1. ]] SLAMing on 66.932557844 meters Centerline goodness : 0.097097 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.9996983 -0.00238735 -0.02444605 -1.08373156] [ 0.00225044 0.99998164 -0.0056264 -0.14244458] [ 0.02445904 0.00556968 0.99968532 0.80700291] [ 0. 0. 0. 1. ]] SLAMing on 66.962557844 meters Centerline goodness : 0.197640 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.99969336 -0.0021182 -0.02467176 -1.08285042] [ 0.00199043 0.99998449 -0.00520232 -0.14368495] [ 0.02468239 0.00515162 0.99968207 0.80651326] [ 0. 0. 0. 1. ]] SLAMing on 66.992557844 meters Centerline goodness : 0.192905 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.14, Z:0.81 [[ 0.99968907 -0.00182095 -0.02486841 -1.08194181] [ 0.00170013 0.99998665 -0.00487856 -0.14426837] [ 0.02487697 0.00483476 0.99967883 0.80598586] [ 0. 0. 0. 1. ]] SLAMing on 67.022557844 meters Centerline goodness : 0.129667 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99960717 0.0089412 -0.02656255 -1.09753591] [-0.00908626 0.99994443 -0.00534519 -0.15008385] [ 0.02651328 0.00558445 0.99963286 0.8055898 ] [ 0. 0. 0. 1. ]] SLAMing on 67.052557844 meters Centerline goodness : 0.127432 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.15, Z:0.81 [[ 0.99958424 0.00907506 -0.02736777 -1.09518995] [-0.00923777 0.99994037 -0.00582477 -0.14838373] [ 0.02731328 0.00607517 0.99960846 0.80565376] [ 0. 0. 0. 1. ]] SLAMing on 67.082557844 meters Centerline goodness : 0.139964 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.15, Z:0.81 [[ 0.99954688 0.00941563 -0.02858972 -1.09147718] [-0.00959946 0.99993408 -0.00629956 -0.14627951] [ 0.02852852 0.00657115 0.99957138 0.80544921] [ 0. 0. 0. 1. ]] SLAMing on 67.112557844 meters Centerline goodness : 0.193397 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.14, Z:0.80 [[ 0.99946607 0.01045058 -0.03095741 -1.12688992] [-0.01067325 0.99991828 -0.00703637 -0.14418222] [ 0.03088135 0.00736303 0.99949594 0.80456435] [ 0. 0. 0. 1. ]] SLAMing on 67.142557844 meters Centerline goodness : 0.145073 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99941582 0.01112725 -0.03231416 -1.12242752] [-0.01136947 0.99990856 -0.00732178 -0.14163301] [ 0.03222974 0.0076849 0.99945094 0.80365482] [ 0. 0. 0. 1. ]] SLAMing on 67.172557844 meters Centerline goodness : 0.169128 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99941362 0.01098677 -0.03242989 -1.12219158] [-0.01123976 0.99990773 -0.00762924 -0.14068161] [ 0.03234308 0.00798927 0.99944489 0.80373272] [ 0. 0. 0. 1. ]] SLAMing on 67.202557844 meters Centerline goodness : 0.111964 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.14, Z:0.80 [[ 0.99940993 0.01094298 -0.0325582 -1.12171119] [-0.01120112 0.99990718 -0.00775689 -0.14016283] [ 0.03247029 0.008117 0.99943974 0.80346775] [ 0. 0. 0. 1. ]] SLAMing on 67.232557844 meters Centerline goodness : 0.140709 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946929 0.00204376 -0.03251103 -1.13990232] [-0.00227212 0.999973 -0.00698867 -0.1332542 ] [ 0.03249587 0.00705883 0.99944694 0.80137145] [ 0. 0. 0. 1. ]] SLAMing on 67.262557844 meters Centerline goodness : 0.125957 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946781 0.00199207 -0.03255946 -1.13961484] [-0.00222337 0.99997254 -0.00706919 -0.13276466] [ 0.03254449 0.00713782 0.9994448 0.80106292] [ 0. 0. 0. 1. ]] SLAMing on 67.292557844 meters Centerline goodness : 0.200654 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 0.99946823 0.00193792 -0.03255011 -1.13959728] [-0.00217176 0.99997208 -0.00715039 -0.13239409] [ 0.03253534 0.00721727 0.99944453 0.80098403] [ 0. 0. 0. 1. ]] SLAMing on 67.322557844 meters Centerline goodness : 0.086184 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.13, Z:0.80 [[ 0.99942237 -0.00810464 -0.0330036 -1.16203324] [ 0.00788105 0.99994514 -0.00689933 -0.12734911] [ 0.0330577 0.00663524 0.99943142 0.80104134] [ 0. 0. 0. 1. ]] SLAMing on 67.352557844 meters Centerline goodness : 0.176507 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99518535e-01 6.49976794e-04 -3.10205581e-02 -1.14346339e+00] [-9.09831671e-04 9.99964612e-01 -8.36348031e-03 -1.28496717e-01] [ 3.10140243e-02 8.38767708e-03 9.99483755e-01 8.02106955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382557844 meters Centerline goodness : 0.035377 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99522199e-01 6.28124661e-04 -3.09027249e-02 -1.14395175e+00] [-8.90321618e-04 9.99963719e-01 -8.47156196e-03 -1.27695480e-01] [ 3.08962825e-02 8.49502761e-03 9.99486495e-01 8.02385554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412557844 meters Centerline goodness : 0.156680 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524487e-01 6.11861713e-04 -3.08289723e-02 -1.14431215e+00] [-8.75280670e-04 9.99963221e-01 -8.53175545e-03 -1.27198097e-01] [ 3.08226182e-02 8.55468249e-03 9.99488261e-01 8.02636391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442557844 meters Centerline goodness : 0.156680 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524487e-01 6.11861713e-04 -3.08289723e-02 -1.14431215e+00] [-8.75280670e-04 9.99963221e-01 -8.53175545e-03 -1.27198097e-01] [ 3.08226182e-02 8.55468249e-03 9.99488261e-01 8.02636391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472557844 meters Centerline goodness : 0.089274 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99521256e-01 6.17193159e-04 -3.09334311e-02 -1.14406538e+00] [-8.80488466e-04 9.99963497e-01 -8.49877622e-03 -1.27229702e-01] [ 3.09270565e-02 8.52194402e-03 9.99485314e-01 8.02677582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502557844 meters Centerline goodness : 0.093711 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99521113e-01 6.37108123e-04 -3.09376660e-02 -1.14416433e+00] [-8.98521334e-04 9.99964008e-01 -8.43650750e-03 -1.27567061e-01] [ 3.09311775e-02 8.46026552e-03 9.99485711e-01 8.02845605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532557844 meters Centerline goodness : 0.189538 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.13, Z:0.80 [[ 9.99524950e-01 6.98091670e-04 -3.08121307e-02 -1.14461960e+00] [-9.55184923e-04 9.99964849e-01 -8.32996698e-03 -1.27999470e-01] [ 3.08052326e-02 8.35544111e-03 9.99490482e-01 8.03013615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562557844 meters Centerline goodness : 0.065971 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.13, Z:0.80 [[ 9.99533522e-01 6.27212720e-04 -3.05343179e-02 -1.14557205e+00] [-8.81489107e-04 9.99965043e-01 -8.31481215e-03 -1.28016436e-01] [ 3.05280354e-02 8.33784914e-03 9.99499134e-01 8.03300888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592557844 meters Centerline goodness : 0.151047 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.80 [[ 0.99962524 0.00198767 -0.02730259 -1.10575603] [-0.0022112 0.99996427 -0.00815943 -0.12440279] [ 0.0272854 0.00821674 0.99959391 0.80442798] [ 0. 0. 0. 1. ]] SLAMing on 67.622557844 meters Centerline goodness : 0.188949 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.13, Z:0.81 [[ 9.99542773e-01 5.45165257e-04 -3.02315804e-02 -1.15265151e+00] [-7.76559748e-04 9.99970491e-01 -7.64285263e-03 -1.27699200e-01] [ 3.02265217e-02 7.66283473e-03 9.99513701e-01 8.06058417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652557844 meters Centerline goodness : 0.117867 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:0.81 [[ 0.99952979 -0.00614587 -0.0300403 -1.13465329] [ 0.00595098 0.99996069 -0.00657263 -0.12144641] [ 0.03007952 0.00639077 0.99952708 0.80838291] [ 0. 0. 0. 1. ]] SLAMing on 67.682557844 meters Centerline goodness : 0.133281 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.12, Z:0.81 [[ 0.99943033 -0.00619357 -0.03317618 -1.18074381] [ 0.00603761 0.99997026 -0.0047991 -0.12462705] [ 0.03320491 0.00459606 0.999438 0.80930506] [ 0. 0. 0. 1. ]] SLAMing on 67.712557844 meters Centerline goodness : 0.164184 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99948048 0.00327626 -0.03206307 -1.16028529] [-0.00346505 0.99997698 -0.00583423 -0.12477549] [ 0.03204322 0.0059423 0.99946882 0.81002091] [ 0. 0. 0. 1. ]] SLAMing on 67.742557844 meters Centerline goodness : 0.143146 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99944136 0.00514853 -0.03302221 -1.15675425] [-0.00531453 0.99997367 -0.00494112 -0.11805508] [ 0.0329959 0.00511385 0.9994424 0.80937479] [ 0. 0. 0. 1. ]] SLAMing on 67.772557844 meters Centerline goodness : 0.178176 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.12, Z:0.81 [[ 0.99943895 0.00492869 -0.03312843 -1.15663147] [-0.00511224 0.99997204 -0.0054583 -0.11604742] [ 0.0331006 0.0056246 0.9994362 0.8096127 ] [ 0. 0. 0. 1. ]] SLAMing on 67.802557844 meters Centerline goodness : 0.082674 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99945001 -0.0022349 -0.03308597 -1.13935269] [ 0.0021056 0.99999001 -0.0039424 -0.10680823] [ 0.03309445 0.00387056 0.99944473 0.81173145] [ 0. 0. 0. 1. ]] SLAMing on 67.832557844 meters Centerline goodness : 0.124446 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99945357 -0.00229676 -0.03297415 -1.13975097] [ 0.00216279 0.99998926 -0.00409806 -0.10596318] [ 0.03298321 0.0040245 0.9994478 0.81184854] [ 0. 0. 0. 1. ]] SLAMing on 67.862557844 meters Centerline goodness : 0.186493 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99946004 -0.00237812 -0.03277142 -1.14067802] [ 0.00224437 0.999989 -0.00411751 -0.10609638] [ 0.03278085 0.00404173 0.99945439 0.81248767] [ 0. 0. 0. 1. ]] SLAMing on 67.892557844 meters Centerline goodness : 0.146380 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99950635 0.00364019 -0.03120591 -1.15851914] [-0.00381192 0.99997791 -0.00544555 -0.11185515] [ 0.0311854 0.00556182 0.99949814 0.80937435] [ 0. 0. 0. 1. ]] SLAMing on 67.922557844 meters Centerline goodness : 0.125608 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99951042 0.00359999 -0.03108004 -1.15875408] [-0.00376721 0.99997873 -0.00532353 -0.11240754] [ 0.03106021 0.00543801 0.99950272 0.80908293] [ 0. 0. 0. 1. ]] SLAMing on 67.952557844 meters Centerline goodness : 0.125536 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99955525 0.0045065 -0.02947853 -1.11294699] [-0.00467461 0.99997319 -0.0056364 -0.10899917] [ 0.02945234 0.00577169 0.99954952 0.80844362] [ 0. 0. 0. 1. ]] SLAMing on 67.982557844 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.11, Z:0.81 [[ 0.99943938 0.00274896 -0.03336713 -1.15761776] [-0.00292674 0.99998178 -0.0052805 -0.11221536] [ 0.03335201 0.00537519 0.99942921 0.80869511] [ 0. 0. 0. 1. ]] SLAMing on 68.012557844 meters Centerline goodness : 0.129156 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:0.81 [[ 0.99939072 -0.00559483 -0.03445132 -1.13558769] [ 0.00543179 0.99997361 -0.00482425 -0.1059212 ] [ 0.0344774 0.00463418 0.99939473 0.80904927] [ 0. 0. 0. 1. ]] SLAMing on 68.042557844 meters Centerline goodness : 0.085016 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.11, Z:0.81 [[ 9.99450624e-01 9.46321069e-04 -3.31293755e-02 -1.15334011e+00] [-1.13916280e-03 9.99982517e-01 -5.80247715e-03 -1.11543112e-01] [ 3.31233053e-02 5.83702916e-03 9.99434228e-01 8.05960398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072557844 meters Centerline goodness : 0.083030 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99952505 0.00261113 -0.03070591 -1.10993737] [-0.00279742 0.99997793 -0.00602569 -0.10941868] [ 0.03068949 0.00610872 0.9995103 0.8064353 ] [ 0. 0. 0. 1. ]] SLAMing on 68.102557844 meters Centerline goodness : 0.156617 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99952817 0.0026826 -0.030598 -1.11024535] [-0.00286143 0.99997907 -0.00580218 -0.1102286 ] [ 0.0305818 0.005887 0.99951493 0.80641421] [ 0. 0. 0. 1. ]] SLAMing on 68.132557844 meters Centerline goodness : 0.035134 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99951771 0.00275212 -0.03093164 -1.10941368] [-0.00291774 0.99998164 -0.00531058 -0.11296007] [ 0.03091645 0.00539827 0.99950739 0.8063265 ] [ 0. 0. 0. 1. ]] SLAMing on 68.162557844 meters Centerline goodness : 0.134455 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:0.81 [[ 0.99951687 0.00281769 -0.03095301 -1.10942879] [-0.00297099 0.99998354 -0.00490767 -0.11489021] [ 0.03093867 0.00499726 0.99950879 0.80629324] [ 0. 0. 0. 1. ]] SLAMing on 68.192557844 meters Centerline goodness : 0.076808 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.81 [[ 0.99952142 0.0029361 -0.0307945 -1.10990354] [-0.00307306 0.99998559 -0.00440113 -0.11700406] [ 0.03078113 0.00449366 0.99951605 0.8062344 ] [ 0. 0. 0. 1. ]] SLAMing on 68.222557844 meters Centerline goodness : 0.188262 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.12, Z:0.81 [[ 0.99952345 0.00310113 -0.03071239 -1.11012403] [-0.00322547 0.9999868 -0.00399959 -0.11880286] [ 0.03069959 0.00409675 0.99952026 0.80623643] [ 0. 0. 0. 1. ]] SLAMing on 68.252557844 meters Centerline goodness : 0.124723 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.12, Z:0.81 [[ 0.99954902 -0.00404705 -0.02975527 -1.09038508] [ 0.00397328 0.99998889 -0.00253804 -0.11694868] [ 0.02976521 0.00241867 0.99955399 0.80801094] [ 0. 0. 0. 1. ]] SLAMing on 68.282557844 meters Centerline goodness : 0.122733 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.12, Z:0.81 [[ 0.99954293 -0.00397558 -0.02996885 -1.08991611] [ 0.0039062 0.99998955 -0.00237308 -0.11781653] [ 0.02997797 0.00225493 0.99954802 0.80816409] [ 0. 0. 0. 1. ]] SLAMing on 68.312557844 meters Centerline goodness : 0.188655 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.81 [[ 0.99946759 0.00588475 -0.03209209 -1.10391746] [-0.00600562 0.99997523 -0.00367103 -0.12426052] [ 0.03206969 0.00386181 0.99947817 0.80766661] [ 0. 0. 0. 1. ]] SLAMing on 68.342557844 meters Centerline goodness : 0.277826 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.81 [[ 0.99944375 0.00613962 -0.03277961 -1.1018937 ] [-0.00626513 0.99997343 -0.00372762 -0.12385593] [ 0.03275585 0.00393092 0.99945565 0.80755241] [ 0. 0. 0. 1. ]] SLAMing on 68.372557844 meters Centerline goodness : 0.138854 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.12, Z:0.81 [[ 0.99943639 0.00757398 -0.03270367 -1.06333977] [-0.0076575 0.99996773 -0.00242938 -0.12208835] [ 0.03268422 0.00267844 0.99946214 0.80895659] [ 0. 0. 0. 1. ]] SLAMing on 68.402557844 meters Centerline goodness : 0.139977 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99948777 0.00765755 -0.03107333 -1.06850787] [-0.00773875 0.99996695 -0.00249349 -0.12130298] [ 0.0310532 0.00273268 0.999514 0.81056538] [ 0. 0. 0. 1. ]] SLAMing on 68.432557844 meters Centerline goodness : 0.195929 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99949632 0.00742953 -0.03085297 -1.06985167] [-0.00752265 0.99996749 -0.00290325 -0.12014454] [ 0.0308304 0.00313388 0.99951972 0.81186657] [ 0. 0. 0. 1. ]] SLAMing on 68.462557844 meters Centerline goodness : 0.141306 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99949152 0.00739063 -0.03101741 -1.06965119] [-0.00748957 0.99996723 -0.00307486 -0.11976719] [ 0.03099366 0.0033056 0.99951411 0.81232022] [ 0. 0. 0. 1. ]] SLAMing on 68.492557844 meters Centerline goodness : 0.139742 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99947842 0.00754096 -0.03140083 -1.06823372] [-0.00763917 0.99996629 -0.00300906 -0.11979263] [ 0.03137708 0.00324737 0.99950234 0.81175274] [ 0. 0. 0. 1. ]] SLAMing on 68.522557844 meters Centerline goodness : 0.145694 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99946433 0.00786611 -0.03176757 -1.06666168] [-0.00794973 0.99996526 -0.00250673 -0.12141444] [ 0.03174675 0.00275793 0.99949214 0.81074927] [ 0. 0. 0. 1. ]] SLAMing on 68.552557844 meters Centerline goodness : 0.189011 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99947463 0.00779044 -0.03146081 -1.06776543] [-0.00786941 0.99996619 -0.0023873 -0.12213338] [ 0.03144114 0.00263362 0.99950214 0.81115015] [ 0. 0. 0. 1. ]] SLAMing on 68.582557844 meters Centerline goodness : 0.123641 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.12, Z:0.81 [[ 9.99577445e-01 -2.03442613e-04 -2.90669786e-02 -1.04943052e+00] [ 1.70791116e-04 9.99999352e-01 -1.12579756e-03 -1.17090752e-01] [ 2.90671888e-02 1.12035747e-03 9.99576832e-01 8.11883907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612557844 meters Centerline goodness : 0.144446 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99960945 0.00440652 -0.02759586 -1.0737924 ] [-0.00451759 0.99998194 -0.00396402 -0.12196711] [ 0.02757789 0.00408714 0.9996113 0.81165322] [ 0. 0. 0. 1. ]] SLAMing on 68.642557844 meters Centerline goodness : 0.035756 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99960725 0.00454245 -0.02765331 -1.07389607] [-0.00463879 0.99998339 -0.00342065 -0.12464364] [ 0.02763731 0.00354758 0.99961172 0.81207034] [ 0. 0. 0. 1. ]] SLAMing on 68.672557844 meters Centerline goodness : 0.138100 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.99960782 0.00462654 -0.02761902 -1.07386418] [-0.00471765 0.99998364 -0.00323451 -0.12547894] [ 0.0276036 0.00336354 0.99961329 0.81187243] [ 0. 0. 0. 1. ]] SLAMing on 68.702557844 meters Centerline goodness : 0.179251 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.13, Z:0.81 [[ 0.9996106 0.00464238 -0.02751537 -1.07418143] [-0.00473017 0.99998393 -0.00312621 -0.12601176] [ 0.02750041 0.00325514 0.99961649 0.81199004] [ 0. 0. 0. 1. ]] SLAMing on 68.732557844 meters Centerline goodness : 0.076458 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.12, Z:0.81 [[ 0.99961885 0.00499206 -0.02715208 -1.03634477] [-0.00507758 0.99998236 -0.00308151 -0.12480358] [ 0.02713622 0.00321821 0.99962656 0.81380729] [ 0. 0. 0. 1. ]] SLAMing on 68.762557844 meters Centerline goodness : 0.151377 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.81 [[ 0.99952215 0.00334462 -0.03072922 -1.08073798] [-0.00343508 0.99998992 -0.00289154 -0.12772605] [ 0.03071924 0.00299571 0.99952356 0.81422232] [ 0. 0. 0. 1. ]] SLAMing on 68.792557844 meters Centerline goodness : 0.196784 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.13, Z:0.81 [[ 0.99949554 0.00360937 -0.03155365 -1.07805351] [-0.0037049 0.99998873 -0.00296957 -0.12709224] [ 0.03154257 0.00308498 0.99949765 0.8135276 ] [ 0. 0. 0. 1. ]] SLAMing on 68.822557844 meters Centerline goodness : 0.128773 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99940539 0.00566922 -0.03401063 -1.06909965] [-0.00573522 0.99998185 -0.00184338 -0.12480334] [ 0.03399957 0.00203734 0.99941977 0.81101537] [ 0. 0. 0. 1. ]] SLAMing on 68.852557844 meters Centerline goodness : 0.143214 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99937797 0.00587993 -0.03477202 -1.06665689] [-0.00595508 0.99998015 -0.00205797 -0.12358651] [ 0.03475923 0.00226376 0.99939315 0.81056638] [ 0. 0. 0. 1. ]] SLAMing on 68.882557844 meters Centerline goodness : 0.085858 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99938944 0.00610096 -0.03440235 -1.06770985] [-0.00618922 0.99997782 -0.00245963 -0.12067167] [ 0.03438658 0.00267105 0.99940504 0.81090756] [ 0. 0. 0. 1. ]] SLAMing on 68.912557844 meters Centerline goodness : 0.144029 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99939482 0.00595211 -0.03427191 -1.06802254] [-0.00605584 0.99997739 -0.00292339 -0.11841354] [ 0.03425374 0.00312916 0.99940827 0.81090728] [ 0. 0. 0. 1. ]] SLAMing on 68.942557844 meters Centerline goodness : 0.089613 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.12, Z:0.81 [[ 0.99939961 0.00580056 -0.03415796 -1.06810122] [-0.00591998 0.99997671 -0.00339613 -0.1159806 ] [ 0.03413747 0.00359631 0.99941068 0.810549 ] [ 0. 0. 0. 1. ]] SLAMing on 68.972557844 meters Centerline goodness : 0.141583 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939707 0.00557639 -0.03426938 -1.06758365] [-0.00571758 0.99997556 -0.00402346 -0.11325257] [ 0.03424611 0.00421697 0.99940453 0.81025465] [ 0. 0. 0. 1. ]] SLAMing on 69.002557844 meters Centerline goodness : 0.087687 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939709 0.00532859 -0.03430836 -1.06733507] [-0.00548947 0.99997437 -0.00459682 -0.11073044] [ 0.03428299 0.00478238 0.99940072 0.80995658] [ 0. 0. 0. 1. ]] SLAMing on 69.032557844 meters Centerline goodness : 0.123324 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.11, Z:0.81 [[ 0.99939746 0.0050626 -0.03433797 -1.06735899] [-0.00524231 0.99997302 -0.00514546 -0.10844577] [ 0.03431099 0.00532237 0.99939703 0.81004866] [ 0. 0. 0. 1. ]] SLAMing on 69.062557844 meters Centerline goodness : 0.141206 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.81 [[ 0.99937231 -0.001445 -0.03539632 -1.04877545] [ 0.00128664 0.99998906 -0.00449622 -0.09749778] [ 0.03540243 0.00444786 0.99936324 0.81267529] [ 0. 0. 0. 1. ]] SLAMing on 69.092557844 meters Centerline goodness : 0.200746 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99924075 -0.00278355 -0.03886105 -1.09361307] [ 0.00264257 0.99998974 -0.00367885 -0.09932874] [ 0.03887089 0.00357336 0.99923785 0.81312552] [ 0. 0. 0. 1. ]] SLAMing on 69.122557844 meters Centerline goodness : 0.128380 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99923534 -0.00297445 -0.03898578 -1.09330885] [ 0.00281691 0.99998765 -0.00409525 -0.09723624] [ 0.03899748 0.0039823 0.99923137 0.81310378] [ 0. 0. 0. 1. ]] SLAMing on 69.152557844 meters Centerline goodness : 0.140159 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:0.81 [[ 0.99922965 -0.00318326 -0.0391149 -1.09304965] [ 0.00300974 0.99998537 -0.00449445 -0.09532868] [ 0.03912863 0.00437326 0.99922461 0.81319765] [ 0. 0. 0. 1. ]] SLAMing on 69.182557844 meters Centerline goodness : 0.146544 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:0.82 [[ 0.99911786 -0.0053327 -0.0416541 -1.14097258] [ 0.00514352 0.99997597 -0.00464755 -0.09465382] [ 0.04167789 0.0044292 0.99912128 0.81504306] [ 0. 0. 0. 1. ]] SLAMing on 69.212557844 meters Centerline goodness : 0.145781 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923898 0.00309328 -0.03888294 -1.12341518] [-0.00334079 0.99997456 -0.00630206 -0.09519705] [ 0.03886246 0.00642717 0.9992239 0.81657932] [ 0. 0. 0. 1. ]] SLAMing on 69.242557844 meters Centerline goodness : 0.130584 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:0.82 [[ 0.9992511 0.00301281 -0.0385767 -1.12462622] [-0.00326487 0.99997372 -0.00647253 -0.094198 ] [ 0.03855619 0.00659363 0.99923468 0.81722831] [ 0. 0. 0. 1. ]] SLAMing on 69.272557844 meters Centerline goodness : 0.137840 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99926548 0.00285281 -0.0382147 -1.12591341] [-0.00310607 0.9999736 -0.00656952 -0.09386772] [ 0.03819495 0.00668339 0.99924796 0.817594 ] [ 0. 0. 0. 1. ]] SLAMing on 69.302557844 meters Centerline goodness : 0.140190 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99926483 0.0027483 -0.03823928 -1.12579102] [-0.00300665 0.99997303 -0.00670025 -0.09350107] [ 0.03821984 0.00681029 0.99924615 0.81749178] [ 0. 0. 0. 1. ]] SLAMing on 69.33255784400001 meters Centerline goodness : 0.131667 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927177 0.00236719 -0.03808309 -1.12615833] [-0.00263169 0.99997275 -0.00689674 -0.093325 ] [ 0.03806573 0.00699194 0.99925078 0.81712447] [ 0. 0. 0. 1. ]] SLAMing on 69.362557844 meters Centerline goodness : 0.131667 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927177 0.00236719 -0.03808309 -1.12615833] [-0.00263169 0.99997275 -0.00689674 -0.093325 ] [ 0.03806573 0.00699194 0.99925078 0.81712447] [ 0. 0. 0. 1. ]] SLAMing on 69.392557844 meters Centerline goodness : 0.130381 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927325 0.00235628 -0.03804501 -1.12654821] [-0.00261826 0.99997319 -0.00683781 -0.09366459] [ 0.03802788 0.00693245 0.99925263 0.81759291] [ 0. 0. 0. 1. ]] SLAMing on 69.422557844 meters Centerline goodness : 0.169918 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99927468 0.00240571 -0.03800424 -1.12708092] [-0.0026628 0.9999739 -0.00671557 -0.09413403] [ 0.03798709 0.00681189 0.99925501 0.81827788] [ 0. 0. 0. 1. ]] SLAMing on 69.452557844 meters Centerline goodness : 0.149980 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99928022 0.0024137 -0.03785793 -1.12782776] [-0.00266635 0.9999745 -0.00662445 -0.09455789] [ 0.03784098 0.00672062 0.99926117 0.81877536] [ 0. 0. 0. 1. ]] SLAMing on 69.482557844 meters Centerline goodness : 0.162915 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99934898 0.00341811 -0.03591552 -1.08406573] [-0.00368087 0.99996693 -0.00725255 -0.09094876] [ 0.03588954 0.00738003 0.99932851 0.81962167] [ 0. 0. 0. 1. ]] SLAMing on 69.512557844 meters Centerline goodness : 0.159843 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:0.82 [[ 0.99934195 0.00307386 -0.03614159 -1.12337698] [-0.00337751 0.99995949 -0.00834349 -0.09083612] [ 0.03611448 0.00846007 0.99931185 0.81804134] [ 0. 0. 0. 1. ]] SLAMing on 69.542557844 meters Centerline goodness : 0.130212 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932664 0.00428074 -0.03644102 -1.0837668 ] [-0.00458051 0.99995632 -0.00814683 -0.08820937] [ 0.03640455 0.00830826 0.9993026 0.82040759] [ 0. 0. 0. 1. ]] SLAMing on 69.572557844 meters Centerline goodness : 0.132721 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932369 0.00424934 -0.0365255 -1.08347314] [-0.00456007 0.99995408 -0.00842835 -0.08683951] [ 0.03648801 0.00858921 0.99929718 0.82042833] [ 0. 0. 0. 1. ]] SLAMing on 69.602557844 meters Centerline goodness : 0.126450 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.09, Z:0.82 [[ 0.99932021 0.00482116 -0.03654968 -1.08289139] [-0.00513186 0.99995145 -0.00841192 -0.08521572] [ 0.03650735 0.00859377 0.99929643 0.81996409] [ 0. 0. 0. 1. ]] SLAMing on 69.632557844 meters Centerline goodness : 0.140051 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99929743 0.00490135 -0.03715664 -1.08096392] [-0.00522958 0.99994812 -0.0087415 -0.08344985] [ 0.03711187 0.00892967 0.99927122 0.81961073] [ 0. 0. 0. 1. ]] SLAMing on 69.662557844 meters Centerline goodness : 0.138886 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927258 0.00495335 -0.03781249 -1.07877671] [-0.00530283 0.9999441 -0.00914795 -0.08137169] [ 0.03776506 0.00934181 0.99924298 0.81906698] [ 0. 0. 0. 1. ]] SLAMing on 69.692557844 meters Centerline goodness : 0.139261 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926089 0.00498277 -0.03811617 -1.07756716] [-0.00535489 0.99993894 -0.00966687 -0.07823964] [ 0.03806568 0.00986384 0.99922656 0.81829129] [ 0. 0. 0. 1. ]] SLAMing on 69.722557844 meters Centerline goodness : 0.125073 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926397 0.00493976 -0.03804101 -1.07760403] [-0.00531882 0.99993715 -0.00986978 -0.07700207] [ 0.03798986 0.01006485 0.99922744 0.81802252] [ 0. 0. 0. 1. ]] SLAMing on 69.752557844 meters Centerline goodness : 0.134786 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927957 0.0049759 -0.03762418 -1.07900056] [-0.00535359 0.99993622 -0.00994432 -0.07614423] [ 0.0375723 0.01013858 0.99924248 0.81849047] [ 0. 0. 0. 1. ]] SLAMing on 69.782557844 meters Centerline goodness : 0.145470 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99928335 0.00499342 -0.03752147 -1.07943994] [-0.00536839 0.99993659 -0.00989932 -0.07633859] [ 0.03746966 0.01009366 0.99924679 0.81874523] [ 0. 0. 0. 1. ]] SLAMing on 69.812557844 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99927573 0.00178512 -0.03801102 -1.07746758] [-0.00228903 0.99991003 -0.01321745 -0.07645098] [ 0.037984 0.01329489 0.9991899 0.81774565] [ 0. 0. 0. 1. ]] SLAMing on 69.842557844 meters Centerline goodness : 0.139074 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926576 0.00177101 -0.03827287 -1.07677309] [-0.00227593 0.9999109 -0.01315322 -0.07687344] [ 0.03824617 0.01323067 0.99918075 0.8177248 ] [ 0. 0. 0. 1. ]] SLAMing on 69.872557844 meters Centerline goodness : 0.154973 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926545 0.00183624 -0.03827774 -1.07704781] [-0.0023349 0.99991294 -0.01298674 -0.07753772] [ 0.03825056 0.01306658 0.99918275 0.81817328] [ 0. 0. 0. 1. ]] SLAMing on 69.902557844 meters Centerline goodness : 0.158422 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99926382 0.00184225 -0.03832005 -1.07726607] [-0.00233718 0.99991438 -0.01287507 -0.07816822] [ 0.03829305 0.01295515 0.99918257 0.81874388] [ 0. 0. 0. 1. ]] SLAMing on 69.932557844 meters Centerline goodness : 0.161082 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.08, Z:0.82 [[ 0.99925779 0.00172429 -0.03848233 -1.07657502] [-0.00222983 0.99991173 -0.01309797 -0.07732015] [ 0.03845635 0.01317406 0.99917343 0.818338 ] [ 0. 0. 0. 1. ]] SLAMing on 69.962557844 meters Centerline goodness : 0.158290 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:0.82 [[ 0.99924657 0.00155257 -0.03878001 -1.07522599] [-0.00208564 0.99990385 -0.01370919 -0.07417436] [ 0.038755 0.01377974 0.99915373 0.81735599] [ 0. 0. 0. 1. ]] SLAMing on 69.992557844 meters Centerline goodness : 0.145634 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:0.82 [[ 0.99924795 0.00143241 -0.03874903 -1.07518939] [-0.00198006 0.99989865 -0.01409842 -0.0720568 ] [ 0.0387249 0.01416455 0.99914951 0.81717263] [ 0. 0. 0. 1. ]] SLAMing on 70.022557844 meters Centerline goodness : 0.124461 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925687 -0.00346693 -0.03838866 -1.05211843] [ 0.00304148 0.99993337 -0.0111356 -0.06726539] [ 0.03842471 0.01101056 0.99920084 0.81780475] [ 0. 0. 0. 1. ]] SLAMing on 70.052557844 meters Centerline goodness : 0.126166 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925867 -0.00362444 -0.03832715 -1.05260956] [ 0.00318404 0.99992828 -0.01154523 -0.06515644] [ 0.03836624 0.01141464 0.99919855 0.81829151] [ 0. 0. 0. 1. ]] SLAMing on 70.08255784400001 meters Centerline goodness : 0.137790 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99925884 -0.00364338 -0.03832105 -1.0526383 ] [ 0.00320317 0.99992825 -0.01154243 -0.06521938] [ 0.03836035 0.01141113 0.99919881 0.81828621] [ 0. 0. 0. 1. ]] SLAMing on 70.112557844 meters Centerline goodness : 0.174097 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927234 -0.00373811 -0.03795808 -1.05388429] [ 0.00330933 0.99993008 -0.01135287 -0.06628817] [ 0.03799787 0.011219 0.99921484 0.81875817] [ 0. 0. 0. 1. ]] SLAMing on 70.142557844 meters Centerline goodness : 0.161714 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927672 -0.00375419 -0.03784103 -1.05451107] [ 0.00333248 0.99993171 -0.01120115 -0.06723458] [ 0.03788049 0.01106695 0.99922099 0.8193034 ] [ 0. 0. 0. 1. ]] SLAMing on 70.172557844 meters Centerline goodness : 0.140153 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.07, Z:0.82 [[ 0.99927809 -0.0037492 -0.03780545 -1.05492287] [ 0.00333613 0.99993411 -0.01098344 -0.06852404] [ 0.03784414 0.01084939 0.99922476 0.8198038 ] [ 0. 0. 0. 1. ]] SLAMing on 70.202557844 meters Centerline goodness : 0.121770 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.07, Z:0.82 [[ 0.99927941 -0.00385144 -0.03776017 -1.05545199] [ 0.00344258 0.99993481 -0.01088697 -0.06922439] [ 0.03779964 0.01074913 0.99922752 0.82047966] [ 0. 0. 0. 1. ]] SLAMing on 70.232557844 meters Centerline goodness : 0.120745 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.9991593 -0.00494375 -0.04069711 -1.10097162] [ 0.00453513 0.99993844 -0.01012668 -0.07224639] [ 0.04074467 0.0099336 0.99912021 0.82049701] [ 0. 0. 0. 1. ]] SLAMing on 70.262557844 meters Centerline goodness : 0.128193 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99915877 -0.00496833 -0.04070716 -1.10086904] [ 0.00455555 0.99993733 -0.01022667 -0.07148757] [ 0.04075542 0.01003262 0.99911878 0.820398 ] [ 0. 0. 0. 1. ]] SLAMing on 70.292557844 meters Centerline goodness : 0.143079 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99916619 -0.00507306 -0.04051165 -1.10134633] [ 0.00465124 0.99993406 -0.01049971 -0.07011845] [ 0.04056225 0.01030252 0.9991239 0.82035299] [ 0. 0. 0. 1. ]] SLAMing on 70.322557844 meters Centerline goodness : 0.126416 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99916601 -0.00511042 -0.04051132 -1.10161882] [ 0.00468709 0.99993349 -0.01053797 -0.07017199] [ 0.04056248 0.0103393 0.99912351 0.82072819] [ 0. 0. 0. 1. ]] SLAMing on 70.352557844 meters Centerline goodness : 0.129296 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.9991625 -0.00511824 -0.04059681 -1.1015756 ] [ 0.00469609 0.99993398 -0.01048708 -0.07071454] [ 0.0406478 0.01028765 0.99912057 0.8209995 ] [ 0. 0. 0. 1. ]] SLAMing on 70.382557844 meters Centerline goodness : 0.135248 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.07, Z:0.82 [[ 0.99915197 -0.0051178 -0.04085517 -1.10105123] [ 0.00470357 0.99993662 -0.01022882 -0.07230562] [ 0.04090493 0.01002798 0.99911272 0.8211744 ] [ 0. 0. 0. 1. ]] SLAMing on 70.412557844 meters Centerline goodness : 0.076190 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.08, Z:0.82 [[ 9.99184365e-01 -1.51310773e-03 -4.03523857e-02 -1.16124618e+00] [ 1.07744062e-03 9.99940924e-01 -1.08161269e-02 -8.09473782e-02] [ 4.03663678e-02 1.07638275e-02 9.99126967e-01 8.17678740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442557844 meters Centerline goodness : 0.173641 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:0.82 [[ 9.99257936e-01 -8.38185535e-04 -3.85081112e-02 -1.11578339e+00] [ 4.11323786e-04 9.99938402e-01 -1.10915683e-02 -8.13459158e-02] [ 3.85150360e-02 1.10674984e-02 9.99196729e-01 8.17852184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472557844 meters Centerline goodness : 0.146372 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.09, Z:0.82 [[ 0.99922327 0.00687717 -0.03880147 -1.13358841] [-0.0073622 0.99989637 -0.01237146 -0.09113773] [ 0.03871237 0.01264751 0.99917035 0.81596795] [ 0. 0. 0. 1. ]] SLAMing on 70.502557844 meters Centerline goodness : 0.128715 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99205677e-01 -1.62928557e-04 -3.98495633e-02 -1.11331142e+00] [-2.90101916e-04 9.99935403e-01 -1.13624712e-02 -8.73800567e-02] [ 3.98488405e-02 1.13650061e-02 9.99141084e-01 8.17826115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532557844 meters Centerline goodness : 0.126597 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99151099e-01 4.85074470e-04 -4.11927820e-02 -1.10881708e+00] [-9.31773149e-04 9.99940967e-01 -1.08255939e-02 -8.90028918e-02] [ 4.11850991e-02 1.08547864e-02 9.99092569e-01 8.16545296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562557844 meters Centerline goodness : 0.129891 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99139282e-01 5.26993610e-04 -4.14779084e-02 -1.10809296e+00] [-9.78596284e-04 9.99940460e-01 -1.08682374e-02 -8.90128713e-02] [ 4.14697113e-02 1.08994731e-02 9.99080309e-01 8.16687632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592557844 meters Centerline goodness : 0.127374 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99148694e-01 7.13082202e-04 -4.12477687e-02 -1.10933992e+00] [-1.14995845e-03 9.99943488e-01 -1.05687555e-02 -9.03774050e-02] [ 4.12379013e-02 1.06071915e-02 9.99093050e-01 8.17625021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622557844 meters Centerline goodness : 0.136582 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99147067e-01 8.07449996e-04 -4.12854385e-02 -1.10945476e+00] [-1.24036541e-03 9.99944509e-01 -1.04613705e-02 -9.09145032e-02] [ 4.12747005e-02 1.05036567e-02 9.99092624e-01 8.18046500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652557844 meters Centerline goodness : 0.229902 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 9.99146383e-01 9.10441559e-04 -4.12998456e-02 -1.10941272e+00] [-1.33798659e-03 9.99945793e-01 -1.03257591e-02 -9.13480884e-02] [ 4.12882058e-02 1.03722035e-02 9.99093440e-01 8.18102018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682557844 meters Centerline goodness : 0.146006 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 0.99915188 0.0011674 -0.04116019 -1.1097359 ] [-0.001573 0.99995051 -0.00982339 -0.0936412 ] [ 0.04114669 0.0098798 0.99910427 0.81807211] [ 0. 0. 0. 1. ]] SLAMing on 70.712557844 meters Centerline goodness : 0.220970 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:0.82 [[ 0.99915327 0.00127376 -0.04112315 -1.10989481] [-0.00166897 0.99995274 -0.00957743 -0.09494958] [ 0.04110901 0.00963795 0.99910818 0.81815166] [ 0. 0. 0. 1. ]] SLAMing on 70.742557844 meters Centerline goodness : 0.164997 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99915269 0.00133665 -0.04113537 -1.10997519] [-0.00172641 0.99995394 -0.00944086 -0.09571124] [ 0.04112086 0.00950388 0.99910898 0.81833054] [ 0. 0. 0. 1. ]] SLAMing on 70.772557844 meters Centerline goodness : 0.124124 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99916337 0.00152414 -0.04086848 -1.11080486] [-0.00190837 0.99995433 -0.00936444 -0.09547161] [ 0.04085234 0.0094346 0.99912065 0.81851685] [ 0. 0. 0. 1. ]] SLAMing on 70.802557844 meters Centerline goodness : 0.126986 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99916484 0.00153316 -0.04083222 -1.11078712] [-0.00191903 0.99995386 -0.00941276 -0.09511091] [ 0.0408159 0.00948325 0.99912168 0.81834704] [ 0. 0. 0. 1. ]] SLAMing on 70.83255784400001 meters Centerline goodness : 0.158926 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917322 0.00164399 -0.04062241 -1.11164618] [-0.00202232 0.99995495 -0.00927397 -0.09577346] [ 0.04060533 0.00934846 0.99913153 0.81881198] [ 0. 0. 0. 1. ]] SLAMing on 70.862557844 meters Centerline goodness : 0.125716 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918072 0.00176339 -0.04043233 -1.11250562] [-0.0021308 0.99995682 -0.0090458 -0.09681742] [ 0.04041463 0.00912455 0.99914133 0.81936057] [ 0. 0. 0. 1. ]] SLAMing on 70.892557844 meters Centerline goodness : 0.124477 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99919121 0.00194315 -0.04016411 -1.11359797] [-0.00229487 0.99995941 -0.00871276 -0.09820539] [ 0.04014555 0.00879788 0.99915511 0.81996883] [ 0. 0. 0. 1. ]] SLAMing on 70.922557844 meters Centerline goodness : 0.126210 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99919124 0.00199295 -0.0401608 -1.11352418] [-0.00234095 0.99996011 -0.00861992 -0.09859659] [ 0.04014202 0.00870696 0.99915605 0.81980515] [ 0. 0. 0. 1. ]] SLAMing on 70.952557844 meters Centerline goodness : 0.169631 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918841 0.00203006 -0.04022946 -1.1132265 ] [-0.00237538 0.99996073 -0.00853796 -0.09890271] [ 0.04021055 0.00862659 0.99915399 0.81959963] [ 0. 0. 0. 1. ]] SLAMing on 70.982557844 meters Centerline goodness : 0.125097 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917977 0.00200208 -0.0404447 -1.11205347] [-0.0023507 0.99996048 -0.0085739 -0.09884844] [ 0.04042593 0.00866195 0.99914499 0.81863514] [ 0. 0. 0. 1. ]] SLAMing on 71.012557844 meters Centerline goodness : 0.206014 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.9991815 0.00199887 -0.04040208 -1.11224356] [-0.00234777 0.99996035 -0.00859024 -0.09878111] [ 0.04038331 0.00867807 0.99914658 0.81875163] [ 0. 0. 0. 1. ]] SLAMing on 71.042557844 meters Centerline goodness : 0.121270 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918513 0.00199264 -0.04031254 -1.11273671] [-0.00234107 0.9999603 -0.00859804 -0.09872982] [ 0.04029381 0.00868541 0.99915013 0.81912878] [ 0. 0. 0. 1. ]] SLAMing on 71.072557844 meters Centerline goodness : 0.268092 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:0.82 [[ 0.99910169 -0.00608876 -0.04193736 -1.1345097 ] [ 0.00582728 0.99996283 -0.00635427 -0.09709795] [ 0.04197449 0.00610418 0.99910004 0.81919569] [ 0. 0. 0. 1. ]] SLAMing on 71.102557844 meters Centerline goodness : 0.188590 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:0.82 [[ 0.99911137 -0.00607155 -0.04170866 -1.13500063] [ 0.00581443 0.99996336 -0.00628311 -0.09717236] [ 0.04174528 0.00603502 0.99911006 0.81899924] [ 0. 0. 0. 1. ]] SLAMing on 71.132557844 meters Centerline goodness : 0.084200 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:0.82 [[ 0.99911741 -0.00605338 -0.04156635 -1.13553103] [ 0.00579911 0.99996375 -0.00623524 -0.09733374] [ 0.04160258 0.00598869 0.99911629 0.819272 ] [ 0. 0. 0. 1. ]] SLAMing on 71.162557844 meters Centerline goodness : 0.163300 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99922947 0.00233393 -0.03917923 -1.11645605] [-0.0026425 0.99996589 -0.00782592 -0.09889955] [ 0.03915963 0.00792342 0.99920155 0.82045136] [ 0. 0. 0. 1. ]] SLAMing on 71.192557844 meters Centerline goodness : 0.125091 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923216 0.0021391 -0.03912184 -1.11650887] [-0.00246486 0.99996268 -0.0082805 -0.09687562] [ 0.03910266 0.00837057 0.99920014 0.82029744] [ 0. 0. 0. 1. ]] SLAMing on 71.222557844 meters Centerline goodness : 0.125091 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.10, Z:0.82 [[ 0.99923216 0.0021391 -0.03912184 -1.11650887] [-0.00246486 0.99996268 -0.0082805 -0.09687562] [ 0.03910266 0.00837057 0.99920014 0.82029744] [ 0. 0. 0. 1. ]] SLAMing on 71.252557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.282557844 meters Centerline goodness : 0.217667 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.9992112 0.00204955 -0.03965824 -1.11460687] [-0.00239529 0.99995952 -0.00867251 -0.09526406] [ 0.03963886 0.00876066 0.99917567 0.81957737] [ 0. 0. 0. 1. ]] SLAMing on 71.312557844 meters Centerline goodness : 0.189518 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99920988 0.00209778 -0.03968901 -1.11450835] [-0.00243982 0.99996029 -0.00857147 -0.09565614] [ 0.03966946 0.00866153 0.99917532 0.81948213] [ 0. 0. 0. 1. ]] SLAMing on 71.342557844 meters Centerline goodness : 0.168946 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99920539 0.0022487 -0.0397935 -1.11400313] [-0.00258199 0.999962 -0.00832608 -0.09640154] [ 0.03977327 0.00842221 0.99917324 0.81908588] [ 0. 0. 0. 1. ]] SLAMing on 71.372557844 meters Centerline goodness : 0.180196 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99919291 -0.00484716 -0.03987514 -1.09433101] [ 0.00456737 0.99996433 -0.00710473 -0.0918582 ] [ 0.03990815 0.00691687 0.99917941 0.82115568] [ 0. 0. 0. 1. ]] SLAMing on 71.402557844 meters Centerline goodness : 0.127149 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.9991971 -0.00474222 -0.03978276 -1.09485197] [ 0.00447782 0.99996731 -0.00673253 -0.09398152] [ 0.03981339 0.00654898 0.99918567 0.82163946] [ 0. 0. 0. 1. ]] SLAMing on 71.432557844 meters Centerline goodness : 0.126997 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99919572 -0.00468512 -0.03982405 -1.09492775] [ 0.00442717 0.99996866 -0.00656291 -0.09486572] [ 0.03985355 0.00638133 0.99918515 0.82193546] [ 0. 0. 0. 1. ]] SLAMing on 71.462557844 meters Centerline goodness : 0.161642 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:0.82 [[ 0.99917587 -0.00468655 -0.04031894 -1.09297208] [ 0.00442154 0.99996805 -0.00665955 -0.09417123] [ 0.04034886 0.00647579 0.99916467 0.82088404] [ 0. 0. 0. 1. ]] SLAMing on 71.492557844 meters Centerline goodness : 0.084618 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917454 0.002865 -0.04052206 -1.11223683] [-0.00317725 0.99996574 -0.00764344 -0.09858196] [ 0.04049878 0.00776587 0.99914941 0.81823174] [ 0. 0. 0. 1. ]] SLAMing on 71.522557844 meters Centerline goodness : 0.123132 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99917857 0.00283082 -0.04042488 -1.1125057 ] [-0.00314682 0.99996498 -0.00775531 -0.09797688] [ 0.04040151 0.00787615 0.99915248 0.818272 ] [ 0. 0. 0. 1. ]] SLAMing on 71.552557844 meters Centerline goodness : 0.146101 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.10, Z:0.82 [[ 0.99918935 0.00288615 -0.04015352 -1.11394755] [-0.00319793 0.99996522 -0.00770282 -0.0979742 ] [ 0.04012989 0.00782498 0.99916383 0.81936377] [ 0. 0. 0. 1. ]] SLAMing on 71.58255784400001 meters Centerline goodness : 0.214309 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.10, Z:0.82 [[ 0.99908943 0.00173733 -0.04262973 -1.16003843] [-0.00202394 0.99997563 -0.00668105 -0.1025499 ] [ 0.04261709 0.00676124 0.9990686 0.81979483] [ 0. 0. 0. 1. ]] SLAMing on 71.612557844 meters Centerline goodness : 0.124161 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:0.82 [[ 9.99112447e-01 1.01019111e-03 -4.21105346e-02 -1.12338389e+00] [-1.23441908e-03 9.99985198e-01 -5.29908533e-03 -1.05259416e-01] [ 4.21045582e-02 5.34636416e-03 9.99098905e-01 8.21213908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642557844 meters Centerline goodness : 0.179844 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.12, Z:0.82 [[ 0.9990793 0.00829305 -0.04209238 -1.14107676] [-0.00860183 0.99993737 -0.0071599 -0.1151728 ] [ 0.04203037 0.00751538 0.99908807 0.81915907] [ 0. 0. 0. 1. ]] SLAMing on 71.672557844 meters Centerline goodness : 0.181906 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.12, Z:0.82 [[ 0.99911685 0.00786684 -0.04127507 -1.09899271] [-0.00818449 0.99993813 -0.00753268 -0.11517085] [ 0.04121326 0.00786384 0.99911943 0.81999346] [ 0. 0. 0. 1. ]] SLAMing on 71.702557844 meters Centerline goodness : 0.077374 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99911745 0.00785393 -0.04126312 -1.0990119 ] [-0.00816883 0.99993875 -0.00746831 -0.1149934 ] [ 0.04120194 0.00779879 0.9991204 0.81984352] [ 0. 0. 0. 1. ]] SLAMing on 71.732557844 meters Centerline goodness : 0.160816 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99911616 0.00780398 -0.04130381 -1.09885925] [-0.00813056 0.99993695 -0.00774469 -0.11357341] [ 0.04124077 0.00807367 0.99911662 0.81988351] [ 0. 0. 0. 1. ]] SLAMing on 71.762557844 meters Centerline goodness : 0.126555 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99909175 0.00813999 -0.0418259 -1.09716652] [-0.00848775 0.99993082 -0.00814367 -0.11096178] [ 0.04175672 0.00849128 0.99909172 0.81969126] [ 0. 0. 0. 1. ]] SLAMing on 71.792557844 meters Centerline goodness : 0.115894 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.11, Z:0.82 [[ 0.99907246 0.00812602 -0.04228701 -1.09567621] [-0.0084932 0.99992771 -0.00851077 -0.10918986] [ 0.0422148 0.00886202 0.99906925 0.81937109] [ 0. 0. 0. 1. ]] SLAMing on 71.822557844 meters Centerline goodness : 0.130950 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.11, Z:0.82 [[ 0.99905112 0.00807614 -0.04279772 -1.09415633] [-0.00846272 0.99992494 -0.00885929 -0.10736484] [ 0.04272296 0.00921307 0.99904448 0.81900645] [ 0. 0. 0. 1. ]] SLAMing on 71.852557844 meters Centerline goodness : 0.139834 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.11, Z:0.82 [[ 0.99905037 0.00803403 -0.04282295 -1.09416327] [-0.00842617 0.99992413 -0.00898473 -0.10681046] [ 0.04274752 0.00933703 0.99904228 0.81912532] [ 0. 0. 0. 1. ]] SLAMing on 71.882557844 meters Centerline goodness : 0.130064 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99126003e-01 8.37329036e-05 -4.17997982e-02 -1.07510858e+00] [-4.22853975e-04 9.99967071e-01 -8.10420790e-03 -9.92878574e-02] [ 4.17977432e-02 8.11480006e-03 9.99093138e-01 8.20368340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912557844 meters Centerline goodness : 0.035690 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99130801e-01 5.51671801e-05 -4.16850067e-02 -1.07554753e+00] [-3.94327744e-04 9.99966889e-01 -8.12809372e-03 -9.92488299e-02] [ 4.16831781e-02 8.13746634e-03 9.99097740e-01 8.20588826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942557844 meters Centerline goodness : 0.162135 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99133701e-01 -4.75831326e-05 -4.16154404e-02 -1.07588825e+00] [-2.92830387e-04 9.99966551e-01 -8.17384716e-03 -9.92059903e-02] [ 4.16144374e-02 8.17895244e-03 9.99100267e-01 8.20775267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972557844 meters Centerline goodness : 0.185642 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.10, Z:0.82 [[ 9.99131070e-01 -3.15955396e-05 -4.16785702e-02 -1.07573513e+00] [-3.06254504e-04 9.99967150e-01 -8.09967546e-03 -9.95188339e-02] [ 4.16774570e-02 8.10540167e-03 9.99098239e-01 8.20744519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002557844 meters Centerline goodness : 0.150413 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.82 [[ 0.99909711 -0.00762661 -0.04179484 -1.05489872] [ 0.00733675 0.99994799 -0.00708442 -0.09480548] [ 0.0418467 0.00677138 0.9991011 0.8229356 ] [ 0. 0. 0. 1. ]] SLAMing on 72.032557844 meters Centerline goodness : 0.085135 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.10, Z:0.82 [[ 0.99909078 -0.00761186 -0.0419485 -1.05446734] [ 0.00732375 0.99994856 -0.00701759 -0.0951563 ] [ 0.04199976 0.00670399 0.99909513 0.82287433] [ 0. 0. 0. 1. ]] SLAMing on 72.062557844 meters Centerline goodness : 0.035685 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.09, Z:0.82 [[ 0.99908668 -0.00763822 -0.04204117 -1.05428535] [ 0.00734724 0.99994801 -0.00707138 -0.09483918] [ 0.042093 0.00675604 0.99909085 0.82296131] [ 0. 0. 0. 1. ]] SLAMing on 72.092557844 meters Centerline goodness : 0.035805 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.09, Z:0.82 [[ 0.99909821 -0.00779715 -0.04173703 -1.05546071] [ 0.00749143 0.99994399 -0.00747622 -0.09288456] [ 0.04179299 0.0071568 0.99910066 0.82357312] [ 0. 0. 0. 1. ]] SLAMing on 72.122557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.152557844 meters Centerline goodness : 0.145549 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.83 [[ 0.99917636 0.00125735 -0.04055874 -1.03695305] [-0.00160559 0.99996212 -0.00855454 -0.09450979] [ 0.04054645 0.00861261 0.99914053 0.82516954] [ 0. 0. 0. 1. ]] SLAMing on 72.182557844 meters Centerline goodness : 0.124937 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.83 [[ 0.99917627 0.00110442 -0.04056549 -1.03689949] [-0.00147082 0.99995839 -0.00900351 -0.09227715] [ 0.04055386 0.00905575 0.99913632 0.82508804] [ 0. 0. 0. 1. ]] SLAMing on 72.212557844 meters Centerline goodness : 0.127576 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 0.99917616 0.00104436 -0.0405699 -1.03665889] [-0.0014186 0.9999567 -0.00919675 -0.09120224] [ 0.04055854 0.00924673 0.99913438 0.82473821] [ 0. 0. 0. 1. ]] SLAMing on 72.242557844 meters Centerline goodness : 0.126845 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99178820e-01 9.15475724e-04 -4.05073806e-02 -1.03639938e+00] [-1.30343508e-03 9.99953528e-01 -9.55212457e-03 -8.93906210e-02] [ 4.04967534e-02 9.59707930e-03 9.99133579e-01 8.24069824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272557844 meters Centerline goodness : 0.126608 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99177469e-01 8.44579237e-04 -4.05422295e-02 -1.03622533e+00] [-1.23987301e-03 9.99951932e-01 -9.72601997e-03 -8.86431392e-02] [ 4.05320663e-02 9.76828723e-03 9.99130488e-01 8.23935999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302557844 meters Centerline goodness : 0.142823 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.09, Z:0.82 [[ 9.99174475e-01 7.20286113e-04 -4.06183343e-02 -1.03597401e+00] [-1.12758657e-03 9.99949308e-01 -1.00054845e-02 -8.74482809e-02] [ 4.06090685e-02 1.00430254e-02 9.99124637e-01 8.23875110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33255784400001 meters Centerline goodness : 0.126019 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.82 [[ 9.99174667e-01 6.69448852e-04 -4.06144803e-02 -1.03570464e+00] [-1.10048378e-03 9.99943304e-01 -1.05914101e-02 -8.40625770e-02] [ 4.06050873e-02 1.06273642e-02 9.99118755e-01 8.23347610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362557844 meters Centerline goodness : 0.137841 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.08, Z:0.82 [[ 9.99177991e-01 5.62153607e-04 -4.05342724e-02 -1.03583233e+00] [-1.00903048e-03 9.99938933e-01 -1.10050518e-02 -8.18014432e-02] [ 4.05256106e-02 1.10369059e-02 9.99117541e-01 8.23200131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392557844 meters Centerline goodness : 0.125591 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.08, Z:0.82 [[ 0.99920198 -0.00400961 -0.0397407 -1.01320493] [ 0.00369609 0.99996149 -0.00795944 -0.07574676] [ 0.03977108 0.0078062 0.99917832 0.82401678] [ 0. 0. 0. 1. ]] SLAMing on 72.422557844 meters Centerline goodness : 0.123865 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.07, Z:0.82 [[ 0.99921243 -0.00406433 -0.03947163 -1.01424793] [ 0.00374569 0.99995983 -0.00814333 -0.07474688] [ 0.03950314 0.00798907 0.99918751 0.82451547] [ 0. 0. 0. 1. ]] SLAMing on 72.452557844 meters Centerline goodness : 0.128302 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.83 [[ 0.99922546 -0.00410188 -0.03913624 -1.01549912] [ 0.00378069 0.99995859 -0.00827755 -0.07396299] [ 0.03916857 0.00812318 0.9991996 0.82508862] [ 0. 0. 0. 1. ]] SLAMing on 72.482557844 meters Centerline goodness : 0.193701 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.08, Z:0.83 [[ 0.99911334 -0.00492218 -0.04181273 -1.06202359] [ 0.00460557 0.99996002 -0.00766504 -0.07542862] [ 0.04184879 0.00746568 0.99909606 0.82537651] [ 0. 0. 0. 1. ]] SLAMing on 72.512557844 meters Centerline goodness : 0.144573 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.07, Z:0.83 [[ 0.99915487 -0.00330484 -0.04097112 -1.01660002] [ 0.00297056 0.99996183 -0.00821698 -0.06999054] [ 0.04099671 0.00808833 0.99912654 0.82607162] [ 0. 0. 0. 1. ]] SLAMing on 72.542557844 meters Centerline goodness : 0.130642 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908151 0.00471344 -0.04259004 -1.03760635] [-0.00510404 0.99994587 -0.00906706 -0.07173479] [ 0.042545 0.00927612 0.99905149 0.82509584] [ 0. 0. 0. 1. ]] SLAMing on 72.572557844 meters Centerline goodness : 0.119906 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908715 0.0046099 -0.04246895 -1.03805136] [-0.00501167 0.99994365 -0.00935872 -0.07016246] [ 0.04242341 0.00956302 0.99905395 0.8252838 ] [ 0. 0. 0. 1. ]] SLAMing on 72.602557844 meters Centerline goodness : 0.219427 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99909147 0.00449716 -0.04237945 -1.03845354] [-0.00491015 0.99994142 -0.00964598 -0.06871219] [ 0.04233359 0.00984531 0.99905502 0.82553764] [ 0. 0. 0. 1. ]] SLAMing on 72.632557844 meters Centerline goodness : 0.132647 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.83 [[ 0.99908938 0.00430288 -0.04244875 -1.03821643] [-0.00473573 0.99993776 -0.01010188 -0.06655011] [ 0.04240264 0.0102937 0.99904757 0.82542471] [ 0. 0. 0. 1. ]] SLAMing on 72.662557844 meters Centerline goodness : 0.126911 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99908368 0.00425453 -0.04258751 -1.03748089] [-0.00469284 0.99993699 -0.01019741 -0.06612717] [ 0.04254144 0.01038792 0.9990407 0.8248369 ] [ 0. 0. 0. 1. ]] SLAMing on 72.692557844 meters Centerline goodness : 0.129078 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907524 0.00412569 -0.04279759 -1.03637705] [-0.00457382 0.99993568 -0.01037823 -0.06548784] [ 0.04275202 0.01056438 0.99902986 0.82391764] [ 0. 0. 0. 1. ]] SLAMing on 72.722557844 meters Centerline goodness : 0.149028 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907289 0.00408166 -0.04285666 -1.03608109] [-0.00453253 0.99993535 -0.01042861 -0.06531048] [ 0.04281132 0.01061319 0.9990268 0.82367829] [ 0. 0. 0. 1. ]] SLAMing on 72.752557844 meters Centerline goodness : 0.129955 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:0.82 [[ 0.99907593 0.00399275 -0.04279423 -1.03636373] [-0.00444619 0.99993493 -0.01050599 -0.06508133] [ 0.0427495 0.01068656 0.99902867 0.8237814 ] [ 0. 0. 0. 1. ]] SLAMing on 72.782557844 meters Centerline goodness : 0.157631 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:0.82 [[ 0.99907055 0.00392722 -0.0429257 -1.03602333] [-0.00438877 0.99993351 -0.01066341 -0.06429335] [ 0.04288096 0.01084189 0.99902136 0.82378989] [ 0. 0. 0. 1. ]] SLAMing on 72.812557844 meters Centerline goodness : 0.241835 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99906596 -0.00318186 -0.04309393 -1.01731225] [ 0.00278369 0.99995291 -0.00929642 -0.05579801] [ 0.04312148 0.00916778 0.99902777 0.825673 ] [ 0. 0. 0. 1. ]] SLAMing on 72.842557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.872557844 meters Centerline goodness : 0.129014 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99911735 -0.00294873 -0.04190248 -1.02097228] [ 0.00254837 0.99995063 -0.00960486 -0.05274351] [ 0.04192873 0.0094896 0.99907554 0.82652281] [ 0. 0. 0. 1. ]] SLAMing on 72.902557844 meters Centerline goodness : 0.163890 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912492 -0.003009 -0.04171741 -1.02159157] [ 0.00260158 0.99994843 -0.00981703 -0.0515091 ] [ 0.04174479 0.00969991 0.99908122 0.82669545] [ 0. 0. 0. 1. ]] SLAMing on 72.932557844 meters Centerline goodness : 0.122406 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912601 -0.00323372 -0.04167433 -1.02142147] [ 0.00280676 0.99994302 -0.01029976 -0.04924073] [ 0.04170527 0.01017378 0.99907816 0.82617875] [ 0. 0. 0. 1. ]] SLAMing on 72.962557844 meters Centerline goodness : 0.162591 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.999125 -0.00328486 -0.04169459 -1.02159979] [ 0.00285517 0.99994225 -0.01036087 -0.0489812 ] [ 0.04172622 0.01023276 0.99907668 0.82653251] [ 0. 0. 0. 1. ]] SLAMing on 72.992557844 meters Centerline goodness : 0.138563 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912942 -0.00327975 -0.04158898 -1.02222411] [ 0.00285387 0.99994293 -0.01029554 -0.04930194] [ 0.04162037 0.01016789 0.99908176 0.82710085] [ 0. 0. 0. 1. ]] SLAMing on 73.022557844 meters Centerline goodness : 0.132085 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99912271 -0.00331469 -0.04174706 -1.02197472] [ 0.00290197 0.99994636 -0.00994308 -0.05147135] [ 0.04177778 0.00981321 0.99907873 0.82740038] [ 0. 0. 0. 1. ]] SLAMing on 73.052557844 meters Centerline goodness : 0.132138 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99911359 -0.00325573 -0.04196946 -1.02129242] [ 0.00285294 0.99994933 -0.00965348 -0.0531319 ] [ 0.04199877 0.00952518 0.99907226 0.82722791] [ 0. 0. 0. 1. ]] SLAMing on 73.08255784400001 meters Centerline goodness : 0.088000 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99910853 -0.00316557 -0.04209665 -1.02085919] [ 0.00277597 0.99995281 -0.00931009 -0.0549738 ] [ 0.04212413 0.00918493 0.99907016 0.82709559] [ 0. 0. 0. 1. ]] SLAMing on 73.112557844 meters Centerline goodness : 0.121105 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910918 -0.0029847 -0.0420945 -1.02107861] [ 0.00261437 0.99995742 -0.00884998 -0.05716538] [ 0.04211912 0.00873205 0.99907444 0.82745478] [ 0. 0. 0. 1. ]] SLAMing on 73.142557844 meters Centerline goodness : 0.121105 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910918 -0.0029847 -0.0420945 -1.02107861] [ 0.00261437 0.99995742 -0.00884998 -0.05716538] [ 0.04211912 0.00873205 0.99907444 0.82745478] [ 0. 0. 0. 1. ]] SLAMing on 73.172557844 meters Centerline goodness : 0.100485 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99910998 -0.00295317 -0.04207774 -1.02122764] [ 0.0025834 0.99995759 -0.00883939 -0.05710999] [ 0.04210206 0.00872282 0.99907524 0.82761427] [ 0. 0. 0. 1. ]] SLAMing on 73.202557844 meters Centerline goodness : 0.215734 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.06, Z:0.83 [[ 0.99911258 -0.00286508 -0.04202192 -1.02113396] [ 0.00248764 0.99995612 -0.00903133 -0.05593796] [ 0.04204595 0.00891878 0.99907587 0.82722065] [ 0. 0. 0. 1. ]] SLAMing on 73.232557844 meters Centerline goodness : 0.218468 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99910943 -0.00298248 -0.04208851 -1.02073214] [ 0.00258747 0.99995212 -0.00943678 -0.05397358] [ 0.04211464 0.00931948 0.99906932 0.82681341] [ 0. 0. 0. 1. ]] SLAMing on 73.262557844 meters Centerline goodness : 0.147658 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:0.83 [[ 0.99909853 -0.00304549 -0.04234211 -1.0198395 ] [ 0.00262743 0.99994729 -0.00992548 -0.05127083] [ 0.0423701 0.00980528 0.99905387 0.82632944] [ 0. 0. 0. 1. ]] SLAMing on 73.292557844 meters Centerline goodness : 0.149222 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:0.83 [[ 9.98952389e-01 -1.24749275e-03 -4.57445960e-02 -1.06317932e+00] [ 9.04699881e-04 9.99971364e-01 -7.51356335e-03 -5.00282891e-02] [ 4.57526591e-02 7.46430693e-03 9.98924911e-01 8.25553404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322557844 meters Centerline goodness : 0.131720 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.9989925 0.00735902 -0.04427 -1.04308648] [-0.00776581 0.99992913 -0.00902395 -0.05021823] [ 0.04420045 0.00935865 0.99897885 0.82694485] [ 0. 0. 0. 1. ]] SLAMing on 73.352557844 meters Centerline goodness : 0.130588 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99899653 0.00720665 -0.04420399 -1.04360196] [-0.00762327 0.99992803 -0.00926346 -0.04945957] [ 0.04413406 0.00959114 0.99897958 0.82744301] [ 0. 0. 0. 1. ]] SLAMing on 73.382557844 meters Centerline goodness : 0.148907 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99900684 0.007029 -0.04399913 -1.0443572 ] [-0.00744764 0.99992848 -0.00935815 -0.04956563] [ 0.0439302 0.00967655 0.99898774 0.8276712 ] [ 0. 0. 0. 1. ]] SLAMing on 73.412557844 meters Centerline goodness : 0.121227 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.05, Z:0.83 [[ 0.99901805 0.00705453 -0.04373981 -1.04495246] [-0.00746504 0.99992955 -0.00922894 -0.0498417 ] [ 0.04367162 0.0095464 0.99900033 0.82743058] [ 0. 0. 0. 1. ]] SLAMing on 73.442557844 meters Centerline goodness : 0.132015 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.04, Z:0.83 [[ 9.99079919e-01 -2.00027062e-04 -4.28867796e-02 -1.02604400e+00] [-1.17925962e-04 9.99972530e-01 -7.41111902e-03 -4.30481891e-02] [ 4.28870839e-02 7.40935766e-03 9.99052451e-01 8.28691828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472557844 meters Centerline goodness : 0.148269 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:0.83 [[ 0.99893867 -0.00172306 -0.04602797 -1.06829529] [ 0.0013865 0.99997208 -0.00734302 -0.04572474] [ 0.04603934 0.00727141 0.99891316 0.82672908] [ 0. 0. 0. 1. ]] SLAMing on 73.502557844 meters Centerline goodness : 0.123073 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:0.83 [[ 0.99893277 -0.00178915 -0.04615326 -1.0679115 ] [ 0.00144705 0.99997124 -0.00744463 -0.04546811] [ 0.04616525 0.0073699 0.99890663 0.826624 ] [ 0. 0. 0. 1. ]] SLAMing on 73.532557844 meters Centerline goodness : 0.146249 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99893367 -0.00184219 -0.0461317 -1.06815437] [ 0.00149203 0.99996983 -0.00762372 -0.04445986] [ 0.04614435 0.00754676 0.99890627 0.82689074] [ 0. 0. 0. 1. ]] SLAMing on 73.562557844 meters Centerline goodness : 0.119841 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99894438 -0.00192919 -0.04589561 -1.06905107] [ 0.00156305 0.99996668 -0.00801224 -0.04205552] [ 0.04590953 0.00793205 0.99891411 0.8273035 ] [ 0. 0. 0. 1. ]] SLAMing on 73.592557844 meters Centerline goodness : 0.123044 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.04, Z:0.83 [[ 0.99893656 -0.00204162 -0.04606058 -1.06867867] [ 0.001664 0.99996471 -0.00823525 -0.04122252] [ 0.04607577 0.00814984 0.9989047 0.827397 ] [ 0. 0. 0. 1. ]] SLAMing on 73.622557844 meters Centerline goodness : 0.133434 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99894428 0.00622586 -0.04551442 -1.04846405] [-0.00669136 0.99992678 -0.01008246 -0.0431826 ] [ 0.04544831 0.01037637 0.9989128 0.82935843] [ 0. 0. 0. 1. ]] SLAMing on 73.652557844 meters Centerline goodness : 0.119596 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99894769 0.00615516 -0.04544915 -1.04884794] [-0.0066346 0.99992385 -0.01040551 -0.04113399] [ 0.04538164 0.0106961 0.99891246 0.82958991] [ 0. 0. 0. 1. ]] SLAMing on 73.682557844 meters Centerline goodness : 0.153097 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99896116 0.00614204 -0.04515395 -1.04995388] [-0.00662262 0.99992293 -0.01050125 -0.04020023] [ 0.04508597 0.01078938 0.99892484 0.83000819] [ 0. 0. 0. 1. ]] SLAMing on 73.712557844 meters Centerline goodness : 0.120070 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897749 0.00610234 -0.04479654 -1.05146688] [-0.0065838 0.99992206 -0.01060795 -0.03969094] [ 0.04472831 0.01089203 0.99893981 0.83098019] [ 0. 0. 0. 1. ]] SLAMing on 73.742557844 meters Centerline goodness : 0.133855 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897773 0.00596707 -0.04480949 -1.05164033] [-0.00645989 0.99992015 -0.01086136 -0.03877361] [ 0.0447411 0.01113972 0.9989365 0.83128541] [ 0. 0. 0. 1. ]] SLAMing on 73.772557844 meters Centerline goodness : 0.120506 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.04, Z:0.83 [[ 0.99897948 0.00588145 -0.04478171 -1.05158733] [-0.00638588 0.99991767 -0.01112967 -0.03742067] [ 0.04471256 0.01140428 0.9989348 0.83108098] [ 0. 0. 0. 1. ]] SLAMing on 73.802557844 meters Centerline goodness : 0.120818 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.03, Z:0.83 [[ 0.99893206 0.00998453 -0.04511152 -1.05035666] [-0.01033602 0.99991796 -0.00756514 -0.03460401] [ 0.04503229 0.00802333 0.99895331 0.83059495] [ 0. 0. 0. 1. ]] SLAMing on 73.83255784400001 meters Centerline goodness : 0.143696 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.03, Z:0.83 [[ 0.99901552 0.0115393 -0.04283487 -1.00542398] [-0.01188796 0.99989817 -0.00789406 -0.02669311] [ 0.04273942 0.00839551 0.99905098 0.83078708] [ 0. 0. 0. 1. ]] SLAMing on 73.862557844 meters Centerline goodness : 0.129634 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.02, Z:0.83 [[ 0.99901225 0.01124302 -0.04298971 -1.00489527] [-0.01162536 0.99989497 -0.00865427 -0.02310949] [ 0.04288789 0.0091455 0.99903803 0.83054742] [ 0. 0. 0. 1. ]] SLAMing on 73.892557844 meters Centerline goodness : 0.164661 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.02, Z:0.83 [[ 0.99901392 0.01099282 -0.04301558 -1.00451203] [-0.01142295 0.99988706 -0.00976636 -0.01645429] [ 0.04290336 0.01024809 0.99902667 0.82988707] [ 0. 0. 0. 1. ]] SLAMing on 73.922557844 meters Centerline goodness : 0.126691 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.83 [[ 0.99907177 0.00235076 -0.0430124 -1.02503782] [-0.00273551 0.99995676 -0.00888844 -0.00870549] [ 0.04298964 0.00899785 0.999035 0.82792774] [ 0. 0. 0. 1. ]] SLAMing on 73.952557844 meters Centerline goodness : 0.131033 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.83 [[ 0.99908162 0.0021574 -0.04279329 -1.02583583] [-0.00256093 0.99995275 -0.00937718 -0.00614933] [ 0.04277104 0.00947816 0.99903994 0.82821846] [ 0. 0. 0. 1. ]] SLAMing on 73.982557844 meters Centerline goodness : 0.128598 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.00, Z:0.83 [[ 0.99912853 -0.00594339 -0.04131402 -1.0064888 ] [ 0.00558753 0.99994634 -0.00872383 0.00160882] [ 0.04136366 0.00848538 0.99910813 0.83082586] [ 0. 0. 0. 1. ]] SLAMing on 74.012557844 meters Centerline goodness : 0.147798 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.00, Z:0.83 [[ 0.99912401 -0.00606627 -0.04140547 -1.00624341] [ 0.00570796 0.99994528 -0.0087665 0.00154558] [ 0.04145638 0.00852248 0.99910397 0.83085821] [ 0. 0. 0. 1. ]] SLAMing on 74.042557844 meters Centerline goodness : 0.163630 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 0.99907417 -0.0068377 -0.04247398 -1.00280599] [ 0.00644736 0.99993578 -0.00932035 0.00225749] [ 0.04253498 0.00903787 0.9990541 0.82989601] [ 0. 0. 0. 1. ]] SLAMing on 74.072557844 meters Centerline goodness : 0.139464 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 0.99905518 -0.00696004 -0.04289885 -1.00153523] [ 0.00656678 0.99993518 -0.00930119 0.00164461] [ 0.04296081 0.00901069 0.99903612 0.82964011] [ 0. 0. 0. 1. ]] SLAMing on 74.102557844 meters Centerline goodness : 0.148345 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.00, Z:0.83 [[ 9.99034534e-01 -7.06469445e-03 -4.33600039e-02 -1.00025524e+00] [ 6.67170177e-03 9.99935408e-01 -9.20151337e-03 6.12571572e-04] [ 4.34222091e-02 8.90334461e-03 9.99017138e-01 8.29464300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132557844 meters Centerline goodness : 0.134092 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.83 [[ 9.99031460e-01 -7.32455731e-03 -4.33877097e-02 -1.00051534e+00] [ 6.93604419e-03 9.99934555e-01 -9.09823538e-03 -7.00921525e-04] [ 4.34515108e-02 8.78848430e-03 9.99016881e-01 8.30103734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162557844 meters Centerline goodness : 0.134648 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.83 [[ 0.99904052 -0.00724893 -0.0431914 -1.00145977] [ 0.00687326 0.9999373 -0.00883995 -0.00190202] [ 0.04325277 0.0085346 0.99902771 0.83086693] [ 0. 0. 0. 1. ]] SLAMing on 74.192557844 meters Centerline goodness : 0.129041 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.9991598 0.00101903 -0.04097149 -0.98297436] [-0.00143348 0.99994809 -0.01008724 -0.00563333] [ 0.04095908 0.0101375 0.9991094 0.83249497] [ 0. 0. 0. 1. ]] SLAMing on 74.222557844 meters Centerline goodness : 0.148167 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99916311 0.00110201 -0.04088835 -0.98321658] [-0.00150716 0.99995006 -0.00987921 -0.00660709] [ 0.04087542 0.00993257 0.99911488 0.83254865] [ 0. 0. 0. 1. ]] SLAMing on 74.252557844 meters Centerline goodness : 0.151015 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99914664 0.00116437 -0.04128735 -0.98139572] [-0.00157423 0.9999498 -0.0098957 -0.00628201] [ 0.04127375 0.00995225 0.99909831 0.83126724] [ 0. 0. 0. 1. ]] SLAMing on 74.282557844 meters Centerline goodness : 0.154594 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99913164 0.00117133 -0.04164854 -0.98010988] [-0.00159392 0.99994757 -0.010115 -0.00496 ] [ 0.04163451 0.0101726 0.99908112 0.83069468] [ 0. 0. 0. 1. ]] SLAMing on 74.312557844 meters Centerline goodness : 0.124013 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99912593 0.00116932 -0.04178516 -0.97963936] [-0.00160485 0.99994472 -0.01039119 -0.00342833] [ 0.0417707 0.01044916 0.99907258 0.83046393] [ 0. 0. 0. 1. ]] SLAMing on 74.342557844 meters Centerline goodness : 0.133680 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99914625 0.00172656 -0.04127705 -0.98140894] [-0.00215843 0.99994337 -0.01042056 -0.00165238] [ 0.04125672 0.01050076 0.9990934 0.83101732] [ 0. 0. 0. 1. ]] SLAMing on 74.372557844 meters Centerline goodness : 0.134915 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 9.99160447e-01 1.71874243e-03 -4.09322310e-02 -9.82444227e-01] [-2.15441121e-03 9.99941477e-01 -1.06019293e-02 -6.19044945e-04] [ 4.09116135e-02 1.06812133e-02 9.99105676e-01 8.31201275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402557844 meters Centerline goodness : 0.134175 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 9.99165591e-01 1.71089061e-03 -4.08067847e-02 -9.82734828e-01] [-2.14803614e-03 9.99940755e-01 -1.06711313e-02 -1.78185320e-04] [ 4.07861099e-02 1.07498816e-02 9.99110071e-01 8.31103308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432557844 meters Centerline goodness : 0.153664 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.9991581 0.00181756 -0.04098517 -0.98209116] [-0.0022465 0.99994316 -0.01042211 -0.00129099] [ 0.0409639 0.0105054 0.9991054 0.83078049] [ 0. 0. 0. 1. ]] SLAMing on 74.462557844 meters Centerline goodness : 0.148143 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.00, Z:0.83 [[ 0.99915382 0.00191862 -0.04108475 -0.9819119 ] [-0.0023363 0.99994605 -0.01012081 -0.00279611] [ 0.04106312 0.01020823 0.99910441 0.83093649] [ 0. 0. 0. 1. ]] SLAMing on 74.492557844 meters Centerline goodness : 0.131441 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 0.99918096 0.00175225 -0.04042692 -0.98416323] [-0.00214678 0.99995048 -0.00971778 -0.00590061] [ 0.04040789 0.00979661 0.99913524 0.83197887] [ 0. 0. 0. 1. ]] SLAMing on 74.522557844 meters Centerline goodness : 0.128749 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.83 [[ 0.99922538 -0.00604789 -0.03888526 -0.96420221] [ 0.00572148 0.99994751 -0.00849996 -0.00295042] [ 0.03893462 0.0082709 0.99920753 0.83360034] [ 0. 0. 0. 1. ]] SLAMing on 74.552557844 meters Centerline goodness : 0.129050 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.00, Z:0.83 [[ 0.9992282 -0.00594367 -0.03882886 -0.96427001] [ 0.00563152 0.99995098 -0.00814337 -0.0048067 ] [ 0.03887536 0.00791841 0.99921269 0.83351577] [ 0. 0. 0. 1. ]] SLAMing on 74.58255784400001 meters Centerline goodness : 0.147249 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919116 -0.00611341 -0.03974493 -0.96122466] [ 0.00581019 0.99995316 -0.00774021 -0.00873627] [ 0.03979038 0.00750302 0.99917988 0.83262953] [ 0. 0. 0. 1. ]] SLAMing on 74.612557844 meters Centerline goodness : 0.133832 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.01, Z:0.83 [[ 9.99151233e-01 3.88474610e-05 -4.11923909e-02 -9.83355579e-01] [-4.57295450e-04 9.99948393e-01 -1.01490068e-02 -1.44744597e-02] [ 4.11898708e-02 1.01592298e-02 9.99099687e-01 8.32459807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters Centerline goodness : 0.128067 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919067 -0.00490135 -0.03992476 -0.96142662] [ 0.00465695 0.99996986 -0.00621235 -0.01413827] [ 0.03995401 0.0060214 0.99918338 0.8331418 ] [ 0. 0. 0. 1. ]] SLAMing on 74.672557844 meters Centerline goodness : 0.153126 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99919947 -0.0047744 -0.03971925 -0.96204941] [ 0.00453812 0.99997148 -0.00603682 -0.01455703] [ 0.03974694 0.00585174 0.99919264 0.83332062] [ 0. 0. 0. 1. ]] SLAMing on 74.702557844 meters Centerline goodness : 0.145661 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.9992434 0.002661 -0.03880125 -0.98162034] [-0.00293175 0.99997174 -0.00692244 -0.02091676] [ 0.03878174 0.00703096 0.99922297 0.83076238] [ 0. 0. 0. 1. ]] SLAMing on 74.732557844 meters Centerline goodness : 0.132729 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.99926562 -0.00535611 -0.03794126 -0.96143704] [ 0.00511727 0.9999665 -0.00638922 -0.01693453] [ 0.03797421 0.00619037 0.99925955 0.83177799] [ 0. 0. 0. 1. ]] SLAMing on 74.762557844 meters Centerline goodness : 0.128528 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926994 0.00193415 -0.03815548 -0.98008502] [-0.00223555 0.99996662 -0.00785827 -0.02381407] [ 0.038139 0.00793783 0.99924092 0.82908195] [ 0. 0. 0. 1. ]] SLAMing on 74.792557844 meters Centerline goodness : 0.130516 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.9992706 0.00194762 -0.03813755 -0.98005925] [-0.00225127 0.9999661 -0.00792059 -0.02332668] [ 0.03812084 0.00800067 0.99924111 0.82894852] [ 0. 0. 0. 1. ]] SLAMing on 74.822557844 meters Centerline goodness : 0.130116 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926664 0.00184637 -0.03824631 -0.97962905] [-0.00216126 0.9999641 -0.00819354 -0.02238902] [ 0.03822981 0.0082702 0.99923475 0.82871447] [ 0. 0. 0. 1. ]] SLAMing on 74.852557844 meters Centerline goodness : 0.130534 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926642 0.00180536 -0.03825395 -0.97959451] [-0.00212237 0.99996373 -0.00824808 -0.0224061 ] [ 0.03823768 0.00832322 0.99923401 0.82869304] [ 0. 0. 0. 1. ]] SLAMing on 74.882557844 meters Centerline goodness : 0.124673 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926841 0.00192365 -0.03819609 -0.97958382] [-0.00223878 0.9999638 -0.0082094 -0.02150405] [ 0.03817891 0.0082889 0.99923654 0.82832007] [ 0. 0. 0. 1. ]] SLAMing on 74.912557844 meters Centerline goodness : 0.147513 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99926757 0.00198334 -0.03821497 -0.97921939] [-0.00229529 0.99996439 -0.00812076 -0.02163187] [ 0.0381975 0.00820253 0.99923654 0.82782919] [ 0. 0. 0. 1. ]] SLAMing on 74.942557844 meters Centerline goodness : 0.134365 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99925801 0.00195769 -0.0384656 -0.97830951] [-0.00226613 0.99996562 -0.00797649 -0.02284492] [ 0.03844866 0.00805774 0.99922809 0.8274957 ] [ 0. 0. 0. 1. ]] SLAMing on 74.972557844 meters Centerline goodness : 0.148210 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.02, Z:0.83 [[ 0.99924741 0.00192064 -0.03874174 -0.97752902] [-0.00222481 0.99996703 -0.00780939 -0.0244557 ] [ 0.03872546 0.0078897 0.99921874 0.82743641] [ 0. 0. 0. 1. ]] SLAMing on 75.002557844 meters Centerline goodness : 0.147377 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.9992453 -0.00562415 -0.03843443 -0.95812407] [ 0.00538721 0.99996586 -0.0062658 -0.02151362] [ 0.03846836 0.00605402 0.99924148 0.83019109] [ 0. 0. 0. 1. ]] SLAMing on 75.032557844 meters Centerline goodness : 0.147377 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.02, Z:0.83 [[ 0.9992453 -0.00562415 -0.03843443 -0.95812407] [ 0.00538721 0.99996586 -0.0062658 -0.02151362] [ 0.03846836 0.00605402 0.99924148 0.83019109] [ 0. 0. 0. 1. ]] SLAMing on 75.062557844 meters Centerline goodness : 0.148794 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:0.83 [[ 0.99934249 0.00330495 -0.03610631 -0.93945998] [-0.00355902 0.99996934 -0.00697473 -0.02338858] [ 0.03608216 0.00709864 0.99932361 0.83131281] [ 0. 0. 0. 1. ]] SLAMing on 75.092557844 meters Centerline goodness : 0.124398 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99927624 0.00256185 -0.03795311 -0.98762484] [-0.00281542 0.99997406 -0.00662932 -0.02619402] [ 0.03793514 0.00673138 0.99925753 0.83224929] [ 0. 0. 0. 1. ]] SLAMing on 75.122557844 meters Centerline goodness : 0.149573 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99926777 0.00242107 -0.03818467 -0.98663287] [-0.00268368 0.99997309 -0.00682772 -0.02607668] [ 0.03816711 0.0069252 0.99924737 0.83165315] [ 0. 0. 0. 1. ]] SLAMing on 75.152557844 meters Centerline goodness : 0.129462 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.03, Z:0.83 [[ 0.99925803 0.00234157 -0.03844351 -0.9854917 ] [-0.00261275 0.99997205 -0.00700542 -0.02558254] [ 0.03842604 0.00710067 0.99923622 0.83084764] [ 0. 0. 0. 1. ]] SLAMing on 75.182557844 meters Centerline goodness : 0.132245 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99925707 0.00245476 -0.03846148 -0.98526433] [-0.00273369 0.99997034 -0.00720111 -0.02344952] [ 0.03844266 0.0073009 0.99923414 0.83039495] [ 0. 0. 0. 1. ]] SLAMing on 75.212557844 meters Centerline goodness : 0.146335 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926177 0.00246962 -0.03833822 -0.98576776] [-0.0027517 0.99996952 -0.00730658 -0.02234716] [ 0.03831901 0.00740668 0.99923811 0.83065656] [ 0. 0. 0. 1. ]] SLAMing on 75.242557844 meters Centerline goodness : 0.134657 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926532 0.00247702 -0.03824514 -0.98630194] [-0.00276021 0.99996915 -0.00735341 -0.02190162] [ 0.03822575 0.00745357 0.99924133 0.83110899] [ 0. 0. 0. 1. ]] SLAMing on 75.272557844 meters Centerline goodness : 0.137027 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926378 0.00247884 -0.03828511 -0.98636277] [-0.00276089 0.99996943 -0.00731584 -0.02225211] [ 0.0382658 0.00741615 0.99924008 0.83137714] [ 0. 0. 0. 1. ]] SLAMing on 75.302557844 meters Centerline goodness : 0.135677 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99926589 0.00249477 -0.03822892 -0.98651125] [-0.00277355 0.99996994 -0.00724111 -0.02281558] [ 0.03820971 0.00734182 0.99924277 0.83136959] [ 0. 0. 0. 1. ]] SLAMing on 75.33255784400001 meters Centerline goodness : 0.135276 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99927585 0.00250081 -0.03796732 -0.98734627] [-0.00277995 0.99996948 -0.0073012 -0.02227491] [ 0.0379479 0.00740146 0.99925231 0.83162125] [ 0. 0. 0. 1. ]] SLAMing on 75.362557844 meters Centerline goodness : 0.124318 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928762 0.00249925 -0.03765653 -0.98822892] [-0.00278594 0.99996752 -0.00756264 -0.02055601] [ 0.0376364 0.00766216 0.99926212 0.83169998] [ 0. 0. 0. 1. ]] SLAMing on 75.392557844 meters Centerline goodness : 0.135242 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928511 0.00244669 -0.03772648 -0.98802337] [-0.00274221 0.99996595 -0.00778347 -0.01944618] [ 0.03770616 0.00788136 0.99925779 0.83161495] [ 0. 0. 0. 1. ]] SLAMing on 75.422557844 meters Centerline goodness : 0.137977 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.02, Z:0.83 [[ 0.99928387 0.00235277 -0.03776523 -0.98783087] [-0.00266017 0.99996372 -0.00809152 -0.01793524] [ 0.03774482 0.00818618 0.99925388 0.831423 ] [ 0. 0. 0. 1. ]] SLAMing on 75.452557844 meters Centerline goodness : 0.132960 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99928987 -0.00208973 -0.03762171 -0.96586832] [ 0.00190714 0.99998623 -0.0048885 -0.01152799] [ 0.03763141 0.00481328 0.9992801 0.83176948] [ 0. 0. 0. 1. ]] SLAMing on 75.482557844 meters Centerline goodness : 0.136685 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929677 -0.00217597 -0.03743298 -0.96655664] [ 0.0019832 0.99998459 -0.00518609 -0.0099605 ] [ 0.03744369 0.0051082 0.99928568 0.83206286] [ 0. 0. 0. 1. ]] SLAMing on 75.512557844 meters Centerline goodness : 0.127545 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929509 -0.00236704 -0.03746625 -0.96679034] [ 0.00215477 0.9999814 -0.00570524 -0.00753887] [ 0.03747906 0.00562049 0.99928161 0.83248782] [ 0. 0. 0. 1. ]] SLAMing on 75.542557844 meters Centerline goodness : 0.143176 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.83 [[ 0.99929057 -0.00246888 -0.03758001 -0.96628584] [ 0.00224465 0.99997943 -0.00600774 -0.00595722] [ 0.03759407 0.00591913 0.99927556 0.83208025] [ 0. 0. 0. 1. ]] SLAMing on 75.572557844 meters Centerline goodness : 0.131008 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929148 -0.00257491 -0.03754872 -0.96605643] [ 0.00233852 0.99997718 -0.00633814 -0.00417745] [ 0.03756418 0.00624584 0.9992747 0.83153227] [ 0. 0. 0. 1. ]] SLAMing on 75.602557844 meters Centerline goodness : 0.136750 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929848 -0.0026681 -0.03735537 -0.96649922] [ 0.00242257 0.99997518 -0.00661646 -0.00277982] [ 0.0373721 0.00652132 0.99928014 0.83138002] [ 0. 0. 0. 1. ]] SLAMing on 75.632557844 meters Centerline goodness : 0.132907 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99930389 -0.00284199 -0.03719749 -0.96722404] [ 0.00258692 0.99997282 -0.00690351 -0.00162643] [ 0.0372161 0.00680247 0.99928409 0.83185184] [ 0. 0. 0. 1. ]] SLAMing on 75.662557844 meters Centerline goodness : 0.134809 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:0.83 [[ 0.99929966 -0.00288416 -0.03730774 -0.9670771 ] [ 0.00262891 0.99997282 -0.00688898 -0.00177682] [ 0.03732659 0.00678607 0.99928008 0.8320788 ] [ 0. 0. 0. 1. ]] SLAMing on 75.692557844 meters Centerline goodness : 0.137270 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.00, Z:0.83 [[ 0.99925858 -0.01117041 -0.03684443 -0.946192 ] [ 0.01095752 0.99992211 -0.00597515 0.00288675] [ 0.03690831 0.005567 0.99930315 0.83403499] [ 0. 0. 0. 1. ]] SLAMing on 75.722557844 meters Centerline goodness : 0.138072 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:0.84 [[ 0.9991229 -0.01263442 -0.03992246 -0.99345575] [ 0.01240682 0.99990537 -0.00594363 -0.00250446] [ 0.03999378 0.0054431 0.9991851 0.83508501] [ 0. 0. 0. 1. ]] SLAMing on 75.752557844 meters Centerline goodness : 0.138593 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:0.84 [[ 0.99911801 -0.0126137 -0.04005119 -0.99321706] [ 0.01239377 0.99990675 -0.00573478 -0.00376432] [ 0.04011979 0.00523333 0.99918117 0.83527677] [ 0. 0. 0. 1. ]] SLAMing on 75.782557844 meters Centerline goodness : 0.136048 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99919966 -0.00444142 -0.03975306 -0.97263059] [ 0.00416284 0.99996622 -0.00708784 -0.00774612] [ 0.0397832 0.00691668 0.9991844 0.83695884] [ 0. 0. 0. 1. ]] SLAMing on 75.812557844 meters Centerline goodness : 0.143059 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917834 -0.00439196 -0.040291 -0.97118393] [ 0.00412526 0.99996905 -0.00670009 -0.00998304] [ 0.04031918 0.00652837 0.99916552 0.83684173] [ 0. 0. 0. 1. ]] SLAMing on 75.842557844 meters Centerline goodness : 0.136419 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917509 -0.00426421 -0.04038503 -0.9709495 ] [ 0.00400893 0.99997148 -0.00640001 -0.01129972] [ 0.04041117 0.00623283 0.99916369 0.83686982] [ 0. 0. 0. 1. ]] SLAMing on 75.872557844 meters Centerline goodness : 0.138187 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917845 -0.00415324 -0.04031339 -0.97108035] [ 0.00390733 0.99997329 -0.00617696 -0.01220861] [ 0.04033797 0.00601436 0.99916799 0.83680422] [ 0. 0. 0. 1. ]] SLAMing on 75.902557844 meters Centerline goodness : 0.128578 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:0.84 [[ 0.99917669 -0.00403062 -0.0403694 -0.97044923] [ 0.00379977 0.999976 -0.00579346 -0.01441681] [ 0.04039178 0.00563529 0.99916803 0.83610392] [ 0. 0. 0. 1. ]] SLAMing on 75.932557844 meters Centerline goodness : 0.139682 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99916653 -0.00397277 -0.04062584 -0.96980659] [ 0.00374687 0.9999771 -0.00563492 -0.01539494] [ 0.04064729 0.005478 0.99915854 0.83612438] [ 0. 0. 0. 1. ]] SLAMing on 75.962557844 meters Centerline goodness : 0.136013 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914606 -0.00377281 -0.04114504 -0.9685235 ] [ 0.00355265 0.99997899 -0.0054227 -0.01609039] [ 0.04116463 0.0052719 0.99913847 0.83617189] [ 0. 0. 0. 1. ]] SLAMing on 75.992557844 meters Centerline goodness : 0.149606 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914318 -0.00365247 -0.04122587 -0.96827873] [ 0.0034369 0.99998005 -0.00529887 -0.01641363] [ 0.0412444 0.00515264 0.9991358 0.83611598] [ 0. 0. 0. 1. ]] SLAMing on 76.022557844 meters Centerline goodness : 0.136467 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914283 -0.00361368 -0.04123772 -0.968093 ] [ 0.00339947 0.99998037 -0.00526335 -0.0166778 ] [ 0.04125593 0.00511865 0.9991355 0.83585235] [ 0. 0. 0. 1. ]] SLAMing on 76.052557844 meters Centerline goodness : 0.137884 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914618 -0.00353485 -0.04116326 -0.96790777] [ 0.00332941 0.99998166 -0.0050583 -0.01813639] [ 0.04118038 0.00491693 0.99913963 0.83522014] [ 0. 0. 0. 1. ]] SLAMing on 76.08255784400001 meters Centerline goodness : 0.159408 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99914248 -0.00344329 -0.04126076 -0.96763053] [ 0.00324381 0.99998273 -0.0049005 -0.01871636] [ 0.04127692 0.00476246 0.99913639 0.83513718] [ 0. 0. 0. 1. ]] SLAMing on 76.112557844 meters Centerline goodness : 0.120546 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99913861 -0.00337907 -0.0413596 -0.96729839] [ 0.00318479 0.99998359 -0.0047623 -0.01926565] [ 0.04137502 0.00462648 0.99913298 0.83501317] [ 0. 0. 0. 1. ]] SLAMing on 76.142557844 meters Centerline goodness : 0.133564 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.9991332 -0.00332865 -0.04149412 -0.96713125] [ 0.00314056 0.9999845 -0.00459741 -0.02009919] [ 0.04150878 0.00446311 0.99912817 0.83531561] [ 0. 0. 0. 1. ]] SLAMing on 76.172557844 meters Centerline goodness : 0.140097 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99911806 -0.0033067 -0.04185893 -0.9666317 ] [ 0.00312692 0.99998561 -0.00435962 -0.02166391] [ 0.04187274 0.00422489 0.99911402 0.83600354] [ 0. 0. 0. 1. ]] SLAMing on 76.202557844 meters Centerline goodness : 0.139143 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99911726 -0.00329432 -0.04187887 -0.96670944] [ 0.00311586 0.99998579 -0.00432575 -0.02178775] [ 0.04189253 0.00419144 0.99911333 0.83622742] [ 0. 0. 0. 1. ]] SLAMing on 76.232557844 meters Centerline goodness : 0.135520 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99912204 -0.00327294 -0.04176651 -0.96721955] [ 0.00309362 0.99998572 -0.00435745 -0.02146254] [ 0.04178017 0.00422441 0.9991179 0.83658303] [ 0. 0. 0. 1. ]] SLAMing on 76.262557844 meters Centerline goodness : 0.134750 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.84 [[ 0.99923192 0.00531818 -0.03882372 -0.9487709 ] [-0.00555244 0.99996701 -0.00592845 -0.02180808] [ 0.03879091 0.00613946 0.99922849 0.83828738] [ 0. 0. 0. 1. ]] SLAMing on 76.292557844 meters Centerline goodness : 0.138658 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924104 -0.00328345 -0.03881447 -0.96918009] [ 0.00310718 0.99998459 -0.00460079 -0.01739221] [ 0.03882898 0.00447669 0.99923584 0.83654229] [ 0. 0. 0. 1. ]] SLAMing on 76.322557844 meters Centerline goodness : 0.138339 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924263 -0.00327964 -0.03877396 -0.96939996] [ 0.00310086 0.99998429 -0.00467016 -0.01674339] [ 0.03878866 0.00454639 0.99923709 0.83666242] [ 0. 0. 0. 1. ]] SLAMing on 76.352557844 meters Centerline goodness : 0.138537 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924275 -0.00322359 -0.03877532 -0.96942787] [ 0.00304757 0.99998479 -0.00459756 -0.01678909] [ 0.03878955 0.00447591 0.99923738 0.83673246] [ 0. 0. 0. 1. ]] SLAMing on 76.382557844 meters Centerline goodness : 0.135797 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924529 -0.0032172 -0.03871044 -0.96982909] [ 0.00304966 0.99998573 -0.0043862 -0.01823349] [ 0.038724 0.00426484 0.99924084 0.83715135] [ 0. 0. 0. 1. ]] SLAMing on 76.412557844 meters Centerline goodness : 0.135341 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924588 -0.00314042 -0.03870141 -0.97001284] [ 0.00298182 0.99998692 -0.00415521 -0.01940065] [ 0.03871395 0.00403668 0.99924218 0.83742608] [ 0. 0. 0. 1. ]] SLAMing on 76.442557844 meters Centerline goodness : 0.133587 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99924863 -0.00307721 -0.03863559 -0.97022086] [ 0.00292456 0.9999877 -0.00400701 -0.02006639] [ 0.03864745 0.003891 0.99924533 0.83750565] [ 0. 0. 0. 1. ]] SLAMing on 76.47255784400001 meters Centerline goodness : 0.152944 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.9992496 -0.003036 -0.03861372 -0.97020761] [ 0.00288701 0.99998817 -0.0039135 -0.02048828] [ 0.03862514 0.00379908 0.99924655 0.83740563] [ 0. 0. 0. 1. ]] SLAMing on 76.502557844 meters Centerline goodness : 0.136909 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.84 [[ 0.99929376 0.0045597 -0.03729877 -0.948189 ] [-0.00479796 0.99996864 -0.00630084 -0.02146549] [ 0.03726888 0.00647535 0.99928429 0.83736519] [ 0. 0. 0. 1. ]] SLAMing on 76.532557844 meters Centerline goodness : 0.137147 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.84 [[ 0.99922966 -0.00406621 -0.0390327 -0.96753236] [ 0.00387346 0.99997994 -0.00501234 -0.01746881] [ 0.0390523 0.00485729 0.99922536 0.8358193 ] [ 0. 0. 0. 1. ]] SLAMing on 76.562557844 meters Centerline goodness : 0.171426 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.02, Z:0.83 [[ 0.99922281 -0.00405118 -0.03920917 -0.96656417] [ 0.00384832 0.99997882 -0.00524788 -0.01596363] [ 0.0392296 0.00509291 0.99921724 0.83485528] [ 0. 0. 0. 1. ]] SLAMing on 76.592557844 meters Centerline goodness : 0.135113 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99920658 -0.00398789 -0.03962712 -0.96489443] [ 0.00377141 0.99997756 -0.00553608 -0.01404797] [ 0.0396483 0.00538224 0.9991992 0.83379305] [ 0. 0. 0. 1. ]] SLAMing on 76.622557844 meters Centerline goodness : 0.159231 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.01, Z:0.83 [[ 0.99917772 -0.00347872 -0.04039534 -0.96234028] [ 0.0032417 0.99997715 -0.00593148 -0.01004559] [ 0.04041506 0.00579566 0.99916617 0.83246425] [ 0. 0. 0. 1. ]] SLAMing on 76.652557844 meters Centerline goodness : 0.136127 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 0.99926314 -0.00129189 -0.0383603 -0.919062 ] [ 0.0010676 0.99998222 -0.00586682 -0.0034639 ] [ 0.0383672 0.00582154 0.99924675 0.83410389] [ 0. 0. 0. 1. ]] SLAMing on 76.682557844 meters Centerline goodness : 0.132667 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 0.99927953 -0.00135544 -0.03792874 -0.92051506] [ 0.00111907 0.99997983 -0.00625257 -0.00115393] [ 0.03793645 0.00620562 0.99926089 0.83456764] [ 0. 0. 0. 1. ]] SLAMing on 76.712557844 meters Centerline goodness : 0.136190 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 0.99928833 -0.00145268 -0.03769244 -0.9213691 ] [ 0.00120325 0.99997724 -0.00663934 0.00101305] [ 0.03770122 0.00658926 0.99926733 0.83487287] [ 0. 0. 0. 1. ]] SLAMing on 76.742557844 meters Centerline goodness : 0.137416 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 0.99930077 -0.00168921 -0.03735133 -0.92233712] [ 0.00142052 0.99997293 -0.007219 0.00382176] [ 0.03736251 0.00716089 0.99927612 0.83494976] [ 0. 0. 0. 1. ]] SLAMing on 76.772557844 meters Centerline goodness : 0.140291 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99930165 -0.00175207 -0.03732487 -0.92256533] [ 0.0014797 0.99997209 -0.00732376 0.00425223] [ 0.03733666 0.00726342 0.99927635 0.83519446] [ 0. 0. 0. 1. ]] SLAMing on 76.802557844 meters Centerline goodness : 0.139924 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99929721 -0.00176829 -0.03744275 -0.92245789] [ 0.00149589 0.99997222 -0.00730175 0.0041243 ] [ 0.03745462 0.00724061 0.9992721 0.8355214 ] [ 0. 0. 0. 1. ]] SLAMing on 76.83255784400001 meters Centerline goodness : 0.142997 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99929017 -0.00178516 -0.03762947 -0.92207272] [ 0.00151459 0.9999728 -0.00721771 0.0035233 ] [ 0.03764133 0.00715559 0.99926569 0.83570074] [ 0. 0. 0. 1. ]] SLAMing on 76.862557844 meters Centerline goodness : 0.137902 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99925653 -0.0020813 -0.03849737 -0.91964878] [ 0.00179936 0.99997132 -0.00735682 0.00321562] [ 0.03851157 0.00728208 0.99923162 0.83534497] [ 0. 0. 0. 1. ]] SLAMing on 76.892557844 meters Centerline goodness : 0.136930 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924375 -0.00213523 -0.03882487 -0.91868989] [ 0.00185123 0.99997128 -0.00734919 0.00298341] [ 0.03883945 0.00727176 0.999219 0.83517319] [ 0. 0. 0. 1. ]] SLAMing on 76.922557844 meters Centerline goodness : 0.135754 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924248 -0.00211904 -0.03885828 -0.91880234] [ 0.00183987 0.99997225 -0.00721848 0.00235965] [ 0.0388725 0.00714152 0.99921866 0.83550353] [ 0. 0. 0. 1. ]] SLAMing on 76.952557844 meters Centerline goodness : 0.135754 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99924248 -0.00211904 -0.03885828 -0.91880234] [ 0.00183987 0.99997225 -0.00721848 0.00235965] [ 0.0388725 0.00714152 0.99921866 0.83550353] [ 0. 0. 0. 1. ]] SLAMing on 76.982557844 meters Centerline goodness : 0.138657 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99282550e-01 -2.34127436e-03 -3.78008476e-02 -9.22391384e-01] [ 2.08091642e-03 9.99973853e-01 -6.92549750e-03 4.58991808e-04] [ 3.78160738e-02 6.84186839e-03 9.99261294e-01 8.37123195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012557844 meters Centerline goodness : 0.137126 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99928248 -0.00228481 -0.03780621 -0.92284831] [ 0.00203861 0.99997647 -0.00654943 -0.00155425] [ 0.03782028 0.00646766 0.99926363 0.83796652] [ 0. 0. 0. 1. ]] SLAMing on 77.042557844 meters Centerline goodness : 0.132867 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99926967 -0.00223077 -0.03814653 -0.92213672] [ 0.00199434 0.99997858 -0.00623469 -0.00343398] [ 0.03815962 0.00615406 0.99925271 0.83829117] [ 0. 0. 0. 1. ]] SLAMing on 77.072557844 meters Centerline goodness : 0.159559 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:0.84 [[ 0.99920964 0.0050041 -0.03943416 -0.93928774] [-0.0053127 0.99995605 -0.00772492 -0.01072297] [ 0.03939377 0.00792831 0.99919231 0.83537922] [ 0. 0. 0. 1. ]] SLAMing on 77.102557844 meters Centerline goodness : 0.133014 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.83 [[ 9.99189805e-01 -5.25317841e-04 -4.02424852e-02 -9.14125923e-01] [ 3.27165272e-04 9.99987792e-01 -4.93039191e-03 -8.69529153e-03] [ 4.02445840e-02 4.91323139e-03 9.99177779e-01 8.34345001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132557844 meters Centerline goodness : 0.150735 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.01, Z:0.83 [[ 9.99199260e-01 -4.95107329e-04 -4.00074135e-02 -9.14798204e-01] [ 2.96811027e-04 9.99987644e-01 -4.96227660e-03 -8.20499724e-03] [ 4.00093760e-02 4.94642847e-03 9.99187061e-01 8.34428651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162557844 meters Centerline goodness : 0.135138 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99214231e-01 -4.88074090e-04 -3.96318240e-02 -9.16150008e-01] [ 2.86846599e-04 9.99987041e-01 -5.08294951e-03 -7.26631530e-03] [ 3.96337913e-02 5.06758724e-03 9.99201422e-01 8.35030002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192557844 meters Centerline goodness : 0.136115 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99220380e-01 -5.44168054e-04 -3.94757763e-02 -9.16853823e-01] [ 3.33905118e-04 9.99985725e-01 -5.33277637e-03 -5.95907778e-03] [ 3.94781147e-02 5.31543767e-03 9.99206297e-01 8.35515798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22255784400001 meters Centerline goodness : 0.144628 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99224715e-01 -5.79725571e-04 -3.93653640e-02 -9.17178535e-01] [ 3.49877587e-04 9.99982854e-01 -5.84547621e-03 -3.18251219e-03] [ 3.93680778e-02 5.82717124e-03 9.99207785e-01 8.35513459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252557844 meters Centerline goodness : 0.154055 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.83 [[ 9.99222159e-01 -6.96415462e-04 -3.94283219e-02 -9.16645078e-01] [ 4.50865273e-04 9.99980452e-01 -6.23631099e-03 -1.24778773e-03] [ 3.94318943e-02 6.21368327e-03 9.99202940e-01 8.34797528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282557844 meters Centerline goodness : 0.137859 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99222569e-01 -8.16180571e-04 -3.94156315e-02 -9.16255782e-01] [ 5.55768652e-04 9.99977951e-01 -6.61732378e-03 6.69469289e-04] [ 3.94201634e-02 6.59027329e-03 9.99200990e-01 8.34024720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312557844 meters Centerline goodness : 0.139105 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99227346e-01 -9.70545522e-04 -3.92908206e-02 -9.16679082e-01] [ 6.92080147e-04 9.99974553e-01 -7.10026955e-03 3.21040378e-03] [ 3.92967119e-02 7.06759110e-03 9.99202591e-01 8.34091394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342557844 meters Centerline goodness : 0.143275 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99228415e-01 -1.01662941e-03 -3.92624591e-02 -9.17047636e-01] [ 7.33272071e-04 9.99973589e-01 -7.23073077e-03 3.97383186e-03] [ 3.92687732e-02 7.19636158e-03 9.99202770e-01 8.34570916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372557844 meters Centerline goodness : 0.140715 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.83 [[ 9.99227072e-01 -1.07405834e-03 -3.92950935e-02 -9.17220541e-01] [ 7.85564813e-04 9.99972633e-01 -7.35642280e-03 4.55084369e-03] [ 3.93019194e-02 7.31986798e-03 9.99200570e-01 8.34980253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402557844 meters Centerline goodness : 0.139840 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99919498 -0.00886719 -0.0391251 -0.89725982] [ 0.00861507 0.99994106 -0.00660793 0.01172499] [ 0.03918139 0.00626555 0.99921247 0.83675333] [ 0. 0. 0. 1. ]] SLAMing on 77.432557844 meters Centerline goodness : 0.139484 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.83 [[ 9.99229484e-01 -8.48993544e-04 -3.92392329e-02 -9.17270849e-01] [ 5.65994162e-04 9.99973756e-01 -7.22270004e-03 6.31335101e-03] [ 3.92443351e-02 7.19492566e-03 9.99203741e-01 8.34945666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462557844 meters Centerline goodness : 0.137460 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.83 [[ 9.99229267e-01 -8.44350845e-04 -3.92448613e-02 -9.17170145e-01] [ 5.60927465e-04 9.99973689e-01 -7.23237334e-03 6.53566603e-03] [ 3.92499354e-02 7.20478559e-03 9.99203450e-01 8.34804016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492557844 meters Centerline goodness : 0.135085 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99229177e-01 -8.72758122e-04 -3.92465411e-02 -9.17339244e-01] [ 5.87529324e-04 9.99973338e-01 -7.27856267e-03 6.79687545e-03] [ 3.92518472e-02 7.24989369e-03 9.99203048e-01 8.35098730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522557844 meters Centerline goodness : 0.139770 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99219458e-01 -9.65053022e-04 -3.94910622e-02 -9.17244815e-01] [ 6.75038688e-04 9.99972713e-01 -7.35647209e-03 6.73253181e-03] [ 3.94970839e-02 7.32407206e-03 9.99192843e-01 8.35964924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552557844 meters Centerline goodness : 0.136282 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99214406e-01 -1.00980908e-03 -3.96175492e-02 -9.17100453e-01] [ 7.16488724e-04 9.99972235e-01 -7.41729857e-03 6.86946297e-03] [ 3.96239393e-02 7.38308606e-03 9.99187387e-01 8.36270539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58255784400001 meters Centerline goodness : 0.133565 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99213773e-01 -1.04022270e-03 -3.96327338e-02 -9.17003404e-01] [ 7.43640023e-04 9.99971618e-01 -7.49728295e-03 7.19284386e-03] [ 3.96394078e-02 7.46191590e-03 9.99186187e-01 8.36139858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612557844 meters Centerline goodness : 0.142363 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99216669e-01 -1.08321382e-03 -3.95585005e-02 -9.17036795e-01] [ 7.82378014e-04 9.99970665e-01 -7.61952260e-03 7.65832166e-03] [ 3.95655936e-02 7.58260429e-03 9.99188204e-01 8.35869181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642557844 meters Centerline goodness : 0.139548 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99213420e-01 -1.06496616e-03 -3.96409781e-02 -9.16902581e-01] [ 7.65254391e-04 9.99971016e-01 -7.57506132e-03 7.45317119e-03] [ 3.96478963e-02 7.53876750e-03 9.99185274e-01 8.35987652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672557844 meters Centerline goodness : 0.144263 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:0.84 [[ 9.99210461e-01 -9.88739464e-04 -3.97174690e-02 -9.16805899e-01] [ 6.94309908e-04 9.99972184e-01 -7.42620932e-03 6.86830273e-03] [ 3.97237068e-02 7.39276981e-03 9.99183354e-01 8.36147401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702557844 meters Centerline goodness : 0.145308 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99196740e-01 -8.43554537e-04 -4.00644890e-02 -9.16069041e-01] [ 5.66769248e-04 9.99975900e-01 -6.91935002e-03 4.17695434e-03] [ 4.00693603e-02 6.89108466e-03 9.99173138e-01 8.36400501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.732557844 meters Centerline goodness : 0.137331 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99918412 -0.0088585 -0.03940322 -0.89526509] [ 0.00862264 0.9999439 -0.00615183 0.00754001] [ 0.03945551 0.00580705 0.99920445 0.83733016] [ 0. 0. 0. 1. ]] SLAMing on 77.762557844 meters Centerline goodness : 0.138854 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99232090e-01 -1.20154557e-03 -3.91635932e-02 -9.15270246e-01] [ 9.33328642e-04 9.99975992e-01 -6.86619302e-03 -5.93769360e-04] [ 3.91709030e-02 6.82436789e-03 9.99209222e-01 8.35266347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792557844 meters Centerline goodness : 0.139171 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99242051e-01 -1.06721962e-03 -3.89125216e-02 -9.16085988e-01] [ 8.12935071e-04 9.99978218e-01 -6.55001150e-03 -2.05880390e-03] [ 3.89186643e-02 6.51341357e-03 9.99221153e-01 8.35574357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822557844 meters Centerline goodness : 0.139539 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99242299e-01 -9.36610224e-04 -3.89095135e-02 -9.16376222e-01] [ 6.93005902e-04 9.99980079e-01 -6.27380641e-03 -3.35078496e-03] [ 3.89146145e-02 6.24208822e-03 9.99223043e-01 8.36044712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852557844 meters Centerline goodness : 0.138173 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99230275e-01 -9.21199447e-04 -3.92174598e-02 -9.15321757e-01] [ 6.72951847e-04 9.99979658e-01 -6.34275781e-03 -2.85430158e-03] [ 3.92225050e-02 6.31148417e-03 9.99210569e-01 8.35570795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882557844 meters Centerline goodness : 0.140526 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99223053e-01 -8.77837676e-04 -3.94020336e-02 -9.14638568e-01] [ 6.25404796e-04 9.99979206e-01 -6.41846396e-03 -2.11275173e-03] [ 3.94068487e-02 6.38883493e-03 9.99202824e-01 8.35170775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912557844 meters Centerline goodness : 0.156599 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99212294e-01 -6.51947830e-04 -3.96782772e-02 -9.13674683e-01] [ 3.92650122e-04 9.99978521e-01 -6.54244628e-03 -6.70489235e-04] [ 3.96816903e-02 6.52171308e-03 9.99191088e-01 8.34599735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942557844 meters Centerline goodness : 0.139436 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99210552e-01 -7.00826658e-04 -3.97212923e-02 -9.13509222e-01] [ 4.36272233e-04 9.99977670e-01 -6.66854410e-03 -2.43403742e-04] [ 3.97250788e-02 6.64595034e-03 9.99188545e-01 8.34483776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97255784400001 meters Centerline goodness : 0.137321 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99208004e-01 -7.28878216e-04 -3.97848422e-02 -9.13466993e-01] [ 4.62760452e-04 9.99977463e-01 -6.69772270e-03 -3.02584886e-04] [ 3.97888274e-02 6.67400728e-03 9.99185822e-01 8.34663950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002557844 meters Centerline goodness : 0.136509 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.83 [[ 9.99207662e-01 -7.14525887e-04 -3.97936774e-02 -9.13648133e-01] [ 4.50708341e-04 9.99977865e-01 -6.63821141e-03 -6.14936639e-04] [ 3.97975398e-02 6.61501636e-03 9.99185867e-01 8.34942258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032557844 meters Centerline goodness : 0.136603 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99204600e-01 -7.83373729e-04 -3.98691957e-02 -9.13932728e-01] [ 5.32034177e-04 9.99979923e-01 -6.31432362e-03 -2.35993460e-03] [ 3.98733417e-02 6.28808944e-03 9.99184956e-01 8.35757062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062557844 meters Centerline goodness : 0.138043 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99204499e-01 -7.34265413e-04 -3.98726652e-02 -9.14212076e-01] [ 4.95448350e-04 9.99981883e-01 -5.99904442e-03 -3.96219607e-03] [ 3.98763478e-02 5.97451733e-03 9.99186760e-01 8.36280968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092557844 meters Centerline goodness : 0.139198 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99212457e-01 -7.43909447e-04 -3.96725573e-02 -9.15174455e-01] [ 5.17250675e-04 9.99983489e-01 -5.72319663e-03 -5.62548156e-03] [ 3.96761598e-02 5.69816871e-03 9.99196344e-01 8.37082914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122557844 meters Centerline goodness : 0.139103 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99221807e-01 -7.69690950e-04 -3.94358843e-02 -9.16220802e-01] [ 5.50772500e-04 9.99984381e-01 -5.56181356e-03 -6.67885024e-03] [ 3.94395493e-02 5.53576519e-03 9.99206624e-01 8.37887511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152557844 meters Centerline goodness : 0.148836 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99221605e-01 -7.63641290e-04 -3.94411066e-02 -9.16490347e-01] [ 5.45705683e-04 9.99984527e-01 -5.53606591e-03 -6.59965730e-03] [ 3.94447239e-02 5.51023342e-03 9.99206561e-01 8.38358670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182557844 meters Centerline goodness : 0.144613 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99215646e-01 -8.21863533e-04 -3.95906270e-02 -9.15799143e-01] [ 5.96008615e-04 9.99983485e-01 -5.71622235e-03 -5.57167014e-03] [ 3.95946711e-02 5.68814246e-03 9.99199633e-01 8.37826053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212557844 meters Centerline goodness : 0.138578 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99203090e-01 -8.82697278e-04 -3.99049475e-02 -9.14540820e-01] [ 6.45138070e-04 9.99981997e-01 -5.96561202e-03 -4.29260097e-03] [ 3.99094949e-02 5.93511376e-03 9.99185672e-01 8.37040966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242557844 meters Centerline goodness : 0.143956 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.00, Z:0.84 [[ 9.99201243e-01 -1.12267769e-03 -3.99451524e-02 -9.14375041e-01] [ 8.64659081e-04 9.99978657e-01 -6.47601238e-03 -2.27904055e-03] [ 3.99515704e-02 6.43630068e-03 9.99180888e-01 8.36924181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272557844 meters Centerline goodness : 0.143160 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99206364e-01 -1.18100343e-03 -3.98151602e-02 -9.15113687e-01] [ 9.18231433e-04 9.99977683e-01 -6.61743867e-03 -1.57315174e-03] [ 3.98220869e-02 6.57562730e-03 9.99185149e-01 8.37567201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302557844 meters Centerline goodness : 0.144814 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99211629e-01 -1.15738594e-03 -3.96834982e-02 -9.15986046e-01] [ 8.95285444e-04 9.99977674e-01 -6.62190787e-03 -1.18632768e-03] [ 3.96902764e-02 6.58115930e-03 9.99190357e-01 8.38431484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33255784400001 meters Centerline goodness : 0.142474 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99216508e-01 -1.15041617e-03 -3.95606698e-02 -9.16771918e-01] [ 8.88428617e-04 9.99977564e-01 -6.63936733e-03 -8.23983230e-04] [ 3.95674203e-02 6.59901861e-03 9.99195112e-01 8.39190619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362557844 meters Centerline goodness : 0.143064 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99222232e-01 -1.16922760e-03 -3.94152821e-02 -9.17485418e-01] [ 9.11069184e-04 9.99978022e-01 -6.56702939e-03 -1.63380050e-03] [ 3.94220942e-02 6.52601171e-03 9.99201336e-01 8.39773951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392557844 meters Centerline goodness : 0.140729 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99219777e-01 -1.19976846e-03 -3.94765414e-02 -9.17192808e-01] [ 9.42376760e-04 9.99978182e-01 -6.53808010e-03 -2.22383649e-03] [ 3.94835243e-02 6.49577716e-03 9.99199107e-01 8.39581427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422557844 meters Centerline goodness : 0.162123 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99219063e-01 -1.24241677e-03 -3.94932896e-02 -9.16920458e-01] [ 9.81620079e-04 9.99977591e-01 -6.62227526e-03 -1.93521533e-03] [ 3.95006323e-02 6.57833628e-03 9.99197891e-01 8.39182128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452557844 meters Centerline goodness : 0.144960 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99220735e-01 -1.24344768e-03 -3.94509485e-02 -9.16882084e-01] [ 9.76932172e-04 9.99976578e-01 -6.77417621e-03 -8.46490799e-04] [ 3.94584478e-02 6.73035643e-03 9.99198545e-01 8.38853925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482557844 meters Centerline goodness : 0.143000 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99217252e-01 -1.08597794e-03 -3.95437018e-02 -9.16717608e-01] [ 8.12566393e-04 9.99975660e-01 -6.92957752e-03 9.84819340e-04] [ 3.95502647e-02 6.89202152e-03 9.99193813e-01 8.38909884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512557844 meters Centerline goodness : 0.143277 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99210431e-01 -1.10157967e-03 -3.97152498e-02 -9.16366945e-01] [ 8.23639255e-04 9.99975062e-01 -7.01401277e-03 1.39728670e-03] [ 3.97219859e-02 6.97576369e-03 9.99186420e-01 8.39049347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542557844 meters Centerline goodness : 0.143857 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99207075e-01 -1.09106462e-03 -3.97998747e-02 -9.16235572e-01] [ 8.12151607e-04 9.99975006e-01 -7.02338189e-03 1.38777985e-03] [ 3.98065429e-02 6.98548935e-03 9.99182987e-01 8.39166247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572557844 meters Centerline goodness : 0.143682 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 9.99221876e-01 -9.36251928e-04 -3.94305287e-02 -9.17435052e-01] [ 6.68997221e-04 9.99976720e-01 -6.79051190e-03 5.67795156e-04] [ 3.94359684e-02 6.75884913e-03 9.99199241e-01 8.39541348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602557844 meters Centerline goodness : 0.141178 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99229663e-01 -8.46600816e-04 -3.92347150e-02 -9.17970499e-01] [ 5.87422868e-04 9.99977936e-01 -6.61688971e-03 -1.56002327e-04] [ 3.92394511e-02 6.58874511e-03 9.99208113e-01 8.39592210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632557844 meters Centerline goodness : 0.137457 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99232959e-01 -7.90110235e-04 -3.91518792e-02 -9.18147084e-01] [ 5.36691694e-04 9.99978842e-01 -6.48279198e-03 -8.42402550e-04] [ 3.91561729e-02 6.45680693e-03 9.99212242e-01 8.39540026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662557844 meters Centerline goodness : 0.142192 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99229204e-01 -7.69523014e-04 -3.92479993e-02 -9.17933549e-01] [ 5.17507288e-04 9.99979188e-01 -6.43086545e-03 -1.14626488e-03] [ 3.92521312e-02 6.40559744e-03 9.99208806e-01 8.39571789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692557844 meters Centerline goodness : 0.147203 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99222871e-01 -6.79030097e-04 -3.94105630e-02 -9.17542913e-01] [ 4.27791600e-04 9.99979537e-01 -6.38298549e-03 -8.34396053e-04] [ 3.94140908e-02 6.36116558e-03 9.99202715e-01 8.39558775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72255784400001 meters Centerline goodness : 0.152366 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99224756e-01 -6.70665331e-04 -3.93629014e-02 -9.17581581e-01] [ 4.18162729e-04 9.99979287e-01 -6.42261824e-03 -4.36068525e-04] [ 3.93663935e-02 6.40117905e-03 9.99204339e-01 8.39403213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752557844 meters Centerline goodness : 0.134426 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99227727e-01 -6.27955606e-04 -3.92881013e-02 -9.17767355e-01] [ 3.79661131e-04 9.99979912e-01 -6.32698079e-03 -9.01625119e-04] [ 3.92912852e-02 6.30717847e-03 9.99207893e-01 8.39383624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782557844 meters Centerline goodness : 0.142422 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99225711e-01 -5.81240394e-04 -3.93400695e-02 -9.17747154e-01] [ 3.46311255e-04 9.99982070e-01 -5.97830318e-03 -3.41885666e-03] [ 3.93428390e-02 5.96005033e-03 9.99207996e-01 8.39598992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812557844 meters Centerline goodness : 0.161961 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99223688e-01 -4.90485671e-04 -3.93926361e-02 -9.17696428e-01] [ 2.64056869e-04 9.99983417e-01 -5.75299550e-03 -4.45053360e-03] [ 3.93948046e-02 5.73812748e-03 9.99207247e-01 8.39720629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842557844 meters Centerline goodness : 0.161961 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 9.99223688e-01 -4.90485671e-04 -3.93926361e-02 -9.17696428e-01] [ 2.64056869e-04 9.99983417e-01 -5.75299550e-03 -4.45053360e-03] [ 3.93948046e-02 5.73812748e-03 9.99207247e-01 8.39720629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872557844 meters Centerline goodness : 0.139051 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99218835e-01 -3.88016998e-04 -3.95166921e-02 -9.17461521e-01] [ 1.68631405e-04 9.99984557e-01 -5.55490145e-03 -5.11678595e-03] [ 3.95182372e-02 5.54389840e-03 9.99203470e-01 8.39834696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902557844 meters Centerline goodness : 0.135855 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99201394e-01 -3.39616464e-04 -3.99557212e-02 -9.16150353e-01] [ 1.27464899e-04 9.99985883e-01 -5.31209444e-03 -6.43476183e-03] [ 3.99569612e-02 5.30275922e-03 9.99187331e-01 8.39565012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932557844 meters Centerline goodness : 0.141862 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99202073e-01 -3.53542687e-04 -3.99386066e-02 -9.16217922e-01] [ 1.43938424e-04 9.99986203e-01 -5.25091523e-03 -7.15659097e-03] [ 3.99399120e-02 5.24097668e-03 9.99188338e-01 8.39643440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962557844 meters Centerline goodness : 0.141529 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99208824e-01 -4.06981824e-04 -3.97688327e-02 -9.16883409e-01] [ 1.94709643e-04 9.99985716e-01 -5.34137925e-03 -6.96252376e-03] [ 3.97704385e-02 5.32940990e-03 9.99194630e-01 8.40014264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992557844 meters Centerline goodness : 0.159791 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.01, Z:0.84 [[ 9.99215082e-01 -4.96573462e-04 -3.96102660e-02 -9.17358319e-01] [ 2.72655664e-04 9.99983955e-01 -5.65822615e-03 -5.38878945e-03] [ 3.96124402e-02 5.64298494e-03 9.99199185e-01 8.40091246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022557844 meters Centerline goodness : 0.139400 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.00, Z:0.84 [[ 0.99918881 0.00334432 -0.04013138 -0.91542095] [-0.0034446 0.99999112 -0.00242992 -0.00205194] [ 0.0401229 0.00256618 0.99919146 0.83905673] [ 0. 0. 0. 1. ]] SLAMing on 79.052557844 meters Centerline goodness : 0.141396 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.00, Z:0.84 [[ 9.99182041e-01 3.21609465e-03 -4.03101169e-02 -9.14757562e-01] [-3.33756529e-03 9.99990089e-01 -2.94646930e-03 6.75095591e-04] [ 4.03002413e-02 3.07859685e-03 9.99182873e-01 8.38601303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08255784400001 meters Centerline goodness : 0.158978 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.9991887 0.00312483 -0.04015189 -0.91515374] [-0.00325872 0.99998935 -0.00326956 0.0024734 ] [ 0.04014124 0.00339775 0.99918824 0.83851393] [ 0. 0. 0. 1. ]] SLAMing on 79.112557844 meters Centerline goodness : 0.138063 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.9991994 0.00303025 -0.03989203 -0.91597706] [-0.00317498 0.9999886 -0.00356516 0.0043707 ] [ 0.03988077 0.00368896 0.99919764 0.83868524] [ 0. 0. 0. 1. ]] SLAMing on 79.142557844 meters Centerline goodness : 0.134762 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.00, Z:0.84 [[ 0.99919132 0.00292657 -0.0401017 -0.9154383 ] [-0.00307339 0.9999888 -0.00360016 0.00414791] [ 0.04009071 0.00372049 0.99918912 0.83867438] [ 0. 0. 0. 1. ]] SLAMing on 79.172557844 meters Centerline goodness : 0.141460 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.01, Z:0.84 [[ 0.99918163 -0.0054352 -0.04008143 -0.89442422] [ 0.00531118 0.99998078 -0.00320001 0.00856699] [ 0.04009805 0.00298451 0.99919129 0.84045347] [ 0. 0. 0. 1. ]] SLAMing on 79.202557844 meters Centerline goodness : 0.133742 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.99918989 -0.00634112 -0.03974113 -0.89602778] [ 0.00620521 0.99997447 -0.00354227 0.00776111] [ 0.03976258 0.0032928 0.99920373 0.84173183] [ 0. 0. 0. 1. ]] SLAMing on 79.232557844 meters Centerline goodness : 0.150504 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.01, Z:0.84 [[ 0.9992012 -0.00627685 -0.03946606 -0.89707065] [ 0.00615747 0.9999761 -0.00314562 0.00612972] [ 0.03948486 0.00290009 0.99921596 0.84238601] [ 0. 0. 0. 1. ]] SLAMing on 79.262557844 meters Centerline goodness : 0.143673 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.84 [[ 0.99930961 -0.00628721 -0.03661671 -0.85567381] [ 0.00617173 0.99997562 -0.00326593 0.00720446] [ 0.03663635 0.00303769 0.99932405 0.84378055] [ 0. 0. 0. 1. ]] SLAMing on 79.292557844 meters Centerline goodness : 0.142246 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:0.84 [[ 0.99928613 -0.01047196 -0.03629824 -0.85620031] [ 0.0102236 0.99992309 -0.00702106 0.00550034] [ 0.03636897 0.00664495 0.99931634 0.84359705] [ 0. 0. 0. 1. ]] SLAMing on 79.322557844 meters Centerline goodness : 0.150341 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.00, Z:0.84 [[ 9.99332425e-01 -2.98442159e-03 -3.64114905e-02 -8.34900077e-01] [ 2.67296206e-03 9.99959451e-01 -8.59956330e-03 6.48661110e-04] [ 3.64356788e-02 8.49649592e-03 9.99299880e-01 8.44838352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352557844 meters Centerline goodness : 0.146991 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.84 [[ 9.99320377e-01 -2.91690439e-03 -3.67460985e-02 -8.33868390e-01] [ 2.61350397e-03 9.99962122e-01 -8.30200080e-03 -7.72990587e-04] [ 3.67689228e-02 8.20032250e-03 9.99290149e-01 8.44491380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382557844 meters Centerline goodness : 0.152471 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.00, Z:0.84 [[ 0.99931066 -0.00279933 -0.03701837 -0.83313251] [ 0.00250799 0.99996554 -0.0079144 -0.00256915] [ 0.03703925 0.0078161 0.99928324 0.84441797] [ 0. 0. 0. 1. ]] SLAMing on 79.412557844 meters Centerline goodness : 0.147274 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.85 [[ 0.99931314 -0.0035088 -0.03689075 -0.83404469] [ 0.00322183 0.99996411 -0.00783545 -0.00665565] [ 0.03691692 0.00771122 0.99928859 0.84537884] [ 0. 0. 0. 1. ]] SLAMing on 79.442557844 meters Centerline goodness : 0.152901 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.01, Z:0.85 [[ 0.99931524 -0.0034678 -0.03683791 -0.83470244] [ 0.00320076 0.99996819 -0.00730537 -0.00997361] [ 0.03686207 0.00718246 0.99929455 0.84619447] [ 0. 0. 0. 1. ]] SLAMing on 79.47255784400001 meters Centerline goodness : 0.148310 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.01, Z:0.85 [[ 0.99932203 -0.00337802 -0.03666161 -0.83554153] [ 0.00312812 0.9999715 -0.0068714 -0.0121475 ] [ 0.03668378 0.00675206 0.99930411 0.84674308] [ 0. 0. 0. 1. ]] SLAMing on 79.502557844 meters Centerline goodness : 0.141521 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.01, Z:0.85 [[ 0.99932191 -0.00321323 -0.03667967 -0.83547996] [ 0.00297775 0.99997462 -0.0064725 -0.01389626] [ 0.03669953 0.00635889 0.99930611 0.84672182] [ 0. 0. 0. 1. ]] SLAMing on 79.532557844 meters Centerline goodness : 0.153854 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.999396 -0.00274764 -0.03464213 -0.78979834] [ 0.00250855 0.99997275 -0.00694334 -0.01490191] [ 0.03466027 0.00685224 0.99937566 0.846408 ] [ 0. 0. 0. 1. ]] SLAMing on 79.562557844 meters Centerline goodness : 0.143382 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.9993998 -0.00282622 -0.03452604 -0.79039544] [ 0.00258366 0.99997168 -0.00706789 -0.01464574] [ 0.03454504 0.00697444 0.99937881 0.84692054] [ 0. 0. 0. 1. ]] SLAMing on 79.592557844 meters Centerline goodness : 0.140010 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99940967 -0.00282089 -0.03423974 -0.79153285] [ 0.00257812 0.99997124 -0.00713234 -0.01431341] [ 0.03425887 0.00703985 0.9993882 0.84761312] [ 0. 0. 0. 1. ]] SLAMing on 79.622557844 meters Centerline goodness : 0.147124 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99944684 -0.00232562 -0.0331753 -0.79465742] [ 0.00209866 0.99997417 -0.00687425 -0.01382572] [ 0.03319043 0.00680083 0.99942591 0.84828737] [ 0. 0. 0. 1. ]] SLAMing on 79.652557844 meters Centerline goodness : 0.144613 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99944044 -0.00230737 -0.03336883 -0.79403841] [ 0.00207794 0.99997398 -0.00690841 -0.01362378] [ 0.0333839 0.00683521 0.99941923 0.84812058] [ 0. 0. 0. 1. ]] SLAMing on 79.682557844 meters Centerline goodness : 0.140171 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.01, Z:0.85 [[ 0.99943421 -0.00231809 -0.03355422 -0.79325039] [ 0.00208854 0.99997419 -0.00687462 -0.01417193] [ 0.03356929 0.00680065 0.99941325 0.8476165 ] [ 0. 0. 0. 1. ]] SLAMing on 79.712557844 meters Centerline goodness : 0.138281 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99942766 -0.00228263 -0.03375119 -0.79256308] [ 0.0020569 0.9999753 -0.0067212 -0.01521129] [ 0.0337657 0.00664793 0.99940767 0.84727274] [ 0. 0. 0. 1. ]] SLAMing on 79.742557844 meters Centerline goodness : 0.136241 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943461 -0.00205899 -0.03355916 -0.79327868] [ 0.00185291 0.99997924 -0.0061707 -0.01771301] [ 0.03357117 0.00610503 0.99941768 0.84763411] [ 0. 0. 0. 1. ]] SLAMing on 79.772557844 meters Centerline goodness : 0.142586 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943627 -0.00193594 -0.03351717 -0.79354331] [ 0.00173982 0.9999812 -0.00587956 -0.01895261] [ 0.03352792 0.00581793 0.99942085 0.84789473] [ 0. 0. 0. 1. ]] SLAMing on 79.802557844 meters Centerline goodness : 0.134406 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:0.85 [[ 0.99941212 -0.00961181 -0.03290948 -0.77352344] [ 0.00945939 0.99994381 -0.00478408 -0.01541667] [ 0.03295362 0.00446996 0.99944689 0.84949414] [ 0. 0. 0. 1. ]] SLAMing on 79.83255784400001 meters Centerline goodness : 0.137314 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99946622 -0.0013901 -0.03263973 -0.79179495] [ 0.00119843 0.99998193 -0.00589107 -0.02361201] [ 0.03264732 0.00584881 0.99944982 0.84710642] [ 0. 0. 0. 1. ]] SLAMing on 79.862557844 meters Centerline goodness : 0.147696 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99945578 -0.00129399 -0.03296168 -0.79025083] [ 0.00110438 0.99998274 -0.00576998 -0.02398796] [ 0.03296858 0.00573044 0.99943996 0.84592638] [ 0. 0. 0. 1. ]] SLAMing on 79.892557844 meters Centerline goodness : 0.134533 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99945 -0.00128124 -0.03313681 -0.78949515] [ 0.00108935 0.99998254 -0.00580848 -0.02369605] [ 0.03314367 0.00576919 0.99943395 0.84540079] [ 0. 0. 0. 1. ]] SLAMing on 79.922557844 meters Centerline goodness : 0.134184 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99944853 -0.00125227 -0.03318225 -0.78931021] [ 0.00105825 0.99998225 -0.00586422 -0.0232474 ] [ 0.03318901 0.00582587 0.99943211 0.84526572] [ 0. 0. 0. 1. ]] SLAMing on 79.952557844 meters Centerline goodness : 0.128205 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99944815 -0.00121407 -0.03319517 -0.78942105] [ 0.00101836 0.99998201 -0.00591198 -0.0227779 ] [ 0.03320175 0.00587491 0.9994314 0.845507 ] [ 0. 0. 0. 1. ]] SLAMing on 79.982557844 meters Centerline goodness : 0.143851 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 9.99446460e-01 -1.13672615e-03 -3.32487661e-02 -7.89229450e-01] [ 9.40524473e-04 9.99982058e-01 -5.91606610e-03 -2.26008041e-02] [ 3.32548945e-02 5.88152005e-03 9.99429597e-01 8.45388463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012557844 meters Centerline goodness : 0.155321 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.03, Z:0.85 [[ 0.9994338 0.00745764 -0.03280951 -0.76850235] [-0.007701 0.99994372 -0.00729729 -0.02568835] [ 0.03275324 0.00754582 0.99943498 0.84655767] [ 0. 0. 0. 1. ]] SLAMing on 80.042557844 meters Centerline goodness : 0.155012 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 0.99943042 -0.00133221 -0.03372046 -0.7872452 ] [ 0.00111196 0.99997793 -0.00654946 -0.01949687] [ 0.03372844 0.00650823 0.99940984 0.84508838] [ 0. 0. 0. 1. ]] SLAMing on 80.072557844 meters Centerline goodness : 0.151989 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.84 [[ 0.99943168 -0.00134972 -0.03368224 -0.78721132] [ 0.00112309 0.99997661 -0.00674666 -0.018374 ] [ 0.03369055 0.00670499 0.99940982 0.8448745 ] [ 0. 0. 0. 1. ]] SLAMing on 80.102557844 meters Centerline goodness : 0.133626 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:0.85 [[ 9.99459528e-01 -1.10014852e-03 -3.28548706e-02 -7.89467357e-01] [ 8.73770007e-04 9.99975787e-01 -6.90382043e-03 -1.63871483e-02] [ 3.28616703e-02 6.87138150e-03 9.99436288e-01 8.45143044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132557844 meters Centerline goodness : 0.135628 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99540417e-01 2.25765639e-04 -3.03134365e-02 -7.46269039e-01] [-4.44023668e-04 9.99974028e-01 -7.19350401e-03 -1.28601270e-02] [ 3.03110251e-02 7.20365787e-03 9.99514557e-01 8.46162229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162557844 meters Centerline goodness : 0.141143 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99542278e-01 2.13163857e-04 -3.02520833e-02 -7.46388036e-01] [-4.32394668e-04 9.99973694e-01 -7.24044357e-03 -1.26798924e-02] [ 3.02497441e-02 7.25021030e-03 9.99516077e-01 8.46088768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192557844 meters Centerline goodness : 0.139768 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99536770e-01 2.25556065e-04 -3.04334590e-02 -7.45750147e-01] [-4.47599141e-04 9.99973332e-01 -7.28940308e-03 -1.24064759e-02] [ 3.04310032e-02 7.29964839e-03 9.99510215e-01 8.45732538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22255784400001 meters Centerline goodness : 0.144089 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99533365e-01 2.32834856e-04 -3.05450190e-02 -7.45580450e-01] [-4.55170394e-04 9.99973454e-01 -7.27219454e-03 -1.24508614e-02] [ 3.05425149e-02 7.28270427e-03 9.99506937e-01 8.45919413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252557844 meters Centerline goodness : 0.147195 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99531695e-01 2.89387853e-04 -3.05991264e-02 -7.45648796e-01] [-5.08850083e-04 9.99974204e-01 -7.16462934e-03 -1.28947671e-02] [ 3.05962637e-02 7.17684448e-03 9.99506059e-01 8.46249117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282557844 meters Centerline goodness : 0.138563 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:0.85 [[ 9.99530765e-01 3.85314296e-04 -3.06284261e-02 -7.45860232e-01] [-5.98195545e-04 9.99975728e-01 -6.94158775e-03 -1.38888955e-02] [ 3.06250080e-02 6.95665231e-03 9.99506735e-01 8.46711719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312557844 meters Centerline goodness : 0.145754 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.01, Z:0.85 [[ 0.99956774 -0.00730119 -0.02847856 -0.72624225] [ 0.00714383 0.99995867 -0.00562339 -0.01155373] [ 0.02851844 0.00541752 0.99957859 0.84822453] [ 0. 0. 0. 1. ]] SLAMing on 80.342557844 meters Centerline goodness : 0.148033 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.01, Z:0.85 [[ 0.99957795 -0.00715412 -0.02815569 -0.72750007] [ 0.00700988 0.99996182 -0.00521807 -0.01346551] [ 0.02819194 0.0050185 0.99958993 0.84893262] [ 0. 0. 0. 1. ]] SLAMing on 80.372557844 meters Centerline goodness : 0.138254 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:0.85 [[ 9.99628081e-01 3.84077304e-04 -2.72681390e-02 -7.48220031e-01] [-5.37557062e-04 9.99984055e-01 -5.62143070e-03 -2.18971467e-02] [ 2.72655452e-02 5.63399817e-03 9.99612349e-01 8.47410383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402557844 meters Centerline goodness : 0.151584 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99612705e-01 4.80793363e-04 -2.78246074e-02 -7.46672849e-01] [-6.21531107e-04 9.99987058e-01 -5.04960406e-03 -2.52294747e-02] [ 2.78218195e-02 5.06494223e-03 9.99600066e-01 8.47194786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432557844 meters Centerline goodness : 0.150860 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99604444e-01 5.69588888e-04 -2.81181768e-02 -7.45777527e-01] [-7.03577357e-04 9.99988445e-01 -4.75552690e-03 -2.67215568e-02] [ 2.81151432e-02 4.77342913e-03 9.99593294e-01 8.46926047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462557844 meters Centerline goodness : 0.139381 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 9.99601057e-01 7.04612932e-04 -2.82352783e-02 -7.45372613e-01] [-8.30955619e-04 9.99989695e-01 -4.46315570e-03 -2.79446101e-02] [ 2.82318425e-02 4.48483742e-03 9.99591341e-01 8.46727266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492557844 meters Centerline goodness : 0.138537 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99960411 0.00101373 -0.02811759 -0.74590514] [-0.00111854 0.99999248 -0.00371203 -0.03145787] [ 0.02811361 0.00374201 0.99959773 0.84718581] [ 0. 0. 0. 1. ]] SLAMing on 80.522557844 meters Centerline goodness : 0.151381 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99960252 0.00108581 -0.02817115 -0.74594335] [-0.001183 0.99999341 -0.00343348 -0.03329891] [ 0.02816724 0.00346544 0.99959722 0.84752353] [ 0. 0. 0. 1. ]] SLAMing on 80.552557844 meters Centerline goodness : 0.130429 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:0.85 [[ 0.99959897 0.00115891 -0.028294 -0.74566471] [-0.00125093 0.99999399 -0.00323469 -0.03452082] [ 0.02829008 0.00326879 0.99959441 0.84759613] [ 0. 0. 0. 1. ]] SLAMing on 80.58255784400001 meters Centerline goodness : 0.141787 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:0.85 [[ 0.99959416 0.00147649 -0.02844881 -0.74477144] [-0.00156323 0.9999942 -0.00302705 -0.03458472] [ 0.02844417 0.00307029 0.99959067 0.84671321] [ 0. 0. 0. 1. ]] SLAMing on 80.612557844 meters Centerline goodness : 0.131246 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:0.85 [[ 0.99951452 0.00178958 -0.03110503 -0.7911581 ] [-0.00183135 0.99999746 -0.00131429 -0.0382787 ] [ 0.03110259 0.00137062 0.99951526 0.84717587] [ 0. 0. 0. 1. ]] SLAMing on 80.642557844 meters Centerline goodness : 0.142003 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99958071 0.00335447 -0.02876024 -0.74733481] [-0.00340355 0.99999283 -0.00165748 -0.03535939] [ 0.02875448 0.00175467 0.99958496 0.84769892] [ 0. 0. 0. 1. ]] SLAMing on 80.672557844 meters Centerline goodness : 0.130742 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99958121 0.00334441 -0.02874386 -0.7475155 ] [-0.00339395 0.99999284 -0.00167477 -0.03558955] [ 0.02873806 0.00177162 0.99958541 0.84797014] [ 0. 0. 0. 1. ]] SLAMing on 80.702557844 meters Centerline goodness : 0.116287 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99957323 0.00340546 -0.02901307 -0.74695038] [-0.0034555 0.99999263 -0.00167478 -0.03574577] [ 0.02900716 0.00177432 0.99957763 0.84807532] [ 0. 0. 0. 1. ]] SLAMing on 80.732557844 meters Centerline goodness : 0.149488 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956924 0.00346361 -0.02914344 -0.74648871] [-0.00351287 0.99999249 -0.00163931 -0.03567333] [ 0.02913754 0.00174098 0.9995739 0.8478331 ] [ 0. 0. 0. 1. ]] SLAMing on 80.762557844 meters Centerline goodness : 0.149488 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956924 0.00346361 -0.02914344 -0.74648871] [-0.00351287 0.99999249 -0.00163931 -0.03567333] [ 0.02913754 0.00174098 0.9995739 0.8478331 ] [ 0. 0. 0. 1. ]] SLAMing on 80.792557844 meters Centerline goodness : 0.153928 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:0.85 [[ 0.99956934 0.00355056 -0.02912956 -0.74636051] [-0.00359543 0.99999243 -0.00148815 -0.03624515] [ 0.02912405 0.00159224 0.99957454 0.84756919] [ 0. 0. 0. 1. ]] SLAMing on 80.822557844 meters Centerline goodness : 0.146197 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:0.85 [[ 9.99576762e-01 -3.95199395e-03 -2.88214800e-02 -7.26661491e-01] [ 3.93856665e-03 9.99992107e-01 -5.22633035e-04 -3.23971179e-02] [ 2.88233179e-02 4.08896517e-04 9.99584438e-01 8.48813954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852557844 meters Centerline goodness : 0.152282 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:0.85 [[ 9.99578231e-01 -3.84435723e-03 -2.87850716e-02 -7.26745523e-01] [ 3.83982039e-03 9.99992605e-01 -2.12885835e-04 -3.40676319e-02] [ 2.87856772e-02 1.02266542e-04 9.99585601e-01 8.48846747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882557844 meters Centerline goodness : 0.140872 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 9.99585892e-01 -3.63556461e-03 -2.85451824e-02 -7.27739569e-01] [ 3.64830769e-03 9.99993267e-01 3.94348917e-04 -3.69761275e-02] [ 2.85435565e-02 -4.98327222e-04 9.99592425e-01 8.49559095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912557844 meters Centerline goodness : 0.155774 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 9.99589475e-01 -3.52533241e-03 -2.84333070e-02 -7.28190379e-01] [ 3.54348197e-03 9.99993549e-01 5.87958929e-04 -3.75667423e-02] [ 2.84310508e-02 -6.88470468e-04 9.99595519e-01 8.49840092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942557844 meters Centerline goodness : 0.148828 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99654380e-01 -2.02842018e-03 -2.62107880e-02 -6.84788021e-01] [ 2.04323778e-03 9.99997768e-01 5.38554918e-04 -3.48502526e-02] [ 2.62096371e-02 -5.91923655e-04 9.99656293e-01 8.50500536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97255784400001 meters Centerline goodness : 0.132528 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99648867e-01 -2.07113105e-03 -2.64168939e-02 -6.84007764e-01] [ 2.08401703e-03 9.99997723e-01 4.60271008e-04 -3.48143242e-02] [ 2.64158804e-02 -5.15162648e-04 9.99650907e-01 8.50138746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters Centerline goodness : 0.214976 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99645965e-01 -2.13527346e-03 -2.65214252e-02 -6.83415014e-01] [ 2.14354200e-03 9.99997662e-01 2.83342530e-04 -3.40714848e-02] [ 2.65207582e-02 -3.40092006e-04 9.99648205e-01 8.49557094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032557844 meters Centerline goodness : 0.163151 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.03, Z:0.85 [[ 9.99641584e-01 -2.13654409e-03 -2.66859435e-02 -6.82706780e-01] [ 2.14135956e-03 9.99997696e-01 1.51873913e-04 -3.32816452e-02] [ 2.66855576e-02 -2.08963679e-04 9.99643855e-01 8.49050078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062557844 meters Centerline goodness : 0.153776 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:0.85 [[ 0.9995477 -0.00240479 -0.02997699 -0.72986299] [ 0.00244578 0.99999612 0.00133061 -0.03725099] [ 0.02997368 -0.00140333 0.9995497 0.85061934] [ 0. 0. 0. 1. ]] SLAMing on 81.092557844 meters Centerline goodness : 0.135819 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99604068e-01 -3.59935990e-04 -2.81349966e-02 -6.85524343e-01] [ 3.99196841e-04 9.99998954e-01 1.38984102e-03 -3.23126607e-02] [ 2.81344670e-02 -1.40052214e-03 9.99603166e-01 8.51329034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122557844 meters Centerline goodness : 0.147953 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99604642e-01 -4.14768418e-04 -2.81138419e-02 -6.85504529e-01] [ 4.49539630e-04 9.99999142e-01 1.23049130e-03 -3.15122418e-02] [ 2.81133074e-02 -1.24264311e-03 9.99603970e-01 8.51147695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152557844 meters Centerline goodness : 0.147777 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.03, Z:0.85 [[ 9.99609427e-01 8.29900598e-03 -2.66855904e-02 -6.65581967e-01] [-8.30552607e-03 9.99965500e-01 -1.33498760e-04 -3.30330907e-02] [ 2.66835619e-02 3.55084486e-04 9.99643867e-01 8.51906080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182557844 meters Centerline goodness : 0.140724 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.03, Z:0.85 [[ 9.99617263e-01 8.24359746e-03 -2.64077812e-02 -6.66302431e-01] [-8.25338742e-03 9.99965906e-01 -2.61746145e-04 -3.23867338e-02] [ 2.64047231e-02 4.79599614e-04 9.99651219e-01 8.51892267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212557844 meters Centerline goodness : 0.149479 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.03, Z:0.85 [[ 9.99707160e-01 -2.38573644e-04 -2.41978919e-02 -6.87685013e-01] [ 2.52125366e-04 9.99999813e-01 5.56987936e-04 -2.63866246e-02] [ 2.41977545e-02 -5.62925730e-04 9.99707033e-01 8.49587471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242557844 meters Centerline goodness : 0.159136 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:0.85 [[ 9.99709521e-01 -3.61372867e-04 -2.40986038e-02 -6.87927378e-01] [ 3.66938765e-04 9.99999907e-01 2.26541888e-04 -2.48186749e-02] [ 2.40985197e-02 -2.35318794e-04 9.99709561e-01 8.49533606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272557844 meters Centerline goodness : 0.136104 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99740106e-01 1.65734600e-03 -2.27370385e-02 -6.42924992e-01] [-1.66188788e-03 9.99998603e-01 -1.80862348e-04 -1.65973753e-02] [ 2.27367070e-02 2.18601752e-04 9.99741464e-01 8.49337636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302557844 meters Centerline goodness : 0.136597 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99740618e-01 1.49376577e-03 -2.27258892e-02 -6.42754292e-01] [-1.50830360e-03 9.99998669e-01 -6.22576135e-04 -1.44281910e-02] [ 2.27249290e-02 6.56692190e-04 9.99741540e-01 8.48941616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33255784400001 meters Centerline goodness : 0.122921 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99974233 0.00130493 -0.02266197 -0.64270212] [-0.00132993 0.99999852 -0.00108836 -0.01225641] [ 0.02266052 0.00111821 0.99974259 0.84849307] [ 0. 0. 0. 1. ]] SLAMing on 81.362557844 meters Centerline goodness : 0.124825 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99974062 0.00114837 -0.02274582 -0.64237531] [-0.00118171 0.99999825 -0.00145217 -0.01066762] [ 0.02274411 0.00147867 0.99974023 0.8482543 ] [ 0. 0. 0. 1. ]] SLAMing on 81.392557844 meters Centerline goodness : 0.139911 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99738429e-01 9.81663959e-04 -2.28497391e-02 -6.42082579e-01] [-1.02264427e-03 9.99997890e-01 -1.78185332e-03 -9.29993760e-03] [ 2.28479417e-02 1.80475439e-03 9.99737323e-01 8.48181102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters Centerline goodness : 0.123600 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99740841e-01 8.09629553e-04 -2.27507163e-02 -6.42841820e-01] [-8.58556860e-04 9.99997340e-01 -2.14089779e-03 -7.58402682e-03] [ 2.27489224e-02 2.15987574e-03 9.99738877e-01 8.48987899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452557844 meters Centerline goodness : 0.146304 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99746480e-01 7.63912904e-04 -2.25031739e-02 -6.43794942e-01] [-8.14293154e-04 9.99997183e-01 -2.22972821e-03 -7.01925931e-03] [ 2.25014072e-02 2.24748711e-03 9.99744285e-01 8.49530014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters Centerline goodness : 0.172055 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99749314e-01 7.19914287e-04 -2.23783499e-02 -6.44356431e-01] [-7.71214964e-04 9.99997095e-01 -2.28387865e-03 -6.76877609e-03] [ 2.23766407e-02 2.30056463e-03 9.99746965e-01 8.49950133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512557844 meters Centerline goodness : 0.137326 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99744264e-01 5.82511085e-04 -2.26067939e-02 -6.43484945e-01] [-6.35523347e-04 9.99997065e-01 -2.33785674e-03 -7.14247506e-03] [ 2.26053657e-02 2.35162601e-03 9.99741700e-01 8.49463632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542557844 meters Centerline goodness : 0.134355 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99741178e-01 5.40784593e-04 -2.27438752e-02 -6.42838909e-01] [-5.95488975e-04 9.99996946e-01 -2.39853182e-03 -6.95884867e-03] [ 2.27425086e-02 2.41145476e-03 9.99738447e-01 8.48935644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572557844 meters Centerline goodness : 0.132987 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 0.99978007 0.00182453 -0.02089228 -0.59869142] [-0.0018809 0.99999464 -0.00267886 -0.00288611] [ 0.02088728 0.00271757 0.99977814 0.84890221] [ 0. 0. 0. 1. ]] SLAMing on 81.602557844 meters Centerline goodness : 0.125828 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 0.99977974 0.00178138 -0.02091149 -0.59869344] [-0.00184114 0.99999428 -0.002839 -0.00201083] [ 0.02090632 0.00287688 0.9997773 0.84895998] [ 0. 0. 0. 1. ]] SLAMing on 81.632557844 meters Centerline goodness : 0.134789 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 9.99778559e-01 1.71283022e-03 -2.09737851e-02 -5.98637989e-01] [-1.77769562e-03 9.99993694e-01 -3.07443522e-03 -8.60046507e-04] [ 2.09683868e-02 3.11103942e-03 9.99775299e-01 8.49128040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662557844 meters Centerline goodness : 0.124755 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99707701e-01 7.82265025e-04 -2.41640452e-02 -6.43429581e-01] [-8.55818460e-04 9.99995032e-01 -3.03372905e-03 -2.51592660e-03] [ 2.41615520e-02 3.05352233e-03 9.99703404e-01 8.49670039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692557844 meters Centerline goodness : 0.151238 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 9.99689474e-01 8.61342943e-04 -2.49041026e-02 -6.40995204e-01] [-9.53384220e-04 9.99992759e-01 -3.68419070e-03 1.33079976e-03] [ 2.49007489e-02 3.70678984e-03 9.99683056e-01 8.48344114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72255784400001 meters Centerline goodness : 0.134099 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99972331 0.00296704 -0.02333434 -0.59648129] [-0.00305208 0.99998883 -0.0036096 0.0074399 ] [ 0.02332337 0.00367982 0.9997212 0.84825422] [ 0. 0. 0. 1. ]] SLAMing on 81.752557844 meters Centerline goodness : 0.127650 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99972688 0.00286778 -0.02319372 -0.59671177] [-0.00296037 0.99998778 -0.00395863 0.00926038] [ 0.02318208 0.00402621 0.99972315 0.84798417] [ 0. 0. 0. 1. ]] SLAMing on 81.782557844 meters Centerline goodness : 0.122918 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99973204 0.00275217 -0.02298408 -0.59734892] [-0.00285137 0.99998676 -0.00428419 0.01088069] [ 0.02297199 0.00434858 0.99972665 0.84809401] [ 0. 0. 0. 1. ]] SLAMing on 81.812557844 meters Centerline goodness : 0.139343 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.99973715 0.0026734 -0.02277003 -0.59814725] [-0.00277685 0.99998596 -0.00451252 0.01202654] [ 0.02275764 0.00457456 0.99973055 0.8484997 ] [ 0. 0. 0. 1. ]] SLAMing on 81.842557844 meters Centerline goodness : 0.134525 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.85 [[ 0.9997412 0.00256157 -0.02260481 -0.59890971] [-0.00267065 0.99998493 -0.00479628 0.01342616] [ 0.02259218 0.0048554 0.99973297 0.8490687 ] [ 0. 0. 0. 1. ]] SLAMing on 81.872557844 meters Centerline goodness : 0.125617 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.02, Z:0.85 [[ 0.99974249 0.00235338 -0.0225702 -0.59930537] [-0.00247484 0.9999826 -0.00535527 0.01641821] [ 0.0225572 0.00540974 0.99973092 0.84945434] [ 0. 0. 0. 1. ]] SLAMing on 81.902557844 meters Centerline goodness : 0.129299 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:0.85 [[ 0.99973313 -0.00314319 -0.02288624 -0.57618349] [ 0.00308533 0.99999196 -0.00256326 0.02121527] [ 0.02289411 0.00249197 0.99973479 0.84926884] [ 0. 0. 0. 1. ]] SLAMing on 81.932557844 meters Centerline goodness : 0.130372 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99964407 -0.00401646 -0.02637414 -0.61979742] [ 0.00396133 0.99998986 -0.00214189 0.01858274] [ 0.02638248 0.00203665 0.99964985 0.84922106] [ 0. 0. 0. 1. ]] SLAMing on 81.962557844 meters Centerline goodness : 0.133171 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99963607 -0.00416383 -0.02665302 -0.61877295] [ 0.00410198 0.99998877 -0.0023749 0.01938137] [ 0.02666261 0.00226471 0.99964192 0.84870062] [ 0. 0. 0. 1. ]] SLAMing on 81.992557844 meters Centerline goodness : 0.132459 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99963081 -0.00427911 -0.02683174 -0.61831871] [ 0.00421367 0.99998801 -0.00249463 0.01961685] [ 0.02684209 0.00238065 0.99963685 0.84867695] [ 0. 0. 0. 1. ]] SLAMing on 82.022557844 meters Centerline goodness : 0.133301 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99966232 -0.00472468 -0.0255524 -0.62245783] [ 0.00466296 0.99998607 -0.00247473 0.0186736 ] [ 0.02556374 0.00235474 0.99967042 0.85037136] [ 0. 0. 0. 1. ]] SLAMing on 82.052557844 meters Centerline goodness : 0.137412 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.02, Z:0.85 [[ 0.99966929 -0.00465275 -0.0252917 -0.62360473] [ 0.00460162 0.99998725 -0.00207961 0.01687835] [ 0.02530105 0.00196254 0.99967795 0.85125376] [ 0. 0. 0. 1. ]] SLAMing on 82.08255784400001 meters Centerline goodness : 0.136567 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.85 [[ 0.99966362 -0.00464745 -0.02551564 -0.62310149] [ 0.00460471 0.9999879 -0.00173343 0.0148153 ] [ 0.02552339 0.00161535 0.99967292 0.85147519] [ 0. 0. 0. 1. ]] SLAMing on 82.112557844 meters Centerline goodness : 0.134854 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.85 [[ 0.99964305 -0.0048166 -0.02627893 -0.62088339] [ 0.00477778 0.9999874 -0.00153981 0.01276126] [ 0.02628601 0.0014137 0.99965346 0.85110793] [ 0. 0. 0. 1. ]] SLAMing on 82.142557844 meters Centerline goodness : 0.134786 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 0.99960969 0.00234479 -0.02783826 -0.63838448] [-0.00242888 0.99999259 -0.00298749 0.00458599] [ 0.02783105 0.00305394 0.99960798 0.84905141] [ 0. 0. 0. 1. ]] SLAMing on 82.172557844 meters Centerline goodness : 0.161397 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 0.99960514 0.00247123 -0.02799024 -0.63788957] [-0.00254539 0.99999334 -0.00261406 0.00272433] [ 0.0279836 0.00268428 0.99960478 0.84888227] [ 0. 0. 0. 1. ]] SLAMing on 82.202557844 meters Centerline goodness : 0.136741 Centerline is valid? [False, False] Translation: X:-0.64, Y:0.00, Z:0.85 [[ 9.99613566e-01 2.70110276e-03 -2.76662824e-02 -6.39511059e-01] [-2.75997973e-03 9.99994007e-01 -2.09014739e-03 4.71145646e-04] [ 2.76604709e-02 2.16569807e-03 9.99615030e-01 8.50298576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.232557844 meters Centerline goodness : 0.145528 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99618722e-01 2.80891042e-03 -2.74685527e-02 -6.40448713e-01] [-2.86123426e-03 9.99994166e-01 -1.86574430e-03 -6.04277854e-04] [ 2.74631517e-02 1.94362690e-03 9.99620927e-01 8.51065120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262557844 meters Centerline goodness : 0.135487 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962181 0.0029259 -0.02734377 -0.64097889] [-0.00297296 0.99999417 -0.00168059 -0.00144422] [ 0.02733869 0.00176124 0.99962468 0.85143222] [ 0. 0. 0. 1. ]] SLAMing on 82.292557844 meters Centerline goodness : 0.143533 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.9996211 0.00303291 -0.02735783 -0.64087008] [-0.00307633 0.99999407 -0.00154546 -0.00197633] [ 0.02735298 0.00162903 0.99962451 0.8513107 ] [ 0. 0. 0. 1. ]] SLAMing on 82.322557844 meters Centerline goodness : 0.143430 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99961747 0.00314737 -0.02747757 -0.64037705] [-0.00318834 0.99999387 -0.00144713 -0.00225038] [ 0.02747285 0.00153418 0.99962137 0.85096117] [ 0. 0. 0. 1. ]] SLAMing on 82.352557844 meters Centerline goodness : 0.119625 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960945 0.00325161 -0.02775567 -0.63942327] [-0.00329203 0.99999359 -0.00141066 -0.00223337] [ 0.0277509 0.00150148 0.99961374 0.85048218] [ 0. 0. 0. 1. ]] SLAMing on 82.382557844 meters Centerline goodness : 0.126846 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960529 0.00328738 -0.02790096 -0.63885411] [-0.00332946 0.99999339 -0.00146211 -0.00190811] [ 0.02789597 0.00155443 0.99960962 0.85014382] [ 0. 0. 0. 1. ]] SLAMing on 82.412557844 meters Centerline goodness : 0.084332 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960174 0.00332627 -0.02802316 -0.63847449] [-0.00336964 0.9999932 -0.00150082 -0.00163748] [ 0.02801798 0.00159465 0.99960615 0.84996976] [ 0. 0. 0. 1. ]] SLAMing on 82.442557844 meters Centerline goodness : 0.120622 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99960485 0.00338863 -0.02790443 -0.63873264] [-0.0034326 0.99999294 -0.00152815 -0.00129049] [ 0.02789906 0.00162333 0.99960943 0.84986982] [ 0. 0. 0. 1. ]] SLAMing on 82.47255784400001 meters Centerline goodness : 0.126122 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962488 0.00383279 -0.02711839 -0.64102846] [-0.00386869 0.99999171 -0.00127172 -0.00124928] [ 0.02711329 0.00137615 0.99963142 0.85033781] [ 0. 0. 0. 1. ]] SLAMing on 82.502557844 meters Centerline goodness : 0.125756 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962865 0.00387789 -0.02697252 -0.64149998] [-0.0039127 0.99999158 -0.00123764 -0.00133094] [ 0.02696749 0.00134271 0.99963541 0.85048328] [ 0. 0. 0. 1. ]] SLAMing on 82.532557844 meters Centerline goodness : 0.159155 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962779 0.0038746 -0.02700484 -0.64145872] [-0.00390851 0.99999164 -0.00120295 -0.00174542] [ 0.02699995 0.00130805 0.99963458 0.85053729] [ 0. 0. 0. 1. ]] SLAMing on 82.562557844 meters Centerline goodness : 0.133033 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 0.99962489 0.00389945 -0.02710853 -0.64114374] [-0.00393025 0.99999169 -0.00108313 -0.00255453] [ 0.02710408 0.00118927 0.99963191 0.85048725] [ 0. 0. 0. 1. ]] SLAMing on 82.592557844 meters Centerline goodness : 0.157140 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.00, Z:0.85 [[ 9.99624213e-01 3.95462945e-03 -2.71255071e-02 -6.41091595e-01] [-3.98162613e-03 9.99991630e-01 -9.41310934e-04 -3.28890872e-03] [ 2.71215575e-02 1.04896083e-03 9.99631593e-01 8.50475927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622557844 meters Centerline goodness : 0.125003 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99653616e-01 -3.44960143e-03 -2.60911442e-02 -6.21889878e-01] [ 3.45905785e-03 9.99993967e-01 3.17313359e-04 2.01112716e-03] [ 2.60898921e-02 -4.07454223e-04 9.99659518e-01 8.51844187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652557844 meters Centerline goodness : 0.125003 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99653616e-01 -3.44960143e-03 -2.60911442e-02 -6.21889878e-01] [ 3.45905785e-03 9.99993967e-01 3.17313359e-04 2.01112716e-03] [ 2.60898921e-02 -4.07454223e-04 9.99659518e-01 8.51844187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682557844 meters Centerline goodness : 0.133499 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99665755e-01 -3.31747667e-03 -2.56392732e-02 -6.23698967e-01] [ 3.33392030e-03 9.99994263e-01 5.98625073e-04 1.21037271e-03] [ 2.56371402e-02 -6.83904279e-04 9.99671081e-01 8.52965593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712557844 meters Centerline goodness : 0.143673 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.00, Z:0.85 [[ 9.99665606e-01 -3.29001349e-03 -2.56486289e-02 -6.23868972e-01] [ 3.30986122e-03 9.99994255e-01 7.31416644e-04 4.69241062e-04] [ 2.56460752e-02 -8.16065465e-04 9.99670752e-01 8.53323620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742557844 meters Centerline goodness : 0.126124 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 9.99663836e-01 -3.28148813e-03 -2.57186229e-02 -6.23684151e-01] [ 3.30419625e-03 9.99994188e-01 8.40497651e-04 -2.60174183e-04] [ 2.57157154e-02 -9.25194483e-04 9.99668868e-01 8.53321229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772557844 meters Centerline goodness : 0.124329 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.85 [[ 9.99675030e-01 5.19532551e-03 -2.49568242e-02 -6.03234618e-01] [-5.20543351e-03 9.99986394e-01 -3.40070486e-04 -3.85881145e-03] [ 2.49547179e-02 4.69871062e-04 9.99688472e-01 8.54176464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802557844 meters Centerline goodness : 0.128180 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 9.99665931e-01 -4.03008646e-03 -2.55300588e-02 -6.24336720e-01] [ 4.04949463e-03 9.99991550e-01 7.08553531e-04 -1.63229641e-03] [ 2.55269875e-02 -8.11700661e-04 9.99673804e-01 8.52945535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83255784400001 meters Centerline goodness : 0.122872 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.00, Z:0.85 [[ 0.99966725 -0.00389753 -0.02549898 -0.62473891] [ 0.00392997 0.99999153 0.00122252 -0.00423985] [ 0.025494 -0.00132232 0.9996741 0.85358349] [ 0. 0. 0. 1. ]] SLAMing on 82.862557844 meters Centerline goodness : 0.395375 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99968943 0.00259249 -0.0247855 -0.6016433 ] [-0.00263729 0.99999495 -0.0017747 -0.00547228] [ 0.02478077 0.00183952 0.99969122 0.85319363] [ 0. 0. 0. 1. ]] SLAMing on 82.892557844 meters Centerline goodness : 0.119615 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99610035e-01 6.65880536e-04 -2.79165608e-02 -6.44764634e-01] [-7.20831424e-04 9.99997823e-01 -1.95838014e-03 -1.03368987e-02] [ 2.79151960e-02 1.97773957e-03 9.99608338e-01 8.52828064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922557844 meters Centerline goodness : 0.128104 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99602506e-01 7.18984646e-04 -2.81835563e-02 -6.44050713e-01] [-7.66972755e-04 9.99998275e-01 -1.69192566e-03 -1.19830177e-02] [ 2.81822912e-02 1.71286915e-03 9.99601333e-01 8.52794497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952557844 meters Centerline goodness : 0.152887 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99600594e-01 7.96028966e-04 -2.82492231e-02 -6.43878142e-01] [-8.37284009e-04 9.99998600e-01 -1.44859703e-03 -1.32927880e-02] [ 2.82480304e-02 1.47167108e-03 9.99599861e-01 8.52819663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters Centerline goodness : 0.119762 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99599604e-01 8.61287599e-04 -2.82823082e-02 -6.43771221e-01] [-8.98430510e-04 9.99998751e-01 -1.30061024e-03 -1.40694669e-02] [ 2.82811527e-02 1.32549917e-03 9.99599129e-01 8.52763948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012557844 meters Centerline goodness : 0.133004 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99595936e-01 9.19149645e-04 -2.84098591e-02 -6.43028591e-01] [-9.58190552e-04 9.99998615e-01 -1.36061953e-03 -1.34876328e-02] [ 2.84085692e-02 1.38729181e-03 9.99595432e-01 8.52045451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042557844 meters Centerline goodness : 0.151622 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99593059e-01 8.89107250e-04 -2.85118670e-02 -6.42656567e-01] [-9.32509113e-04 9.99998427e-01 -1.50897815e-03 -1.26037502e-02] [ 2.85104805e-02 1.53495166e-03 9.99592315e-01 8.51848275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072557844 meters Centerline goodness : 0.116659 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99590043e-01 8.68416955e-04 -2.86180333e-02 -6.42350189e-01] [-9.14304604e-04 9.99998317e-01 -1.59040578e-03 -1.21873580e-02] [ 2.86166040e-02 1.61591938e-03 9.99589155e-01 8.51772800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102557844 meters Centerline goodness : 0.117166 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99587745e-01 8.98355136e-04 -2.86972727e-02 -6.42298208e-01] [-9.42674012e-04 9.99998384e-01 -1.53086695e-03 -1.24871369e-02] [ 2.86958510e-02 1.55728802e-03 9.99586976e-01 8.52026893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132557844 meters Centerline goodness : 0.132739 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 9.99588481e-01 9.71529208e-04 -2.86692469e-02 -6.42624142e-01] [-1.00975614e-03 9.99998620e-01 -1.31893026e-03 -1.36397906e-02] [ 2.86679260e-02 1.34733644e-03 9.99588083e-01 8.52477472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162557844 meters Centerline goodness : 0.131955 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.01, Z:0.85 [[ 0.99959038 0.00105477 -0.02860014 -0.64301755] [-0.00108649 0.99999881 -0.0010937 -0.01477494] [ 0.02859895 0.00112432 0.99959033 0.85283108] [ 0. 0. 0. 1. ]] SLAMing on 83.192557844 meters Centerline goodness : 0.135206 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99592633e-01 1.22073737e-03 -2.85145308e-02 -6.43315993e-01] [-1.23984813e-03 9.99999018e-01 -6.52540334e-04 -1.69410380e-02] [ 2.85137062e-02 6.87628198e-04 9.99593165e-01 8.53006898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22255784400001 meters Centerline goodness : 0.137092 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99587836e-01 1.23557030e-03 -2.86815581e-02 -6.42737069e-01] [-1.25241055e-03 9.99999054e-01 -5.69188726e-04 -1.75582372e-02] [ 2.86808277e-02 6.04875213e-04 9.99588437e-01 8.52769542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252557844 meters Centerline goodness : 0.136374 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99579920e-01 1.29078051e-03 -2.89537241e-02 -6.41933078e-01] [-1.30289429e-03 9.99999071e-01 -3.99522553e-04 -1.85166639e-02] [ 2.89531815e-02 4.37078363e-04 9.99580673e-01 8.52606205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282557844 meters Centerline goodness : 0.150176 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99573797e-01 1.35109806e-03 -2.91615927e-02 -6.41186080e-01] [-1.35825869e-03 9.99999052e-01 -2.25742853e-04 -1.94739446e-02] [ 2.91612601e-02 2.65255628e-04 9.99574685e-01 8.52235663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312557844 meters Centerline goodness : 0.138019 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99569043e-01 1.41481963e-03 -2.93210853e-02 -6.40594259e-01] [-1.41707644e-03 9.99998994e-01 -5.61893474e-05 -2.02789845e-02] [ 2.93209763e-02 9.77153514e-05 9.99570043e-01 8.51927409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342557844 meters Centerline goodness : 0.136367 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99567869e-01 1.51392278e-03 -2.93561319e-02 -6.40439358e-01] [-1.50973229e-03 9.99998847e-01 1.64910746e-04 -2.12531348e-02] [ 2.93563477e-02 -1.20519582e-04 9.99569002e-01 8.51800754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.372557844 meters Centerline goodness : 0.146250 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99572180e-01 1.56415824e-03 -2.92063336e-02 -6.40690427e-01] [-1.55658902e-03 9.99998749e-01 2.81897783e-04 -2.18440395e-02] [ 2.92067380e-02 -2.36314924e-04 9.99573364e-01 8.51603499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402557844 meters Centerline goodness : 0.158106 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:0.85 [[ 9.99572981e-01 1.57173255e-03 -2.91785226e-02 -6.40809162e-01] [-1.56443946e-03 9.99998739e-01 2.72774273e-04 -2.17846442e-02] [ 2.91789146e-02 -2.27009761e-04 9.99574179e-01 8.51687415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 83.462557844 meters Centerline goodness : 0.135369 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 9.99557677e-01 1.05424857e-02 -2.78083799e-02 -6.20586580e-01] [-1.05702711e-02 9.99943770e-01 -8.52359315e-04 -2.36294361e-02] [ 2.77978303e-02 1.14592441e-03 9.99612909e-01 8.53020056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492557844 meters Centerline goodness : 0.149306 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 9.99559272e-01 1.04978074e-02 -2.77679146e-02 -6.20575797e-01] [-1.05289103e-02 9.99944095e-01 -9.74123647e-04 -2.30146425e-02] [ 2.77561360e-02 1.26606021e-03 9.99613922e-01 8.52843866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522557844 meters Centerline goodness : 0.125397 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955897 0.01039497 -0.02781744 -0.62049227] [-0.01043232 0.99994486 -0.00119792 -0.02204748] [ 0.02780346 0.00148759 0.9996123 0.85291749] [ 0. 0. 0. 1. ]] SLAMing on 83.552557844 meters Centerline goodness : 0.146527 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955423 0.01022715 -0.02804903 -0.61978365] [-0.01027671 0.99994588 -0.00162345 -0.02005377] [ 0.0280309 0.00191097 0.99960523 0.85271456] [ 0. 0. 0. 1. ]] SLAMing on 83.58255784400001 meters Centerline goodness : 0.148460 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:0.85 [[ 0.99955185 0.0101762 -0.02815219 -0.61945668] [-0.01022925 0.99994616 -0.00174121 -0.0194244 ] [ 0.02813295 0.00202841 0.99960213 0.85257056] [ 0. 0. 0. 1. ]] SLAMing on 83.61255784400001 meters Centerline goodness : 0.325587 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957598 0.00256266 -0.02900489 -0.60020393] [-0.00259353 0.99999611 -0.00102664 -0.01203844] [ 0.02900215 0.00110143 0.99957874 0.85392887] [ 0. 0. 0. 1. ]] SLAMing on 83.642557844 meters Centerline goodness : 0.133261 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957164 0.00247526 -0.02916185 -0.59967115] [-0.00251059 0.99999616 -0.00117512 -0.01143705] [ 0.02915883 0.00124783 0.99957401 0.85372609] [ 0. 0. 0. 1. ]] SLAMing on 83.672557844 meters Centerline goodness : 0.129282 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99957446 0.00238234 -0.02907277 -0.60004533] [-0.00242286 0.99999614 -0.00135869 -0.01055022] [ 0.02906942 0.00142855 0.99957637 0.85395938] [ 0. 0. 0. 1. ]] SLAMing on 83.702557844 meters Centerline goodness : 0.141458 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:0.85 [[ 0.99958241 0.00230968 -0.02880414 -0.60113115] [-0.00235624 0.99999597 -0.00158271 -0.00922088] [ 0.02880037 0.00164992 0.99958382 0.85455937] [ 0. 0. 0. 1. ]] SLAMing on 83.732557844 meters Centerline goodness : 0.145135 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.01, Z:0.86 [[ 9.99539299e-01 1.79282245e-03 -3.02981243e-02 -6.50493371e-01] [-1.82219848e-03 9.99997896e-01 -9.41982633e-04 -8.25612049e-03] [ 3.02963718e-02 9.96757856e-04 9.99540463e-01 8.57001386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762557844 meters Centerline goodness : 0.132173 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.00, Z:0.86 [[ 0.99959227 0.00289442 -0.02840626 -0.60668598] [-0.00294859 0.99999391 -0.00186537 -0.00225821] [ 0.02840069 0.00194837 0.99959472 0.85779198] [ 0. 0. 0. 1. ]] SLAMing on 83.792557844 meters Centerline goodness : 0.135047 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.00, Z:0.86 [[ 9.99591663e-01 2.73492463e-03 -2.84433950e-02 -6.06661474e-01] [-2.79867376e-03 9.99993660e-01 -2.20169469e-03 -8.20793507e-04] [ 2.84371932e-02 2.28039944e-03 9.99592980e-01 8.57880965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822557844 meters Centerline goodness : 0.131956 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.00, Z:0.86 [[ 9.99595349e-01 2.61022999e-03 -2.83253329e-02 -6.07046791e-01] [-2.68100363e-03 9.99993378e-01 -2.46090839e-03 4.44693548e-04] [ 2.83187218e-02 2.53585290e-03 9.99595728e-01 8.57982614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852557844 meters Centerline goodness : 0.120163 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.00, Z:0.86 [[ 0.99960346 0.00253204 -0.02804477 -0.60796644] [-0.00260702 0.99999312 -0.00263742 0.0014106 ] [ 0.0280379 0.00270949 0.99960319 0.8583083 ] [ 0. 0. 0. 1. ]] SLAMing on 83.882557844 meters Centerline goodness : 0.117852 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:0.86 [[ 0.99962148 -0.00501037 -0.02705151 -0.58913982] [ 0.00497042 0.99998646 -0.00154377 0.00809821] [ 0.02705887 0.00140872 0.99963285 0.86036098] [ 0. 0. 0. 1. ]] SLAMing on 83.912557844 meters Centerline goodness : 0.117843 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.01, Z:0.86 [[ 0.99961336 -0.00533232 -0.02728926 -0.58862368] [ 0.00528127 0.99998417 -0.00194252 0.0096713 ] [ 0.02729919 0.00179765 0.99962569 0.86048038] [ 0. 0. 0. 1. ]] SLAMing on 83.942557844 meters Centerline goodness : 0.120907 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:0.86 [[ 0.99962575 0.0027736 -0.02721502 -0.5676749 ] [-0.00286642 0.99999021 -0.00337195 0.00760449] [ 0.0272054 0.0034487 0.99962392 0.86144472] [ 0. 0. 0. 1. ]] SLAMing on 83.97255784400001 meters Centerline goodness : 0.119665 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.01, Z:0.86 [[ 0.99962231 0.00270038 -0.02734851 -0.56728956] [-0.00279686 0.99999 -0.00348992 0.00807975] [ 0.02733882 0.00356509 0.99961987 0.86139886] [ 0. 0. 0. 1. ]] SLAMing on 84.002557844 meters Centerline goodness : 0.123749 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:0.86 [[ 0.99962674 -0.00481924 -0.02689173 -0.54783581] [ 0.00475283 0.9999855 -0.00253285 0.01359232] [ 0.02690355 0.00240409 0.99963514 0.86324586] [ 0. 0. 0. 1. ]] SLAMing on 84.032557844 meters Centerline goodness : 0.141793 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.01, Z:0.86 [[ 0.9996299 -0.00485848 -0.02676685 -0.54846161] [ 0.00479015 0.99998511 -0.00261609 0.01398925] [ 0.02677917 0.0024869 0.99963828 0.86374544] [ 0. 0. 0. 1. ]] SLAMing on 84.062557844 meters Centerline goodness : 0.142399 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99964388 -0.00475299 -0.02625882 -0.55010624] [ 0.00467884 0.99998489 -0.00288455 0.01625627] [ 0.02627213 0.00276066 0.99965102 0.86427558] [ 0. 0. 0. 1. ]] SLAMing on 84.092557844 meters Centerline goodness : 0.142399 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99964388 -0.00475299 -0.02625882 -0.55010624] [ 0.00467884 0.99998489 -0.00288455 0.01625627] [ 0.02627213 0.00276066 0.99965102 0.86427558] [ 0. 0. 0. 1. ]] SLAMing on 84.122557844 meters Centerline goodness : 0.130952 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.02, Z:0.86 [[ 0.99963065 -0.00410883 -0.02686395 -0.54799904] [ 0.00403042 0.99998746 -0.00297207 0.01920704] [ 0.02687582 0.0028627 0.99963468 0.8630892 ] [ 0. 0. 0. 1. ]] SLAMing on 84.152557844 meters Centerline goodness : 0.121555 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.02, Z:0.86 [[ 0.99954559 -0.0045028 -0.02980488 -0.59240108] [ 0.00442792 0.99998687 -0.00257792 0.01699854] [ 0.0298161 0.00244477 0.99955241 0.86287352] [ 0. 0. 0. 1. ]] SLAMing on 84.182557844 meters Centerline goodness : 0.132282 Centerline is valid? [False, False] Translation: X:-0.57, Y:0.02, Z:0.86 [[ 0.99958885 0.00415979 -0.0283693 -0.57232146] [-0.00427527 0.99998282 -0.00401135 0.01565993] [ 0.02835213 0.00413099 0.99958946 0.86401558] [ 0. 0. 0. 1. ]] SLAMing on 84.212557844 meters Centerline goodness : 0.157391 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.99952282 0.00342787 -0.03069819 -0.61954434] [-0.00353501 0.99998785 -0.00343636 0.01188795] [ 0.03068604 0.00354324 0.99952279 0.8653001 ] [ 0. 0. 0. 1. ]] SLAMing on 84.242557844 meters Centerline goodness : 0.134114 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.99952489 0.00350289 -0.03062223 -0.61993751] [-0.00360474 0.99998815 -0.00327125 0.01126208] [ 0.0306104 0.00338008 0.99952568 0.86561097] [ 0. 0. 0. 1. ]] SLAMing on 84.272557844 meters Centerline goodness : 0.122092 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.01, Z:0.87 [[ 0.9995232 0.0036145 -0.03066452 -0.61981878] [-0.00370918 0.99998853 -0.00303145 0.01030225] [ 0.03065321 0.00314374 0.99952514 0.86558582] [ 0. 0. 0. 1. ]] SLAMing on 84.302557844 meters Centerline goodness : 0.157616 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956001 -0.0042255 -0.02935852 -0.59940024] [ 0.00416944 0.99998937 -0.00197025 0.01227968] [ 0.02936654 0.00184697 0.999567 0.86635364] [ 0. 0. 0. 1. ]] SLAMing on 84.33255784400001 meters Centerline goodness : 0.117636 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956178 -0.00411422 -0.02931402 -0.59959237] [ 0.00406762 0.99999037 -0.00164919 0.01048495] [ 0.02932052 0.00152923 0.99956889 0.86655099] [ 0. 0. 0. 1. ]] SLAMing on 84.36255784400001 meters Centerline goodness : 0.128887 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.01, Z:0.87 [[ 0.99956249 -0.00400674 -0.02930473 -0.59974145] [ 0.00396803 0.99999118 -0.00137889 0.00905437] [ 0.02931 0.001262 0.99956957 0.86680176] [ 0. 0. 0. 1. ]] SLAMing on 84.392557844 meters Centerline goodness : 0.121011 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99962377 -0.00276956 -0.02728826 -0.55656599] [ 0.00272233 0.99999473 -0.00176782 0.01175872] [ 0.02729301 0.00169287 0.99962604 0.8678115 ] [ 0. 0. 0. 1. ]] SLAMing on 84.422557844 meters Centerline goodness : 0.118129 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.87 [[ 0.99960525 0.00517972 -0.0276135 -0.57723513] [-0.00525071 0.99998309 -0.00249927 0.00557838] [ 0.02760009 0.00264327 0.99961555 0.86646101] [ 0. 0. 0. 1. ]] SLAMing on 84.452557844 meters Centerline goodness : 0.129463 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.87 [[ 0.99960397 0.00521432 -0.02765348 -0.57708318] [-0.00528562 0.99998289 -0.0025058 0.00573425] [ 0.02763994 0.00265098 0.99961443 0.8663623 ] [ 0. 0. 0. 1. ]] SLAMing on 84.482557844 meters Centerline goodness : 0.132020 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99959044 -0.00154447 -0.02857575 -0.55831778] [ 0.00149726 0.99999748 -0.0016735 0.01123919] [ 0.02857826 0.00163003 0.99959023 0.86815315] [ 0. 0. 0. 1. ]] SLAMing on 84.512557844 meters Centerline goodness : 0.150687 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958803 -0.00158112 -0.02865772 -0.55789296] [ 0.00153136 0.99999728 -0.00175816 0.01150807] [ 0.02866042 0.00171356 0.99958774 0.86777805] [ 0. 0. 0. 1. ]] SLAMing on 84.542557844 meters Centerline goodness : 0.122262 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958349 -0.00160133 -0.02881468 -0.55719001] [ 0.00155111 0.99999724 -0.00176501 0.01133651] [ 0.02881743 0.00171958 0.99958321 0.86729032] [ 0. 0. 0. 1. ]] SLAMing on 84.572557844 meters Centerline goodness : 0.122262 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99958349 -0.00160133 -0.02881468 -0.55719001] [ 0.00155111 0.99999724 -0.00176501 0.01133651] [ 0.02881743 0.00171958 0.99958321 0.86729032] [ 0. 0. 0. 1. ]] SLAMing on 84.602557844 meters Centerline goodness : 0.120835 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957749 -0.001625 -0.02902066 -0.55640964] [ 0.00157522 0.99999725 -0.0017382 0.01090027] [ 0.0290234 0.00169175 0.9995773 0.86685427] [ 0. 0. 0. 1. ]] SLAMing on 84.632557844 meters Centerline goodness : 0.152725 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957238 -0.001609 -0.02919716 -0.55607017] [ 0.00156357 0.99999753 -0.00157859 0.00989642] [ 0.02919962 0.00153227 0.99957243 0.86707822] [ 0. 0. 0. 1. ]] SLAMing on 84.662557844 meters Centerline goodness : 0.142342 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 0.99957097 -0.00153019 -0.02924947 -0.55620642] [ 0.0014946 0.99999812 -0.00123849 0.00810201] [ 0.02925131 0.00119424 0.99957138 0.86756123] [ 0. 0. 0. 1. ]] SLAMing on 84.692557844 meters Centerline goodness : 0.154144 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:0.87 [[ 9.99576794e-01 -1.41046758e-03 -2.90558597e-02 -5.57113934e-01] [ 1.38854749e-03 9.99998736e-01 -7.74575217e-04 5.86001268e-03] [ 2.90569155e-02 7.33901971e-04 9.99577489e-01 8.68324357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72255784400001 meters Centerline goodness : 0.140377 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99583625e-01 -1.27712756e-03 -2.88261206e-02 -5.58073061e-01] [ 1.27174602e-03 9.99999170e-01 -2.05022503e-04 3.03777240e-03] [ 2.88263585e-02 1.68277633e-04 9.99584420e-01 8.69061706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752557844 meters Centerline goodness : 0.135624 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99579786e-01 -1.15352694e-03 -2.89641218e-02 -5.57714079e-01] [ 1.16437481e-03 9.99999258e-01 3.57664536e-04 4.90504898e-05] [ 2.89636877e-02 -3.91239334e-04 9.99580388e-01 8.69158591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782557844 meters Centerline goodness : 0.151300 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.00, Z:0.87 [[ 9.99534599e-01 -2.94933578e-03 -3.03625886e-02 -5.51171752e-01] [ 2.92366478e-03 9.99995330e-01 -8.89841746e-04 -4.68858872e-03] [ 3.03650713e-02 8.00657581e-04 9.99538554e-01 8.65865152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812557844 meters Centerline goodness : 0.139235 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.01, Z:0.87 [[ 9.99524223e-01 -2.84248132e-03 -3.07123355e-02 -5.49971438e-01] [ 2.82636609e-03 9.99995844e-01 -5.68114857e-04 -6.34102305e-03] [ 3.07138228e-02 4.81040258e-04 9.99528104e-01 8.65398336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842557844 meters Centerline goodness : 0.151031 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.01, Z:0.87 [[ 9.99520162e-01 -2.71209259e-03 -3.08559606e-02 -5.49636286e-01] [ 2.70434047e-03 9.99996300e-01 -2.92965284e-04 -7.54381828e-03] [ 3.08566410e-02 2.09379685e-04 9.99523799e-01 8.65443627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872557844 meters Centerline goodness : 0.148324 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99954927 0.00608743 -0.02939712 -0.53037176] [-0.00613301 0.99998013 -0.00146031 -0.01098357] [ 0.02938764 0.00163995 0.99956674 0.86705488] [ 0. 0. 0. 1. ]] SLAMing on 84.902557844 meters Centerline goodness : 0.140749 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99957692 0.00644529 -0.02836281 -0.53366257] [-0.00647764 0.99997847 -0.00104875 -0.01218358] [ 0.02835544 0.00123203 0.99959714 0.86822388] [ 0. 0. 0. 1. ]] SLAMing on 84.932557844 meters Centerline goodness : 0.139099 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.01, Z:0.87 [[ 0.99957824 0.0064342 -0.02831865 -0.53369305] [-0.00646846 0.99997845 -0.00111844 -0.01187759] [ 0.02831084 0.00130115 0.99959832 0.86810518] [ 0. 0. 0. 1. ]] SLAMing on 84.962557844 meters Centerline goodness : 0.135945 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.00, Z:0.87 [[ 9.99561806e-01 -6.34706273e-04 -2.95938189e-02 -5.13600090e-01] [ 6.20371508e-04 9.99999686e-01 -4.93562837e-04 -3.74551104e-03] [ 2.95941229e-02 4.74987399e-04 9.99561885e-01 8.68956576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992557844 meters Centerline goodness : 0.149676 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 9.99444083e-01 -1.47497211e-03 -3.33068939e-02 -5.55524993e-01] [ 1.47104074e-03 9.99998908e-01 -1.42539117e-04 -5.77406267e-03] [ 3.33070678e-02 9.34640796e-05 9.99445161e-01 8.67741122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022557844 meters Centerline goodness : 0.143707 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.00, Z:0.86 [[ 9.99394198e-01 8.08779743e-04 -3.47934258e-02 -5.49321488e-01] [-7.52998710e-04 9.99998410e-01 1.61627989e-03 -1.73906348e-03] [ 3.47946778e-02 -1.58910134e-03 9.99393218e-01 8.64876243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052557844 meters Centerline goodness : 0.138119 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99400145e-01 7.02769697e-04 -3.46244940e-02 -5.49971944e-01] [-6.59161082e-04 9.99998975e-01 1.27087188e-03 2.61155019e-04] [ 3.46253516e-02 -1.24728643e-03 9.99399584e-01 8.65172693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08255784400001 meters Centerline goodness : 0.133931 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99412640e-01 6.40986044e-04 -3.42631743e-02 -5.51394217e-01] [-6.04967123e-04 9.99999254e-01 1.06159970e-03 1.60321171e-03] [ 3.42638292e-02 -1.04024806e-03 9.99412281e-01 8.65943407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11255784400001 meters Centerline goodness : 0.135523 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.00, Z:0.87 [[ 9.99423274e-01 5.51134327e-04 -3.39531396e-02 -5.52704307e-01] [-5.18614471e-04 9.99999398e-01 9.66585804e-04 2.03447197e-03] [ 3.39536519e-02 -9.48419760e-04 9.99422959e-01 8.66778457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142557844 meters Centerline goodness : 0.119839 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99345871e-01 -1.66924234e-03 -3.61254026e-02 -5.99465361e-01] [ 1.69254810e-03 9.99998379e-01 6.14562695e-04 -1.78227622e-03] [ 3.61243182e-02 -6.75304673e-04 9.99347076e-01 8.67305684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172557844 meters Centerline goodness : 0.150919 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99335178e-01 -1.87817154e-03 -3.64098085e-02 -5.98735027e-01] [ 1.90302661e-03 9.99997979e-01 6.48003730e-04 -2.61995604e-03] [ 3.64085179e-02 -7.16861757e-04 9.99336733e-01 8.67325812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202557844 meters Centerline goodness : 0.122139 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:0.87 [[ 9.99304381e-01 -2.72291013e-03 -3.71932662e-02 -5.96124377e-01] [ 2.74327504e-03 9.99996114e-01 4.96520488e-04 -4.36903683e-03] [ 3.71917697e-02 -5.98206458e-04 9.99307968e-01 8.66461841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232557844 meters Centerline goodness : 0.119534 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.01, Z:0.87 [[ 0.99936256 0.00281878 -0.03558835 -0.57440485] [-0.00292533 0.99999139 -0.00294208 -0.00646833] [ 0.03557975 0.00304431 0.9993622 0.86605063] [ 0. 0. 0. 1. ]] SLAMing on 85.262557844 meters Centerline goodness : 0.124837 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.9993734 0.00261402 -0.03529826 -0.57554218] [-0.0027095 0.9999928 -0.00265732 -0.00900062] [ 0.03529106 0.0027513 0.99937329 0.86685779] [ 0. 0. 0. 1. ]] SLAMing on 85.292557844 meters Centerline goodness : 0.163946 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939133 -0.00150349 -0.03485265 -0.57698232] [ 0.00127605 0.99997775 -0.00654732 -0.00969481] [ 0.03486172 0.00649886 0.99937101 0.86732964] [ 0. 0. 0. 1. ]] SLAMing on 85.322557844 meters Centerline goodness : 0.124116 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939248 -0.00142912 -0.03482269 -0.57733294] [ 0.00121732 0.99998064 -0.00610276 -0.01225508] [ 0.03483073 0.00605666 0.99937487 0.8677959 ] [ 0. 0. 0. 1. ]] SLAMing on 85.352557844 meters Centerline goodness : 0.123789 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 0.99939247 -0.00130407 -0.03482805 -0.57737076] [ 0.00110224 0.99998249 -0.00581355 -0.01356854] [ 0.03483502 0.00577163 0.99937641 0.86788317] [ 0. 0. 0. 1. ]] SLAMing on 85.382557844 meters Centerline goodness : 0.153527 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99398320e-01 -1.03834864e-03 -3.46687119e-02 -5.77498167e-01] [ 8.40856193e-04 9.99983341e-01 -5.71065567e-03 -1.32343501e-02] [ 3.46740640e-02 5.67806828e-03 9.99382544e-01 8.67456774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412557844 meters Centerline goodness : 0.123408 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99395116e-01 -9.88214943e-04 -3.47624240e-02 -5.77172977e-01] [ 7.83407798e-04 9.99982260e-01 -5.90475178e-03 -1.21566750e-02] [ 3.47676425e-02 5.87394693e-03 9.99378161e-01 8.67330253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442557844 meters Centerline goodness : 0.121144 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99395595e-01 -9.36702911e-04 -3.47500650e-02 -5.77212324e-01] [ 7.23908199e-04 9.99980915e-01 -6.13565380e-03 -1.08916725e-02] [ 3.47551491e-02 6.10678953e-03 9.99377199e-01 8.67327776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47255784400001 meters Centerline goodness : 0.120794 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99393813e-01 -8.19733852e-04 -3.48042194e-02 -5.76953567e-01] [ 6.00011611e-04 9.99979829e-01 -6.32306742e-03 -9.65866539e-03] [ 3.48087006e-02 6.29835153e-03 9.99374147e-01 8.67088937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502557844 meters Centerline goodness : 0.152486 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99387659e-01 -7.26635038e-04 -3.49825653e-02 -5.76300901e-01] [ 4.99005171e-04 9.99978651e-01 -6.51524305e-03 -8.27541401e-03] [ 3.49865526e-02 6.49379702e-03 9.99366685e-01 8.66637276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532557844 meters Centerline goodness : 0.120163 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.01, Z:0.87 [[ 9.99373752e-01 -5.98565882e-04 -3.53800258e-02 -5.75045993e-01] [ 3.63927888e-04 9.99977902e-01 -6.63800186e-03 -7.20378377e-03] [ 3.53832172e-02 6.62096904e-03 9.99351885e-01 8.66104024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562557844 meters Centerline goodness : 0.146507 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.01, Z:0.87 [[ 9.99373081e-01 -3.91743601e-04 -3.54018691e-02 -5.74870995e-01] [ 1.51101830e-04 9.99976869e-01 -6.79985110e-03 -5.70014001e-03] [ 3.54037140e-02 6.79023885e-03 9.99350024e-01 8.65734697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592557844 meters Centerline goodness : 0.216941 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99387938e-01 -3.83521458e-04 -3.49800247e-02 -5.76213724e-01] [ 1.40598436e-04 9.99975861e-01 -6.94681669e-03 -4.67658314e-03] [ 3.49818446e-02 6.93764667e-03 9.99363867e-01 8.66115678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622557844 meters Centerline goodness : 0.220680 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99402663e-01 -3.92782998e-04 -3.45566700e-02 -5.77497468e-01] [ 1.46312470e-04 9.99974538e-01 -7.13459729e-03 -3.34267314e-03] [ 3.45585924e-02 7.12527946e-03 9.99377273e-01 8.66357626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652557844 meters Centerline goodness : 0.158746 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99409780e-01 -4.39644325e-04 -3.43496396e-02 -5.78033447e-01] [ 1.86765492e-04 9.99972862e-01 -7.36476824e-03 -1.96639022e-03] [ 3.43519453e-02 7.35400608e-03 9.99382741e-01 8.66312237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682557844 meters Centerline goodness : 0.118242 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99412405e-01 -5.02688614e-04 -3.42723189e-02 -5.78223372e-01] [ 2.42594476e-04 9.99971145e-01 -7.59278009e-03 -7.32365153e-04] [ 3.42751468e-02 7.58000433e-03 9.99383689e-01 8.66242400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712557844 meters Centerline goodness : 0.133668 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99413750e-01 -5.54570368e-04 -3.42322696e-02 -5.78601914e-01] [ 2.91015788e-04 9.99970285e-01 -7.70351227e-03 -2.65620420e-04] [ 3.42355245e-02 7.68903396e-03 9.99384214e-01 8.66701754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742557844 meters Centerline goodness : 0.140806 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.00, Z:0.87 [[ 9.99420260e-01 -5.67755084e-04 -3.40414778e-02 -5.79697753e-01] [ 3.13542799e-04 9.99972031e-01 -7.47259508e-03 -1.74723583e-03] [ 3.40447682e-02 7.45758945e-03 9.99392485e-01 8.67769018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772557844 meters Centerline goodness : 0.136918 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 0.99941973 -0.0082689 -0.0330428 -0.55961582] [ 0.00806208 0.9999471 -0.00638752 0.00211965] [ 0.03309387 0.00611742 0.99943353 0.869394 ] [ 0. 0. 0. 1. ]] SLAMing on 85.802557844 meters Centerline goodness : 0.136763 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.00, Z:0.87 [[ 9.99416621e-01 -8.22123738e-03 -3.31485920e-02 -5.59357793e-01] [ 8.02334488e-03 9.99949216e-01 -6.09846848e-03 6.62248730e-04] [ 3.31970455e-02 5.82894818e-03 9.99431828e-01 8.69411651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83255784400001 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99940853 -0.00818951 -0.03339948 -0.55866693] [ 0.00800062 0.99995126 -0.00578507 -0.00100956] [ 0.03344523 0.00551443 0.99942534 0.86933725] [ 0. 0. 0. 1. ]] SLAMing on 85.86255784400001 meters Centerline goodness : 0.150480 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99939302 -0.00817216 -0.03386451 -0.55738002] [ 0.00799193 0.99995319 -0.00545411 -0.00292543] [ 0.0339075 0.00518016 0.99941155 0.86920107] [ 0. 0. 0. 1. ]] SLAMing on 85.892557844 meters Centerline goodness : 0.121242 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.00, Z:0.87 [[ 0.99938717 -0.00807764 -0.03405934 -0.55693565] [ 0.0079085 0.99995573 -0.00509788 -0.00476995] [ 0.03409901 0.0048254 0.99940681 0.8693251 ] [ 0. 0. 0. 1. ]] SLAMing on 85.922557844 meters Centerline goodness : 0.118694 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99939413 -0.00789394 -0.03389781 -0.55785344] [ 0.00774071 0.99995923 -0.00464915 -0.00685116] [ 0.03393313 0.00438394 0.99941449 0.87020788] [ 0. 0. 0. 1. ]] SLAMing on 85.952557844 meters Centerline goodness : 0.137128 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.999401 -0.00779691 -0.03371723 -0.55847422] [ 0.00764994 0.99996068 -0.00448562 -0.00749007] [ 0.03375088 0.004225 0.99942135 0.87048123] [ 0. 0. 0. 1. ]] SLAMing on 85.982557844 meters Centerline goodness : 0.146820 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940197 -0.00773939 -0.03370165 -0.55837 ] [ 0.00759671 0.99996164 -0.00435954 -0.00813578] [ 0.0337341 0.00410092 0.99942243 0.87023221] [ 0. 0. 0. 1. ]] SLAMing on 86.012557844 meters Centerline goodness : 0.146280 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99939623 -0.00773941 -0.03387149 -0.5575954 ] [ 0.00759489 0.99996151 -0.00439313 -0.0081181 ] [ 0.03390418 0.00413323 0.99941654 0.86967968] [ 0. 0. 0. 1. ]] SLAMing on 86.042557844 meters Centerline goodness : 0.157583 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9993966 -0.00773081 -0.03386244 -0.55730798] [ 0.00758336 0.99996121 -0.00448052 -0.00768047] [ 0.03389576 0.00422103 0.99941646 0.86914095] [ 0. 0. 0. 1. ]] SLAMing on 86.072557844 meters Centerline goodness : 0.148866 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940054 -0.00766453 -0.03376122 -0.55752926] [ 0.00751381 0.99996124 -0.0045891 -0.00688349] [ 0.03379508 0.00433267 0.99941939 0.86904526] [ 0. 0. 0. 1. ]] SLAMing on 86.102557844 meters Centerline goodness : 0.147641 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940723 -0.00757205 -0.03358345 -0.5579431 ] [ 0.00741932 0.99996157 -0.0046701 -0.00612941] [ 0.03361752 0.00441817 0.99942501 0.86891249] [ 0. 0. 0. 1. ]] SLAMing on 86.132557844 meters Centerline goodness : 0.158877 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99940752 -0.00752685 -0.03358513 -0.5578946 ] [ 0.0073727 0.99996172 -0.0047115 -0.00580093] [ 0.03361931 0.00446109 0.99942475 0.86881542] [ 0. 0. 0. 1. ]] SLAMing on 86.162557844 meters Centerline goodness : 0.155861 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9994062 -0.00750702 -0.03362877 -0.55743921] [ 0.00735298 0.99996191 -0.00470201 -0.00610357] [ 0.03366279 0.00445194 0.99942333 0.8681903 ] [ 0. 0. 0. 1. ]] SLAMing on 86.192557844 meters Centerline goodness : 0.280610 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.999411 -0.00745232 -0.03349788 -0.55766775] [ 0.0073027 0.99996282 -0.00458648 -0.00665731] [ 0.03353082 0.00433915 0.99942826 0.86797731] [ 0. 0. 0. 1. ]] SLAMing on 86.22255784400001 meters Centerline goodness : 0.143787 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.9994144 -0.00739994 -0.03340803 -0.55778083] [ 0.0072549 0.99996373 -0.0044606 -0.00724575] [ 0.03343983 0.00421562 0.99943184 0.86777864] [ 0. 0. 0. 1. ]] SLAMing on 86.252557844 meters Centerline goodness : 0.146770 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.01, Z:0.87 [[ 0.99941399 -0.007353 -0.03343058 -0.55770722] [ 0.00721183 0.99996457 -0.00434163 -0.00781235] [ 0.03346132 0.00409799 0.99943161 0.8677097 ] [ 0. 0. 0. 1. ]] SLAMing on 86.282557844 meters Centerline goodness : 0.138544 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99944457 0.00123275 -0.03330224 -0.53796396] [-0.00142386 0.99998265 -0.00571534 -0.01077785] [ 0.03329462 0.00575958 0.99942898 0.86962345] [ 0. 0. 0. 1. ]] SLAMing on 86.312557844 meters Centerline goodness : 0.147208 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943535 0.00123024 -0.03357773 -0.53719843] [-0.00142229 0.99998276 -0.00569643 -0.01091666] [ 0.03357014 0.00574097 0.99941988 0.86950663] [ 0. 0. 0. 1. ]] SLAMing on 86.342557844 meters Centerline goodness : 0.148713 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99942651 0.0012297 -0.03384003 -0.5363149 ] [-0.0014203 0.99998326 -0.00560894 -0.01142115] [ 0.03383257 0.00565379 0.99941152 0.86911819] [ 0. 0. 0. 1. ]] SLAMing on 86.372557844 meters Centerline goodness : 0.147940 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943196 0.0012478 -0.03367779 -0.53683253] [-0.00143503 0.99998365 -0.00553584 -0.01177825] [ 0.03367033 0.00558102 0.99941741 0.86926744] [ 0. 0. 0. 1. ]] SLAMing on 86.402557844 meters Centerline goodness : 0.185743 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943663 0.00124661 -0.03353892 -0.53727228] [-0.00143085 0.99998402 -0.00547006 -0.01210155] [ 0.03353157 0.00551497 0.99942244 0.86941068] [ 0. 0. 0. 1. ]] SLAMing on 86.432557844 meters Centerline goodness : 0.148050 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943184 0.0011523 -0.03368499 -0.53680942] [-0.00134266 0.99998325 -0.00562928 -0.01122951] [ 0.03367794 0.00567131 0.99941665 0.86919915] [ 0. 0. 0. 1. ]] SLAMing on 86.462557844 meters Centerline goodness : 0.148050 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99943184 0.0011523 -0.03368499 -0.53680942] [-0.00134266 0.99998325 -0.00562928 -0.01122951] [ 0.03367794 0.00567131 0.99941665 0.86919915] [ 0. 0. 0. 1. ]] SLAMing on 86.492557844 meters Centerline goodness : 0.137018 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 0.99942509 0.00105193 -0.0338879 -0.53618816] [-0.00124953 0.99998234 -0.00581037 -0.01045147] [ 0.03388119 0.00584938 0.99940875 0.86902126] [ 0. 0. 0. 1. ]] SLAMing on 86.522557844 meters Centerline goodness : 0.140859 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 9.99424070e-01 9.79400169e-04 -3.39200321e-02 -5.36109198e-01] [-1.18146610e-03 9.99981674e-01 -5.93759571e-03 -9.98532243e-03] [ 3.39135952e-02 5.97425144e-03 9.99406912e-01 8.69025295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552557844 meters Centerline goodness : 0.154586 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.01, Z:0.87 [[ 9.99428298e-01 9.17763366e-04 -3.37969797e-02 -5.36631518e-01] [-1.12160686e-03 9.99981293e-01 -6.01294681e-03 -9.74040315e-03] [ 3.37908290e-02 6.04741612e-03 9.99410631e-01 8.69348505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58255784400001 meters Centerline goodness : 0.149095 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.00, Z:0.87 [[ 0.99944739 -0.00689963 -0.03251622 -0.5170356 ] [ 0.00673263 0.99996359 -0.00524272 -0.00468732] [ 0.03255121 0.0050209 0.99945746 0.87087308] [ 0. 0. 0. 1. ]] SLAMing on 86.61255784400001 meters Centerline goodness : 0.139969 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.01, Z:0.87 [[ 0.99945876 -0.00699153 -0.03214503 -0.51837352] [ 0.00682999 0.9999635 -0.00513235 -0.00535891] [ 0.03217974 0.00491002 0.99947004 0.87159315] [ 0. 0. 0. 1. ]] SLAMing on 86.642557844 meters Centerline goodness : 0.119058 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.9995152 0.00137058 -0.03110453 -0.49854691] [-0.00156474 0.99997944 -0.00621869 -0.0082757 ] [ 0.03109537 0.00626435 0.99949679 0.87243178] [ 0. 0. 0. 1. ]] SLAMing on 86.672557844 meters Centerline goodness : 0.118322 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99950791 0.00138263 -0.03133727 -0.49781211] [-0.00157329 0.9999804 -0.00606022 -0.00902814] [ 0.03132828 0.00610654 0.99949049 0.87217889] [ 0. 0. 0. 1. ]] SLAMing on 86.702557844 meters Centerline goodness : 0.119329 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99949507 0.00134997 -0.03174555 -0.49664626] [-0.00153711 0.99998158 -0.00587119 -0.01023932] [ 0.03173704 0.00591702 0.99947874 0.87195279] [ 0. 0. 0. 1. ]] SLAMing on 86.732557844 meters Centerline goodness : 0.120499 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99948812 0.00130143 -0.03196557 -0.49622595] [-0.00148134 0.99998319 -0.00560543 -0.01206896] [ 0.03195774 0.00564992 0.99947325 0.87220433] [ 0. 0. 0. 1. ]] SLAMing on 86.762557844 meters Centerline goodness : 0.120765 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.01, Z:0.87 [[ 0.99949676 0.00131 -0.03169404 -0.49729833] [-0.00147684 0.99998517 -0.0052411 -0.01422456] [ 0.0316867 0.00528527 0.99948388 0.87289406] [ 0. 0. 0. 1. ]] SLAMing on 86.792557844 meters Centerline goodness : 0.151178 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951442 0.00151525 -0.0311228 -0.49952326] [-0.00165771 0.99998826 -0.00455219 -0.01723862] [ 0.03111554 0.00460157 0.9995052 0.8742399 ] [ 0. 0. 0. 1. ]] SLAMing on 86.822557844 meters Centerline goodness : 0.121690 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.9995145 0.0015878 -0.03111656 -0.49955828] [-0.00172627 0.99998873 -0.00442363 -0.01769259] [ 0.03110918 0.0044752 0.99950597 0.87428077] [ 0. 0. 0. 1. ]] SLAMing on 86.852557844 meters Centerline goodness : 0.121037 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950712 0.00159359 -0.03135259 -0.4989362 ] [-0.001736 0.9999883 -0.00451551 -0.01740697] [ 0.03134503 0.00456771 0.99949819 0.87437955] [ 0. 0. 0. 1. ]] SLAMing on 86.882557844 meters Centerline goodness : 0.120294 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950617 0.00155248 -0.0313847 -0.49882303] [-0.0016993 0.99998774 -0.00465195 -0.01688017] [ 0.0313771 0.00470298 0.99949655 0.87433264] [ 0. 0. 0. 1. ]] SLAMing on 86.912557844 meters Centerline goodness : 0.151340 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950918 0.00153839 -0.03128954 -0.49905935] [-0.00168881 0.99998714 -0.00478159 -0.01624071] [ 0.03128179 0.00483209 0.99949892 0.87431219] [ 0. 0. 0. 1. ]] SLAMing on 86.942557844 meters Centerline goodness : 0.141580 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951655 0.00159768 -0.03105033 -0.49967298] [-0.00174701 0.99998704 -0.00478262 -0.01602436] [ 0.03104229 0.00483456 0.99950638 0.87433222] [ 0. 0. 0. 1. ]] SLAMing on 86.97255784400001 meters Centerline goodness : 0.140035 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99952004 0.00166178 -0.03093438 -0.50017896] [-0.00181069 0.99998691 -0.00478621 -0.01600366] [ 0.03092602 0.00483993 0.99950996 0.87468795] [ 0. 0. 0. 1. ]] SLAMing on 87.002557844 meters Centerline goodness : 0.123701 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951446 0.00164615 -0.0311148 -0.49972112] [-0.00179614 0.9999869 -0.00479338 -0.01621032] [ 0.0311065 0.00484694 0.99950432 0.87471717] [ 0. 0. 0. 1. ]] SLAMing on 87.032557844 meters Centerline goodness : 0.058344 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.9995071 0.0016034 -0.03135256 -0.49895582] [-0.00175691 0.9999866 -0.00486928 -0.01606462] [ 0.03134434 0.00492197 0.99949653 0.87447497] [ 0. 0. 0. 1. ]] SLAMing on 87.062557844 meters Centerline goodness : 0.188958 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950369 0.0016105 -0.03146065 -0.49831411] [-0.00176509 0.9999865 -0.00488674 -0.01598922] [ 0.03145235 0.00493985 0.99949305 0.87383508] [ 0. 0. 0. 1. ]] SLAMing on 87.092557844 meters Centerline goodness : 0.189216 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950544 0.00166627 -0.03140209 -0.49822808] [-0.00182026 0.99998646 -0.00487591 -0.01583686] [ 0.03139354 0.00493065 0.99949494 0.87342717] [ 0. 0. 0. 1. ]] SLAMing on 87.122557844 meters Centerline goodness : 0.141077 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951243 0.0017367 -0.03117504 -0.49880499] [-0.00188812 0.99998656 -0.00482841 -0.0158463 ] [ 0.03116624 0.00488492 0.99950228 0.87341314] [ 0. 0. 0. 1. ]] SLAMing on 87.152557844 meters Centerline goodness : 0.194581 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99951071 0.00182922 -0.03122499 -0.4986729 ] [-0.00197247 0.99998767 -0.00455757 -0.01743404] [ 0.03121626 0.00461693 0.99950199 0.87340136] [ 0. 0. 0. 1. ]] SLAMing on 87.182557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 87.212557844 meters Centerline goodness : 0.065458 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.02, Z:0.87 [[ 0.99950068 0.00193909 -0.03153762 -0.497795 ] [-0.00207428 0.9999888 -0.00425433 -0.01896727] [ 0.03152902 0.00431762 0.99949351 0.87320442] [ 0. 0. 0. 1. ]] SLAMing on 87.242557844 meters Centerline goodness : 0.123020 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.01, Z:0.88 [[ 0.99950271 -0.00486594 -0.03115528 -0.47974689] [ 0.00478928 0.99998532 -0.00253477 -0.0141615 ] [ 0.03116716 0.0023843 0.99951134 0.87584368] [ 0. 0. 0. 1. ]] SLAMing on 87.272557844 meters Centerline goodness : 0.172537 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950413 -0.004731 -0.0311305 -0.48014801] [ 0.00466321 0.9999866 -0.00224994 -0.01537742] [ 0.03114073 0.00210366 0.9995128 0.8764213 ] [ 0. 0. 0. 1. ]] SLAMing on 87.302557844 meters Centerline goodness : 0.191284 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950446 -0.00460341 -0.03113923 -0.48035169] [ 0.00454645 0.99998786 -0.00189983 -0.01715658] [ 0.03114759 0.00175732 0.99951325 0.87680285] [ 0. 0. 0. 1. ]] SLAMing on 87.33255784400001 meters Centerline goodness : 0.190767 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.02, Z:0.88 [[ 0.99950198 -0.00444805 -0.03124117 -0.48006403] [ 0.00440567 0.99998928 -0.00142532 -0.01965557] [ 0.03124717 0.00128698 0.99951086 0.87680658] [ 0. 0. 0. 1. ]] SLAMing on 87.36255784400001 meters Centerline goodness : 0.150408 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.03, Z:0.88 [[ 9.99406392e-01 -5.51883741e-03 -3.40059714e-02 -5.24857879e-01] [ 5.51753523e-03 9.99984770e-01 -1.32135186e-04 -2.81667180e-02] [ 3.40061827e-02 -5.55723950e-05 9.99421621e-01 8.76612440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392557844 meters Centerline goodness : 0.197313 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99435653e-01 3.76581285e-03 -3.33795486e-02 -5.03802553e-01] [-3.78519557e-03 9.99992702e-01 -5.17503399e-04 -3.21196785e-02] [ 3.33773562e-02 6.43559467e-04 9.99442614e-01 8.77216923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422557844 meters Centerline goodness : 0.143856 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99428300e-01 3.83673365e-03 -3.35909635e-02 -5.03090848e-01] [-3.85056547e-03 9.99992526e-01 -3.47091234e-04 -3.28729464e-02] [ 3.35893808e-02 4.76237006e-04 9.99435604e-01 8.76950747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452557844 meters Centerline goodness : 0.121500 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.03, Z:0.88 [[ 9.99422821e-01 3.90534527e-03 -3.37457028e-02 -5.02730008e-01] [-3.91356967e-03 9.99992326e-01 -1.77668086e-04 -3.38257119e-02] [ 3.37447500e-02 3.09631699e-04 9.99430436e-01 8.77053474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482557844 meters Centerline goodness : 0.192088 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.04, Z:0.88 [[ 9.99419485e-01 3.97675293e-03 -3.38360454e-02 -5.02868114e-01] [-3.97798399e-03 9.99992087e-01 3.09360052e-05 -3.50551429e-02] [ 3.38359007e-02 1.03681200e-04 9.99427397e-01 8.77673143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512557844 meters Centerline goodness : 0.136209 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99336441e-01 2.71521263e-03 -3.63222498e-02 -5.50775460e-01] [-2.69569664e-03 9.99996195e-01 5.86263612e-04 -4.01165783e-02] [ 3.63237034e-02 -4.87960825e-04 9.99339957e-01 8.79880824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542557844 meters Centerline goodness : 0.144441 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338762e-01 2.77874026e-03 -3.62535126e-02 -5.51024498e-01] [-2.75528985e-03 9.99995961e-01 6.96790177e-04 -4.04679706e-02] [ 3.62553024e-02 -5.96440498e-04 9.99342382e-01 8.79974227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572557844 meters Centerline goodness : 0.192068 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338159e-01 2.79569712e-03 -3.62688288e-02 -5.50921907e-01] [-2.77132412e-03 9.99995899e-01 7.22265209e-04 -4.04724311e-02] [ 3.62706993e-02 -6.21274505e-04 9.99341809e-01 8.79851115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602557844 meters Centerline goodness : 0.147622 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99334675e-01 2.68719005e-03 -3.63728844e-02 -5.50714245e-01] [-2.66930099e-03 9.99996291e-01 5.40376610e-04 -3.98852352e-02] [ 3.63742016e-02 -4.42926908e-04 9.99338142e-01 8.79929117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632557844 meters Centerline goodness : 0.122642 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.04, Z:0.88 [[ 9.99338323e-01 2.68721548e-03 -3.62725075e-02 -5.51241745e-01] [-2.66651533e-03 9.99996253e-01 6.19048874e-04 -4.04459719e-02] [ 3.62740351e-02 -5.21918067e-04 9.99341744e-01 8.80362190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662557844 meters Centerline goodness : 0.122557 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99937473 -0.00502951 -0.03499793 -0.53156765] [ 0.00508779 0.99998581 0.00157623 -0.03636291] [ 0.0349895 -0.00175331 0.99938614 0.88207078] [ 0. 0. 0. 1. ]] SLAMing on 87.692557844 meters Centerline goodness : 0.172304 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99937687 -0.00493942 -0.03494973 -0.53205535] [ 0.00501196 0.99998546 0.00198841 -0.03831823] [ 0.0349394 -0.00216234 0.99938709 0.88266285] [ 0. 0. 0. 1. ]] SLAMing on 87.72255784400001 meters Centerline goodness : 0.212970 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.04, Z:0.88 [[ 0.99936752 -0.00500322 -0.03520704 -0.53143062] [ 0.0050899 0.99998423 0.00237272 -0.04064765] [ 0.03519461 -0.00255042 0.99937722 0.88274608] [ 0. 0. 0. 1. ]] SLAMing on 87.752557844 meters Centerline goodness : 0.061578 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.05, Z:0.88 [[ 9.99304167e-01 -8.43255544e-03 -3.63328078e-02 -5.27563992e-01] [ 8.45257972e-03 9.99964197e-01 3.97563934e-04 -4.81046941e-02] [ 3.63281545e-02 -7.04393250e-04 9.99339666e-01 8.80566669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782557844 meters Centerline goodness : 0.239880 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99331100e-01 -9.92373383e-04 -3.65563599e-02 -5.45910796e-01] [ 9.60536261e-04 9.99999144e-01 -8.88457586e-04 -5.94337336e-02] [ 3.65572102e-02 8.52749588e-04 9.99331198e-01 8.79144391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812557844 meters Centerline goodness : 0.126812 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99350337e-01 -1.14675778e-03 -3.60220519e-02 -5.47842945e-01] [ 1.13491149e-03 9.99999295e-01 -3.49308277e-04 -6.19608896e-02] [ 3.60224271e-02 3.08199504e-04 9.99350934e-01 8.79538297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842557844 meters Centerline goodness : 0.169202 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.06, Z:0.88 [[ 9.99361777e-01 -9.39717540e-04 -3.57093231e-02 -5.49157011e-01] [ 9.49049506e-04 9.99999520e-01 2.44381889e-04 -6.47575549e-02] [ 3.57090763e-02 -2.78115834e-04 9.99362189e-01 8.80436492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872557844 meters Centerline goodness : 0.129800 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99945615 0.00567473 -0.03248392 -0.52826683] [-0.00575752 0.99998041 -0.00245562 -0.06750909] [ 0.03246935 0.00264131 0.99946924 0.87980451] [ 0. 0. 0. 1. ]] SLAMing on 87.902557844 meters Centerline goodness : 0.161425 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99946058 0.00585891 -0.03231431 -0.52890977] [-0.00592587 0.99998049 -0.00197668 -0.06984076] [ 0.0323021 0.00216711 0.9994758 0.88012044] [ 0. 0. 0. 1. ]] SLAMing on 87.932557844 meters Centerline goodness : 0.179477 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.07, Z:0.88 [[ 0.99945602 0.00601888 -0.0324258 -0.52854767] [-0.00607184 0.99998039 -0.00153502 -0.07210634] [ 0.03241592 0.00173107 0.99947297 0.87998353] [ 0. 0. 0. 1. ]] SLAMing on 87.962557844 meters Centerline goodness : 0.130669 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 9.99432875e-01 6.21177177e-03 -3.30959556e-02 -5.26165321e-01] [-6.24471072e-03 9.99980104e-01 -8.91982341e-04 -7.56744698e-02] [ 3.30897564e-02 1.09815114e-03 9.99451781e-01 8.78893264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992557844 meters Centerline goodness : 0.130230 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 9.99423267e-01 6.27805996e-03 -3.33724452e-02 -5.25380010e-01] [-6.30594410e-03 9.99979851e-01 -7.30356717e-04 -7.65168124e-02] [ 3.33671876e-02 9.40380270e-04 9.99442718e-01 8.78786767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022557844 meters Centerline goodness : 0.190941 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 9.99414791e-01 6.30520669e-03 -3.36202276e-02 -5.24866800e-01] [-6.33276374e-03 9.99979693e-01 -7.13234298e-04 -7.65894037e-02] [ 3.36150478e-02 9.25725865e-04 9.99434426e-01 8.79037858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052557844 meters Centerline goodness : 0.132002 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 9.99409111e-01 6.31130964e-03 -3.37875047e-02 -5.24446770e-01] [-6.34015801e-03 9.99979622e-01 -7.46744976e-04 -7.63477548e-02] [ 3.37821033e-02 9.60521852e-04 9.99428760e-01 8.79077816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08255784400001 meters Centerline goodness : 0.134304 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 0.99937754 0.01009187 -0.03380372 -0.52488123] [-0.01000179 0.99994597 0.00283271 -0.07567757] [ 0.03383048 -0.00249285 0.99942448 0.87997101] [ 0. 0. 0. 1. ]] SLAMing on 88.11255784400001 meters Centerline goodness : 0.055879 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.9993856 0.01020168 -0.03353123 -0.52585328] [-0.01010711 0.99994446 0.00298866 -0.0761765 ] [ 0.03355986 -0.00264792 0.9994332 0.88039734] [ 0. 0. 0. 1. ]] SLAMing on 88.142557844 meters Centerline goodness : 0.184319 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.99938962 0.01029269 -0.03338329 -0.526519 ] [-0.01019185 0.99994298 0.0031895 -0.07710664] [ 0.03341421 -0.00284731 0.99943753 0.88085316] [ 0. 0. 0. 1. ]] SLAMing on 88.172557844 meters Centerline goodness : 0.130218 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.99938555 0.01040182 -0.03347132 -0.52642061] [-0.01029091 0.99994098 0.00348395 -0.07859991] [ 0.03350558 -0.00313736 0.99943361 0.88104095] [ 0. 0. 0. 1. ]] SLAMing on 88.202557844 meters Centerline goodness : 0.131461 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.88 [[ 0.9993718 0.01048832 -0.03385257 -0.52542052] [-0.01036458 0.99993896 0.00382845 -0.08051646] [ 0.03389066 -0.00347518 0.9994195 0.88098547] [ 0. 0. 0. 1. ]] SLAMing on 88.232557844 meters Centerline goodness : 0.166969 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.08, Z:0.88 [[ 0.99935592 0.0105959 -0.03428509 -0.52419799] [-0.01045595 0.99993627 0.00425881 -0.08281596] [ 0.03432803 -0.00389759 0.99940302 0.88074962] [ 0. 0. 0. 1. ]] SLAMing on 88.262557844 meters Centerline goodness : 0.129936 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:0.88 [[ 0.99941851 0.0024641 -0.03400845 -0.50157463] [-0.00229526 0.99998485 0.00500279 -0.08301735] [ 0.03402027 -0.00492182 0.99940902 0.88146949] [ 0. 0. 0. 1. ]] SLAMing on 88.292557844 meters Centerline goodness : 0.163388 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.08, Z:0.88 [[ 0.99941366 0.0026033 -0.03414033 -0.50136682] [-0.00242078 0.99998256 0.00538634 -0.08495133] [ 0.03415376 -0.00530053 0.99940253 0.88167786] [ 0. 0. 0. 1. ]] SLAMing on 88.322557844 meters Centerline goodness : 0.222529 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.99940909 0.00267759 -0.03426796 -0.50114728] [-0.00248575 0.99998101 0.00563954 -0.08633655] [ 0.03428241 -0.00555102 0.99939677 0.88186709] [ 0. 0. 0. 1. ]] SLAMing on 88.352557844 meters Centerline goodness : 0.126334 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.9994051 0.00277226 -0.03437667 -0.50089523] [-0.00257148 0.99997939 0.00588352 -0.08751906] [ 0.03439227 -0.00579162 0.99939163 0.88192579] [ 0. 0. 0. 1. ]] SLAMing on 88.382557844 meters Centerline goodness : 0.138718 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99936473 0.01183244 -0.03361741 -0.48113802] [-0.01167484 0.99991994 0.00488043 -0.09218778] [ 0.03367247 -0.00448485 0.99942286 0.88319156] [ 0. 0. 0. 1. ]] SLAMing on 88.412557844 meters Centerline goodness : 0.138718 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99936473 0.01183244 -0.03361741 -0.48113802] [-0.01167484 0.99991994 0.00488043 -0.09218778] [ 0.03367247 -0.00448485 0.99942286 0.88319156] [ 0. 0. 0. 1. ]] SLAMing on 88.442557844 meters Centerline goodness : 0.125136 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.09, Z:0.88 [[ 0.9994194 0.00284758 -0.03395214 -0.50074059] [-0.00263535 0.99997672 0.00629404 -0.08855664] [ 0.03396927 -0.00620091 0.99940364 0.88201521] [ 0. 0. 0. 1. ]] SLAMing on 88.47255784400001 meters Centerline goodness : 0.223176 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943585 0.01169488 -0.03148352 -0.48244594] [-0.01154973 0.99992183 0.00478842 -0.09246134] [ 0.03153706 -0.00442209 0.9994928 0.8841021 ] [ 0. 0. 0. 1. ]] SLAMing on 88.502557844 meters Centerline goodness : 0.117639 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943774 0.01173193 -0.03140967 -0.48288301] [-0.01158545 0.99992117 0.00484138 -0.09275595] [ 0.03146399 -0.00447476 0.99949487 0.8845611 ] [ 0. 0. 0. 1. ]] SLAMing on 88.532557844 meters Centerline goodness : 0.168490 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.09, Z:0.88 [[ 0.99943721 0.01176667 -0.03141335 -0.48284742] [-0.01161842 0.99992051 0.00489762 -0.09302187] [ 0.03146849 -0.00452989 0.99949448 0.88454764] [ 0. 0. 0. 1. ]] SLAMing on 88.562557844 meters Centerline goodness : 0.145747 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947548 0.00469283 -0.03204287 -0.46352735] [-0.00451804 0.99997453 0.00552517 -0.08869334] [ 0.03206799 -0.0053775 0.99947122 0.88606761] [ 0. 0. 0. 1. ]] SLAMing on 88.592557844 meters Centerline goodness : 0.132189 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947517 0.00470382 -0.03205096 -0.4634241 ] [-0.00452793 0.9999743 0.0055582 -0.088899 ] [ 0.03207628 -0.00541016 0.99947078 0.88594729] [ 0. 0. 0. 1. ]] SLAMing on 88.622557844 meters Centerline goodness : 0.104910 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947429 0.00473706 -0.03207356 -0.46345348] [-0.0045587 0.99997375 0.00563175 -0.08932418] [ 0.0320994 -0.00548258 0.99946964 0.88612413] [ 0. 0. 0. 1. ]] SLAMing on 88.652557844 meters Centerline goodness : 0.197368 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947655 0.0048578 -0.03198487 -0.46391091] [-0.00467082 0.99997158 0.0059179 -0.09066301] [ 0.0320127 -0.00576541 0.99947083 0.88651094] [ 0. 0. 0. 1. ]] SLAMing on 88.682557844 meters Centerline goodness : 0.145265 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947701 0.00494033 -0.03195772 -0.463966 ] [-0.0047482 0.99997021 0.00608508 -0.09135087] [ 0.03198683 -0.00593016 0.9994707 0.88648081] [ 0. 0. 0. 1. ]] SLAMing on 88.712557844 meters Centerline goodness : 0.173892 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947921 0.00497122 -0.03188421 -0.4640834 ] [-0.00477685 0.99996956 0.00616957 -0.09172778] [ 0.03191391 -0.00601405 0.99947253 0.8863545 ] [ 0. 0. 0. 1. ]] SLAMing on 88.742557844 meters Centerline goodness : 0.118764 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947916 0.00499286 -0.03188226 -0.46403814] [-0.00479667 0.99996911 0.00622711 -0.09205133] [ 0.03191236 -0.00607094 0.99947223 0.88629302] [ 0. 0. 0. 1. ]] SLAMing on 88.772557844 meters Centerline goodness : 0.118293 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947763 0.00496727 -0.0319342 -0.46384291] [-0.00477162 0.9999694 0.00619986 -0.0920649 ] [ 0.03196402 -0.00604424 0.99947074 0.88621922] [ 0. 0. 0. 1. ]] SLAMing on 88.802557844 meters Centerline goodness : 0.122638 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99946821 0.00496265 -0.03222834 -0.4626269 ] [-0.00477259 0.99997078 0.00597155 -0.09071066] [ 0.03225703 -0.00581456 0.99946269 0.88538944] [ 0. 0. 0. 1. ]] SLAMing on 88.83255784400001 meters Centerline goodness : 0.130100 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99945967 0.00505759 -0.0324774 -0.46186327] [-0.0048719 0.99997135 0.00579417 -0.08974268] [ 0.03250578 -0.00563282 0.99945567 0.88534744] [ 0. 0. 0. 1. ]] SLAMing on 88.86255784400001 meters Centerline goodness : 0.132473 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99946815 0.00501255 -0.0322225 -0.46262572] [-0.00483631 0.99997293 0.00554497 -0.08825282] [ 0.03224943 -0.00538619 0.99946534 0.88551031] [ 0. 0. 0. 1. ]] SLAMing on 88.892557844 meters Centerline goodness : 0.134620 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947263 0.00486869 -0.0321053 -0.46321119] [-0.00470552 0.99997564 0.00515598 -0.08678963] [ 0.03212962 -0.00500219 0.99947119 0.88605439] [ 0. 0. 0. 1. ]] SLAMing on 88.922557844 meters Centerline goodness : 0.187585 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.9994758 0.00478762 -0.03201888 -0.46347343] [-0.00463126 0.999977 0.0049557 -0.08582183] [ 0.03204187 -0.00480481 0.99947498 0.88610575] [ 0. 0. 0. 1. ]] SLAMing on 88.952557844 meters Centerline goodness : 0.153086 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.89 [[ 0.99947224 0.00469414 -0.03214359 -0.46299747] [-0.00454112 0.99997802 0.00483186 -0.0854825 ] [ 0.03216556 -0.00468334 0.99947158 0.88583041] [ 0. 0. 0. 1. ]] SLAMing on 88.982557844 meters Centerline goodness : 0.178954 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.88 [[ 0.99944962 0.00193915 -0.03311629 -0.45879368] [-0.00187772 0.99999646 0.00188582 -0.08562158] [ 0.03311983 -0.00182259 0.99944973 0.88378251] [ 0. 0. 0. 1. ]] SLAMing on 89.012557844 meters Centerline goodness : 0.156779 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.09, Z:0.88 [[ 0.99944623 0.00188749 -0.03322167 -0.45841782] [-0.00182758 0.99999665 0.0018338 -0.08548076] [ 0.03322502 -0.00177207 0.99944633 0.88358277] [ 0. 0. 0. 1. ]] SLAMing on 89.042557844 meters Centerline goodness : 0.133592 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.08, Z:0.88 [[ 0.99944613 0.00183957 -0.03322715 -0.45854855] [-0.00178294 0.99999691 0.00173408 -0.08495706] [ 0.03323023 -0.00167388 0.99944632 0.88380723] [ 0. 0. 0. 1. ]] SLAMing on 89.072557844 meters Centerline goodness : 0.105184 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99938454 0.01009466 -0.03359527 -0.4418498 ] [-0.01004719 0.99994828 0.0015815 -0.09099537] [ 0.0336095 -0.00124299 0.99943427 0.88537216] [ 0. 0. 0. 1. ]] SLAMing on 89.102557844 meters Centerline goodness : 0.224574 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99937654 0.01007105 -0.03383949 -0.44139543] [-0.01002316 0.99994851 0.00158456 -0.09108584] [ 0.03385371 -0.0012444 0.99942602 0.88567327] [ 0. 0. 0. 1. ]] SLAMing on 89.132557844 meters Centerline goodness : 0.135433 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.09, Z:0.89 [[ 0.99937812 0.01004838 -0.03379946 -0.44138302] [-0.01000117 0.99994876 0.00156576 -0.09111872] [ 0.03381346 -0.00122675 0.99942741 0.88548468] [ 0. 0. 0. 1. ]] SLAMing on 89.162557844 meters Centerline goodness : 0.200558 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.89 [[ 0.99942609 0.00284978 -0.03375451 -0.42265449] [-0.00277302 0.99999346 0.00232063 -0.08636627] [ 0.0337609 -0.00222569 0.99942746 0.88734811] [ 0. 0. 0. 1. ]] SLAMing on 89.192557844 meters Centerline goodness : 0.153823 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.09, Z:0.89 [[ 0.99943211 0.00285673 -0.03357527 -0.4231044 ] [-0.00278133 0.9999935 0.00229221 -0.08615198] [ 0.0335816 -0.00219752 0.99943356 0.88734183] [ 0. 0. 0. 1. ]] SLAMing on 89.22255784400001 meters Centerline goodness : 0.144707 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 9.99420172e-01 1.19138159e-02 -3.18964060e-02 -4.03742534e-01] [-1.18830501e-02 9.99928728e-01 1.15394967e-03 -8.90304127e-02] [ 3.19078806e-02 -7.74253987e-04 9.99490514e-01 8.88248158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252557844 meters Centerline goodness : 0.193804 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 9.99424176e-01 1.19699678e-02 -3.17495800e-02 -4.04203699e-01] [-1.19367531e-02 9.99927991e-01 1.23548749e-03 -8.93105973e-02] [ 3.17620825e-02 -8.55789164e-04 9.99495091e-01 8.88407416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282557844 meters Centerline goodness : 0.155535 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 0.99941975 0.01203756 -0.03186301 -0.40375247] [-0.01199805 0.999927 0.00143084 -0.09043834] [ 0.03187791 -0.00104772 0.99949122 0.88819196] [ 0. 0. 0. 1. ]] SLAMing on 89.312557844 meters Centerline goodness : 0.212677 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:0.89 [[ 0.99941267 0.01201457 -0.03209298 -0.40286398] [-0.01197322 0.99992722 0.00148029 -0.09097699] [ 0.03210843 -0.00109517 0.99948379 0.88769614] [ 0. 0. 0. 1. ]] SLAMing on 89.342557844 meters Centerline goodness : 0.205194 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.09, Z:0.89 [[ 0.99946867 0.00302864 -0.03245319 -0.3841521 ] [-0.00297192 0.99999397 0.00179585 -0.08594861] [ 0.03245843 -0.00169845 0.99947164 0.88836765] [ 0. 0. 0. 1. ]] SLAMing on 89.372557844 meters Centerline goodness : 0.155073 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.09, Z:0.89 [[ 0.99946792 0.00314809 -0.03246497 -0.38422998] [-0.00308156 0.99999305 0.00209893 -0.08746584] [ 0.03247135 -0.00199777 0.99947067 0.88856052] [ 0. 0. 0. 1. ]] SLAMing on 89.402557844 meters Centerline goodness : 0.194985 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947731 0.00339453 -0.03214929 -0.38568346] [-0.00331038 0.99999095 0.0026705 -0.0898838 ] [ 0.03215807 -0.00256268 0.99947951 0.88964774] [ 0. 0. 0. 1. ]] SLAMing on 89.432557844 meters Centerline goodness : 0.159066 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.9994782 0.00347398 -0.03211321 -0.38594754] [-0.00338424 0.99999022 0.00284846 -0.09052186] [ 0.03212279 -0.0027383 0.99948018 0.88994437] [ 0. 0. 0. 1. ]] SLAMing on 89.462557844 meters Centerline goodness : 0.156592 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947712 0.00350837 -0.03214317 -0.38585919] [-0.00341651 0.99998992 0.0029121 -0.09077154] [ 0.03215306 -0.00280076 0.99947903 0.88991945] [ 0. 0. 0. 1. ]] SLAMing on 89.492557844 meters Centerline goodness : 0.158932 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99947355 0.0035092 -0.03225379 -0.38552613] [-0.00341586 0.99998982 0.0029486 -0.09101302] [ 0.03226381 -0.00283687 0.99947536 0.88985 ] [ 0. 0. 0. 1. ]] SLAMing on 89.522557844 meters Centerline goodness : 0.151941 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.10, Z:0.89 [[ 0.99941188 0.01241528 -0.03196493 -0.36695739] [-0.01235096 0.99992128 0.00220885 -0.09609396] [ 0.03198984 -0.00181275 0.99948655 0.89125904] [ 0. 0. 0. 1. ]] SLAMing on 89.552557844 meters Centerline goodness : 0.114907 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99946304 0.00311172 -0.03261831 -0.38588226] [-0.00300788 0.99999025 0.00323212 -0.09116382] [ 0.03262805 -0.00313227 0.99946266 0.88953376] [ 0. 0. 0. 1. ]] SLAMing on 89.58255784400001 meters Centerline goodness : 0.399299 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99945797 0.00302637 -0.03278117 -0.38528511] [-0.00292969 0.99999122 0.00299689 -0.09005298] [ 0.03278996 -0.00289923 0.99945806 0.88921486] [ 0. 0. 0. 1. ]] SLAMing on 89.61255784400001 meters Centerline goodness : 0.188388 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99936416 0.01205508 -0.0335553 -0.36547208] [-0.011966 0.99992433 0.0028542 -0.09438782] [ 0.03358716 -0.00245087 0.99943279 0.89013913] [ 0. 0. 0. 1. ]] SLAMing on 89.642557844 meters Centerline goodness : 0.183678 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.09, Z:0.89 [[ 0.99935719 0.01210148 -0.03374543 -0.36487281] [-0.0120182 0.99992421 0.00266974 -0.09340715] [ 0.03377518 -0.00226246 0.9994269 0.89009155] [ 0. 0. 0. 1. ]] SLAMing on 89.672557844 meters Centerline goodness : 0.175568 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99936094 0.01206039 -0.03364908 -0.36520049] [-0.01198496 0.99992519 0.00244239 -0.09234741] [ 0.03367602 -0.00203754 0.99943073 0.89030925] [ 0. 0. 0. 1. ]] SLAMing on 89.702557844 meters Centerline goodness : 0.381992 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.09, Z:0.89 [[ 0.99944895 0.00210443 -0.03312658 -0.38767147] [-0.00202498 0.99999499 0.00243184 -0.08669755] [ 0.03313153 -0.00236342 0.99944821 0.88972277] [ 0. 0. 0. 1. ]] SLAMing on 89.732557844 meters Centerline goodness : 0.132158 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.9993821 0.01074404 -0.03346617 -0.36930468] [-0.01067805 0.99994068 0.00215006 -0.09163403] [ 0.03348728 -0.00179138 0.99943754 0.89060826] [ 0. 0. 0. 1. ]] SLAMing on 89.762557844 meters Centerline goodness : 0.058621 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.09, Z:0.89 [[ 0.99937499 0.01076685 -0.03367039 -0.36830786] [-0.01070591 0.99994071 0.00198958 -0.09049135] [ 0.03368982 -0.00162786 0.99943101 0.88987019] [ 0. 0. 0. 1. ]] SLAMing on 89.792557844 meters Centerline goodness : 0.126559 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942103 0.00202403 -0.03396333 -0.38640866] [-0.00193408 0.99999454 0.00268116 -0.08237861] [ 0.03396857 -0.00261392 0.99941948 0.88811348] [ 0. 0. 0. 1. ]] SLAMing on 89.822557844 meters Centerline goodness : 0.183981 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942426 0.0018776 -0.03387657 -0.3869624 ] [-0.00179763 0.99999553 0.00239106 -0.08101551] [ 0.03388091 -0.00232879 0.99942316 0.88864197] [ 0. 0. 0. 1. ]] SLAMing on 89.852557844 meters Centerline goodness : 0.128785 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99942483 0.0017984 -0.03386408 -0.38726353] [-0.00171871 0.99999569 0.00238193 -0.08131672] [ 0.03386822 -0.00232235 0.99942361 0.8890696 ] [ 0. 0. 0. 1. ]] SLAMing on 89.882557844 meters Centerline goodness : 0.113594 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.08, Z:0.89 [[ 9.99337179e-01 -2.26599128e-04 -3.64026367e-02 -4.33191598e-01] [ 3.29712258e-04 9.99995951e-01 2.82659492e-03 -8.48451078e-02] [ 3.64018488e-02 -2.83672379e-03 9.99333207e-01 8.89874135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912557844 meters Centerline goodness : 0.147905 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941431 0.00126925 -0.03419697 -0.38945793] [-0.00118355 0.99999611 0.00252608 -0.08192166] [ 0.03420004 -0.00248413 0.99941192 0.89019333] [ 0. 0. 0. 1. ]] SLAMing on 89.942557844 meters Centerline goodness : 0.129709 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941741 0.0013131 -0.03410454 -0.38961254] [-0.00122405 0.99999579 0.00263187 -0.08224747] [ 0.03410785 -0.0025886 0.99941481 0.89003301] [ 0. 0. 0. 1. ]] SLAMing on 89.97255784400001 meters Centerline goodness : 0.160342 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99941339 0.00127591 -0.03422359 -0.38924667] [-0.00118376 0.99999562 0.00271279 -0.08288848] [ 0.0342269 -0.00267068 0.99941052 0.88997327] [ 0. 0. 0. 1. ]] SLAMing on 90.002557844 meters Centerline goodness : 0.138804 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99399065e-01 1.05107096e-03 -3.46468505e-02 -3.88438106e-01] [-9.55927530e-04 9.99995727e-01 2.76254214e-03 -8.45818637e-02] [ 3.46496060e-02 -2.72776216e-03 9.99395800e-01 8.90331812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032557844 meters Centerline goodness : 0.136598 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99396710e-01 1.07164758e-03 -3.47140885e-02 -3.88651572e-01] [-9.73600500e-04 9.99995490e-01 2.84119838e-03 -8.49551430e-02] [ 3.47169767e-02 -2.80568666e-03 9.99393246e-01 8.90979275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062557844 meters Centerline goodness : 0.186062 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99939994 0.00111518 -0.03461973 -0.38894379] [-0.00101764 0.99999546 0.0028352 -0.08457291] [ 0.03462273 -0.00279827 0.99939654 0.89107689] [ 0. 0. 0. 1. ]] SLAMing on 90.092557844 meters Centerline goodness : 0.164233 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 0.99940496 0.00112423 -0.03447408 -0.38919829] [-0.00103141 0.9999958 0.00271011 -0.08366469] [ 0.03447698 -0.00267294 0.99940192 0.89089637] [ 0. 0. 0. 1. ]] SLAMing on 90.122557844 meters Centerline goodness : 0.238340 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99403424e-01 1.05058390e-03 -3.45209106e-02 -3.88794706e-01] [-9.65166268e-04 9.99996432e-01 2.49094479e-03 -8.26652259e-02] [ 3.45234043e-02 -2.45614033e-03 9.99400871e-01 8.90438483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152557844 meters Centerline goodness : 0.206234 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99402263e-01 9.06545387e-04 -3.45585608e-02 -3.88476305e-01] [-8.32397694e-04 9.99997321e-01 2.15989373e-03 -8.13353340e-02] [ 3.45604263e-02 -2.12983622e-03 9.99400341e-01 8.90085451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182557844 meters Centerline goodness : 0.155139 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99385616e-01 8.86246035e-04 -3.50371879e-02 -3.87003200e-01] [-8.42072788e-04 9.99998832e-01 1.27548956e-03 -7.75549609e-02] [ 3.50382773e-02 -1.24520206e-03 9.99385195e-01 8.90090568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212557844 meters Centerline goodness : 0.181558 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:0.89 [[ 9.99388959e-01 9.37411327e-04 -3.49403801e-02 -3.87141891e-01] [-9.01877271e-04 9.99999060e-01 1.03273804e-03 -7.59495387e-02] [ 3.49413153e-02 -1.00059506e-03 9.99388865e-01 8.90002685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242557844 meters Centerline goodness : 0.153858 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99398769e-01 8.86304314e-04 -3.46599963e-02 -3.87991264e-01] [-8.64132259e-04 9.99999412e-01 6.54676260e-04 -7.39885888e-02] [ 3.46605561e-02 -6.24331828e-04 9.99398947e-01 8.90300461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272557844 meters Centerline goodness : 0.186997 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99405265e-01 7.35383217e-04 -3.44757207e-02 -3.88667355e-01] [-7.28607989e-04 9.99999713e-01 2.09084698e-04 -7.18006742e-02] [ 3.44758646e-02 -1.83841063e-04 9.99405514e-01 8.90647653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302557844 meters Centerline goodness : 0.186997 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99405265e-01 7.35383217e-04 -3.44757207e-02 -3.88667355e-01] [-7.28607989e-04 9.99999713e-01 2.09084698e-04 -7.18006742e-02] [ 3.44758646e-02 -1.83841063e-04 9.99405514e-01 8.90647653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33255784400001 meters Centerline goodness : 0.182483 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.89 [[ 9.99408289e-01 5.22548628e-04 -3.43918365e-02 -3.88953184e-01] [-5.34088236e-04 9.99999804e-01 -3.26347345e-04 -6.93758698e-02] [ 3.43916592e-02 3.44522517e-04 9.99408373e-01 8.90770970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36255784400001 meters Centerline goodness : 0.179869 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99406623e-01 5.88661148e-05 -3.44441413e-02 -3.88529428e-01] [-1.10093290e-04 9.99998891e-01 -1.48535895e-03 -6.37781790e-02] [ 3.44440156e-02 1.48826964e-03 9.99405521e-01 8.90161402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392557844 meters Centerline goodness : 0.194017 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99413420e-01 -1.37069203e-04 -3.42461147e-02 -3.88940951e-01] [ 7.06728219e-05 9.99998116e-01 -1.94000337e-03 -6.15168848e-02] [ 3.42463161e-02 1.93644514e-03 9.99411547e-01 8.89949349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422557844 meters Centerline goodness : 0.192123 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99423396e-01 -2.38241251e-04 -3.39531874e-02 -3.89843771e-01] [ 1.65841606e-04 9.99997707e-01 -2.13513750e-03 -6.05323528e-02] [ 3.39536182e-02 2.12827552e-03 9.99421144e-01 8.90177228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452557844 meters Centerline goodness : 0.224777 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99433140e-01 -3.39103880e-04 -3.36642644e-02 -3.90893738e-01] [ 2.62691576e-04 9.99997379e-01 -2.27423135e-03 -5.98211135e-02] [ 3.36649474e-02 2.26409886e-03 9.99430610e-01 8.90656716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482557844 meters Centerline goodness : 0.195009 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99431853e-01 -4.55845801e-04 -3.37010920e-02 -3.90964154e-01] [ 3.76840350e-04 9.99997166e-01 -2.35061405e-03 -5.95465255e-02] [ 3.37020680e-02 2.33657863e-03 9.99429193e-01 8.90890588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512557844 meters Centerline goodness : 0.413007 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99432344e-01 -5.71882056e-04 -3.36847661e-02 -3.90982004e-01] [ 4.96709833e-04 9.99997368e-01 -2.23996442e-03 -5.99836723e-02] [ 3.36859585e-02 2.22196133e-03 9.99429997e-01 8.90493430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542557844 meters Centerline goodness : 0.407001 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99442546e-01 -8.71195180e-04 -3.33742009e-02 -3.91781750e-01] [ 8.02413231e-04 9.99997527e-01 -2.07426994e-03 -6.05828422e-02] [ 3.33759255e-02 2.04633373e-03 9.99440774e-01 8.89869717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572557844 meters Centerline goodness : 0.207285 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99521366e-01 2.00317444e-04 -3.09354001e-02 -3.51157845e-01] [-2.81080445e-04 9.99996564e-01 -2.60637181e-03 -5.82198969e-02] [ 3.09347717e-02 2.61381965e-03 9.99517988e-01 8.91669622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602557844 meters Centerline goodness : 0.088364 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99529166e-01 2.41212421e-04 -3.06820382e-02 -3.52205463e-01] [-3.20747011e-04 9.99996601e-01 -2.58732459e-03 -5.80645038e-02] [ 3.06813099e-02 2.59594757e-03 9.99525847e-01 8.92367487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632557844 meters Centerline goodness : 0.171178 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 9.99530698e-01 1.85977316e-04 -3.06324742e-02 -3.52445563e-01] [-2.70540327e-04 9.99996164e-01 -2.75644595e-03 -5.72087696e-02] [ 3.06318441e-02 2.76343967e-03 9.99526915e-01 8.92598334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662557844 meters Centerline goodness : 0.222009 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 9.99520892e-01 1.94555056e-05 -3.09513410e-02 -3.51258046e-01] [-1.21730303e-04 9.99994539e-01 -3.30249282e-03 -5.46286814e-02] [ 3.09511077e-02 3.30467829e-03 9.99515437e-01 8.91926171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692557844 meters Centerline goodness : 0.199784 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 9.99512507e-01 -7.96697175e-05 -3.12208634e-02 -3.50383150e-01] [-3.21052714e-05 9.99993593e-01 -3.57962001e-03 -5.32629094e-02] [ 3.12209485e-02 3.57887733e-03 9.99506100e-01 8.91629395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72255784400001 meters Centerline goodness : 0.221312 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.06, Z:0.89 [[ 0.99944063 0.00838043 -0.03237584 -0.36826924] [-0.00853922 0.99995217 -0.00476937 -0.0598157 ] [ 0.03233432 0.00504317 0.99946439 0.89019976] [ 0. 0. 0. 1. ]] SLAMing on 90.75255784400001 meters Centerline goodness : 0.166782 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99945866 0.0010547 -0.03288277 -0.34760597] [-0.00117412 0.99999279 -0.00361249 -0.05204155] [ 0.03287873 0.00364914 0.99945269 0.89117192] [ 0. 0. 0. 1. ]] SLAMing on 90.782557844 meters Centerline goodness : 0.192502 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99944348 0.00121025 -0.03333553 -0.34626481] [-0.0013281 0.99999295 -0.00351318 -0.05227348] [ 0.03333104 0.0035555 0.99943804 0.89095899] [ 0. 0. 0. 1. ]] SLAMing on 90.812557844 meters Centerline goodness : 0.157637 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99943141 0.00126387 -0.03369362 -0.34520845] [-0.00138229 0.99999295 -0.00349165 -0.05250384] [ 0.03368897 0.00353624 0.99942611 0.89080311] [ 0. 0. 0. 1. ]] SLAMing on 90.842557844 meters Centerline goodness : 0.217368 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.05, Z:0.89 [[ 0.99942399 0.00136141 -0.03390916 -0.34455623] [-0.001476 0.99999328 -0.00335464 -0.05308914] [ 0.03390436 0.00340276 0.99941929 0.89066078] [ 0. 0. 0. 1. ]] SLAMing on 90.872557844 meters Centerline goodness : 0.329272 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.06, Z:0.89 [[ 9.99338910e-01 3.16976982e-04 -3.63543984e-02 -3.89105239e-01] [-4.27842461e-04 9.99995282e-01 -3.04183640e-03 -5.69690888e-02] [ 3.63532627e-02 3.05537943e-03 9.99334331e-01 8.91057948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902557844 meters Centerline goodness : 0.217879 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.05, Z:0.89 [[ 0.99941117 0.00137195 -0.03428446 -0.34630044] [-0.00150504 0.99999143 -0.00385629 -0.05493205] [ 0.03427888 0.00390562 0.99940468 0.89210501] [ 0. 0. 0. 1. ]] SLAMing on 90.932557844 meters Centerline goodness : 0.152055 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.06, Z:0.89 [[ 0.99942328 0.00150464 -0.03392398 -0.34764169] [-0.00162801 0.99999216 -0.00360951 -0.05585687] [ 0.03391829 0.00366266 0.9994179 0.89280253] [ 0. 0. 0. 1. ]] SLAMing on 90.962557844 meters Centerline goodness : 0.135863 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.99944401 0.00260989 -0.03323939 -0.30894823] [-0.00269047 0.99999355 -0.00237989 -0.0545671 ] [ 0.03323296 0.002468 0.99944459 0.89451682] [ 0. 0. 0. 1. ]] SLAMing on 90.992557844 meters Centerline goodness : 0.228848 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.99944322 0.00267585 -0.03325805 -0.30897907] [-0.00275517 0.99999347 -0.00233932 -0.05453404] [ 0.03325158 0.00242965 0.99944406 0.89465438] [ 0. 0. 0. 1. ]] SLAMing on 91.022557844 meters Centerline goodness : 0.261011 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.05, Z:0.89 [[ 0.9994308 0.00270768 -0.03362648 -0.30802734] [-0.00279133 0.99999312 -0.002441 -0.05451634] [ 0.03361964 0.00253347 0.99943149 0.89481388] [ 0. 0. 0. 1. ]] SLAMing on 91.052557844 meters Centerline goodness : 0.234160 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.06, Z:0.89 [[ 0.99943037 0.00275014 -0.03363579 -0.30809521] [-0.00282976 0.99999331 -0.00231967 -0.05523695] [ 0.03362919 0.00241353 0.99943146 0.89494318] [ 0. 0. 0. 1. ]] SLAMing on 91.08255784400001 meters Centerline goodness : 0.198379 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.90 [[ 9.99471013e-01 -4.45294919e-03 -3.22159116e-02 -2.89716277e-01] [ 4.42262776e-03 9.99989708e-01 -1.01239124e-03 -5.07328693e-02] [ 3.22200881e-02 8.69376710e-04 9.99480420e-01 8.96838381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11255784400001 meters Centerline goodness : 0.395049 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.05, Z:0.90 [[ 9.99486041e-01 -4.30469155e-03 -3.17666993e-02 -2.91419783e-01] [ 4.28154656e-03 9.99990517e-01 -7.96579590e-04 -5.12646027e-02] [ 3.17698271e-02 6.60159579e-04 9.99494994e-01 8.97731780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142557844 meters Centerline goodness : 0.217348 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99541588e-01 4.78947633e-03 -2.98943898e-02 -2.73817370e-01] [-4.81861149e-03 9.99987983e-01 -9.02637750e-04 -5.74246525e-02] [ 2.98897074e-02 1.04627342e-03 9.99552655e-01 8.98630838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172557844 meters Centerline goodness : 0.217996 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99543824e-01 4.85732430e-03 -2.98085707e-02 -2.74337153e-01] [-4.87899693e-03 9.99987884e-01 -6.54368846e-04 -5.86738373e-02] [ 2.98050310e-02 7.99506264e-04 9.99555412e-01 8.99132822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202557844 meters Centerline goodness : 0.131898 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99527997e-01 4.75630492e-03 -3.03506406e-02 -2.72818229e-01] [-4.77284719e-03 9.99988498e-01 -4.72615352e-04 -6.06711485e-02] [ 3.03480436e-02 6.17251246e-04 9.99539201e-01 8.99000872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232557844 meters Centerline goodness : 0.139918 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99521394e-01 4.71873644e-03 -3.05731263e-02 -2.71938228e-01] [-4.73735537e-03 9.99988635e-01 -5.36590219e-04 -6.05055504e-02] [ 3.05702468e-02 6.81169168e-04 9.99532389e-01 8.98473372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 91.292557844 meters Centerline goodness : 0.118690 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 9.99521199e-01 4.84881228e-03 -3.05591360e-02 -2.71510442e-01] [-4.87324499e-03 9.99987863e-01 -7.25094145e-04 -5.87782095e-02] [ 3.05552492e-02 8.73669126e-04 9.99532698e-01 8.97637634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322557844 meters Centerline goodness : 0.202473 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99951286 0.00486943 -0.0308276 -0.27074051] [-0.0049081 0.99998726 -0.00117878 -0.056765 ] [ 0.03082147 0.00132951 0.99952402 0.89775731] [ 0. 0. 0. 1. ]] SLAMing on 91.352557844 meters Centerline goodness : 0.217383 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99951155 0.00479789 -0.03088099 -0.27057859] [-0.00484245 0.99998734 -0.0013682 -0.05591336] [ 0.03087404 0.00151707 0.99952213 0.89771199] [ 0. 0. 0. 1. ]] SLAMing on 91.382557844 meters Centerline goodness : 0.189938 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.06, Z:0.90 [[ 0.99950383 0.00476296 -0.03113525 -0.26989836] [-0.00481481 0.99998714 -0.0015904 -0.0550147 ] [ 0.03112727 0.00173952 0.99951392 0.89776829] [ 0. 0. 0. 1. ]] SLAMing on 91.412557844 meters Centerline goodness : 0.137093 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.05, Z:0.90 [[ 9.99516882e-01 -2.76295884e-03 -3.09575169e-02 -2.50244469e-01] [ 2.74405040e-03 9.99996022e-01 -6.53254800e-04 -4.65683084e-02] [ 3.09591986e-02 5.67990214e-04 9.99520488e-01 8.98565599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442557844 meters Centerline goodness : 0.184125 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99947292 0.00587407 -0.03192759 -0.26876381] [-0.00593091 0.99998099 -0.00168583 -0.05387958] [ 0.03191708 0.0018743 0.99948876 0.8976191 ] [ 0. 0. 0. 1. ]] SLAMing on 91.47255784400001 meters Centerline goodness : 0.163826 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946453 0.00590055 -0.0321844 -0.26787575] [-0.00595767 0.99998084 -0.00167918 -0.05368549] [ 0.03217387 0.00187003 0.99948054 0.89721273] [ 0. 0. 0. 1. ]] SLAMing on 91.50255784400001 meters Centerline goodness : 0.127276 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945939 0.00586685 -0.03234983 -0.26726658] [-0.00593217 0.99998055 -0.00192362 -0.0525307 ] [ 0.03233791 0.00211448 0.99947476 0.89698826] [ 0. 0. 0. 1. ]] SLAMing on 91.532557844 meters Centerline goodness : 0.176073 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945911 0.005921 -0.03234864 -0.26702201] [-0.00598495 0.99998032 -0.00188058 -0.05239944] [ 0.03233687 0.00207317 0.99947488 0.89656367] [ 0. 0. 0. 1. ]] SLAMing on 91.562557844 meters Centerline goodness : 0.183027 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99945864 0.00604022 -0.032341 -0.26682533] [-0.00609865 0.99997994 -0.00170838 -0.05278716] [ 0.03233003 0.0019047 0.99947543 0.89619214] [ 0. 0. 0. 1. ]] SLAMing on 91.592557844 meters Centerline goodness : 0.180635 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946253 0.00606592 -0.03221585 -0.26718072] [-0.00611903 0.99998008 -0.00155018 -0.05352345] [ 0.0322058 0.00174648 0.99947973 0.89621939] [ 0. 0. 0. 1. ]] SLAMing on 91.622557844 meters Centerline goodness : 0.198762 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.05, Z:0.90 [[ 0.99946651 0.0060498 -0.03209501 -0.26775096] [-0.00609948 0.99998035 -0.00145033 -0.05435593] [ 0.0320856 0.00164532 0.99948377 0.89666309] [ 0. 0. 0. 1. ]] SLAMing on 91.652557844 meters Centerline goodness : 0.135427 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.9995341 0.00617278 -0.02989129 -0.2255898 ] [-0.00624686 0.99997764 -0.00238555 -0.05137181] [ 0.0298759 0.00257116 0.99955031 0.8971368 ] [ 0. 0. 0. 1. ]] SLAMing on 91.682557844 meters Centerline goodness : 0.182216 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954397 0.00619848 -0.02955396 -0.22650882] [-0.00627011 0.99997762 -0.00233167 -0.05107074] [ 0.02953885 0.00251592 0.99956047 0.8971055 ] [ 0. 0. 0. 1. ]] SLAMing on 91.712557844 meters Centerline goodness : 0.132145 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954813 0.00618552 -0.0294156 -0.22682418] [-0.00625869 0.99997754 -0.00239591 -0.05064741] [ 0.02940012 0.00257893 0.9995644 0.89703103] [ 0. 0. 0. 1. ]] SLAMing on 91.742557844 meters Centerline goodness : 0.140833 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954962 0.00612596 -0.02937724 -0.22703294] [-0.00620368 0.99997749 -0.00255523 -0.04999032] [ 0.02936093 0.00273633 0.99956513 0.89725246] [ 0. 0. 0. 1. ]] SLAMing on 91.772557844 meters Centerline goodness : 0.168863 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.05, Z:0.90 [[ 0.99954929 0.0060284 -0.02940865 -0.22692459] [-0.00611346 0.99997738 -0.00280336 -0.04891196] [ 0.02939108 0.00298188 0.99956354 0.89719025] [ 0. 0. 0. 1. ]] SLAMing on 91.802557844 meters Centerline goodness : 0.131782 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 9.99561650e-01 -9.79960002e-04 -2.95896427e-02 -2.08806903e-01] [ 9.41201580e-04 9.99998681e-01 -1.32376402e-03 -3.96575814e-02] [ 2.95909009e-02 1.29533393e-03 9.99561254e-01 8.98717937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83255784400001 meters Centerline goodness : 0.267319 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 0.99956407 -0.00115368 -0.02950167 -0.2089127 ] [ 0.00109959 0.99999768 -0.00184975 -0.03686694] [ 0.02950373 0.00181651 0.99956302 0.89843148] [ 0. 0. 0. 1. ]] SLAMing on 91.86255784400001 meters Centerline goodness : 0.187679 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.04, Z:0.90 [[ 0.99956395 -0.00124699 -0.0295019 -0.20893328] [ 0.00118628 0.99999714 -0.0020752 -0.035858 ] [ 0.0295044 0.00203929 0.99956257 0.8984486 ] [ 0. 0. 0. 1. ]] SLAMing on 91.892557844 meters Centerline goodness : 0.200130 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956435 -0.00133635 -0.02948427 -0.20912897] [ 0.00126967 0.99999659 -0.00228025 -0.03495028] [ 0.02948722 0.00224182 0.99956264 0.89868148] [ 0. 0. 0. 1. ]] SLAMing on 91.922557844 meters Centerline goodness : 0.150436 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956489 -0.00146856 -0.02945973 -0.20908795] [ 0.00139308 0.99999569 -0.00258264 -0.03356718] [ 0.02946339 0.00254048 0.99956263 0.89848408] [ 0. 0. 0. 1. ]] SLAMing on 91.952557844 meters Centerline goodness : 0.189363 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99955515 -0.00167413 -0.02977762 -0.20790671] [ 0.00158289 0.99999398 -0.0030873 -0.03112268] [ 0.02978261 0.00303879 0.99955178 0.89777184] [ 0. 0. 0. 1. ]] SLAMing on 91.982557844 meters Centerline goodness : 0.175555 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99955528 -0.00170464 -0.02977128 -0.20804908] [ 0.00161091 0.99999367 -0.00317232 -0.03061616] [ 0.0297765 0.00312295 0.9995517 0.89795678] [ 0. 0. 0. 1. ]] SLAMing on 92.012557844 meters Centerline goodness : 0.190275 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956067 -0.00168548 -0.02959113 -0.20893265] [ 0.00159278 0.99999375 -0.00315599 -0.0304815 ] [ 0.02959626 0.00310747 0.9995571 0.89862403] [ 0. 0. 0. 1. ]] SLAMing on 92.042557844 meters Centerline goodness : 0.339092 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.99956784 -0.00163656 -0.02935056 -0.20995518] [ 0.00154755 0.99999414 -0.00305517 -0.03074371] [ 0.02935539 0.00300843 0.99956451 0.89929981] [ 0. 0. 0. 1. ]] SLAMing on 92.072557844 meters Centerline goodness : 0.131350 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.9995731 -0.00159419 -0.02917324 -0.21069147] [ 0.00151029 0.99999466 -0.00289776 -0.03151971] [ 0.02917771 0.00285247 0.99957017 0.89980182] [ 0. 0. 0. 1. ]] SLAMing on 92.102557844 meters Centerline goodness : 0.119522 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.90 [[ 0.9995738 -0.00157415 -0.02915021 -0.21094281] [ 0.00149395 0.99999504 -0.00277285 -0.03228449] [ 0.02915443 0.00272812 0.9995712 0.90015742] [ 0. 0. 0. 1. ]] SLAMing on 92.132557844 meters Centerline goodness : 0.299734 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.99960451 0.00569514 -0.02753868 -0.18944808] [-0.00584491 0.99996855 -0.00536108 -0.03346466] [ 0.02750729 0.00551992 0.99960636 0.89937014] [ 0. 0. 0. 1. ]] SLAMing on 92.162557844 meters Centerline goodness : 0.328542 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.9996076 0.00571763 -0.02742182 -0.1896599 ] [-0.00586562 0.99996865 -0.00531955 -0.03350734] [ 0.02739054 0.0054783 0.9996098 0.89918875] [ 0. 0. 0. 1. ]] SLAMing on 92.192557844 meters Centerline goodness : 0.122852 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.999608 0.00569293 -0.02741239 -0.18955973] [-0.0058432 0.99996832 -0.00540489 -0.03297647] [ 0.02738076 0.00556294 0.9996096 0.89901399] [ 0. 0. 0. 1. ]] SLAMing on 92.22255784400001 meters Centerline goodness : 0.122852 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.999608 0.00569293 -0.02741239 -0.18955973] [-0.0058432 0.99996832 -0.00540489 -0.03297647] [ 0.02738076 0.00556294 0.9996096 0.89901399] [ 0. 0. 0. 1. ]] SLAMing on 92.25255784400001 meters Centerline goodness : 0.188805 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.90 [[ 0.99958411 0.00572227 -0.02826432 -0.18696168] [-0.00588669 0.99996621 -0.00573744 -0.03162078] [ 0.02823054 0.00590144 0.99958402 0.89856816] [ 0. 0. 0. 1. ]] SLAMing on 92.282557844 meters Centerline goodness : 0.199373 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956777 0.00582371 -0.02881575 -0.18493446] [-0.00599434 0.99996499 -0.00583858 -0.0307804 ] [ 0.02878074 0.00600879 0.99956769 0.89762919] [ 0. 0. 0. 1. ]] SLAMing on 92.312557844 meters Centerline goodness : 0.163638 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956097 0.00588552 -0.02903849 -0.18383599] [-0.00606056 0.99996397 -0.00594357 -0.02986289] [ 0.02900246 0.00611695 0.99956062 0.89679237] [ 0. 0. 0. 1. ]] SLAMing on 92.342557844 meters Centerline goodness : 0.327783 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99956468 0.0058867 -0.02891011 -0.1839763 ] [-0.00606388 0.99996334 -0.0060449 -0.02907023] [ 0.02887346 0.00621758 0.99956374 0.89645435] [ 0. 0. 0. 1. ]] SLAMing on 92.372557844 meters Centerline goodness : 0.124775 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.90 [[ 0.99957211 0.00580365 -0.02866915 -0.18479076] [-0.00598592 0.99996239 -0.00627618 -0.02802853] [ 0.02863165 0.00644511 0.99956925 0.89680774] [ 0. 0. 0. 1. ]] SLAMing on 92.402557844 meters Centerline goodness : 0.060993 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.02, Z:0.90 [[ 0.9996262 0.00614115 -0.02664105 -0.14621125] [-0.00634739 0.99995049 -0.00766359 -0.02160905] [ 0.02659267 0.00782983 0.99961569 0.89888969] [ 0. 0. 0. 1. ]] SLAMing on 92.432557844 meters Centerline goodness : 0.150422 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99962863 -0.00273895 -0.02711267 -0.16568712] [ 0.00256902 0.99997685 -0.00630059 -0.01713078] [ 0.0271293 0.0062286 0.99961253 0.89708813] [ 0. 0. 0. 1. ]] SLAMing on 92.462557844 meters Centerline goodness : 0.281255 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99962867 -0.00274655 -0.02711038 -0.16533199] [ 0.00257315 0.99997602 -0.00642887 -0.01614115] [ 0.02712739 0.00635672 0.99961177 0.89642107] [ 0. 0. 0. 1. ]] SLAMing on 92.492557844 meters Centerline goodness : 0.058478 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.90 [[ 0.99962725 -0.0027768 -0.02715969 -0.16478935] [ 0.00259917 0.99997502 -0.00657341 -0.01520072] [ 0.02717726 0.00650037 0.99960949 0.89567466] [ 0. 0. 0. 1. ]] SLAMing on 92.522557844 meters Centerline goodness : 0.259501 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962592 -0.00285072 -0.027201 -0.16440572] [ 0.00266958 0.99997403 -0.00669361 -0.01480582] [ 0.02721938 0.00661849 0.99960757 0.89519484] [ 0. 0. 0. 1. ]] SLAMing on 92.552557844 meters Centerline goodness : 0.167628 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962273 -0.00310677 -0.02729021 -0.1645262 ] [ 0.00291573 0.99997099 -0.00703753 -0.01422187] [ 0.02731128 0.0069553 0.99960278 0.89575186] [ 0. 0. 0. 1. ]] SLAMing on 92.58255784400001 meters Centerline goodness : 0.280305 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962142 -0.00318784 -0.02732861 -0.16464801] [ 0.00299084 0.99996927 -0.00724635 -0.01319373] [ 0.02735087 0.00716188 0.99960024 0.89611171] [ 0. 0. 0. 1. ]] SLAMing on 92.61255784400001 meters Centerline goodness : 0.120417 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99962141 -0.00324402 -0.02732239 -0.164751 ] [ 0.00304076 0.99996742 -0.00747744 -0.01185876] [ 0.02734576 0.00739153 0.99959871 0.89616987] [ 0. 0. 0. 1. ]] SLAMing on 92.642557844 meters Centerline goodness : 0.189588 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99961449 -0.00810659 -0.02655478 -0.14211398] [ 0.00799823 0.99995926 -0.00418424 -0.00700413] [ 0.02658762 0.00397024 0.9996386 0.89647137] [ 0. 0. 0. 1. ]] SLAMing on 92.672557844 meters Centerline goodness : 0.137438 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99961739 -0.00813808 -0.02643582 -0.14252105] [ 0.00802764 0.99995861 -0.00428119 -0.00650973] [ 0.02646957 0.00406734 0.99964135 0.89661329] [ 0. 0. 0. 1. ]] SLAMing on 92.702557844 meters Centerline goodness : 0.178761 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99962057 -0.0081858 -0.02630054 -0.14292664] [ 0.00807251 0.99995769 -0.00441083 -0.00586323] [ 0.02633553 0.00419684 0.99964435 0.89670688] [ 0. 0. 0. 1. ]] SLAMing on 92.732557844 meters Centerline goodness : 0.114761 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 0.99962439 -0.00822002 -0.02614398 -0.14332483] [ 0.00810399 0.99995685 -0.0045412 -0.00515707] [ 0.02618018 0.00432763 0.99964787 0.89668859] [ 0. 0. 0. 1. ]] SLAMing on 92.762557844 meters Centerline goodness : 0.133537 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 0.99962484 -0.00828978 -0.0261046 -0.14330659] [ 0.00816963 0.99995556 -0.00470583 -0.00438935] [ 0.02614245 0.0044908 0.99964814 0.89643831] [ 0. 0. 0. 1. ]] SLAMing on 92.792557844 meters Centerline goodness : 0.182067 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 0.99962215 -0.00834011 -0.02619174 -0.14283451] [ 0.00821635 0.99995458 -0.00482957 -0.00391236] [ 0.02623083 0.00461255 0.99964527 0.89599462] [ 0. 0. 0. 1. ]] SLAMing on 92.822557844 meters Centerline goodness : 0.176727 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.89 [[ 9.99645460e-01 -8.15645446e-04 -2.66137128e-02 -1.62441224e-01] [ 6.58636169e-04 9.99982332e-01 -5.90779575e-03 -9.56796238e-03] [ 2.66180613e-02 5.88817244e-03 9.99628335e-01 8.94248962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852557844 meters Centerline goodness : 0.183638 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.999592 -0.00657312 -0.02779609 -0.14723287] [ 0.00645455 0.99996969 -0.00435325 -0.00463747] [ 0.02782386 0.00417207 0.99960414 0.89817574] [ 0. 0. 0. 1. ]] SLAMing on 92.882557844 meters Centerline goodness : 0.205479 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99953014 -0.00729388 -0.02977064 -0.19438564] [ 0.00720489 0.99996925 -0.00309532 -0.00924342] [ 0.0297923 0.00287937 0.99955196 0.89948949] [ 0. 0. 0. 1. ]] SLAMing on 92.912557844 meters Centerline goodness : 0.146841 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99953351 -0.00724535 -0.02966923 -0.19492066] [ 0.00716029 0.99996995 -0.00297202 -0.00976587] [ 0.02968987 0.00275819 0.99955535 0.89995062] [ 0. 0. 0. 1. ]] SLAMing on 92.942557844 meters Centerline goodness : 0.116814 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.9995983 -0.0064622 -0.02759503 -0.15165396] [ 0.00635975 0.99997256 -0.00379852 -0.00662084] [ 0.02761882 0.00362149 0.99961197 0.9007241 ] [ 0. 0. 0. 1. ]] SLAMing on 92.97255784400001 meters Centerline goodness : 0.146797 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99958175 0.00157063 -0.02887659 -0.1716831 ] [-0.00169263 0.99998974 -0.00420085 -0.01296499] [ 0.0288697 0.00424797 0.99957416 0.89929144] [ 0. 0. 0. 1. ]] SLAMing on 93.00255784400001 meters Centerline goodness : 0.359245 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957789 0.00159234 -0.0290086 -0.17104727] [-0.00171499 0.99998969 -0.00420357 -0.01275862] [ 0.0290016 0.00425155 0.99957032 0.89874816] [ 0. 0. 0. 1. ]] SLAMing on 93.032557844 meters Centerline goodness : 0.143754 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957472 0.00160027 -0.02911736 -0.17061309] [-0.00172448 0.99998952 -0.00424103 -0.01248551] [ 0.02911027 0.00428943 0.999567 0.89845731] [ 0. 0. 0. 1. ]] SLAMing on 93.062557844 meters Centerline goodness : 0.136536 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957369 0.00154215 -0.02915584 -0.170576 ] [-0.00167092 0.99998896 -0.00439251 -0.0118513 ] [ 0.02914874 0.00443935 0.99956523 0.89856751] [ 0. 0. 0. 1. ]] SLAMing on 93.092557844 meters Centerline goodness : 0.182114 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957619 0.00147058 -0.02907364 -0.17091567] [-0.00160413 0.99998827 -0.00457048 -0.01112501] [ 0.02906658 0.00461518 0.99956682 0.89876365] [ 0. 0. 0. 1. ]] SLAMing on 93.122557844 meters Centerline goodness : 0.181670 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957733 0.0013951 -0.02903833 -0.17098302] [-0.00153467 0.99998738 -0.00478481 -0.01008961] [ 0.02903129 0.00482735 0.99956685 0.89870994] [ 0. 0. 0. 1. ]] SLAMing on 93.152557844 meters Centerline goodness : 0.136837 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957995 0.00130651 -0.02895201 -0.17071165] [-0.00145196 0.99998643 -0.00500341 -0.00892855] [ 0.02894508 0.00504335 0.99956828 0.89779654] [ 0. 0. 0. 1. ]] SLAMing on 93.182557844 meters Centerline goodness : 0.123661 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957662 0.00126113 -0.02906888 -0.17033132] [-0.00140875 0.99998622 -0.00505808 -0.00876414] [ 0.0290621 0.00509689 0.99956461 0.89764702] [ 0. 0. 0. 1. ]] SLAMing on 93.212557844 meters Centerline goodness : 0.180274 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99957096 0.00119552 -0.02926557 -0.16981611] [-0.00134542 0.99998607 -0.00510291 -0.0088521 ] [ 0.02925906 0.0051401 0.99955865 0.89763563] [ 0. 0. 0. 1. ]] SLAMing on 93.242557844 meters Centerline goodness : 0.151575 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.9995662 0.00113487 -0.02942995 -0.1694089 ] [-0.00128422 0.99998639 -0.00505636 -0.00937088] [ 0.02942381 0.00509196 0.99955406 0.89763798] [ 0. 0. 0. 1. ]] SLAMing on 93.272557844 meters Centerline goodness : 0.145020 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99550963e-01 9.31646889e-04 -2.99500393e-02 -1.67782464e-01] [-1.07885078e-03 9.99987417e-01 -4.89919795e-03 -1.07314978e-02] [ 2.99450981e-02 4.92930965e-03 9.99539390e-01 8.97075246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302557844 meters Centerline goodness : 0.147995 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.90 [[ 9.99462995e-01 -6.66309331e-04 -3.27609118e-02 -2.11532810e-01] [ 5.20646625e-04 9.99989943e-01 -4.45456448e-03 -1.42932259e-02] [ 3.27635504e-02 4.43511549e-03 9.99453290e-01 8.96416472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33255784400001 meters Centerline goodness : 0.189862 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.01, Z:0.90 [[ 9.99455680e-01 -6.94772361e-04 -3.29827254e-02 -2.10774824e-01] [ 5.49392300e-04 9.99990096e-01 -4.41662183e-03 -1.45979486e-02] [ 3.29854673e-02 4.39609732e-03 9.99446163e-01 8.96063065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36255784400001 meters Centerline goodness : 0.122314 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99942087 -0.00816919 -0.03303315 -0.19085089] [ 0.00805507 0.99996113 -0.00358633 -0.00909893] [ 0.03306117 0.00331817 0.99944782 0.89784854] [ 0. 0. 0. 1. ]] SLAMing on 93.392557844 meters Centerline goodness : 0.150284 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99942428 -0.00819144 -0.03292425 -0.19134407] [ 0.00807536 0.99996071 -0.00365706 -0.00864573] [ 0.03295291 0.00338908 0.99945116 0.89817842] [ 0. 0. 0. 1. ]] SLAMing on 93.422557844 meters Centerline goodness : 0.164273 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.01, Z:0.90 [[ 0.99943504 -0.00818737 -0.03259718 -0.19248189] [ 0.0080697 0.99996045 -0.00373979 -0.00797193] [ 0.03262651 0.00347463 0.99946157 0.89870288] [ 0. 0. 0. 1. ]] SLAMing on 93.452557844 meters Centerline goodness : 0.155839 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.01, Z:0.90 [[ 0.99946421 -0.00813079 -0.03170458 -0.1953049 ] [ 0.00801034 0.99996022 -0.0039243 -0.0064174 ] [ 0.03173523 0.00366824 0.99948958 0.89971022] [ 0. 0. 0. 1. ]] SLAMing on 93.482557844 meters Centerline goodness : 0.154624 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99533176e-01 5.58010254e-04 -3.05469912e-02 -1.76016114e-01] [-7.26374213e-04 9.99984607e-01 -5.50081868e-03 -8.18850833e-03] [ 3.05434515e-02 5.52043932e-03 9.99518195e-01 9.01269936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512557844 meters Centerline goodness : 0.147701 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99529531e-01 4.54378371e-04 -3.06677316e-02 -1.75544822e-01] [-6.30946598e-04 9.99983281e-01 -5.74802809e-03 -7.15375356e-03] [ 3.06646071e-02 5.76467352e-03 9.99513107e-01 9.00965612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542557844 meters Centerline goodness : 0.159671 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99523262e-01 3.37801475e-04 -3.08728732e-02 -1.74655227e-01] [-5.23841134e-04 9.99981754e-01 -6.01810160e-03 -5.99417427e-03] [ 3.08702770e-02 6.03140503e-03 9.99505202e-01 9.00319771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572557844 meters Centerline goodness : 0.148215 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.00, Z:0.90 [[ 9.99517906e-01 2.46587845e-04 -3.10466494e-02 -1.73840782e-01] [-4.40969788e-04 9.99980345e-01 -6.25427234e-03 -4.80935128e-03] [ 3.10444970e-02 6.26494783e-03 9.99498369e-01 8.99604166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602557844 meters Centerline goodness : 0.123685 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99518614e-01 2.90279091e-04 -3.10234735e-02 -1.74068664e-01] [-4.79742622e-04 9.99981281e-01 -6.09983351e-03 -5.49413308e-03] [ 3.10211221e-02 6.11178042e-03 9.99500043e-01 8.99869894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632557844 meters Centerline goodness : 0.122205 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.9995102 -0.00753736 -0.03037339 -0.15377949] [ 0.00738309 0.99995929 -0.00518821 -0.00189103] [ 0.03041125 0.00496141 0.99952516 0.90137229] [ 0. 0. 0. 1. ]] SLAMing on 93.662557844 meters Centerline goodness : 0.120179 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.00, Z:0.90 [[ 0.9995039 -0.00747614 -0.03059511 -0.15324688] [ 0.00733049 0.99996127 -0.00486971 -0.00356731] [ 0.03063033 0.00464301 0.99952 0.90139543] [ 0. 0. 0. 1. ]] SLAMing on 93.692557844 meters Centerline goodness : 0.121601 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.99948744 -0.00748185 -0.03112688 -0.15181262] [ 0.00735214 0.99996381 -0.00427961 -0.00733472] [ 0.03115777 0.00404857 0.99950628 0.90137919] [ 0. 0. 0. 1. ]] SLAMing on 93.72255784400001 meters Centerline goodness : 0.121202 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.01, Z:0.90 [[ 0.99948641 -0.00734159 -0.03119313 -0.15187786] [ 0.00722563 0.99996657 -0.00382859 -0.00979482] [ 0.0312202 0.00360123 0.99950604 0.90181453] [ 0. 0. 0. 1. ]] SLAMing on 93.75255784400001 meters Centerline goodness : 0.198665 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99950173 0.00135515 -0.03153498 -0.17190395] [-0.00149184 0.99998959 -0.00431165 -0.01915828] [ 0.03152881 0.00435655 0.99949335 0.90135878] [ 0. 0. 0. 1. ]] SLAMing on 93.782557844 meters Centerline goodness : 0.189091 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99950192 0.00154684 -0.0315203 -0.17188854] [-0.00167272 0.99999073 -0.00396774 -0.02031889] [ 0.03151387 0.00401849 0.99949524 0.90130737] [ 0. 0. 0. 1. ]] SLAMing on 93.812557844 meters Centerline goodness : 0.156882 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99949396 0.00185219 -0.0317552 -0.17109095] [-0.00196843 0.99999148 -0.00362947 -0.02124113] [ 0.03174821 0.00369014 0.99948909 0.90114886] [ 0. 0. 0. 1. ]] SLAMing on 93.842557844 meters Centerline goodness : 0.153595 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99946056 0.00464808 -0.03251127 -0.16787952] [-0.00469464 0.99998806 -0.00135585 -0.01919325] [ 0.03250458 0.00150774 0.99947045 0.90041534] [ 0. 0. 0. 1. ]] SLAMing on 93.872557844 meters Centerline goodness : 0.120004 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99945406 0.00466704 -0.03270768 -0.16728114] [-0.00472403 0.99998746 -0.00166528 -0.01786903] [ 0.0326995 0.00181888 0.99946357 0.9004994 ] [ 0. 0. 0. 1. ]] SLAMing on 93.902557844 meters Centerline goodness : 0.144940 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99945315 0.00483614 -0.03271116 -0.16710729] [-0.00490104 0.99998618 -0.00190415 -0.01621609] [ 0.0327015 0.00206343 0.99946303 0.9004421 ] [ 0. 0. 0. 1. ]] SLAMing on 93.932557844 meters Centerline goodness : 0.152440 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.02, Z:0.90 [[ 0.99941957 0.00892626 -0.03287624 -0.16696284] [-0.00886933 0.9999589 0.00187707 -0.01525032] [ 0.03289164 -0.00158439 0.99945767 0.90109297] [ 0. 0. 0. 1. ]] SLAMing on 93.962557844 meters Centerline goodness : 0.150227 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99942078 0.00907036 -0.03279981 -0.16706204] [-0.00902253 0.99995801 0.00160593 -0.013153 ] [ 0.032813 -0.00130907 0.99946065 0.90099314] [ 0. 0. 0. 1. ]] SLAMing on 93.992557844 meters Centerline goodness : 0.150434 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99408662e-01 8.86829722e-03 -3.32216843e-02 -1.66183658e-01] [-8.85137725e-03 9.99960610e-01 6.56342902e-04 -8.88510083e-03] [ 3.32261964e-02 -3.61897120e-04 9.99447792e-01 9.01287720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022557844 meters Centerline goodness : 0.142336 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 9.99404993e-01 8.71791773e-03 -3.33714994e-02 -1.65688198e-01] [-8.71049973e-03 9.99961995e-01 3.67663348e-04 -7.74837697e-03] [ 3.33734364e-02 -7.67621487e-05 9.99442949e-01 9.01016639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052557844 meters Centerline goodness : 0.146881 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99413886e-01 -4.98237436e-04 -3.42291648e-02 -1.85320065e-01] [ 5.49039164e-04 9.99998762e-01 1.47478167e-03 -3.73138299e-03] [ 3.42283876e-02 -1.49271044e-03 9.99412922e-01 8.99050416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08255784400001 meters Centerline goodness : 0.150362 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99420658e-01 -4.76761643e-04 -3.40311919e-02 -1.85950897e-01] [ 5.34934742e-04 9.99998411e-01 1.70032087e-03 -4.81601510e-03] [ 3.40303272e-02 -1.71754027e-03 9.99419325e-01 8.99246820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11255784400001 meters Centerline goodness : 0.150362 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.00, Z:0.90 [[ 9.99420658e-01 -4.76761643e-04 -3.40311919e-02 -1.85950897e-01] [ 5.34934742e-04 9.99998411e-01 1.70032087e-03 -4.81601510e-03] [ 3.40303272e-02 -1.71754027e-03 9.99419325e-01 8.99246820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142557844 meters Centerline goodness : 0.150276 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.00, Z:0.90 [[ 0.99948045 -0.01003593 -0.03062851 -0.16783458] [ 0.01008634 0.99994802 0.00149153 -0.00410531] [ 0.03061195 -0.00179969 0.99952972 0.90099195] [ 0. 0. 0. 1. ]] SLAMing on 94.172557844 meters Centerline goodness : 0.123655 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99948027 -0.01020228 -0.03057957 -0.16829457] [ 0.01026039 0.99994584 0.00174396 -0.00599339] [ 0.03056012 -0.00205681 0.99953081 0.90164922] [ 0. 0. 0. 1. ]] SLAMing on 94.202557844 meters Centerline goodness : 0.119941 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.01, Z:0.90 [[ 0.99947232 -0.01021761 -0.03083315 -0.1676166 ] [ 0.01028496 0.99994505 0.00202661 -0.0076468 ] [ 0.03081075 -0.00234266 0.99952249 0.9016539 ] [ 0. 0. 0. 1. ]] SLAMing on 94.232557844 meters Centerline goodness : 0.152310 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99549594e-01 -4.56215533e-03 -2.96613623e-02 -1.82186026e-01] [ 4.58063997e-03 9.99989355e-01 5.55269616e-04 -1.33719814e-02] [ 2.96585134e-02 -6.90887541e-04 9.99559851e-01 8.97372056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262557844 meters Centerline goodness : 0.122394 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99546684e-01 -4.44537925e-03 -2.97769270e-02 -1.81571278e-01] [ 4.47329728e-03 9.99989615e-01 8.71022494e-04 -1.45783421e-02] [ 2.97727458e-02 -1.00382869e-03 9.99556189e-01 8.96774778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292557844 meters Centerline goodness : 0.145543 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99540610e-01 -4.38116868e-03 -2.99895717e-02 -1.80593027e-01] [ 4.41282394e-03 9.99989774e-01 9.89439163e-04 -1.49312443e-02] [ 2.99849302e-02 -1.12132332e-03 9.99549722e-01 8.96062682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322557844 meters Centerline goodness : 0.149694 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99533139e-01 -4.44969957e-03 -3.02275469e-02 -1.79861353e-01] [ 4.47553981e-03 9.99989675e-01 7.87252903e-04 -1.39036135e-02] [ 3.02237317e-02 -9.22169955e-04 9.99542733e-01 8.95826198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352557844 meters Centerline goodness : 0.119846 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99537206e-01 -4.48611979e-03 -3.00873387e-02 -1.80590831e-01] [ 4.50767748e-03 9.99989630e-01 6.48714109e-04 -1.31428223e-02] [ 3.00841165e-02 -7.84037908e-04 9.99547063e-01 8.96419868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382557844 meters Centerline goodness : 0.138406 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.01, Z:0.90 [[ 9.99545545e-01 -4.47066679e-03 -2.98113564e-02 -1.81828106e-01] [ 4.49037141e-03 9.99989742e-01 5.94062419e-04 -1.27193946e-02] [ 2.98083947e-02 -7.27656507e-04 9.99555366e-01 8.97329935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412557844 meters Centerline goodness : 0.223056 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960302 0.00406784 -0.02787935 -0.16357095] [-0.00410114 0.99999094 -0.00113728 -0.01442198] [ 0.02787447 0.00125116 0.99961065 0.89938164] [ 0. 0. 0. 1. ]] SLAMing on 94.442557844 meters Centerline goodness : 0.123218 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960538 0.00398303 -0.02780674 -0.16384124] [-0.00402166 0.99999102 -0.00133352 -0.01357963] [ 0.02780118 0.00144483 0.99961243 0.89951491] [ 0. 0. 0. 1. ]] SLAMing on 94.47255784400001 meters Centerline goodness : 0.137062 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960467 0.00393395 -0.02783946 -0.16341667] [-0.00397669 0.999991 -0.00148013 -0.01275725] [ 0.02783339 0.00159026 0.99961131 0.89898985] [ 0. 0. 0. 1. ]] SLAMing on 94.50255784400001 meters Centerline goodness : 0.120679 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960441 0.00397426 -0.02784306 -0.16254256] [-0.00401679 0.99999085 -0.00147171 -0.01233416] [ 0.02783696 0.00158297 0.99961122 0.89764284] [ 0. 0. 0. 1. ]] SLAMing on 94.532557844 meters Centerline goodness : 0.123422 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960254 0.00393997 -0.02791491 -0.16231894] [-0.00398433 0.99999089 -0.00153352 -0.01218368] [ 0.02790861 0.00164413 0.99960913 0.89759789] [ 0. 0. 0. 1. ]] SLAMing on 94.562557844 meters Centerline goodness : 0.051599 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960597 0.00394061 -0.02779166 -0.16292882] [-0.00398073 0.99999111 -0.00138863 -0.0128431 ] [ 0.02778594 0.00149871 0.99961277 0.89793331] [ 0. 0. 0. 1. ]] SLAMing on 94.592557844 meters Centerline goodness : 0.120522 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 0.99960928 0.00396762 -0.02766838 -0.16363005] [-0.00400505 0.99999114 -0.00129774 -0.01331446] [ 0.02766298 0.00140804 0.99961631 0.89851982] [ 0. 0. 0. 1. ]] SLAMing on 94.622557844 meters Centerline goodness : 0.119900 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99612067e-01 4.11418446e-03 -2.75461346e-02 -1.63930502e-01] [-4.14220011e-03 9.99990960e-01 -9.60060032e-04 -1.48343365e-02] [ 2.75419358e-02 1.07378919e-03 9.99620072e-01 8.98516892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652557844 meters Centerline goodness : 0.149659 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.90 [[ 9.99609125e-01 4.16348197e-03 -2.76453159e-02 -1.63326042e-01] [-4.18936095e-03 9.99990839e-01 -8.78253496e-04 -1.51082336e-02] [ 2.76414061e-02 9.93726415e-04 9.99617409e-01 8.97985916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682557844 meters Centerline goodness : 0.175636 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99602864e-01 4.21201820e-03 -2.78634844e-02 -1.62241074e-01] [-4.23808836e-03 9.99990635e-01 -8.76649686e-04 -1.49036593e-02] [ 2.78595310e-02 9.94389446e-04 9.99611353e-01 8.97249369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712557844 meters Centerline goodness : 0.141629 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99590740e-01 4.27937604e-03 -2.82849596e-02 -1.60663602e-01] [-4.30904835e-03 9.99990228e-01 -9.88179305e-04 -1.40397967e-02] [ 2.82804544e-02 1.10965614e-03 9.99599412e-01 8.96544812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742557844 meters Centerline goodness : 0.150779 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.90 [[ 9.99578441e-01 4.38999160e-03 -2.86996304e-02 -1.58800155e-01] [-4.41857773e-03 9.99989803e-01 -9.32701864e-04 -1.34413179e-02] [ 2.86952432e-02 1.05912022e-03 9.99587646e-01 8.95199527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772557844 meters Centerline goodness : 0.137931 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.89 [[ 9.99569552e-01 4.45960448e-03 -2.89969341e-02 -1.57413959e-01] [-4.49027477e-03 9.99989426e-01 -9.92677944e-04 -1.27881039e-02] [ 2.89922005e-02 1.12245485e-03 9.99579008e-01 8.94247247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802557844 meters Centerline goodness : 0.210950 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.00, Z:0.90 [[ 9.99525646e-01 -2.26763771e-03 -3.07138567e-02 -1.37151731e-01] [ 2.27121013e-03 9.99997417e-01 8.14264156e-05 -4.73093198e-03] [ 3.07135927e-02 -1.51145413e-04 9.99528215e-01 8.95715777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83255784400001 meters Centerline goodness : 0.157762 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.01, Z:0.90 [[ 9.99521224e-01 -2.25994630e-03 -3.08579756e-02 -1.36742421e-01] [ 2.26535177e-03 9.99997424e-01 1.40213234e-04 -5.08260587e-03] [ 3.08575793e-02 -2.10050273e-04 9.99523769e-01 8.95634576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 94.892557844 meters Centerline goodness : 0.152272 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.90 [[ 9.99490080e-01 -2.50913048e-03 -3.18321260e-02 -1.34221276e-01] [ 2.52161191e-03 9.99996759e-01 3.51963493e-04 -7.47245701e-03] [ 3.18311397e-02 -4.32052288e-04 9.99493167e-01 8.95546035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922557844 meters Centerline goodness : 0.118102 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.01, Z:0.90 [[ 9.99492075e-01 -2.45896316e-03 -3.17733444e-02 -1.34421693e-01] [ 2.47848195e-03 9.99996763e-01 5.74942916e-04 -8.68593127e-03] [ 3.17718278e-02 -6.53400549e-04 9.99494934e-01 8.95659429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952557844 meters Centerline goodness : 0.121927 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.90 [[ 9.99520075e-01 5.97085508e-03 -3.03968652e-02 -1.16583301e-01] [-6.00312834e-03 9.99981510e-01 -9.70580650e-04 -1.30064437e-02] [ 3.03905080e-02 1.15259113e-03 9.99537437e-01 8.97516434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982557844 meters Centerline goodness : 0.081909 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.90 [[ 9.99532752e-01 6.01855510e-03 -2.99675610e-02 -1.18168147e-01] [-6.03840228e-03 9.99981605e-01 -5.71833627e-04 -1.49361387e-02] [ 2.99635681e-02 7.52522627e-04 9.99550708e-01 8.98173209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012557844 meters Centerline goodness : 0.135740 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99530505e-01 6.14121526e-03 -3.00175776e-02 -1.18151541e-01] [-6.15371812e-03 9.99981013e-01 -3.24154178e-04 -1.58615271e-02] [ 3.00150170e-02 5.08721701e-04 9.99549318e-01 8.98365110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042557844 meters Centerline goodness : 0.135355 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99526550e-01 6.28890109e-03 -3.01185161e-02 -1.18051776e-01] [-6.29428863e-03 9.99980187e-01 -8.40715272e-05 -1.68515712e-02] [ 3.01173906e-02 2.73606357e-04 9.99546331e-01 8.98693812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072557844 meters Centerline goodness : 0.140420 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99528166e-01 6.37034434e-03 -3.00476823e-02 -1.18490454e-01] [-6.37067521e-03 9.99979703e-01 8.47233162e-05 -1.75955394e-02] [ 3.00476121e-02 1.06740684e-04 9.99548463e-01 8.99121579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102557844 meters Centerline goodness : 0.121853 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99535928e-01 6.25474812e-03 -2.98128463e-02 -1.19956423e-01] [-6.25666880e-03 9.99980426e-01 2.88610138e-05 -1.81889939e-02] [ 2.98124433e-02 1.57681485e-04 9.99555498e-01 9.00546526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132557844 meters Centerline goodness : 0.145552 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99536156e-01 6.29409463e-03 -2.97969237e-02 -1.20160064e-01] [-6.29520385e-03 9.99980183e-01 5.65847270e-05 -1.83223184e-02] [ 2.97966894e-02 1.31019228e-04 9.99555971e-01 9.00854158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162557844 meters Centerline goodness : 0.201198 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99537610e-01 6.39147723e-03 -2.97273558e-02 -1.20373218e-01] [-6.38901239e-03 9.99979574e-01 1.77900206e-04 -1.86041661e-02] [ 2.97278856e-02 1.21104980e-05 9.99558029e-01 9.00985411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 95.22255784400001 meters Centerline goodness : 0.146509 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.90 [[ 9.99544831e-01 6.65696082e-03 -2.94247340e-02 -1.21793733e-01] [-6.65601606e-03 9.99977840e-01 1.30055792e-04 -1.86263077e-02] [ 2.94249477e-02 6.58549078e-05 9.99566990e-01 9.02544548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25255784400001 meters Centerline goodness : 0.181763 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99550979e-01 -4.56081661e-05 -2.99639455e-02 -1.02550008e-01] [ 9.19952232e-05 9.99998800e-01 1.54671901e-03 -1.04996810e-02] [ 2.99638390e-02 -1.54878104e-03 9.99549783e-01 9.03930614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters Centerline goodness : 0.141715 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99553396e-01 2.43603357e-05 -2.98832462e-02 -1.02322682e-01] [ 2.06419995e-05 9.99998866e-01 1.50562923e-03 -9.99626528e-03] [ 2.98832490e-02 -1.50557366e-03 9.99552262e-01 9.03205353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312557844 meters Centerline goodness : 0.125698 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.90 [[ 9.99552842e-01 1.81005277e-04 -2.99012119e-02 -1.01785305e-01] [-1.36321187e-04 9.99998871e-01 1.49642240e-03 -9.43874573e-03] [ 2.99014490e-02 -1.49167710e-03 9.99551739e-01 9.02355813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342557844 meters Centerline goodness : 0.179779 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99531665e-01 8.79037575e-03 -2.93117630e-02 -8.16985367e-02] [-8.79661610e-03 9.99961306e-01 -8.39503588e-05 -1.23187277e-02] [ 2.93098908e-02 3.41755368e-04 9.99570314e-01 9.03954033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372557844 meters Centerline goodness : 0.142130 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99526743e-01 8.80551177e-03 -2.94746206e-02 -8.13642334e-02] [-8.81047127e-03 9.99961186e-01 -3.83942089e-05 -1.27307413e-02] [ 2.94731385e-02 2.98061336e-04 9.99565528e-01 9.04107407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402557844 meters Centerline goodness : 0.128397 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99526005e-01 8.92965423e-03 -2.94622856e-02 -8.13823105e-02] [-8.92788186e-03 9.99960127e-01 1.91705703e-04 -1.35754285e-02] [ 2.94628227e-02 7.14209691e-05 9.99565874e-01 9.04073034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432557844 meters Centerline goodness : 0.407288 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.90 [[ 9.99535490e-01 9.10192845e-03 -2.90853773e-02 -8.20837571e-02] [-9.09247191e-03 9.99958558e-01 4.57373608e-04 -1.36869682e-02] [ 2.90883349e-02 -1.92703177e-04 9.99576826e-01 9.03657784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462557844 meters Centerline goodness : 0.147590 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.90 [[ 9.99596931e-01 1.03050906e-02 -2.64533561e-02 -3.73102661e-02] [-1.03103683e-02 9.99946845e-01 -6.31171966e-05 -8.25426873e-03] [ 2.64512996e-02 3.35835601e-04 9.99650047e-01 9.02695379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492557844 meters Centerline goodness : 0.274214 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.90 [[ 9.99599725e-01 1.01422273e-02 -2.64107172e-02 -3.73077320e-02] [-1.01557028e-02 9.99948359e-01 -3.76140533e-04 -6.98054442e-03] [ 2.64055384e-02 6.44209366e-04 9.99651105e-01 9.02428839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522557844 meters Centerline goodness : 0.106468 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99632168e-01 7.15669809e-04 -2.71112061e-02 -5.68736426e-02] [-7.15001170e-04 9.99999744e-01 3.43568633e-05 -5.50461766e-04] [ 2.71112238e-02 -1.49596816e-05 9.99632423e-01 9.01213096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552557844 meters Centerline goodness : 0.273053 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.90 [[ 0.99967317 0.00163835 -0.02551228 -0.01198965] [-0.0016716 0.99999778 -0.00128199 0.00515674] [ 0.02551013 0.00132422 0.99967369 0.90121042] [ 0. 0. 0. 1. ]] SLAMing on 95.58255784400001 meters Centerline goodness : 0.137429 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:0.90 [[ 9.99574175e-01 -7.27096369e-04 -2.91708796e-02 -5.50802066e-02] [ 6.80403657e-04 9.99998472e-01 -1.61055593e-03 3.16404781e-03] [ 2.91720061e-02 1.59002214e-03 9.99573142e-01 9.01059858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61255784400001 meters Centerline goodness : 0.121434 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.90 [[ 9.99552107e-01 -8.45163585e-03 -2.87080911e-02 -3.46691353e-02] [ 8.43372382e-03 9.99964158e-01 -7.44964633e-04 7.91393688e-03] [ 2.87133583e-02 5.02514856e-04 9.99587560e-01 9.02490949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642557844 meters Centerline goodness : 0.101687 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.90 [[ 9.99619814e-01 -7.40378133e-04 -2.75622757e-02 -1.58819777e-02] [ 6.69895209e-04 9.99996482e-01 -2.56637026e-03 4.18516261e-03] [ 2.75640788e-02 2.54693073e-03 9.99616794e-01 9.03744396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672557844 meters Centerline goodness : 0.147149 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99953167 -0.00298887 -0.03045498 -0.06053815] [ 0.00291807 0.99999294 -0.0023688 -0.00108114] [ 0.03046184 0.00227882 0.99953333 0.90388744] [ 0. 0. 0. 1. ]] SLAMing on 95.702557844 meters Centerline goodness : 0.125651 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99949016 -0.00387008 -0.03169293 -0.05683318] [ 0.0037868 0.99998922 -0.0026873 -0.00282972] [ 0.03170299 0.00256592 0.99949404 0.90326423] [ 0. 0. 0. 1. ]] SLAMing on 95.732557844 meters Centerline goodness : 0.296321 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 0.99947932 -0.00388549 -0.03203118 -0.05608438] [ 0.00380844 0.99998971 -0.00246606 -0.00434811] [ 0.03204043 0.00234279 0.99948383 0.90345032] [ 0. 0. 0. 1. ]] SLAMing on 95.762557844 meters Centerline goodness : 0.127311 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.99947615 -0.00385156 -0.03213382 -0.05585742] [ 0.00378072 0.99999029 -0.0022651 -0.00557584] [ 0.03214224 0.00214243 0.99948101 0.90352351] [ 0. 0. 0. 1. ]] SLAMing on 95.792557844 meters Centerline goodness : 0.126190 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.9994774 -0.00367217 -0.03211614 -0.05569419] [ 0.00361299 0.99999167 -0.00190042 -0.00677489] [ 0.03212285 0.00178339 0.99948234 0.90322962] [ 0. 0. 0. 1. ]] SLAMing on 95.822557844 meters Centerline goodness : 0.137406 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.90 [[ 0.99947807 -0.00359204 -0.03210413 -0.05573735] [ 0.00353411 0.99999202 -0.00186089 -0.00670806] [ 0.03211056 0.00174646 0.9994828 0.90323114] [ 0. 0. 0. 1. ]] SLAMing on 95.852557844 meters Centerline goodness : 0.156183 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99474535e-01 -7.52597730e-04 -3.24050600e-02 -5.52515351e-02] [ 7.75975675e-04 9.99999448e-01 7.08858823e-04 -4.43315238e-03] [ 3.24045086e-02 -7.33631881e-04 9.99474567e-01 9.03793494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882557844 meters Centerline goodness : 0.140672 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.90 [[ 9.99478230e-01 -6.90754488e-04 -3.22922777e-02 -5.56745897e-02] [ 7.11893067e-04 9.99999540e-01 6.43108951e-04 -3.79948373e-03] [ 3.22918186e-02 -6.65762044e-04 9.99478262e-01 9.04020257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912557844 meters Centerline goodness : 0.137165 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.90 [[ 9.99470399e-01 8.99960439e-03 -3.12718438e-02 -3.44859416e-02] [-9.00792085e-03 9.99959420e-01 -1.25066807e-04 -5.50600008e-03] [ 3.12694492e-02 4.06694865e-04 9.99510908e-01 9.04803622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942557844 meters Centerline goodness : 0.136725 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:0.90 [[ 9.99470671e-01 8.95943366e-03 -3.12746901e-02 -3.44182140e-02] [-8.97184851e-03 9.99959719e-01 -2.56651040e-04 -4.99532226e-03] [ 3.12711309e-02 5.37106969e-04 9.99510794e-01 9.04743370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97255784400001 meters Centerline goodness : 0.181220 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:0.91 [[ 9.99397519e-01 7.87632673e-03 -3.38018213e-02 -8.04350545e-02] [-7.87722031e-03 9.99968969e-01 1.06736565e-04 -7.99570571e-03] [ 3.38016131e-02 1.59592135e-04 9.99428549e-01 9.05565655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00255784400001 meters Centerline goodness : 0.146732 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478489e-01 9.16834830e-03 -3.09627402e-02 -3.61700082e-02] [-9.18584267e-03 9.99957720e-01 -4.22814618e-04 -4.19252928e-03] [ 3.09575545e-02 7.07012975e-04 9.99520450e-01 9.05609853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032557844 meters Centerline goodness : 0.146732 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478489e-01 9.16834830e-03 -3.09627402e-02 -3.61700082e-02] [-9.18584267e-03 9.99957720e-01 -4.22814618e-04 -4.19252928e-03] [ 3.09575545e-02 7.07012975e-04 9.99520450e-01 9.05609853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062557844 meters Centerline goodness : 0.191060 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99478051e-01 9.11334246e-03 -3.09931023e-02 -3.67357212e-02] [-9.12856241e-03 9.99958273e-01 -3.49612668e-04 -4.71044223e-03] [ 3.09886229e-02 6.32352657e-04 9.99519537e-01 9.06426313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092557844 meters Centerline goodness : 0.062795 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 9.99473813e-01 9.16567055e-03 -3.11140967e-02 -3.64886978e-02] [-9.17827711e-03 9.99957844e-01 -2.62371742e-04 -5.23509945e-03] [ 3.11103802e-02 5.47807487e-04 9.99515805e-01 9.06562943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122557844 meters Centerline goodness : 0.123729 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 9.99473780e-01 9.29147423e-03 -3.10778283e-02 -3.66184592e-02] [-9.29586080e-03 9.99956793e-01 3.33497862e-06 -6.27925019e-03] [ 3.10765165e-02 2.85561942e-04 9.99516968e-01 9.06616731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152557844 meters Centerline goodness : 0.133761 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.91 [[ 9.99527090e-01 5.76329773e-04 -3.07451351e-02 -5.60127491e-02] [-5.45885930e-04 9.99999352e-01 9.98584783e-04 -9.01694349e-04] [ 3.07456907e-02 -9.81329206e-04 9.99526758e-01 9.05269156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182557844 meters Centerline goodness : 0.122247 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99538269e-01 9.49896911e-03 -2.88620738e-02 -3.67659419e-02] [-9.50467210e-03 9.99954828e-01 -6.04069404e-05 -4.43380078e-03] [ 2.88601963e-02 3.34703596e-04 9.99583402e-01 9.06947374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212557844 meters Centerline goodness : 0.283308 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99530300e-01 9.47063024e-03 -2.91459538e-02 -3.60883632e-02] [-9.47976436e-03 9.99955051e-01 -1.75227748e-04 -4.29184005e-03] [ 2.91429842e-02 4.51442218e-04 9.99575151e-01 9.07197738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242557844 meters Centerline goodness : 0.268712 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.00, Z:0.91 [[ 9.99520110e-01 9.53441190e-03 -2.94727786e-02 -3.50482245e-02] [-9.54296734e-03 9.99954454e-01 -1.49633854e-04 -4.47062242e-03] [ 2.94700095e-02 4.30819810e-04 9.99565572e-01 9.06980674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272557844 meters Centerline goodness : 0.121740 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99954156 0.00263166 -0.03016201 -0.01648106] [-0.00259466 0.99999583 0.00126578 0.00323701] [ 0.03016522 -0.00118694 0.99954422 0.90846159] [ 0. 0. 0. 1. ]] SLAMing on 96.302557844 meters Centerline goodness : 0.287813 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99954608 0.00270051 -0.03000554 -0.01702212] [-0.00266193 0.99999558 0.00132582 0.00321386] [ 0.03000899 -0.00124535 0.99954885 0.90864736] [ 0. 0. 0. 1. ]] SLAMing on 96.33255784400001 meters Centerline goodness : 0.270622 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 0.99955176 0.00281598 -0.02980511 -0.01786268] [-0.00277071 0.99999494 0.00156006 0.00204921] [ 0.02980936 -0.00147678 0.99955451 0.90918528] [ 0. 0. 0. 1. ]] SLAMing on 96.36255784400001 meters Centerline goodness : 0.116945 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.91 [[ 9.99467253e-01 7.76830737e-04 -3.26283252e-02 -6.41105587e-02] [-7.22556197e-04 9.99998336e-01 1.67517600e-03 -3.05630511e-03] [ 3.26295723e-02 -1.65070776e-03 9.99466151e-01 9.10385222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392557844 meters Centerline goodness : 0.162539 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99546130e-01 1.33856167e-03 -3.00955482e-02 -2.02008776e-02] [-1.32072464e-03 9.99998940e-01 6.12550699e-04 -1.33353998e-03] [ 3.00963363e-02 -5.72524748e-04 9.99546839e-01 9.10901576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters Centerline goodness : 0.124173 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99954146 0.00151723 -0.0302419 -0.01968371] [-0.0014854 0.99999832 0.0010749 -0.00348219] [ 0.03024348 -0.00102949 0.99954203 0.91067882] [ 0. 0. 0. 1. ]] SLAMing on 96.452557844 meters Centerline goodness : 0.124763 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.91 [[ 0.99951723 0.00150827 -0.03103292 -0.01660006] [-0.00146217 0.99999779 0.00150792 -0.00631343] [ 0.03103512 -0.00146182 0.99951723 0.90909623] [ 0. 0. 0. 1. ]] SLAMing on 96.482557844 meters Centerline goodness : 0.190312 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.91 [[ 0.99950613 0.00150417 -0.03138856 -0.01523804] [-0.00145238 0.99999755 0.00167275 -0.00765432] [ 0.031391 -0.00162634 0.99950586 0.90842656] [ 0. 0. 0. 1. ]] SLAMing on 96.512557844 meters Centerline goodness : 0.182278 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99949703 0.00153682 -0.03167523 -0.01444825] [-0.00147825 0.99999715 0.00187257 -0.00909575] [ 0.03167802 -0.00182481 0.99949646 0.90837544] [ 0. 0. 0. 1. ]] SLAMing on 96.542557844 meters Centerline goodness : 0.174773 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99948349 0.0016513 -0.03209408 -0.01362465] [-0.00158307 0.99999643 0.0021514 -0.01045483] [ 0.03209752 -0.00209948 0.99948254 0.90877715] [ 0. 0. 0. 1. ]] SLAMing on 96.572557844 meters Centerline goodness : 0.128899 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947973 0.00170043 -0.03220843 -0.01327719] [-0.00163046 0.99999625 0.00219868 -0.01037294] [ 0.03221205 -0.00214502 0.99947876 0.90871182] [ 0. 0. 0. 1. ]] SLAMing on 96.602557844 meters Centerline goodness : 0.124557 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947787 0.00172825 -0.03226454 -0.01303574] [-0.00165714 0.99999614 0.00223036 -0.01043839] [ 0.03226827 -0.00217573 0.99947688 0.90857449] [ 0. 0. 0. 1. ]] SLAMing on 96.632557844 meters Centerline goodness : 0.147610 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947394 0.00167083 -0.03238917 -0.01244617] [-0.00160192 0.9999964 0.0021533 -0.01032873] [ 0.03239265 -0.00210028 0.99947301 0.90817454] [ 0. 0. 0. 1. ]] SLAMing on 96.662557844 meters Centerline goodness : 0.213939 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99947618 0.00157792 -0.03232458 -0.01279687] [-0.00151529 0.99999693 0.00196203 -0.00980376] [ 0.03232758 -0.00191202 0.9994755 0.90845927] [ 0. 0. 0. 1. ]] SLAMing on 96.692557844 meters Centerline goodness : 0.180644 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.9994875 0.00159574 -0.03197178 -0.01394455] [-0.00153755 0.99999712 0.00184477 -0.00880409] [ 0.03197463 -0.00179467 0.99948707 0.9088273 ] [ 0. 0. 0. 1. ]] SLAMing on 96.72255784400001 meters Centerline goodness : 0.269187 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.91 [[ 0.99949713 0.00159646 -0.03166923 -0.01483344] [-0.00154506 0.99999745 0.0016473 -0.00727173] [ 0.03167177 -0.00159754 0.99949705 0.90903409] [ 0. 0. 0. 1. ]] SLAMing on 96.75255784400001 meters Centerline goodness : 0.126474 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99950953 0.00152231 -0.03127925 -0.01556436] [-0.00148887 0.99999829 0.00109255 -0.00377516] [ 0.03128086 -0.00104545 0.99951009 0.9085725 ] [ 0. 0. 0. 1. ]] SLAMing on 96.782557844 meters Centerline goodness : 0.305463 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99512762e-01 1.40534069e-03 -3.11811399e-02 -1.58149599e-02] [-1.38213208e-03 9.99998752e-01 7.65856665e-04 -2.17410350e-03] [ 3.11821773e-02 -7.22387057e-04 9.99513457e-01 9.08545293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812557844 meters Centerline goodness : 0.226879 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99516170e-01 1.30030546e-03 -3.10762632e-02 -1.62226412e-02] [-1.28563610e-03 9.99999053e-01 4.92020698e-04 -8.32675756e-04] [ 3.10768735e-02 -4.51829878e-04 9.99516895e-01 9.08735788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters Centerline goodness : 0.186582 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99518916e-01 1.24706013e-03 -3.09900071e-02 -1.66014987e-02] [-1.23686495e-03 9.99999174e-01 3.48150453e-04 -2.15688551e-05] [ 3.09904157e-02 -3.09652511e-04 9.99519634e-01 9.08960247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872557844 meters Centerline goodness : 0.145550 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99523358e-01 1.18762845e-03 -3.08487778e-02 -1.69227667e-02] [-1.18170269e-03 9.99999280e-01 2.10321503e-04 9.23475100e-04] [ 3.08490053e-02 -1.73767171e-04 9.99524041e-01 9.08880025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902557844 meters Centerline goodness : 0.130168 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99525516e-01 1.19022688e-03 -3.07786606e-02 -1.70563571e-02] [-1.18330140e-03 9.99999270e-01 2.43222837e-04 6.97755639e-04] [ 3.07789276e-02 -2.06687000e-04 9.99526195e-01 9.08820578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932557844 meters Centerline goodness : 0.282804 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.00, Z:0.91 [[ 9.99531990e-01 1.21700270e-03 -3.05666361e-02 -1.78186880e-02] [-1.20658833e-03 9.99999208e-01 3.59153127e-04 2.53243190e-05] [ 3.05670490e-02 -3.22103693e-04 9.99532667e-01 9.09162703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962557844 meters Centerline goodness : 0.125151 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99539250e-01 1.24623251e-03 -3.03271167e-02 -1.85857696e-02] [-1.23299364e-03 9.99999136e-01 4.55232569e-04 -5.38219656e-04] [ 3.03276579e-02 -4.17629679e-04 9.99539924e-01 9.09403577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992557844 meters Centerline goodness : 0.123661 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99537067e-01 1.18523471e-03 -3.04014428e-02 -1.80136813e-02] [-1.17348687e-03 9.99999230e-01 4.04262792e-04 -5.81917465e-04] [ 3.04018985e-02 -3.68399951e-04 9.99537688e-01 9.08788744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022557844 meters Centerline goodness : 0.172871 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99527585e-01 1.12223353e-03 -3.07139523e-02 -1.68576143e-02] [-1.11154908e-03 9.99999316e-01 3.64941413e-04 -6.66961144e-04] [ 3.07143408e-02 -3.30628944e-04 9.99528149e-01 9.08206032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052557844 meters Centerline goodness : 0.123093 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99519434e-01 1.06598511e-03 -3.09800570e-02 -1.58791011e-02] [-1.05533703e-03 9.99999378e-01 3.60056788e-04 -8.99921391e-04] [ 3.09804215e-02 -3.27189356e-04 9.99519938e-01 9.07694997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08255784400001 meters Centerline goodness : 0.192003 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99514885e-01 1.09694748e-03 -3.11254109e-02 -1.54729969e-02] [-1.08114642e-03 9.99999278e-01 5.24482963e-04 -1.78880241e-03] [ 3.11259638e-02 -4.90577402e-04 9.99515349e-01 9.07642625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11255784400001 meters Centerline goodness : 0.124539 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.91 [[ 9.99500696e-01 8.99317369e-04 -3.15840195e-02 -1.44646645e-02] [-8.77201582e-04 9.99999360e-01 7.14070028e-04 -3.49243773e-03] [ 3.15846414e-02 -6.86007938e-04 9.99500845e-01 9.07976416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142557844 meters Centerline goodness : 0.186232 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.91 [[ 0.99943607 0.00602921 -0.03303303 -0.03683106] [-0.00611365 0.9999783 -0.00245581 -0.00657836] [ 0.03301751 0.00265638 0.99945124 0.90769101] [ 0. 0. 0. 1. ]] SLAMing on 97.172557844 meters Centerline goodness : 0.129094 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99419078e-01 -2.39928814e-03 -3.39963316e-02 -1.70864330e-02] [ 2.32899436e-03 9.99995068e-01 -2.10713644e-03 -5.79617220e-04] [ 3.40012196e-02 2.02673509e-03 9.99419736e-01 9.08837607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202557844 meters Centerline goodness : 0.187647 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 9.99410939e-01 -2.40072030e-03 -3.42346677e-02 -1.62409141e-02] [ 2.33173913e-03 9.99995171e-01 -2.05473331e-03 -9.88402970e-04] [ 3.42394352e-02 1.97369663e-03 9.99411710e-01 9.08478538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232557844 meters Centerline goodness : 0.124590 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99939901 -0.00243808 -0.03457843 -0.01513045] [ 0.00237163 0.99999526 -0.00196244 -0.00197062] [ 0.03458305 0.00187926 0.99940006 0.90812658] [ 0. 0. 0. 1. ]] SLAMing on 97.262557844 meters Centerline goodness : 0.131450 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99939927 -0.00241832 -0.03457252 -0.01538137] [ 0.00235527 0.99999549 -0.00186444 -0.00256496] [ 0.03457687 0.00178189 0.99940045 0.90850004] [ 0. 0. 0. 1. ]] SLAMing on 97.292557844 meters Centerline goodness : 0.184266 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.00, Z:0.91 [[ 0.99940626 -0.00252588 -0.03436202 -0.01622102] [ 0.00246072 0.99999509 -0.00193857 -0.00246911] [ 0.03436675 0.00185286 0.99940757 0.90890578] [ 0. 0. 0. 1. ]] SLAMing on 97.322557844 meters Centerline goodness : 0.148948 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99942327 0.006325 -0.03336354 0.00311421] [-0.00643495 0.99997421 -0.00318922 -0.00511492] [ 0.0333425 0.00340207 0.99943819 0.91036901] [ 0. 0. 0. 1. ]] SLAMing on 97.352557844 meters Centerline goodness : 0.183859 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.91 [[ 0.9994212 0.00637971 -0.03341495 0.00342497] [-0.00648891 0.99997395 -0.00316054 -0.00491407] [ 0.03339392 0.00337554 0.99943657 0.91008697] [ 0. 0. 0. 1. ]] SLAMing on 97.382557844 meters Centerline goodness : 0.125547 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99941955 0.00640618 -0.03345939 0.00381788] [-0.00651276 0.99997406 -0.00307719 -0.00519548] [ 0.03343881 0.00329332 0.99943534 0.90960888] [ 0. 0. 0. 1. ]] SLAMing on 97.412557844 meters Centerline goodness : 0.062313 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99942668 0.00632707 -0.03326065 0.00309285] [-0.00643222 0.99997464 -0.00305555 -0.00549909] [ 0.03324048 0.00326774 0.99944204 0.90988156] [ 0. 0. 0. 1. ]] SLAMing on 97.442557844 meters Centerline goodness : 0.143302 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99943998 0.00642565 -0.03283959 0.00135356] [-0.00652114 0.99997481 -0.00280152 -0.00641709] [ 0.03282076 0.0030141 0.99945671 0.91098683] [ 0. 0. 0. 1. ]] SLAMing on 97.47255784400001 meters Centerline goodness : 0.127396 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 9.99443272e-01 6.42985429e-03 -3.27383903e-02 8.69829951e-04] [-6.52426345e-03 9.99974859e-01 -2.77773540e-03 -6.53564933e-03] [ 3.27197068e-02 2.98978284e-03 9.99460095e-01 9.11354514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50255784400001 meters Centerline goodness : 0.137845 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 9.99441274e-01 6.38896459e-03 -3.28073173e-02 9.95446815e-04] [-6.48686977e-03 9.99974817e-01 -2.87867759e-03 -6.07893765e-03] [ 3.27880994e-02 3.08988600e-03 9.99457549e-01 9.11492265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532557844 meters Centerline goodness : 0.130497 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.91 [[ 0.99943918 0.00630214 -0.03288769 0.00130446] [-0.00640736 0.99997468 -0.0030948 -0.00512486] [ 0.03286736 0.00330378 0.99945426 0.91134574] [ 0. 0. 0. 1. ]] SLAMing on 97.562557844 meters Centerline goodness : 0.186800 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.91 [[ 9.99454473e-01 6.21086268e-03 -3.24373409e-02 3.35336766e-04] [-6.33509555e-03 9.99972982e-01 -3.72856403e-03 -2.16134272e-03] [ 3.24133069e-02 3.93202365e-03 9.99466816e-01 9.11416177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592557844 meters Centerline goodness : 0.257886 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.91 [[ 9.99460782e-01 6.05922632e-03 -3.22712134e-02 -3.23731213e-04] [-6.19794123e-03 9.99971972e-01 -4.20011131e-03 -1.69526687e-04] [ 3.22448595e-02 4.39786162e-03 9.99470324e-01 9.11884566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622557844 meters Centerline goodness : 0.176357 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99462837e-01 5.96336422e-03 -3.22253747e-02 -5.48678076e-04] [-6.11371220e-03 9.99970873e-01 -4.56899633e-03 1.45930342e-03] [ 3.21971895e-02 4.76355870e-03 9.99470184e-01 9.12128504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652557844 meters Centerline goodness : 0.169251 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99459825e-01 5.89625004e-03 -3.23309923e-02 -3.13946340e-04] [-6.05675625e-03 9.99969805e-01 -4.86878141e-03 2.91253192e-03] [ 3.23013085e-02 5.06197235e-03 9.99465358e-01 9.12266630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682557844 meters Centerline goodness : 0.154173 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99452678e-01 5.91381181e-03 -3.25479891e-02 3.37622363e-04] [-6.07830904e-03 9.99969239e-01 -4.95736776e-03 3.37987534e-03] [ 3.25176709e-02 5.15249122e-03 9.99457880e-01 9.12135327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712557844 meters Centerline goodness : 0.125830 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99451652e-01 5.91449351e-03 -3.25793655e-02 4.73895851e-04] [-6.07719709e-03 9.99969542e-01 -4.89731142e-03 2.94597183e-03] [ 3.25494080e-02 5.09261721e-03 9.99457153e-01 9.12030420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742557844 meters Centerline goodness : 0.124206 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.91 [[ 9.99451856e-01 5.85312975e-03 -3.25841776e-02 5.24978412e-04] [-6.01649065e-03 9.99969809e-01 -4.91771549e-03 2.84809294e-03] [ 3.25544098e-02 5.11106227e-03 9.99456896e-01 9.11969111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772557844 meters Centerline goodness : 0.072395 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 9.99464544e-01 5.77816651e-03 -3.22061676e-02 -6.75090317e-04] [-5.93675926e-03 9.99970708e-01 -4.83084894e-03 2.54056825e-03] [ 3.21773108e-02 5.01946250e-03 9.99469572e-01 9.12128279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802557844 meters Centerline goodness : 0.122624 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.99947968 0.00578149 -0.03173239 -0.00224082] [-0.0059376 0.99997072 -0.00482729 0.00289036] [ 0.03170356 0.00501319 0.99948474 0.91263451] [ 0. 0. 0. 1. ]] SLAMing on 97.83255784400001 meters Centerline goodness : 0.083183 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.9994913 0.00569278 -0.03138059 -0.00341516] [-0.00585475 0.99997 -0.00507194 0.00412743] [ 0.03135077 0.00525308 0.99949464 0.91311203] [ 0. 0. 0. 1. ]] SLAMing on 97.86255784400001 meters Centerline goodness : 0.271444 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.91 [[ 0.9994851 0.00569307 -0.03157735 -0.00262565] [-0.00585877 0.99996954 -0.0051576 0.00442728] [ 0.03154703 0.00533995 0.999488 0.91279024] [ 0. 0. 0. 1. ]] SLAMing on 97.89255784400001 meters Centerline goodness : 0.232925 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.9994761 -0.00331741 -0.03219499 -0.02091776] [ 0.0031837 0.9999861 -0.00420355 0.00969347] [ 0.03220849 0.00409885 0.99947277 0.91069874] [ 0. 0. 0. 1. ]] SLAMing on 97.922557844 meters Centerline goodness : 0.232925 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.9994761 -0.00331741 -0.03219499 -0.02091776] [ 0.0031837 0.9999861 -0.00420355 0.00969347] [ 0.03220849 0.00409885 0.99947277 0.91069874] [ 0. 0. 0. 1. ]] SLAMing on 97.952557844 meters Centerline goodness : 0.130189 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947678 -0.00327635 -0.03217812 -0.0207182 ] [ 0.00314364 0.99998635 -0.00417421 0.00967065] [ 0.03219136 0.00407087 0.99947343 0.91026577] [ 0. 0. 0. 1. ]] SLAMing on 97.982557844 meters Centerline goodness : 0.174591 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947822 -0.00322822 -0.03213815 -0.02054768] [ 0.0030948 0.99998639 -0.0042004 0.0100485 ] [ 0.03215127 0.00409874 0.99947461 0.90980447] [ 0. 0. 0. 1. ]] SLAMing on 98.012557844 meters Centerline goodness : 0.186302 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.91 [[ 0.99947222 -0.00327272 -0.03231972 -0.01993161] [ 0.0031356 0.99998587 -0.00429242 0.01033217] [ 0.03233332 0.00418881 0.99946836 0.90950712] [ 0. 0. 0. 1. ]] SLAMing on 98.042557844 meters Centerline goodness : 0.126326 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948486 0.00461847 -0.03175973 0.0019662 ] [-0.00482865 0.99996693 -0.00654432 0.00954859] [ 0.03172845 0.00669431 0.99947411 0.90966593] [ 0. 0. 0. 1. ]] SLAMing on 98.072557844 meters Centerline goodness : 0.177745 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948363 0.00465513 -0.03179325 0.00238336] [-0.00486471 0.99996693 -0.00651768 0.00958515] [ 0.03176186 0.00666898 0.99947322 0.90908763] [ 0. 0. 0. 1. ]] SLAMing on 98.102557844 meters Centerline goodness : 0.178816 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948638 0.00472969 -0.03169546 0.00217216] [-0.0049347 0.99996739 -0.00639297 0.0091586 ] [ 0.03166419 0.00654609 0.99947713 0.90901589] [ 0. 0. 0. 1. ]] SLAMing on 98.132557844 meters Centerline goodness : 0.263387 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948198 0.00478002 -0.0318263 0.00265013] [-0.00498371 0.99996759 -0.00632376 0.00884415] [ 0.03179505 0.00647909 0.99947341 0.90883957] [ 0. 0. 0. 1. ]] SLAMing on 98.162557844 meters Centerline goodness : 0.143388 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99947287 0.00486517 -0.03209855 0.00365478] [-0.0050682 0.99996764 -0.0062469 0.0085449 ] [ 0.03206712 0.00640629 0.99946519 0.90841505] [ 0. 0. 0. 1. ]] SLAMing on 98.192557844 meters Centerline goodness : 0.125305 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.9994686 0.00484755 -0.03223368 0.00403322] [-0.00505307 0.9999674 -0.00629777 0.00869889] [ 0.0322021 0.0064573 0.99946052 0.90837255] [ 0. 0. 0. 1. ]] SLAMing on 98.22255784400001 meters Centerline goodness : 0.145978 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.9994786 0.00472716 -0.0319404 0.00302914] [-0.00493636 0.99996686 -0.00647394 0.00946104] [ 0.03190874 0.00662824 0.99946881 0.90870001] [ 0. 0. 0. 1. ]] SLAMing on 98.25255784400001 meters Centerline goodness : 0.152967 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.91 [[ 0.99948891 0.00458091 -0.03163756 0.00189524] [-0.00479643 0.99996579 -0.0067395 0.01064882] [ 0.0316056 0.0068878 0.99947669 0.90923467] [ 0. 0. 0. 1. ]] SLAMing on 98.282557844 meters Centerline goodness : 0.128167 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.91 [[ 0.99953185 -0.00237595 -0.03050289 0.01971548] [ 0.00220595 0.99998185 -0.00560581 0.01780454] [ 0.03051566 0.0055359 0.99951896 0.9114655 ] [ 0. 0. 0. 1. ]] SLAMing on 98.312557844 meters Centerline goodness : 0.066951 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.91 [[ 0.99954429 -0.002555 -0.0300781 0.01881127] [ 0.00236324 0.99997667 -0.00640947 0.02218503] [ 0.03009377 0.00633547 0.999527 0.91110712] [ 0. 0. 0. 1. ]] SLAMing on 98.342557844 meters Centerline goodness : 0.169948 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.91 [[ 0.99954099 -0.00276025 -0.03016933 0.01929281] [ 0.00255067 0.99997237 -0.00698294 0.02507005] [ 0.03018777 0.00690278 0.99952041 0.91065407] [ 0. 0. 0. 1. ]] SLAMing on 98.372557844 meters Centerline goodness : 0.140954 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:0.91 [[ 9.99502394e-01 4.89333578e-03 -3.11611741e-02 -5.00624541e-04] [-5.15253398e-03 9.99952750e-01 -8.24312584e-03 2.31478850e-02] [ 3.11193653e-02 8.39958302e-03 9.99480381e-01 9.08952738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402557844 meters Centerline goodness : 0.189561 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.03, Z:0.91 [[ 9.99511552e-01 4.42750281e-03 -3.09363114e-02 -8.61708056e-04] [-4.71951166e-03 9.99944941e-01 -9.37239684e-03 2.91290075e-02] [ 3.08931118e-02 9.51382319e-03 9.99477415e-01 9.08387643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432557844 meters Centerline goodness : 0.148202 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99534701e-01 -6.73659709e-04 -3.04947121e-02 2.14589468e-02] [ 4.66587682e-04 9.99976791e-01 -6.79703072e-03 3.58757929e-02] [ 3.04985833e-02 6.77963961e-03 9.99511817e-01 9.08569978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462557844 meters Centerline goodness : 0.133948 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99539897e-01 -9.89191424e-04 -3.03152706e-02 2.10466751e-02] [ 7.58980285e-04 9.99970798e-01 -7.60446653e-03 3.98812627e-02] [ 3.03219076e-02 7.57795900e-03 9.99511459e-01 9.08450839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492557844 meters Centerline goodness : 0.145554 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.91 [[ 9.99543682e-01 -1.22778251e-03 -3.01814686e-02 2.08251898e-02] [ 9.77127067e-04 9.99964925e-01 -8.31829183e-03 4.36496822e-02] [ 3.01906231e-02 8.28500491e-03 9.99509822e-01 9.08162128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522557844 meters Centerline goodness : 0.123295 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.91 [[ 0.99950936 0.00124219 -0.03129696 0.02529077] [-0.00145 0.99997705 -0.00661822 0.05060087] [ 0.03128802 0.00666035 0.99948822 0.90626601] [ 0. 0. 0. 1. ]] SLAMing on 98.552557844 meters Centerline goodness : 0.136431 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.91 [[ 9.99509336e-01 9.95901015e-04 -3.13064677e-02 2.53453905e-02] [-1.22144351e-03 9.99973434e-01 -7.18604319e-03 5.33114584e-02] [ 3.12984795e-02 7.22075634e-03 9.99484000e-01 9.06166348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58255784400001 meters Centerline goodness : 0.134089 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99511967e-01 7.87184987e-04 -3.12283209e-02 2.48934198e-02] [-1.02703205e-03 9.99970095e-01 -7.66513751e-03 5.55861088e-02] [ 3.12213531e-02 7.69346916e-03 9.99482885e-01 9.06542002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61255784400001 meters Centerline goodness : 0.120756 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99517463e-01 6.04694086e-04 -3.10560103e-02 2.41602919e-02] [-8.57136493e-04 9.99966698e-01 -8.11594733e-03 5.78935762e-02] [ 3.10500685e-02 8.13865033e-03 9.99484695e-01 9.06996752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64255784400001 meters Centerline goodness : 0.163772 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.91 [[ 9.99530164e-01 2.37371303e-04 -3.06495530e-02 2.27371864e-02] [-5.13936061e-04 9.99959224e-01 -9.01588911e-03 6.25829893e-02] [ 3.06461632e-02 9.02740503e-03 9.99489529e-01 9.07549189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672557844 meters Centerline goodness : 0.132113 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99536678e-01 1.89633787e-05 -3.04372994e-02 2.21571575e-02] [-3.09893521e-04 9.99954315e-01 -9.55365403e-03 6.52698547e-02] [ 3.04357277e-02 9.55865993e-03 9.99491020e-01 9.07615678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702557844 meters Centerline goodness : 0.140165 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99541833e-01 -2.40779850e-04 -3.02665697e-02 2.18699455e-02] [-6.67683350e-05 9.99948385e-01 -1.01598949e-02 6.82569825e-02] [ 3.02674538e-02 1.01572608e-02 9.99490226e-01 9.07364004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732557844 meters Centerline goodness : 0.144287 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99543077e-01 -5.12579838e-04 -3.02220988e-02 2.19317959e-02] [ 1.86696765e-04 9.99941825e-01 -1.07847758e-02 7.12455708e-02] [ 3.02258687e-02 1.07742056e-02 9.99485024e-01 9.07043062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762557844 meters Centerline goodness : 0.156628 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:0.91 [[ 9.99540369e-01 -7.66755437e-04 -3.03061630e-02 2.23701654e-02] [ 4.21766579e-04 9.99935063e-01 -1.13882092e-02 7.41109163e-02] [ 3.03129270e-02 1.13701927e-02 9.99475785e-01 9.06660991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792557844 meters Centerline goodness : 0.149081 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:0.91 [[ 9.99524717e-01 -1.26285757e-03 -3.08016958e-02 2.39346974e-02] [ 8.75611060e-04 9.99920454e-01 -1.25824960e-02 7.98208057e-02] [ 3.08151356e-02 1.25495455e-02 9.99446315e-01 9.06085830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822557844 meters Centerline goodness : 0.131206 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:0.91 [[ 0.99951565 -0.00145431 -0.03108623 0.02482215] [ 0.00104808 0.9999139 -0.01308017 0.08236869] [ 0.03110257 0.01304125 0.99943112 0.90573458] [ 0. 0. 0. 1. ]] SLAMing on 98.852557844 meters Centerline goodness : 0.156335 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:0.91 [[ 0.99950966 -0.00162564 -0.03126974 0.02539577] [ 0.00120209 0.99990735 -0.01355898 0.08497456] [ 0.03128889 0.01351475 0.99941901 0.90552721] [ 0. 0. 0. 1. ]] SLAMing on 98.882557844 meters Centerline goodness : 0.129792 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:0.91 [[ 0.9995066 -0.00180365 -0.03135766 0.02567387] [ 0.00136467 0.99990086 -0.01401467 0.08726804] [ 0.03137983 0.01396497 0.99940997 0.90542411] [ 0. 0. 0. 1. ]] SLAMing on 98.912557844 meters Centerline goodness : 0.127953 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99951195 -0.00210384 -0.03116795 0.02498924] [ 0.00164584 0.99989041 -0.01471277 0.09054318] [ 0.03119549 0.0146543 0.99940587 0.90574638] [ 0. 0. 0. 1. ]] SLAMing on 98.942557844 meters Centerline goodness : 0.130515 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99951868 -0.00219 -0.03094538 0.02413878] [ 0.00172923 0.99988736 -0.01490886 0.09157131] [ 0.03097454 0.01484818 0.99940988 0.90618859] [ 0. 0. 0. 1. ]] SLAMing on 98.97255784400001 meters Centerline goodness : 0.149210 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99952563 -0.0022792 -0.03071356 0.02332401] [ 0.00181633 0.99988449 -0.01509004 0.09255223] [ 0.03074441 0.0150271 0.99941431 0.90651557] [ 0. 0. 0. 1. ]] SLAMing on 99.00255784400001 meters Centerline goodness : 0.129471 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:0.91 [[ 0.99952804 -0.00235565 -0.03062909 0.02297952] [ 0.00188797 0.99988133 -0.01528934 0.09371125] [ 0.03066148 0.0152243 0.99941388 0.90670318] [ 0. 0. 0. 1. ]] SLAMing on 99.032557844 meters Centerline goodness : 0.133322 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99952617 -0.00258226 -0.03067208 0.02312949] [ 0.00209733 0.99987247 -0.01583187 0.09647582] [ 0.03070905 0.01576003 0.99940411 0.90662324] [ 0. 0. 0. 1. ]] SLAMing on 99.062557844 meters Centerline goodness : 0.125137 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99952509 -0.00271118 -0.03069591 0.02324536] [ 0.00221631 0.99986722 -0.01614424 0.09804433] [ 0.03073561 0.01606854 0.99939838 0.90650496] [ 0. 0. 0. 1. ]] SLAMing on 99.092557844 meters Centerline goodness : 0.159450 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99954109 -0.00789088 -0.02924609 0.04512312] [ 0.00751798 0.99988932 -0.0128388 0.10379651] [ 0.02934417 0.01261304 0.99948979 0.90682549] [ 0. 0. 0. 1. ]] SLAMing on 99.122557844 meters Centerline goodness : 0.131038 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99954665 -0.00793961 -0.02904244 0.04439438] [ 0.00756536 0.99988722 -0.01297348 0.10455976] [ 0.02914217 0.01274788 0.99949398 0.90716897] [ 0. 0. 0. 1. ]] SLAMing on 99.152557844 meters Centerline goodness : 0.130602 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99954857 -0.00797751 -0.02896565 0.04393356] [ 0.00760229 0.99988606 -0.01304129 0.10475266] [ 0.02906638 0.0128152 0.99949533 0.907622 ] [ 0. 0. 0. 1. ]] SLAMing on 99.182557844 meters Centerline goodness : 0.144410 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99616914e-01 3.66655855e-04 -2.76747363e-02 6.27529417e-02] [-7.73423837e-04 9.99891813e-01 -1.46888974e-02 1.01976298e-01] [ 2.76663565e-02 1.47046746e-02 9.99509052e-01 9.09661214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212557844 meters Centerline goodness : 0.129250 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99618543e-01 3.44727772e-04 -2.76161027e-02 6.23612866e-02] [-7.51700829e-04 9.99891258e-01 -1.47277770e-02 1.02105608e-01] [ 2.76080226e-02 1.47429180e-02 9.99510102e-01 9.10032573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242557844 meters Centerline goodness : 0.131467 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99624936e-01 3.58390956e-04 -2.73835540e-02 6.17548586e-02] [-7.63838081e-04 9.99890224e-01 -1.47972020e-02 1.02981662e-01] [ 2.73752447e-02 1.48125687e-02 9.99515475e-01 9.10019891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272557844 meters Centerline goodness : 0.129632 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99627562e-01 3.80560811e-04 -2.72872297e-02 6.15915623e-02] [-7.84938733e-04 9.99890016e-01 -1.48101306e-02 1.03183634e-01] [ 2.72785924e-02 1.48260336e-02 9.99517917e-01 9.09881282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302557844 meters Centerline goodness : 0.129495 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99544816e-01 -7.14305888e-04 -3.01604010e-02 1.67047894e-02] [ 2.65857549e-04 9.99889398e-01 -1.48701720e-02 9.99773405e-02] [ 3.01676870e-02 1.48553849e-02 9.99434454e-01 9.09408281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33255784400001 meters Centerline goodness : 0.129594 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:0.91 [[ 9.99587216e-01 9.42165361e-05 -2.87295638e-02 6.22118877e-02] [-5.36949055e-04 9.99881222e-01 -1.54030207e-02 1.02430372e-01] [ 2.87247001e-02 1.54120889e-02 9.99468538e-01 9.09673212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36255784400001 meters Centerline goodness : 0.132922 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99444693e-01 1.72634916e-04 -3.33208133e-02 2.30693964e-02] [-6.51966769e-04 9.99896461e-01 -1.43750299e-02 9.80915075e-02] [ 3.33148817e-02 1.43887714e-02 9.99341324e-01 9.07083113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39255784400001 meters Centerline goodness : 0.134494 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 9.99434116e-01 1.77297917e-04 -3.36365439e-02 2.43277949e-02] [-6.64223439e-04 9.99895149e-01 -1.44654647e-02 9.87517981e-02] [ 3.36304524e-02 1.44796211e-02 9.99329442e-01 9.06289061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422557844 meters Centerline goodness : 0.128515 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99941504 -0.00497133 -0.03383597 0.0480521 ] [ 0.00458841 0.99992466 -0.01138533 0.10169075] [ 0.03389002 0.01122342 0.99936255 0.90615342] [ 0. 0. 0. 1. ]] SLAMing on 99.452557844 meters Centerline goodness : 0.128948 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 0.99931397 -0.00534426 -0.03664748 0.00208887] [ 0.00495786 0.99993125 -0.0106264 0.09830808] [ 0.03670175 0.01043742 0.99927176 0.90627004] [ 0. 0. 0. 1. ]] SLAMing on 99.482557844 meters Centerline goodness : 0.127448 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99943917 -0.00376855 -0.03327379 0.04255962] [ 0.0034199 0.99993872 -0.01052891 0.10248311] [ 0.03331143 0.01040921 0.99939081 0.90824174] [ 0. 0. 0. 1. ]] SLAMing on 99.512557844 meters Centerline goodness : 0.147441 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 0.99944844 -0.00384629 -0.03298507 0.04171175] [ 0.00349253 0.99993584 -0.01077576 0.10372719] [ 0.0330244 0.01065462 0.99939775 0.90838855] [ 0. 0. 0. 1. ]] SLAMing on 99.542557844 meters Centerline goodness : 0.130271 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 0.99945255 -0.00396026 -0.03284688 0.04145794] [ 0.00359687 0.99993176 -0.01111476 0.10534792] [ 0.03288866 0.01099053 0.99939859 0.90819107] [ 0. 0. 0. 1. ]] SLAMing on 99.572557844 meters Centerline goodness : 0.128551 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 9.99446298e-01 -2.60121447e-04 -3.32720568e-02 4.30093847e-02] [ 3.77135272e-06 9.99970320e-01 -7.70449700e-03 1.06480669e-01] [ 3.32730734e-02 7.70010552e-03 9.99416635e-01 9.07513969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602557844 meters Centerline goodness : 0.156687 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 9.99446578e-01 -3.37132246e-04 -3.32629661e-02 4.31743856e-02] [ 7.32148782e-05 9.99968513e-01 -7.93516942e-03 1.07755131e-01] [ 3.32645939e-02 7.92834258e-03 9.99415133e-01 9.07152625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632557844 meters Centerline goodness : 0.122707 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99942575 -0.00776798 -0.03298218 0.06239905] [ 0.0075484 0.99994855 -0.00677676 0.11379498] [ 0.03303312 0.00652391 0.99943297 0.90911794] [ 0. 0. 0. 1. ]] SLAMing on 99.662557844 meters Centerline goodness : 0.146183 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99942231 -0.00775403 -0.03308962 0.06254859] [ 0.00753641 0.99994918 -0.00669628 0.11334804] [ 0.03313986 0.00644303 0.99942996 0.90931771] [ 0. 0. 0. 1. ]] SLAMing on 99.692557844 meters Centerline goodness : 0.143977 Centerline is valid? [False, False] Translation: X:0.07, Y:0.11, Z:0.91 [[ 0.99938205 -0.00796667 -0.03423531 0.06559658] [ 0.00774741 0.99994865 -0.00653236 0.11141631] [ 0.03428559 0.00626309 0.99939245 0.90922154] [ 0. 0. 0. 1. ]] SLAMing on 99.72255784400001 meters Centerline goodness : 0.130447 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99389728e-01 -7.33300099e-04 -3.49232552e-02 4.79227544e-02] [ 4.56997767e-04 9.99968540e-01 -7.91902567e-03 1.04159095e-01] [ 3.49279635e-02 7.89823306e-03 9.99358622e-01 9.06481096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75255784400001 meters Centerline goodness : 0.132779 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99385288e-01 -7.26312425e-04 -3.50502407e-02 4.83273253e-02] [ 4.53203654e-04 9.99969483e-01 -7.79923876e-03 1.03378286e-01] [ 3.50548357e-02 7.77855957e-03 9.99355118e-01 9.06366705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782557844 meters Centerline goodness : 0.129321 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99388193e-01 -6.79800338e-04 -3.49682488e-02 4.79953636e-02] [ 4.11319542e-04 9.99970389e-01 -7.68446589e-03 1.02888121e-01] [ 3.49724372e-02 7.66538136e-03 9.99358880e-01 9.06540199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812557844 meters Centerline goodness : 0.129321 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99388193e-01 -6.79800338e-04 -3.49682488e-02 4.79953636e-02] [ 4.11319542e-04 9.99970389e-01 -7.68446589e-03 1.02888121e-01] [ 3.49724372e-02 7.66538136e-03 9.99358880e-01 9.06540199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842557844 meters Centerline goodness : 0.126839 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 9.99409830e-01 -5.60118391e-04 -3.43464489e-02 4.58774657e-02] [ 3.00134937e-04 9.99971271e-01 -7.57413069e-03 1.02964579e-01] [ 3.43497045e-02 7.55935209e-03 9.99381286e-01 9.07431360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872557844 meters Centerline goodness : 0.133148 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99943073 -0.00809125 -0.03275288 0.0646822 ] [ 0.00788396 0.9999481 -0.00645314 0.10819004] [ 0.0328034 0.00619125 0.99944265 0.90917491] [ 0. 0. 0. 1. ]] SLAMing on 99.902557844 meters Centerline goodness : 0.129100 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:0.91 [[ 0.99943206 -0.00810515 -0.03270868 0.06464351] [ 0.00789582 0.99994754 -0.0065241 0.10856698] [ 0.03275984 0.00626213 0.99944363 0.9090007 ] [ 0. 0. 0. 1. ]] SLAMing on 99.932557844 meters Centerline goodness : 0.132702 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:0.91 [[ 9.99411683e-01 8.41877967e-05 -3.42969358e-02 4.42659145e-02] [-3.34482583e-04 9.99973356e-01 -7.29220386e-03 1.03947032e-01] [ 3.42954081e-02 7.29938547e-03 9.99385083e-01 9.07503875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962557844 meters Centerline goodness : 0.128740 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.90 [[ 0.99935313 0.00172294 -0.03592135 0.05093287] [-0.00194013 0.99998005 -0.00601211 0.10455272] [ 0.03591027 0.00607791 0.99933654 0.90448658] [ 0. 0. 0. 1. ]] SLAMing on 99.992557844 meters Centerline goodness : 0.131655 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:0.90 [[ 0.9993513 0.00162353 -0.03597692 0.05108883] [-0.00184856 0.99997893 -0.00622264 0.10535067] [ 0.03596606 0.00628511 0.99933325 0.90444869] [ 0. 0. 0. 1. ]] SLAMing on 100.022557844 meters Centerline goodness : 0.132501 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99251308e-01 4.46984642e-04 -3.86862117e-02 4.19601134e-03] [-6.95863769e-04 9.99979149e-01 -6.42005120e-03 1.02991645e-01] [ 3.86825354e-02 6.44216489e-03 9.99230784e-01 9.05193727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052557844 meters Centerline goodness : 0.152643 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99269346e-01 4.01623856e-04 -3.82179753e-02 2.37310075e-03] [-6.56323898e-04 9.99977659e-01 -6.65209151e-03 1.04850020e-01] [ 3.82144499e-02 6.67231450e-03 9.99247285e-01 9.06132388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08255784400001 meters Centerline goodness : 0.132673 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.91 [[ 9.99276133e-01 3.60118256e-04 -3.80405055e-02 1.82296364e-03] [-6.17436808e-04 9.99977009e-01 -6.75279905e-03 1.05527756e-01] [ 3.80371991e-02 6.77139853e-03 9.99253381e-01 9.06269036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11255784400001 meters Centerline goodness : 0.133240 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99924811 -0.00711792 -0.03811229 0.02115863] [ 0.00690676 0.99996008 -0.00566919 0.11144503] [ 0.03815112 0.00540169 0.99925738 0.90839546] [ 0. 0. 0. 1. ]] SLAMing on 100.14255784400001 meters Centerline goodness : 0.140558 Centerline is valid? [False, False] Translation: X:0.00, Y:0.11, Z:0.91 [[ 9.99220795e-01 5.29053305e-04 -3.94654602e-02 2.05999340e-03] [-8.01620788e-04 9.99975936e-01 -6.89097722e-03 1.05369076e-01] [ 3.94608648e-02 6.91724407e-03 9.99197174e-01 9.06466170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172557844 meters Centerline goodness : 0.132390 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99209344e-01 5.01741313e-04 -3.97546920e-02 2.78606399e-03] [-7.73788317e-04 9.99976389e-01 -6.82805064e-03 1.04779803e-01] [ 3.97503274e-02 6.85341371e-03 9.99186140e-01 9.06496679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202557844 meters Centerline goodness : 0.140359 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:0.91 [[ 9.99211128e-01 5.59015449e-04 -3.97090455e-02 2.40889002e-03] [-8.22921618e-04 9.99977683e-01 -6.62996206e-03 1.03849633e-01] [ 3.97044531e-02 6.65740930e-03 9.99189289e-01 9.06907517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232557844 meters Centerline goodness : 0.133760 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99924069 -0.00757092 -0.03821943 0.02276056] [ 0.00736913 0.99995817 -0.00541776 0.10560705] [ 0.03825885 0.005132 0.99925468 0.90891966] [ 0. 0. 0. 1. ]] SLAMing on 100.262557844 meters Centerline goodness : 0.145019 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99924262 -0.00748706 -0.0381855 0.02267495] [ 0.00730073 0.99996077 -0.00501663 0.10333704] [ 0.03822156 0.00473405 0.99925808 0.90900307] [ 0. 0. 0. 1. ]] SLAMing on 100.292557844 meters Centerline goodness : 0.152876 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99923443 -0.00737759 -0.03842045 0.02337532] [ 0.00720707 0.99996356 -0.00457485 0.10083651] [ 0.0384528 0.00429445 0.99925119 0.90888077] [ 0. 0. 0. 1. ]] SLAMing on 100.322557844 meters Centerline goodness : 0.137259 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:0.91 [[ 0.99922196 -0.00727815 -0.03876202 0.02453778] [ 0.00711936 0.9999657 -0.00423291 0.09896154] [ 0.0387915 0.00395366 0.9992395 0.90843131] [ 0. 0. 0. 1. ]] SLAMing on 100.352557844 meters Centerline goodness : 0.136138 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:0.91 [[ 0.99919697 -0.00707793 -0.0394375 0.02707824] [ 0.00693476 0.99996886 -0.00376606 0.09664511] [ 0.03946293 0.00348954 0.99921494 0.90713523] [ 0. 0. 0. 1. ]] SLAMing on 100.382557844 meters Centerline goodness : 0.132558 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:0.91 [[ 0.99919233 -0.00700097 -0.03956868 0.0274029 ] [ 0.00686326 0.99996991 -0.00361494 0.09584634] [ 0.0395928 0.00334045 0.99921031 0.90716693] [ 0. 0. 0. 1. ]] SLAMing on 100.412557844 meters Centerline goodness : 0.132257 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:0.91 [[ 0.99925982 0.00151548 -0.03843852 0.04741544] [-0.00171038 0.99998585 -0.00503795 0.09289831] [ 0.03843034 0.00509996 0.99924827 0.90918539] [ 0. 0. 0. 1. ]] SLAMing on 100.442557844 meters Centerline goodness : 0.134245 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:0.91 [[ 0.99925949 0.00151532 -0.03844692 0.04737597] [-0.00171501 0.99998521 -0.00516137 0.09354312] [ 0.03843853 0.00522349 0.99924731 0.90923475] [ 0. 0. 0. 1. ]] SLAMing on 100.47255784400001 meters Centerline goodness : 0.132704 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99924778 0.00157082 -0.03874788 0.04842654] [-0.00178093 0.9999839 -0.00538858 0.09511361] [ 0.03873879 0.00545353 0.99923449 0.9086469 ] [ 0. 0. 0. 1. ]] SLAMing on 100.50255784400001 meters Centerline goodness : 0.129665 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99921527 0.0048434 -0.03931139 0.05256843] [-0.00495962 0.99998361 -0.00285939 0.09976507] [ 0.03929689 0.00305211 0.99922292 0.90533547] [ 0. 0. 0. 1. ]] SLAMing on 100.532557844 meters Centerline goodness : 0.131373 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.90 [[ 0.99921759 0.00473289 -0.03926597 0.05264342] [-0.00486942 0.99998242 -0.00338209 0.10240654] [ 0.03924927 0.00357065 0.99922307 0.90491958] [ 0. 0. 0. 1. ]] SLAMing on 100.562557844 meters Centerline goodness : 0.143796 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:0.91 [[ 0.99922291 0.00456002 -0.03915066 0.05218936] [-0.00471606 0.9999813 -0.0038942 0.10474746] [ 0.03913218 0.00407581 0.99922573 0.90511724] [ 0. 0. 0. 1. ]] SLAMing on 100.592557844 meters Centerline goodness : 0.153119 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:0.91 [[ 0.99923205 0.00441666 -0.0389334 0.0512104 ] [-0.00458827 0.99998014 -0.00431943 0.10689784] [ 0.03891355 0.00449475 0.99923247 0.90571928] [ 0. 0. 0. 1. ]] SLAMing on 100.622557844 meters Centerline goodness : 0.134416 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928144 -0.00242828 -0.03782472 0.0680627 ] [ 0.00233201 0.99999393 -0.00258922 0.11668186] [ 0.03783078 0.00249916 0.99928103 0.90902586] [ 0. 0. 0. 1. ]] SLAMing on 100.652557844 meters Centerline goodness : 0.154056 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928392 -0.00252096 -0.03775311 0.06779836] [ 0.00241671 0.99999314 -0.00280663 0.11785756] [ 0.03775993 0.00271338 0.99928316 0.90909823] [ 0. 0. 0. 1. ]] SLAMing on 100.682557844 meters Centerline goodness : 0.135799 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928564 -0.00263083 -0.03769985 0.06750754] [ 0.00252066 0.99999241 -0.00296953 0.11844511] [ 0.03770738 0.00287238 0.9992847 0.9093741 ] [ 0. 0. 0. 1. ]] SLAMing on 100.712557844 meters Centerline goodness : 0.181320 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99928468 -0.00272534 -0.03771871 0.06726869] [ 0.00261211 0.99999193 -0.00305115 0.11845884] [ 0.03772672 0.00295044 0.99928374 0.90984529] [ 0. 0. 0. 1. ]] SLAMing on 100.742557844 meters Centerline goodness : 0.139042 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99929795 -0.00278228 -0.03736125 0.06596395] [ 0.00266894 0.99999169 -0.00308329 0.11859871] [ 0.03736951 0.00298141 0.99929707 0.91049219] [ 0. 0. 0. 1. ]] SLAMing on 100.772557844 meters Centerline goodness : 0.134718 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99930071 -0.00274801 -0.03729002 0.06568583] [ 0.00263684 0.99999193 -0.00303004 0.11853117] [ 0.03729804 0.00292959 0.99929989 0.91064465] [ 0. 0. 0. 1. ]] SLAMing on 100.802557844 meters Centerline goodness : 0.134459 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99930005 -0.0027159 -0.03730987 0.06573461] [ 0.00260872 0.99999233 -0.00292125 0.11804288] [ 0.03731752 0.00282188 0.99929947 0.91066878] [ 0. 0. 0. 1. ]] SLAMing on 100.83255784400001 meters Centerline goodness : 0.131875 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 0.99929303 -0.00271167 -0.03749793 0.0663797 ] [ 0.00260654 0.99999254 -0.00285217 0.11759418] [ 0.03750539 0.00275241 0.99929263 0.91044219] [ 0. 0. 0. 1. ]] SLAMing on 100.86255784400001 meters Centerline goodness : 0.133611 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:0.91 [[ 0.99914446 -0.00333589 -0.04122157 0.02317332] [ 0.00323348 0.99999152 -0.00255068 0.11480913] [ 0.04122973 0.00241521 0.99914677 0.9098466 ] [ 0. 0. 0. 1. ]] SLAMing on 100.89255784400001 meters Centerline goodness : 0.132385 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:0.91 [[ 0.9991858 0.0051954 -0.04000928 0.04366067] [-0.00535514 0.99997811 -0.00388651 0.1137611 ] [ 0.03998821 0.0040976 0.99919175 0.91132124] [ 0. 0. 0. 1. ]] SLAMing on 100.922557844 meters Centerline goodness : 0.136982 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.91 [[ 0.99919291 0.00509072 -0.03984491 0.0431078 ] [-0.0052626 0.99997729 -0.00420998 0.11536587] [ 0.03982257 0.00441627 0.99919701 0.91149753] [ 0. 0. 0. 1. ]] SLAMing on 100.952557844 meters Centerline goodness : 0.302488 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.91 [[ 0.99923343 0.00523129 -0.03879675 0.04030252] [-0.00541868 0.99997415 -0.00472643 0.11925115] [ 0.03877102 0.00493304 0.99923594 0.91166376] [ 0. 0. 0. 1. ]] SLAMing on 100.982557844 meters Centerline goodness : 0.134062 Centerline is valid? [False, False] Translation: X:0.06, Y:0.12, Z:0.91 [[ 9.99315329e-01 -3.53647618e-05 -3.69982605e-02 6.17764702e-02] [-2.76040839e-05 9.99998552e-01 -1.70142850e-03 1.23811315e-01] [ 3.69982671e-02 1.70128488e-03 9.99313882e-01 9.11681225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012557844 meters Centerline goodness : 0.131203 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:0.91 [[ 9.99321794e-01 -1.82503735e-04 -3.68228111e-02 6.13234776e-02] [ 1.05098675e-04 9.99997781e-01 -2.10402006e-03 1.25807444e-01] [ 3.68231134e-02 2.09872307e-03 9.99319595e-01 9.11625639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042557844 meters Centerline goodness : 0.125318 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:0.91 [[ 9.99313299e-01 -3.87513347e-04 -3.70510620e-02 6.20052435e-02] [ 2.91299895e-04 9.99996572e-01 -2.60214296e-03 1.28065972e-01] [ 3.70519433e-02 2.58956309e-03 9.99309986e-01 9.11394257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072557844 meters Centerline goodness : 0.152910 Centerline is valid? [False, False] Translation: X:0.07, Y:0.13, Z:0.91 [[ 9.99274210e-01 -6.48878177e-04 -3.80871572e-02 6.54692948e-02] [ 5.17182899e-04 9.99993855e-01 -3.46748526e-03 1.32461994e-01] [ 3.80891731e-02 3.44527056e-03 9.99268405e-01 9.09882447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102557844 meters Centerline goodness : 0.131127 Centerline is valid? [False, False] Translation: X:0.07, Y:0.13, Z:0.91 [[ 9.99267985e-01 -8.09606369e-04 -3.82470766e-02 6.60339580e-02] [ 6.62629084e-04 9.99992349e-01 -3.85535727e-03 1.34464506e-01] [ 3.82499053e-02 3.82719147e-03 9.99260876e-01 9.09579773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132557844 meters Centerline goodness : 0.277872 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99362256e-01 5.78754039e-05 -3.57082336e-02 1.09539380e-01] [-1.95420295e-04 9.99992576e-01 -3.84843154e-03 1.39370576e-01] [ 3.57077457e-02 3.85295534e-03 9.99354848e-01 9.10376479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162557844 meters Centerline goodness : 0.152391 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99364475e-01 -4.21480250e-05 -3.56460925e-02 1.09068199e-01] [-9.92341505e-05 9.99992136e-01 -3.96449564e-03 1.39794369e-01] [ 3.56459793e-02 3.96551342e-03 9.99356612e-01 9.10905106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192557844 meters Centerline goodness : 0.165795 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 9.99361645e-01 -1.55821399e-04 -3.57250385e-02 1.08926626e-01] [ 1.54902581e-05 9.99992284e-01 -3.92833241e-03 1.39141224e-01] [ 3.57253750e-02 3.92527135e-03 9.99353936e-01 9.11517150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22255784400001 meters Centerline goodness : 0.139331 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 0.99936429 -0.00127651 -0.03562833 0.10833797] [ 0.00112095 0.99998975 -0.00438574 0.13707815] [ 0.03563356 0.00434302 0.99935549 0.91219644] [ 0. 0. 0. 1. ]] SLAMing on 101.25255784400001 meters Centerline goodness : 0.133471 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:0.91 [[ 0.99935979 -0.0012488 -0.03575546 0.10870428] [ 0.00110382 0.99999109 -0.00407421 0.13537587] [ 0.03576023 0.00403214 0.99935226 0.91218333] [ 0. 0. 0. 1. ]] SLAMing on 101.282557844 meters Centerline goodness : 0.141920 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 0.99935608 -0.00117019 -0.03586152 0.10906032] [ 0.00103586 0.99999238 -0.00376413 0.13382397] [ 0.03586565 0.00372455 0.99934968 0.91209115] [ 0. 0. 0. 1. ]] SLAMing on 101.312557844 meters Centerline goodness : 0.135317 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99352063e-01 -1.10029554e-03 -3.59755881e-02 1.09310917e-01] [ 9.74670809e-04 9.99993367e-01 -3.50929512e-03 1.32480338e-01] [ 3.59792107e-02 3.47195696e-03 9.99346507e-01 9.12194154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.342557844 meters Centerline goodness : 0.139417 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99349737e-01 -9.67619129e-04 -3.60439602e-02 1.09242839e-01] [ 8.58915988e-04 9.99995037e-01 -3.03121132e-03 1.29870183e-01] [ 3.60467144e-02 2.99828150e-03 9.99345608e-01 9.12672029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372557844 meters Centerline goodness : 0.134312 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99346880e-01 -8.33508081e-04 -3.61264319e-02 1.09464803e-01] [ 7.35386574e-04 9.99996005e-01 -2.72926131e-03 1.28549472e-01] [ 3.61285624e-02 2.70091189e-03 9.99343501e-01 9.12666745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402557844 meters Centerline goodness : 0.136274 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99347012e-01 -6.89224262e-04 -3.61258162e-02 1.09516619e-01] [ 6.01639021e-04 9.99996854e-01 -2.43526500e-03 1.27288629e-01] [ 3.61273809e-02 2.41194010e-03 9.99344282e-01 9.12600557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432557844 meters Centerline goodness : 0.142646 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99348606e-01 -5.62853188e-04 -3.60838848e-02 1.09247109e-01] [ 4.84883614e-04 9.99997529e-01 -2.16950123e-03 1.26068698e-01] [ 3.60850168e-02 2.15059155e-03 9.99346410e-01 9.12911479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462557844 meters Centerline goodness : 0.141361 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.91 [[ 9.99349236e-01 -4.35979784e-04 -3.60682044e-02 1.09068106e-01] [ 3.64562090e-04 9.99997960e-01 -1.98662644e-03 1.24977111e-01] [ 3.60689969e-02 1.97218451e-03 9.99347356e-01 9.13171277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492557844 meters Centerline goodness : 0.147725 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99347605e-01 -4.13242581e-04 -3.61136233e-02 1.09424586e-01] [ 3.39520969e-04 9.99997846e-01 -2.04748836e-03 1.25349274e-01] [ 3.61143916e-02 2.03389126e-03 9.99345593e-01 9.12718990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522557844 meters Centerline goodness : 0.135908 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99339651e-01 -3.07156702e-04 -3.63340971e-02 1.10333765e-01] [ 2.29803881e-04 9.99997699e-01 -2.13308906e-03 1.26186197e-01] [ 3.63346687e-02 2.12333076e-03 9.99337422e-01 9.12057775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552557844 meters Centerline goodness : 0.138907 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:0.91 [[ 9.99337017e-01 -1.78505065e-04 -3.64073336e-02 1.10858607e-01] [ 9.73113734e-05 9.99997505e-01 -2.23190642e-03 1.27301005e-01] [ 3.64076412e-02 2.22688386e-03 9.99334541e-01 9.11396082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58255784400001 meters Centerline goodness : 0.135275 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:0.91 [[ 9.99225401e-01 3.67913796e-04 -3.93505118e-02 6.55027409e-02] [-4.06356022e-04 9.99999448e-01 -9.68924264e-04 1.24174317e-01] [ 3.93501336e-02 9.84164054e-04 9.99224999e-01 9.11329889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61255784400001 meters Centerline goodness : 0.161124 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:0.91 [[ 0.99923727 0.00916833 -0.03795811 0.08613411] [-0.00925426 0.999955 -0.00208854 0.12226699] [ 0.03793726 0.00243822 0.99927715 0.91285348] [ 0. 0. 0. 1. ]] SLAMing on 101.64255784400001 meters Centerline goodness : 0.145207 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924358 0.00922579 -0.03777758 0.08491439] [-0.00930654 0.99995477 -0.00196225 0.12141033] [ 0.03775777 0.00231235 0.99928425 0.91399339] [ 0. 0. 0. 1. ]] SLAMing on 101.672557844 meters Centerline goodness : 0.142348 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924413 0.00927768 -0.03775053 0.08465142] [-0.00935269 0.99995462 -0.00181079 0.12062473] [ 0.03773202 0.00216249 0.99928555 0.91430088] [ 0. 0. 0. 1. ]] SLAMing on 101.702557844 meters Centerline goodness : 0.142348 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924413 0.00927768 -0.03775053 0.08465142] [-0.00935269 0.99995462 -0.00181079 0.12062473] [ 0.03773202 0.00216249 0.99928555 0.91430088] [ 0. 0. 0. 1. ]] SLAMing on 101.732557844 meters Centerline goodness : 0.158752 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924389 0.00934512 -0.03774025 0.08467848] [-0.00940592 0.99995474 -0.00143385 0.11856306] [ 0.03772514 0.00178775 0.99928655 0.91424732] [ 0. 0. 0. 1. ]] SLAMing on 101.762557844 meters Centerline goodness : 0.143449 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:0.91 [[ 0.99924125 0.00936631 -0.03780465 0.08498062] [-0.00941884 0.99995491 -0.00121159 0.11721131] [ 0.0377916 0.00156675 0.99928441 0.91404852] [ 0. 0. 0. 1. ]] SLAMing on 101.792557844 meters Centerline goodness : 0.137061 Centerline is valid? [False, False] Translation: X:0.09, Y:0.12, Z:0.91 [[ 9.99233360e-01 9.42206611e-03 -3.79988998e-02 8.55734306e-02] [-9.46500659e-03 9.99954754e-01 -9.50304849e-04 1.15694509e-01] [ 3.79882266e-02 1.30923614e-03 9.99277329e-01 9.13967211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822557844 meters Centerline goodness : 0.140891 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:0.91 [[ 9.99224564e-01 9.46917116e-03 -3.82178736e-02 8.61279710e-02] [-9.50429208e-03 9.99954561e-01 -7.37383087e-04 1.14558707e-01] [ 3.82091546e-02 1.10004513e-03 9.99269158e-01 9.14007659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852557844 meters Centerline goodness : 0.156981 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:0.91 [[ 9.99217079e-01 9.53585670e-03 -3.83965572e-02 8.65680314e-02] [-9.56406854e-03 9.99954111e-01 -5.51130752e-04 1.13720413e-01] [ 3.83895398e-02 9.17926565e-04 9.99262428e-01 9.14064617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882557844 meters Centerline goodness : 0.139685 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 9.99243370e-01 2.32150385e-03 -3.88239253e-02 1.05550904e-01] [-2.29217538e-03 9.99997053e-01 7.99918192e-04 1.18342959e-01] [ 3.88256679e-02 -7.10321704e-04 9.99245747e-01 9.16580885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912557844 meters Centerline goodness : 0.138340 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 0.99922756 0.00243519 -0.03922187 0.10651628] [-0.00239379 0.99999653 0.00110248 0.11681264] [ 0.03922442 -0.00100774 0.99922992 0.91672076] [ 0. 0. 0. 1. ]] SLAMing on 101.942557844 meters Centerline goodness : 0.133685 Centerline is valid? [False, False] Translation: X:0.11, Y:0.12, Z:0.92 [[ 0.99922375 0.0024767 -0.03931621 0.10662566] [-0.00242785 0.99999622 0.00129005 0.11558438] [ 0.03931926 -0.0011936 0.99922599 0.91697503] [ 0. 0. 0. 1. ]] SLAMing on 101.97255784400001 meters Centerline goodness : 0.135864 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99922036 0.00251501 -0.03939979 0.10666093] [-0.00245778 0.99999585 0.00150106 0.11425714] [ 0.03940341 -0.00140305 0.9992224 0.91727819] [ 0. 0. 0. 1. ]] SLAMing on 102.00255784400001 meters Centerline goodness : 0.141241 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99921961 0.00254303 -0.03941713 0.10673413] [-0.00247945 0.99999555 0.00166176 0.113278 ] [ 0.03942118 -0.00156273 0.99922146 0.91726337] [ 0. 0. 0. 1. ]] SLAMing on 102.032557844 meters Centerline goodness : 0.173923 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99922311 0.00261231 -0.03932373 0.10651278] [-0.00254009 0.99999499 0.00188651 0.11211987] [ 0.03932846 -0.00178516 0.99922474 0.91728215] [ 0. 0. 0. 1. ]] SLAMing on 102.062557844 meters Centerline goodness : 0.139654 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.92 [[ 0.99925913 -0.00510165 -0.0381467 0.12578625] [ 0.00521751 0.99998207 0.0029384 0.11726166] [ 0.03813103 -0.00313525 0.99926783 0.9191008 ] [ 0. 0. 0. 1. ]] SLAMing on 102.092557844 meters Centerline goodness : 0.137938 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:0.92 [[ 0.99926437 -0.00510557 -0.03800867 0.12519191] [ 0.0052199 0.99998214 0.00290941 0.11752778] [ 0.03799314 -0.00310567 0.99927317 0.91944693] [ 0. 0. 0. 1. ]] SLAMing on 102.122557844 meters Centerline goodness : 0.141715 Centerline is valid? [False, False] Translation: X:0.11, Y:0.11, Z:0.92 [[ 0.99928249 0.00269559 -0.03777875 0.10514491] [-0.00262342 0.99999464 0.00195971 0.11332673] [ 0.03778383 -0.00185919 0.99928421 0.91770542] [ 0. 0. 0. 1. ]] SLAMing on 102.152557844 meters Centerline goodness : 0.142546 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925776 -0.00435533 -0.03827472 0.1240948 ] [ 0.00446728 0.99998599 0.00283995 0.12227978] [ 0.03826181 -0.00300883 0.99926322 0.91973134] [ 0. 0. 0. 1. ]] SLAMing on 102.182557844 meters Centerline goodness : 0.140038 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925401 -0.00449895 -0.03835588 0.1243381 ] [ 0.00460011 0.99998617 0.00254972 0.1235317 ] [ 0.03834388 -0.00272426 0.99926089 0.91967096] [ 0. 0. 0. 1. ]] SLAMing on 102.212557844 meters Centerline goodness : 0.137199 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99924666 -0.00466424 -0.03852747 0.12477649] [ 0.00475074 0.9999864 0.00215383 0.12529024] [ 0.0385169 -0.00233525 0.99925522 0.919635 ] [ 0. 0. 0. 1. ]] SLAMing on 102.242557844 meters Centerline goodness : 0.139845 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99924042 -0.00480132 -0.0386721 0.1251437 ] [ 0.00487343 0.99998656 0.00177057 0.12725646] [ 0.03866308 -0.00195769 0.99925039 0.91956151] [ 0. 0. 0. 1. ]] SLAMing on 102.272557844 meters Centerline goodness : 0.134329 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99923481 -0.00494524 -0.03879866 0.1255147 ] [ 0.0049971 0.99998675 0.00123985 0.13030572] [ 0.03879201 -0.00143278 0.99924628 0.9193647 ] [ 0. 0. 0. 1. ]] SLAMing on 102.302557844 meters Centerline goodness : 0.135114 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:0.92 [[ 0.99923575 -0.00493669 -0.03877551 0.12529503] [ 0.0049914 0.99998668 0.00131447 0.12982191] [ 0.03876851 -0.00150701 0.99924708 0.91963106] [ 0. 0. 0. 1. ]] SLAMing on 102.33255784400001 meters Centerline goodness : 0.145639 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99924355 -0.00488862 -0.03858019 0.12451792] [ 0.00495431 0.99998644 0.00160735 0.12815458] [ 0.0385718 -0.00179727 0.99925421 0.92013872] [ 0. 0. 0. 1. ]] SLAMing on 102.36255784400001 meters Centerline goodness : 0.141274 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:0.92 [[ 0.99925253 -0.00482693 -0.03835463 0.12362579] [ 0.004905 0.99998609 0.00194169 0.12626407] [ 0.03834472 -0.00212837 0.9992623 0.92069878] [ 0. 0. 0. 1. ]] SLAMing on 102.39255784400001 meters Centerline goodness : 0.144736 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925838 -0.00472848 -0.03821422 0.12289893] [ 0.00482027 0.99998571 0.0023102 0.124435 ] [ 0.03820275 -0.00249269 0.9992669 0.92137325] [ 0. 0. 0. 1. ]] SLAMing on 102.422557844 meters Centerline goodness : 0.135496 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925656 -0.00457167 -0.03828086 0.12287578] [ 0.00468618 0.99998481 0.00290219 0.12152659] [ 0.03826701 -0.00307943 0.9992628 0.92179327] [ 0. 0. 0. 1. ]] SLAMing on 102.452557844 meters Centerline goodness : 0.133541 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925276 -0.00443708 -0.03839588 0.12326755] [ 0.00456552 0.99998427 0.00325803 0.11976578] [ 0.03838082 -0.0034309 0.9992573 0.92167277] [ 0. 0. 0. 1. ]] SLAMing on 102.482557844 meters Centerline goodness : 0.139109 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99925007 -0.00427802 -0.03848362 0.1236209 ] [ 0.00442118 0.99998362 0.0036358 0.11799132] [ 0.03846743 -0.00380322 0.99925262 0.92149517] [ 0. 0. 0. 1. ]] SLAMing on 102.512557844 meters Centerline goodness : 0.142907 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.92 [[ 0.99924603 -0.00414048 -0.03860355 0.12408209] [ 0.00429734 0.99998284 0.00398127 0.11629509] [ 0.0385864 -0.00414416 0.99924667 0.92129315] [ 0. 0. 0. 1. ]] SLAMing on 102.542557844 meters Centerline goodness : 0.139247 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924449 -0.00391841 -0.03866642 0.12419877] [ 0.00409987 0.99998095 0.00461482 0.11273482] [ 0.0386476 -0.00476986 0.99924152 0.92147778] [ 0. 0. 0. 1. ]] SLAMing on 102.572557844 meters Centerline goodness : 0.135437 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924263 -0.00377701 -0.03872852 0.12404926] [ 0.00397147 0.99997988 0.00494543 0.11110006] [ 0.03870906 -0.00509549 0.99923753 0.92202091] [ 0. 0. 0. 1. ]] SLAMing on 102.602557844 meters Centerline goodness : 0.126161 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99924466 -0.00362453 -0.03869068 0.12371945] [ 0.00383131 0.99997876 0.00527183 0.10959915] [ 0.03867075 -0.00541609 0.99923733 0.92243003] [ 0. 0. 0. 1. ]] SLAMing on 102.632557844 meters Centerline goodness : 0.133050 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99925318 -0.00328577 -0.03850038 0.12318159] [ 0.00351646 0.99997626 0.00592568 0.10673812] [ 0.03847999 -0.00605664 0.99924102 0.92256969] [ 0. 0. 0. 1. ]] SLAMing on 102.662557844 meters Centerline goodness : 0.135474 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.92 [[ 0.99925711 -0.00315644 -0.03840919 0.12300546] [ 0.00339671 0.99997506 0.00619181 0.10544355] [ 0.03838869 -0.00631768 0.99924291 0.92251562] [ 0. 0. 0. 1. ]] SLAMing on 102.692557844 meters Centerline goodness : 0.144558 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99926446 0.00547905 -0.03795406 0.14307671] [-0.00529763 0.99997406 0.00487901 0.10099495] [ 0.0379798 -0.00467436 0.99926757 0.92440967] [ 0. 0. 0. 1. ]] SLAMing on 102.72255784400001 meters Centerline goodness : 0.142613 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925846 0.00553159 -0.03810425 0.1435941 ] [-0.00534647 0.99997341 0.00495845 0.10052837] [ 0.03813066 -0.00475105 0.99926147 0.92418271] [ 0. 0. 0. 1. ]] SLAMing on 102.75255784400001 meters Centerline goodness : 0.135979 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925068 0.00559776 -0.03829803 0.1443274 ] [-0.00540865 0.99997267 0.00503973 0.10016417] [ 0.03832519 -0.00482882 0.99925365 0.923766 ] [ 0. 0. 0. 1. ]] SLAMing on 102.782557844 meters Centerline goodness : 0.134627 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99924705 0.00566136 -0.03838342 0.1447148 ] [-0.00546838 0.99997189 0.0051307 0.09979854] [ 0.03841139 -0.00491694 0.99924991 0.92348099] [ 0. 0. 0. 1. ]] SLAMing on 102.812557844 meters Centerline goodness : 0.134310 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.92 [[ 0.99925167 0.00583098 -0.03823749 0.14389111] [-0.00562573 0.9999692 0.00547304 0.09812355] [ 0.03826823 -0.00525383 0.99925369 0.92422753] [ 0. 0. 0. 1. ]] SLAMing on 102.842557844 meters Centerline goodness : 0.133233 Centerline is valid? [False, False] Translation: X:0.14, Y:0.10, Z:0.93 [[ 0.99925493 0.0059366 -0.0381359 0.14305948] [-0.00572116 0.99996707 0.00575593 0.09657014] [ 0.03816882 -0.00553346 0.99925598 0.92514789] [ 0. 0. 0. 1. ]] SLAMing on 102.872557844 meters Centerline goodness : 0.149890 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.93 [[ 0.99926125 0.00607491 -0.0379479 0.14231576] [-0.00584818 0.9999644 0.00608298 0.09495362] [ 0.0379835 -0.00585656 0.9992612 0.92556789] [ 0. 0. 0. 1. ]] SLAMing on 102.902557844 meters Centerline goodness : 0.145692 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.93 [[ 0.99925601 0.00636751 -0.0380378 0.14290637] [-0.00611333 0.99995823 0.00679482 0.09155431] [ 0.03807948 -0.00655723 0.9992532 0.92500537] [ 0. 0. 0. 1. ]] SLAMing on 102.932557844 meters Centerline goodness : 0.132297 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.92 [[ 0.9992468 0.00650097 -0.03825656 0.14374192] [-0.00622883 0.99995447 0.00722856 0.08924675] [ 0.03830181 -0.00698483 0.9992418 0.92460441] [ 0. 0. 0. 1. ]] SLAMing on 102.962557844 meters Centerline goodness : 0.147462 Centerline is valid? [False, False] Translation: X:0.14, Y:0.09, Z:0.92 [[ 0.99923754 0.00665743 -0.03847106 0.14428089] [-0.00636316 0.99994959 0.00776654 0.08641755] [ 0.03852082 -0.00751582 0.99922953 0.92463976] [ 0. 0. 0. 1. ]] SLAMing on 102.992557844 meters Centerline goodness : 0.144761 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.99923647 0.00685774 -0.03846365 0.14398568] [-0.00654214 0.99994395 0.00832504 0.08377418] [ 0.03851858 -0.00806705 0.99922532 0.92516505] [ 0. 0. 0. 1. ]] SLAMing on 103.022557844 meters Centerline goodness : 0.126008 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.99924086 0.00710864 -0.03830375 0.14334721] [-0.00677184 0.99993733 0.00891532 0.08109177] [ 0.03836472 -0.00864916 0.99922637 0.9255842 ] [ 0. 0. 0. 1. ]] SLAMing on 103.052557844 meters Centerline goodness : 0.143439 Centerline is valid? [False, False] Translation: X:0.14, Y:0.08, Z:0.93 [[ 0.9992411 0.00737394 -0.03824721 0.14301972] [-0.00701412 0.99992995 0.00953353 0.0782205 ] [ 0.03831483 -0.00925802 0.99922283 0.9259643 ] [ 0. 0. 0. 1. ]] SLAMing on 103.08255784400001 meters Centerline goodness : 0.146597 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.93 [[ 0.99926122 0.00357747 -0.03826503 0.14368495] [-0.00333915 0.99997464 0.00629014 0.07448464] [ 0.03828656 -0.00615772 0.99924783 0.92520394] [ 0. 0. 0. 1. ]] SLAMing on 103.11255784400001 meters Centerline goodness : 0.176975 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99279625e-01 -1.46153478e-04 -3.79500915e-02 1.43090046e-01] [ 2.50940147e-04 9.99996170e-01 2.75642174e-03 7.33710062e-02] [ 3.79495433e-02 -2.76395928e-03 9.99275834e-01 9.24818554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14255784400001 meters Centerline goodness : 0.131834 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99283227e-01 1.15029275e-04 -3.78552367e-02 1.42873609e-01] [ 1.30728937e-05 9.99994275e-01 3.38373633e-03 7.04773292e-02] [ 3.78554092e-02 -3.38180584e-03 9.99277505e-01 9.24792189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172557844 meters Centerline goodness : 0.149811 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.92 [[ 9.99287982e-01 3.64063048e-04 -3.77279396e-02 1.42448690e-01] [-2.15209743e-04 9.99992178e-01 3.94942559e-03 6.80335235e-02] [ 3.77290823e-02 -3.93849411e-03 9.99280243e-01 9.24986854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202557844 meters Centerline goodness : 0.154822 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:0.93 [[ 9.99286491e-01 7.08792801e-04 -3.77625112e-02 1.42382267e-01] [-5.29236682e-04 9.99988509e-01 4.76466167e-03 6.39902606e-02] [ 3.77654544e-02 -4.74127673e-03 9.99275383e-01 9.25362973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232557844 meters Centerline goodness : 0.110719 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.93 [[ 0.99925355 0.00714498 -0.03796443 0.16556868] [-0.00709897 0.9999739 0.0013466 0.06147839] [ 0.03797306 -0.00107609 0.99927818 0.92560459] [ 0. 0. 0. 1. ]] SLAMing on 103.262557844 meters Centerline goodness : 0.122142 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.92 [[ 0.99923189 0.0071965 -0.0385207 0.16757431] [-0.007146 0.99997342 0.00144844 0.06071123] [ 0.0385301 -0.00117205 0.99925675 0.92484924] [ 0. 0. 0. 1. ]] SLAMing on 103.292557844 meters Centerline goodness : 0.124069 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.92 [[ 0.99906817 0.00700805 -0.04258734 0.12713478] [-0.00691524 0.99997338 0.00232615 0.05630886] [ 0.04260251 -0.00202948 0.99909004 0.92364537] [ 0. 0. 0. 1. ]] SLAMing on 103.322557844 meters Centerline goodness : 0.135842 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99116308e-01 8.98741189e-04 -4.20213658e-02 1.49409488e-01] [-6.80696064e-04 9.99986233e-01 5.20293125e-03 5.89315176e-02] [ 4.20254634e-02 -5.16972968e-03 9.99103165e-01 9.23562135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352557844 meters Centerline goodness : 0.224075 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99122125e-01 1.07632636e-03 -4.18786424e-02 1.48646361e-01] [-8.39802579e-04 9.99983601e-01 5.66502053e-03 5.65744886e-02] [ 4.18840531e-02 -5.62487755e-03 9.99106644e-01 9.24260099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382557844 meters Centerline goodness : 0.132775 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 9.99126405e-01 1.23825588e-03 -4.17719257e-02 1.48008481e-01] [-9.83092707e-04 9.99980737e-01 6.12847357e-03 5.41114008e-02] [ 4.17787097e-02 -6.08205409e-03 9.99108377e-01 9.24887987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412557844 meters Centerline goodness : 0.119516 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99914987 0.0081833 -0.04040499 0.16988456] [-0.00805065 0.99996166 0.00344466 0.05155708] [ 0.04043163 -0.00311644 0.99917745 0.9248058 ] [ 0. 0. 0. 1. ]] SLAMing on 103.442557844 meters Centerline goodness : 0.138067 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99914456 0.00839045 -0.0404937 0.17052839] [-0.00824183 0.99995868 0.0038357 0.04993328] [ 0.04052421 -0.00349868 0.99917243 0.92426434] [ 0. 0. 0. 1. ]] SLAMing on 103.47255784400001 meters Centerline goodness : 0.131521 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:0.92 [[ 0.99913249 0.00852728 -0.04076219 0.1717796 ] [-0.00837086 0.99995694 0.00400659 0.04943346] [ 0.0407946 -0.0036619 0.99916084 0.92353588] [ 0. 0. 0. 1. ]] SLAMing on 103.50255784400001 meters Centerline goodness : 0.128781 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99187728e-01 2.32437274e-04 -4.02967747e-02 1.53566544e-01] [-4.98036467e-05 9.99989724e-01 4.53315914e-03 5.70669441e-02] [ 4.02974142e-02 -4.52747006e-03 9.99177472e-01 9.21719135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532557844 meters Centerline goodness : 0.148874 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99187999e-01 1.79535692e-04 -4.02903272e-02 1.53387651e-01] [-7.73723530e-06 9.99990909e-01 4.26412788e-03 5.83757517e-02] [ 4.02907264e-02 -4.26035367e-03 9.99178916e-01 9.21939829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 103.592557844 meters Centerline goodness : 0.133114 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99200596e-01 9.51695727e-04 -3.99657719e-02 1.52409258e-01] [-7.74207242e-04 9.99989771e-01 4.45625460e-03 6.05591055e-02] [ 3.99696041e-02 -4.42175046e-03 9.99191112e-01 9.21798517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622557844 meters Centerline goodness : 0.133114 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99200596e-01 9.51695727e-04 -3.99657719e-02 1.52409258e-01] [-7.74207242e-04 9.99989771e-01 4.45625460e-03 6.05591055e-02] [ 3.99696041e-02 -4.42175046e-03 9.99191112e-01 9.21798517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652557844 meters Centerline goodness : 0.123594 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99207537e-01 9.03703312e-04 -3.97929707e-02 1.52007572e-01] [-7.30911590e-04 9.99990243e-01 4.35660172e-03 6.09873452e-02] [ 3.97965195e-02 -4.32406413e-03 9.99198449e-01 9.21716937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682557844 meters Centerline goodness : 0.150804 Centerline is valid? [False, False] Translation: X:0.17, Y:0.06, Z:0.92 [[ 9.99268318e-01 7.17242420e-03 -3.75684140e-02 1.73896284e-01] [-7.14579945e-03 9.99974113e-01 8.42929772e-04 6.14209837e-02] [ 3.75734873e-02 -5.73856663e-04 9.99293702e-01 9.21124994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712557844 meters Centerline goodness : 0.156306 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.92 [[ 9.99393064e-01 2.67548662e-03 -3.47324833e-02 1.31929576e-01] [-2.69707521e-03 9.99996198e-01 -5.74730248e-04 5.73727272e-02] [ 3.47308135e-02 6.68057543e-04 9.99396480e-01 9.18677173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742557844 meters Centerline goodness : 0.141214 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 9.99409883e-01 -4.72933921e-03 -3.40223471e-02 1.51126372e-01] [ 4.76395236e-03 9.99988214e-01 9.36372656e-04 6.08746902e-02] [ 3.40175177e-02 -1.09790093e-03 9.99420634e-01 9.20955880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772557844 meters Centerline goodness : 0.131334 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 0.99940767 -0.00461314 -0.03410332 0.15116323] [ 0.0046629 0.99998818 0.00137973 0.05875118] [ 0.03409655 -0.00153793 0.99941736 0.92128452] [ 0. 0. 0. 1. ]] SLAMing on 103.802557844 meters Centerline goodness : 0.151684 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.92 [[ 0.9994005 -0.00457891 -0.03431717 0.15167579] [ 0.00464334 0.9999876 0.00179822 0.05630547] [ 0.03430851 -0.00195649 0.99940937 0.92143995] [ 0. 0. 0. 1. ]] SLAMing on 103.83255784400001 meters Centerline goodness : 0.122345 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 0.99939111 -0.00458405 -0.03458896 0.15240995] [ 0.00466376 0.99998665 0.00222426 0.05340924] [ 0.03457831 -0.00238422 0.99939915 0.92145624] [ 0. 0. 0. 1. ]] SLAMing on 103.86255784400001 meters Centerline goodness : 0.036150 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.92 [[ 0.99939703 -0.00444278 -0.03443613 0.15218312] [ 0.00455133 0.99998492 0.00307428 0.04830703] [ 0.03442195 -0.00322916 0.99940217 0.92142369] [ 0. 0. 0. 1. ]] SLAMing on 103.89255784400001 meters Centerline goodness : 0.083763 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:0.92 [[ 0.99941662 0.00337111 -0.03398608 0.13121667] [-0.00327578 0.99999054 0.00286024 0.04069715] [ 0.0339954 -0.00274724 0.99941821 0.92005758] [ 0. 0. 0. 1. ]] SLAMing on 103.922557844 meters Centerline goodness : 0.134620 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.92 [[ 0.99948264 0.00438103 -0.0318632 0.1734139 ] [-0.00428734 0.99998628 0.00300817 0.04149096] [ 0.03187594 -0.00287 0.99948771 0.92099658] [ 0. 0. 0. 1. ]] SLAMing on 103.952557844 meters Centerline goodness : 0.134541 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:0.92 [[ 0.99947567 0.00448107 -0.03206716 0.17388751] [-0.00438189 0.9999854 0.0031626 0.04065807] [ 0.03208087 -0.00302042 0.99948071 0.92118692] [ 0. 0. 0. 1. ]] SLAMing on 103.982557844 meters Centerline goodness : 0.124641 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.92 [[ 0.99946113 0.00466271 -0.03249166 0.17520867] [-0.00455259 0.99998364 0.00346225 0.03923243] [ 0.03250727 -0.00331247 0.99946601 0.92095246] [ 0. 0. 0. 1. ]] SLAMing on 104.012557844 meters Centerline goodness : 0.126523 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948164 -0.00287309 -0.03206553 0.19575338] [ 0.00303574 0.99998277 0.00502483 0.04268055] [ 0.03205054 -0.00511957 0.99947314 0.92177029] [ 0. 0. 0. 1. ]] SLAMing on 104.042557844 meters Centerline goodness : 0.176449 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948821 -0.0027007 -0.03187518 0.19519165] [ 0.00287424 0.99998129 0.00539979 0.04100921] [ 0.03186 -0.00548865 0.99947727 0.92191737] [ 0. 0. 0. 1. ]] SLAMing on 104.072557844 meters Centerline goodness : 0.167963 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.92 [[ 0.99949287 -0.00255234 -0.03174089 0.19486014] [ 0.00273784 0.99997942 0.00580197 0.03896428] [ 0.03172543 -0.00588593 0.99947929 0.92192764] [ 0. 0. 0. 1. ]] SLAMing on 104.102557844 meters Centerline goodness : 0.128701 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:0.92 [[ 0.99948098 -0.00233562 -0.03212952 0.19609179] [ 0.00254628 0.99997552 0.00651717 0.03507241] [ 0.03211351 -0.0065956 0.99946247 0.9216348 ] [ 0. 0. 0. 1. ]] SLAMing on 104.132557844 meters Centerline goodness : 0.186446 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99947181 -0.00223338 -0.03242086 0.19714309] [ 0.00245377 0.99997414 0.00675938 0.03395317] [ 0.03240492 -0.00683537 0.99945145 0.92107975] [ 0. 0. 0. 1. ]] SLAMing on 104.162557844 meters Centerline goodness : 0.127570 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99946245 -0.00212187 -0.03271552 0.19814932] [ 0.00235219 0.99997271 0.00700306 0.03283713] [ 0.03269977 -0.00707625 0.99944017 0.92070246] [ 0. 0. 0. 1. ]] SLAMing on 104.192557844 meters Centerline goodness : 0.185693 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99945733 -0.00203377 -0.03287712 0.1987208 ] [ 0.00227389 0.999971 0.00726796 0.03138124] [ 0.03286138 -0.00733877 0.99943298 0.92048475] [ 0. 0. 0. 1. ]] SLAMing on 104.22255784400001 meters Centerline goodness : 0.216769 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.92 [[ 0.99945739 -0.00191833 -0.03288232 0.19847165] [ 0.0021691 0.99996883 0.00759221 0.0295592 ] [ 0.03286673 -0.00765941 0.99943039 0.92099136] [ 0. 0. 0. 1. ]] SLAMing on 104.25255784400001 meters Centerline goodness : 0.085042 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.92 [[ 0.99953516 0.00527238 -0.03002766 0.21800433] [-0.00513003 0.99997525 0.00481566 0.02584295] [ 0.0300523 -0.00465938 0.99953747 0.92177568] [ 0. 0. 0. 1. ]] SLAMing on 104.282557844 meters Centerline goodness : 0.190582 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.99945614 0.00471025 -0.03263801 0.17326214] [-0.00452595 0.99997341 0.00571832 0.02152285] [ 0.03266408 -0.0055675 0.99945088 0.9224308 ] [ 0. 0. 0. 1. ]] SLAMing on 104.312557844 meters Centerline goodness : 0.163161 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:0.92 [[ 0.99934207 0.01371999 -0.0335735 0.19307089] [-0.01352305 0.99989004 0.00608585 0.01421326] [ 0.0336533 -0.00562783 0.99941772 0.92317864] [ 0. 0. 0. 1. ]] SLAMing on 104.342557844 meters Centerline goodness : 0.190581 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99923924 0.01278202 -0.03684499 0.15091017] [-0.01255309 0.99990048 0.00643806 0.01041396] [ 0.03692361 -0.00597064 0.99930025 0.92299985] [ 0. 0. 0. 1. ]] SLAMing on 104.372557844 meters Centerline goodness : 0.192966 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:0.92 [[ 0.99924552 0.01334228 -0.03647417 0.19225893] [-0.01313912 0.99989683 0.00580408 0.0121399 ] [ 0.03654785 -0.00532046 0.99931774 0.92478056] [ 0. 0. 0. 1. ]] SLAMing on 104.402557844 meters Centerline goodness : 0.124215 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.9993764 0.00462496 -0.03500602 0.17215268] [-0.00442539 0.99997352 0.00577647 0.0184453 ] [ 0.03503181 -0.00561795 0.99937041 0.92418119] [ 0. 0. 0. 1. ]] SLAMing on 104.432557844 meters Centerline goodness : 0.194419 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.9993834 0.00457109 -0.03481271 0.17114438] [-0.00437361 0.99997392 0.0057467 0.01838885] [ 0.03483807 -0.0055909 0.99937733 0.92495278] [ 0. 0. 0. 1. ]] SLAMing on 104.462557844 meters Centerline goodness : 0.195612 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.93 [[ 0.99938625 0.00460235 -0.03472665 0.17075162] [-0.00440241 0.9999733 0.00583199 0.01798405] [ 0.03475257 -0.00567553 0.99937983 0.92522283] [ 0. 0. 0. 1. ]] SLAMing on 104.492557844 meters Centerline goodness : 0.097131 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:0.92 [[ 0.99936767 0.00462632 -0.0352542 0.17240204] [-0.0044117 0.99997128 0.00616316 0.01569728] [ 0.0352817 -0.00600374 0.99935937 0.92483417] [ 0. 0. 0. 1. ]] SLAMing on 104.522557844 meters Centerline goodness : 0.120586 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 0.99927412 0.00276465 -0.03799458 0.12719056] [-0.00252009 0.99997581 0.00648314 0.0100854 ] [ 0.03801159 -0.00638268 0.99925691 0.92485637] [ 0. 0. 0. 1. ]] SLAMing on 104.552557844 meters Centerline goodness : 0.186156 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99929964 0.01042856 -0.03593697 0.14806834] [-0.01028068 0.99993792 0.00429727 0.00786089] [ 0.03597956 -0.0039248 0.99934482 0.92496078] [ 0. 0. 0. 1. ]] SLAMing on 104.58255784400001 meters Centerline goodness : 0.194546 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.9993106 0.01048604 -0.03561408 0.14713375] [-0.01032708 0.99993589 0.0046443 0.00656587] [ 0.0356605 -0.00427331 0.99935483 0.92495772] [ 0. 0. 0. 1. ]] SLAMing on 104.61255784400001 meters Centerline goodness : 0.208133 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 0.99932032 0.01076599 -0.03525608 0.14660967] [-0.010578 0.99992885 0.0055144 0.00364853] [ 0.03531294 -0.00513772 0.9993631 0.92401212] [ 0. 0. 0. 1. ]] SLAMing on 104.64255784400001 meters Centerline goodness : 0.137447 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 9.99353087e-01 1.06954953e-03 -3.59480631e-02 1.26613219e-01] [-8.42585492e-04 9.99979622e-01 6.32822187e-03 7.11077112e-03] [ 3.59540989e-02 -6.29383875e-03 9.99333623e-01 9.22192237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672557844 meters Centerline goodness : 0.147003 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.92 [[ 9.99346501e-01 1.10502072e-03 -3.61296306e-02 1.27237875e-01] [-8.70629340e-04 9.99978479e-01 6.50260064e-03 6.11128926e-03] [ 3.61360385e-02 -6.46689568e-03 9.99325956e-01 9.21929080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702557844 meters Centerline goodness : 0.085335 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.92 [[ 0.99935559 0.00820085 -0.03494505 0.1498471 ] [-0.00807588 0.99996049 0.00371582 0.00510078] [ 0.03497414 -0.00343122 0.99938233 0.92131325] [ 0. 0. 0. 1. ]] SLAMing on 104.732557844 meters Centerline goodness : 0.358013 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 0.99935448 0.00826762 -0.03496106 0.14983066] [-0.00813469 0.99995914 0.00394271 0.00406816] [ 0.03499223 -0.00365577 0.9993809 0.92137132] [ 0. 0. 0. 1. ]] SLAMing on 104.762557844 meters Centerline goodness : 0.204813 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.92 [[ 9.99394216e-01 4.36889232e-03 -3.45270140e-02 1.48981944e-01] [-4.36666293e-03 9.99990456e-01 1.39975905e-04 4.13176166e-03] [ 3.45272960e-02 1.08767223e-05 9.99403755e-01 9.20931567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792557844 meters Centerline goodness : 0.118512 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.92 [[ 0.99941752 -0.00282551 -0.03400926 0.1680505 ] [ 0.00287318 0.99999496 0.00135308 0.00788664] [ 0.03400527 -0.00145001 0.9994206 0.92276872] [ 0. 0. 0. 1. ]] SLAMing on 104.822557844 meters Centerline goodness : 0.148482 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:0.92 [[ 0.99943648 -0.00295671 -0.03343623 0.16633628] [ 0.00301004 0.99999428 0.0015448 0.00709226] [ 0.03343148 -0.00164457 0.99943966 0.92290937] [ 0. 0. 0. 1. ]] SLAMing on 104.852557844 meters Centerline goodness : 0.152001 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99496190e-01 4.53921339e-03 -3.14127724e-02 1.46942814e-01] [-4.53847166e-03 9.99989697e-01 9.49131821e-05 -4.96249497e-04] [ 3.14128795e-02 4.77006134e-05 9.99506493e-01 9.20850201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882557844 meters Centerline goodness : 0.140210 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99495001e-01 4.51734177e-03 -3.14537163e-02 1.47177019e-01] [-4.51409580e-03 9.99989796e-01 1.74208057e-04 -1.24046720e-03] [ 3.14541824e-02 -3.21349931e-05 9.99505194e-01 9.20634361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912557844 meters Centerline goodness : 0.302072 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99490015e-01 4.57450065e-03 -3.16035432e-02 1.47600204e-01] [-4.56987118e-03 9.99989534e-01 2.18714605e-04 -1.31338922e-03] [ 3.16042130e-02 -7.41789427e-05 9.99500459e-01 9.20573332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942557844 meters Centerline goodness : 0.190732 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99488927e-01 4.58683004e-03 -3.16361621e-02 1.47610076e-01] [-4.58188784e-03 9.99989477e-01 2.28713221e-04 -1.23127551e-03] [ 3.16368783e-02 -8.36429856e-05 9.99499425e-01 9.20709671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97255784400001 meters Centerline goodness : 0.111610 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.92 [[ 9.99486941e-01 4.62772393e-03 -3.16928722e-02 1.47567995e-01] [-4.61928977e-03 9.99989273e-01 3.39334416e-04 -1.71869177e-03] [ 3.16941026e-02 -1.92761757e-04 9.99497597e-01 9.21027947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00255784400001 meters Centerline goodness : 0.217438 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 9.99485770e-01 4.77032200e-03 -3.17086557e-02 1.47105091e-01] [-4.74233687e-03 9.99988296e-01 9.57718016e-04 -5.17490359e-03] [ 3.17128532e-02 -8.06852402e-04 9.99496695e-01 9.21903930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03255784400001 meters Centerline goodness : 0.136500 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99948344 0.00491046 -0.03176053 0.14709197] [-0.00486973 0.99998722 0.00135954 -0.00719562] [ 0.0317668 -0.00120417 0.99949458 0.92217246] [ 0. 0. 0. 1. ]] SLAMing on 105.062557844 meters Centerline goodness : 0.146642 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99947705 0.00497478 -0.03195108 0.14752428] [-0.0049231 0.99998644 0.00169587 -0.00917991] [ 0.03195909 -0.00153768 0.999488 0.92230263] [ 0. 0. 0. 1. ]] SLAMing on 105.092557844 meters Centerline goodness : 0.134322 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99950008 -0.00301948 -0.03147173 0.16907285] [ 0.00308471 0.99999319 0.00202433 -0.00767318] [ 0.0314654 -0.0021204 0.99950259 0.92287422] [ 0. 0. 0. 1. ]] SLAMing on 105.122557844 meters Centerline goodness : 0.118680 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.9995013 -0.00297698 -0.03143711 0.16879983] [ 0.00304427 0.99999318 0.00209268 -0.00802442] [ 0.03143066 -0.00218734 0.99950354 0.92320803] [ 0. 0. 0. 1. ]] SLAMing on 105.152557844 meters Centerline goodness : 0.122238 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99947707 0.0063747 -0.03170089 0.18788061] [-0.00630606 0.99997755 0.00226475 -0.01298018] [ 0.03171462 -0.00206366 0.99949483 0.92434748] [ 0. 0. 0. 1. ]] SLAMing on 105.182557844 meters Centerline goodness : 0.163954 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99947379 0.00641718 -0.03179567 0.18819268] [-0.0063484 0.99997729 0.00226376 -0.01276809] [ 0.03180948 -0.00206072 0.99949183 0.92425728] [ 0. 0. 0. 1. ]] SLAMing on 105.212557844 meters Centerline goodness : 0.141833 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99943134 -0.00263331 -0.03361653 0.16938276] [ 0.00275883 0.99998939 0.00368802 -0.00977975] [ 0.03360647 -0.00377867 0.999428 0.9228167 ] [ 0. 0. 0. 1. ]] SLAMing on 105.242557844 meters Centerline goodness : 0.189206 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99939645 -0.00204583 -0.0346778 0.17278197] [ 0.00219404 0.99998862 0.00423624 -0.0115993 ] [ 0.03466874 -0.00430977 0.99938957 0.92197468] [ 0. 0. 0. 1. ]] SLAMing on 105.272557844 meters Centerline goodness : 0.035367 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99939651 -0.00191899 -0.03468326 0.17273061] [ 0.00207689 0.99998764 0.00451724 -0.01292922] [ 0.03467416 -0.00458655 0.99938815 0.92207498] [ 0. 0. 0. 1. ]] SLAMing on 105.302557844 meters Centerline goodness : 0.159068 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:0.92 [[ 0.99940165 -0.0017574 -0.03454362 0.17224343] [ 0.00192652 0.99998632 0.00486312 -0.01439166] [ 0.0345346 -0.00492675 0.99939136 0.92230697] [ 0. 0. 0. 1. ]] SLAMing on 105.33255784400001 meters Centerline goodness : 0.153575 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99942811 0.00727144 -0.03302403 0.19113074] [-0.00715139 0.99996739 0.00375203 -0.01897336] [ 0.03305024 -0.00351372 0.99944752 0.92391327] [ 0. 0. 0. 1. ]] SLAMing on 105.36255784400001 meters Centerline goodness : 0.085650 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99944761 0.00433024 -0.03295024 0.19163395] [-0.00429314 0.99999007 0.00119665 -0.02250001] [ 0.03295509 -0.00105453 0.99945628 0.92293922] [ 0. 0. 0. 1. ]] SLAMing on 105.39255784400001 meters Centerline goodness : 0.089328 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99944172 0.0044319 -0.03311497 0.19229329] [-0.00438998 0.99998947 0.00133824 -0.02299667] [ 0.03312055 -0.00119212 0.99945065 0.92259813] [ 0. 0. 0. 1. ]] SLAMing on 105.422557844 meters Centerline goodness : 0.096601 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99943997 0.00457818 -0.0331478 0.19261127] [-0.00452976 0.99998856 0.00153566 -0.02340988] [ 0.03315445 -0.00138465 0.99944928 0.92225076] [ 0. 0. 0. 1. ]] SLAMing on 105.452557844 meters Centerline goodness : 0.151312 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99943697 0.00477159 -0.03321112 0.19309732] [-0.00471755 0.99998742 0.00170547 -0.02360425] [ 0.03321884 -0.00154783 0.9994469 0.92179299] [ 0. 0. 0. 1. ]] SLAMing on 105.482557844 meters Centerline goodness : 0.152704 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99941502 0.00510232 -0.03381689 0.19500029] [-0.00505107 0.99998596 0.00160066 -0.02297517] [ 0.03382458 -0.00142891 0.99942676 0.92166161] [ 0. 0. 0. 1. ]] SLAMing on 105.512557844 meters Centerline goodness : 0.152704 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99941502 0.00510232 -0.03381689 0.19500029] [-0.00505107 0.99998596 0.00160066 -0.02297517] [ 0.03382458 -0.00142891 0.99942676 0.92166161] [ 0. 0. 0. 1. ]] SLAMing on 105.542557844 meters Centerline goodness : 0.354653 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99939747 0.00522571 -0.03431308 0.19648926] [-0.0051772 0.99998547 0.00150253 -0.02263971] [ 0.03432043 -0.00132397 0.99941 0.92151775] [ 0. 0. 0. 1. ]] SLAMing on 105.572557844 meters Centerline goodness : 0.092426 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 0.99937891 0.00531588 -0.03483571 0.19820991] [-0.0052709 0.99998515 0.00138288 -0.0221804 ] [ 0.03484255 -0.00119841 0.9993921 0.92109172] [ 0. 0. 0. 1. ]] SLAMing on 105.602557844 meters Centerline goodness : 0.151596 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.92 [[ 9.99334542e-01 4.70744251e-03 -3.61706022e-02 1.60373869e-01] [-4.69042770e-03 9.99988846e-01 5.55246153e-04 -2.32987355e-02] [ 3.61728125e-02 -3.85221066e-04 9.99345475e-01 9.19744908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632557844 meters Centerline goodness : 0.344759 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:0.92 [[ 9.99350444e-01 4.59925285e-03 -3.57426422e-02 1.59222095e-01] [-4.57860054e-03 9.99989301e-01 6.59636666e-04 -2.36872014e-02] [ 3.57452936e-02 -4.95556914e-04 9.99360810e-01 9.19648186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662557844 meters Centerline goodness : 0.152131 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.92 [[ 9.99303742e-01 1.35969684e-02 -3.47441225e-02 1.76875246e-01] [-1.35926518e-02 9.99907551e-01 3.60451373e-04 -2.92128699e-02] [ 3.47458115e-02 1.12064355e-04 9.99396176e-01 9.20511720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692557844 meters Centerline goodness : 0.207025 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:0.92 [[ 9.99324175e-01 1.34161559e-02 -3.42228093e-02 1.75303945e-01] [-1.34139585e-02 9.99909986e-01 2.93818157e-04 -2.89105814e-02] [ 3.42236707e-02 1.65443756e-04 9.99414185e-01 9.20705729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72255784400001 meters Centerline goodness : 0.150666 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.92 [[ 9.99357637e-01 1.30221014e-02 -3.33876847e-02 1.72490535e-01] [-1.30298569e-02 9.99915108e-01 -1.47083389e-05 -2.80473498e-02] [ 3.33846588e-02 4.49735645e-04 9.99442476e-01 9.21591715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75255784400001 meters Centerline goodness : 0.325689 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:0.92 [[ 9.99359416e-01 1.28716162e-02 -3.33928000e-02 1.72522079e-01] [-1.28882566e-02 9.99916903e-01 -2.83111966e-04 -2.71440393e-02] [ 3.33863811e-02 7.13305583e-04 9.99442265e-01 9.21557713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78255784400001 meters Centerline goodness : 0.128564 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99401251e-01 3.34155017e-03 -3.44379522e-02 1.54110871e-01] [-3.34879158e-03 9.99994381e-01 -1.52596014e-04 -2.03435843e-02] [ 3.44372488e-02 2.67830171e-04 9.99406826e-01 9.20348021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812557844 meters Centerline goodness : 0.090124 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:0.92 [[ 9.99381279e-01 4.67704869e-03 -3.48595056e-02 1.96520726e-01] [-4.68408399e-03 9.99989022e-01 -1.20153789e-04 -1.55523192e-02] [ 3.48585609e-02 2.83364299e-04 9.99392216e-01 9.20717251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.842557844 meters Centerline goodness : 0.378038 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 9.99374736e-01 4.63387364e-03 -3.50523114e-02 1.97370540e-01] [-4.64863151e-03 9.99989137e-01 -3.39537798e-04 -1.42886671e-02] [ 3.50503573e-02 5.02270776e-04 9.99385421e-01 9.20069251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872557844 meters Centerline goodness : 0.147651 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 9.99388203e-01 4.50450216e-03 -3.46832763e-02 1.96142883e-01] [-4.53559400e-03 9.99989380e-01 -8.17824124e-04 -1.18701600e-02] [ 3.46792240e-02 9.74633041e-04 9.99398020e-01 9.20452151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902557844 meters Centerline goodness : 0.341993 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 0.99939569 0.0043365 -0.03448842 0.19540588] [-0.00437639 0.99998984 -0.0010812 -0.01089864] [ 0.03448338 0.00123148 0.99940451 0.92075873] [ 0. 0. 0. 1. ]] SLAMing on 105.932557844 meters Centerline goodness : 0.102397 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:0.92 [[ 0.99939835 0.00418225 -0.03443027 0.19502036] [-0.00422814 0.99999027 -0.00126002 -0.01040188] [ 0.03442467 0.00140484 0.99940631 0.92105033] [ 0. 0. 0. 1. ]] SLAMing on 105.962557844 meters Centerline goodness : 0.194673 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99930694 0.00233083 -0.03715103 0.15002232] [-0.00237589 0.99999649 -0.00116876 -0.01398111] [ 0.03714817 0.00125621 0.99930898 0.92150115] [ 0. 0. 0. 1. ]] SLAMing on 105.992557844 meters Centerline goodness : 0.186431 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99929755 0.00211315 -0.03741577 0.1507554 ] [-0.00216196 0.99999686 -0.00126415 -0.0140537 ] [ 0.03741298 0.00134416 0.99929899 0.92143618] [ 0. 0. 0. 1. ]] SLAMing on 106.022557844 meters Centerline goodness : 0.117734 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:0.92 [[ 0.99929967 0.00215028 -0.03735691 0.15031803] [-0.00219232 0.99999701 -0.00108436 -0.01494212] [ 0.03735447 0.0011655 0.9993014 0.92191354] [ 0. 0. 0. 1. ]] SLAMing on 106.052557844 meters Centerline goodness : 0.191248 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99298601e-01 2.16097938e-03 -3.73849636e-02 1.50140603e-01] [-2.19759754e-03 9.99997145e-01 -9.38423665e-04 -1.57503456e-02] [ 3.73828290e-02 1.01992256e-03 9.99300497e-01 9.22343152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08255784400001 meters Centerline goodness : 0.119990 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99292034e-01 2.18731440e-03 -3.75585675e-02 1.50528286e-01] [-2.21564444e-03 9.99997291e-01 -7.12683246e-04 -1.70349511e-02] [ 3.75569069e-02 7.95395122e-04 9.99294174e-01 9.22440776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11255784400001 meters Centerline goodness : 0.213702 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99266977e-01 2.18369247e-03 -3.82196210e-02 1.52520599e-01] [-2.19871586e-03 9.99997521e-01 -3.51052470e-04 -1.92246926e-02] [ 3.82187597e-02 4.34829227e-04 9.99269302e-01 9.21916845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14255784400001 meters Centerline goodness : 0.137372 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99253823e-01 2.43382669e-03 -3.85470368e-02 1.53558571e-01] [-2.43576075e-03 9.99997034e-01 -3.21097111e-06 -2.03807679e-02] [ 3.85469146e-02 9.70999345e-05 9.99256787e-01 9.21622100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172557844 meters Centerline goodness : 0.190428 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99253027e-01 2.50936039e-03 -3.85628230e-02 1.53552978e-01] [-2.50639545e-03 9.99996851e-01 1.25230711e-04 -2.08993710e-02] [ 3.85630158e-02 -2.84834826e-05 9.99256170e-01 9.21716064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202557844 meters Centerline goodness : 0.127786 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99291451e-01 2.91323259e-03 -3.75247753e-02 1.50313433e-01] [-2.89813646e-03 9.99995696e-01 4.56686843e-04 -2.16260923e-02] [ 3.75259442e-02 -3.47611338e-04 9.99295593e-01 9.22823414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232557844 meters Centerline goodness : 0.156243 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99306825e-01 2.99523809e-03 -3.71065706e-02 1.49193341e-01] [-2.98293057e-03 9.99995476e-01 3.87038426e-04 -2.09586603e-02] [ 3.71075620e-02 -2.76083817e-04 9.99311239e-01 9.22931196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262557844 meters Centerline goodness : 0.133648 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.92 [[ 9.99307288e-01 2.97491485e-03 -3.70957409e-02 1.49522241e-01] [-2.97341330e-03 9.99995575e-01 9.56471465e-05 -1.93754420e-02] [ 3.70958613e-02 1.47200788e-05 9.99311712e-01 9.22298095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292557844 meters Centerline goodness : 0.130054 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.92 [[ 9.99192086e-01 1.25551952e-02 -3.81777674e-02 1.71032902e-01] [-1.25561932e-02 9.99921145e-01 2.13639700e-04 -2.26033704e-02] [ 3.81774392e-02 2.65900325e-04 9.99270940e-01 9.22507096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322557844 meters Centerline goodness : 0.186785 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.92 [[ 9.99156149e-01 1.28638595e-02 -3.90065542e-02 1.73726412e-01] [-1.28756778e-02 9.99917104e-01 -5.17749028e-05 -2.11216664e-02] [ 3.90026547e-02 5.53967038e-04 9.99238953e-01 9.21967322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352557844 meters Centerline goodness : 0.148205 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:0.92 [[ 9.99106323e-01 1.30914348e-02 -4.01891813e-02 1.77002766e-01] [-1.31331284e-02 9.99913458e-01 -7.73584719e-04 -1.83041621e-02] [ 4.01755758e-02 1.30070306e-03 9.99191789e-01 9.22113728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382557844 meters Centerline goodness : 0.385520 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.92 [[ 9.99173357e-01 3.70101612e-03 -4.04833859e-02 1.57663987e-01] [-3.72994907e-03 9.99992839e-01 -6.39178738e-04 -1.20804596e-02] [ 4.04807304e-02 7.89651333e-04 9.99180007e-01 9.21387653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412557844 meters Centerline goodness : 0.388027 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.92 [[ 9.99176484e-01 3.62927885e-03 -4.04126567e-02 1.57198108e-01] [-3.66107761e-03 9.99993044e-01 -7.12871731e-04 -1.18191380e-02] [ 4.04097884e-02 8.60238542e-04 9.99182821e-01 9.21747267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442557844 meters Centerline goodness : 0.131090 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.99926128 0.00171244 -0.03839229 0.18781887] [-0.00166751 0.99999789 0.00120234 -0.01232388] [ 0.03839427 -0.00113743 0.99926202 0.92216871] [ 0. 0. 0. 1. ]] SLAMing on 106.47255784400001 meters Centerline goodness : 0.154789 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.92 [[ 0.9992668 0.00178136 -0.0382451 0.18721841] [-0.00172466 0.99999736 0.00151542 -0.01377501] [ 0.0382477 -0.00144834 0.99926724 0.92252857] [ 0. 0. 0. 1. ]] SLAMing on 106.50255784400001 meters Centerline goodness : 0.115846 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.92 [[ 0.99927242 0.00168424 -0.03810232 0.18653311] [-0.00161574 0.99999702 0.00182877 -0.01585929] [ 0.03810528 -0.00176588 0.99927217 0.92318261] [ 0. 0. 0. 1. ]] SLAMing on 106.53255784400001 meters Centerline goodness : 0.214244 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 9.99325910e-01 -8.74608587e-03 -3.56543244e-02 2.07127013e-01] [ 8.77138857e-03 9.99961378e-01 5.53307186e-04 -1.70001377e-02] [ 3.56481081e-02 -8.65672141e-04 9.99364029e-01 9.23665994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562557844 meters Centerline goodness : 0.136883 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 0.99933674 -0.0087848 -0.03533983 0.20621029] [ 0.0088351 0.99996017 0.00126722 -0.01953502] [ 0.03532729 -0.00157861 0.99937455 0.92318487] [ 0. 0. 0. 1. ]] SLAMing on 106.592557844 meters Centerline goodness : 0.128457 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:0.92 [[ 0.99931445 -0.0086805 -0.03599 0.2077019 ] [ 0.00876867 0.99995893 0.00229278 -0.02351303] [ 0.03596862 -0.0026068 0.99934952 0.92258309] [ 0. 0. 0. 1. ]] SLAMing on 106.622557844 meters Centerline goodness : 0.166526 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:0.92 [[ 0.99929433 -0.00858731 -0.03656634 0.2093221 ] [ 0.00869421 0.99995838 0.00276565 -0.02547843] [ 0.03654107 -0.00308162 0.9993274 0.92208473] [ 0. 0. 0. 1. ]] SLAMing on 106.652557844 meters Centerline goodness : 0.163403 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:0.92 [[ 9.99260718e-01 8.22362778e-04 -3.84361835e-02 1.92339938e-01] [-7.46195245e-04 9.99997730e-01 1.99596596e-03 -3.38828088e-02] [ 3.84377376e-02 -1.96580948e-03 9.99259063e-01 9.21974243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682557844 meters Centerline goodness : 0.122889 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:0.92 [[ 9.99259796e-01 9.73453455e-04 -3.84566359e-02 1.92246520e-01] [-8.82153888e-04 9.99996752e-01 2.39098865e-03 -3.56877355e-02] [ 3.84588385e-02 -2.35529416e-03 9.99257409e-01 9.22242820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712557844 meters Centerline goodness : 0.153596 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:0.92 [[ 0.99927006 0.00131676 -0.03817858 0.19099127] [-0.00119989 0.99999452 0.00308403 -0.03852586] [ 0.03818243 -0.00303597 0.99926617 0.9232011 ] [ 0. 0. 0. 1. ]] SLAMing on 106.742557844 meters Centerline goodness : 0.084984 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.92 [[ 9.99294161e-01 8.67484362e-03 -3.65503469e-02 2.12538118e-01] [-8.67050499e-03 9.99962372e-01 2.77212221e-04 -4.10485536e-02] [ 3.65513764e-02 3.98934112e-05 9.99331774e-01 9.22933429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772557844 meters Centerline goodness : 0.089750 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:0.92 [[ 9.99285054e-01 8.72953108e-03 -3.67855522e-02 2.13275829e-01] [-8.71619241e-03 9.99961877e-01 5.22963154e-04 -4.26308381e-02] [ 3.67887151e-02 -2.01959313e-04 9.99323046e-01 9.22790421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802557844 meters Centerline goodness : 0.097965 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:0.92 [[ 9.99276844e-01 1.99533077e-03 -3.79711437e-02 2.32453240e-01] [-1.95593303e-03 9.99997510e-01 1.07469011e-03 -3.91390877e-02] [ 3.79731935e-02 -9.99643932e-04 9.99278258e-01 9.24416628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83255784400001 meters Centerline goodness : 0.147770 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:0.92 [[ 0.99913068 0.00259078 -0.0416073 0.1898665 ] [-0.00243131 0.99998951 0.00388287 -0.04603484] [ 0.04161692 -0.00377833 0.9991265 0.9244133 ] [ 0. 0. 0. 1. ]] SLAMing on 106.86255784400001 meters Centerline goodness : 0.175836 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915746 0.00326074 -0.04091138 0.22976162] [-0.00308924 0.99998618 0.00425445 -0.04652455] [ 0.04092469 -0.00412448 0.99915372 0.92555081] [ 0. 0. 0. 1. ]] SLAMing on 106.89255784400001 meters Centerline goodness : 0.129478 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915418 0.00344472 -0.0409764 0.22957154] [-0.00325675 0.99998387 0.00465315 -0.04838431] [ 0.04099177 -0.00451576 0.99914928 0.92623165] [ 0. 0. 0. 1. ]] SLAMing on 106.922557844 meters Centerline goodness : 0.385065 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:0.93 [[ 0.99915587 0.00366521 -0.04091593 0.22910123] [-0.00345557 0.99998054 0.00519334 -0.05100048] [ 0.04093417 -0.00504757 0.9991491 0.92685689] [ 0. 0. 0. 1. ]] SLAMing on 106.952557844 meters Centerline goodness : 0.243368 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:0.93 [[ 0.99923748 0.0050898 -0.03871111 0.27125744] [-0.00491561 0.99997737 0.00459356 -0.05495797] [ 0.03873361 -0.00439977 0.99923989 0.92825041] [ 0. 0. 0. 1. ]] SLAMing on 106.982557844 meters Centerline goodness : 0.383050 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.93 [[ 0.99923647 0.00536935 -0.03869945 0.27114603] [-0.00516958 0.9999728 0.00526026 -0.0580143 ] [ 0.03872664 -0.00505619 0.99923705 0.92840601] [ 0. 0. 0. 1. ]] SLAMing on 107.012557844 meters Centerline goodness : 0.156348 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.93 [[ 0.99923476 0.00565021 -0.03870364 0.27103861] [-0.0054228 0.99996743 0.00597817 -0.06141406] [ 0.03873615 -0.00576371 0.99923285 0.92863243] [ 0. 0. 0. 1. ]] SLAMing on 107.042557844 meters Centerline goodness : 0.100915 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.99923035 0.0059339 -0.03877501 0.27097769] [-0.00567605 0.99996106 0.00675656 -0.06524494] [ 0.0388136 -0.00653127 0.99922512 0.92910948] [ 0. 0. 0. 1. ]] SLAMing on 107.072557844 meters Centerline goodness : 0.108029 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.9992701 0.00236521 -0.03812697 0.26956485] [-0.00223254 0.99999131 0.003522 -0.06750126] [ 0.03813497 -0.00343431 0.9992667 0.92882305] [ 0. 0. 0. 1. ]] SLAMing on 107.102557844 meters Centerline goodness : 0.099515 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:0.93 [[ 0.99925037 0.00293764 -0.03860129 0.27055633] [-0.00274982 0.99998413 0.00491779 -0.07432789] [ 0.03861512 -0.00480796 0.99924259 0.92928493] [ 0. 0. 0. 1. ]] SLAMing on 107.132557844 meters Centerline goodness : 0.394127 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:0.93 [[ 0.99913268 0.00135761 -0.0416178 0.22780323] [-0.00109254 0.99997898 0.00639142 -0.08082751] [ 0.0416256 -0.0063404 0.99911316 0.92885585] [ 0. 0. 0. 1. ]] SLAMing on 107.162557844 meters Centerline goodness : 0.107656 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:0.93 [[ 0.99911649 0.00936766 -0.04096931 0.25038058] [-0.0092111 0.99994954 0.00400854 -0.08382993] [ 0.04100479 -0.00362762 0.99915236 0.92827763] [ 0. 0. 0. 1. ]] SLAMing on 107.192557844 meters Centerline goodness : 0.134560 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99910522 0.00949611 -0.04121382 0.25137132] [-0.00932465 0.99994706 0.00435048 -0.08617731] [ 0.04125295 -0.00396228 0.99914088 0.92788965] [ 0. 0. 0. 1. ]] SLAMing on 107.22255784400001 meters Centerline goodness : 0.354514 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911005 0.0096061 -0.04107101 0.25116277] [-0.00942838 0.99994534 0.00451853 -0.08684987] [ 0.04111217 -0.00412728 0.99914601 0.92762328] [ 0. 0. 0. 1. ]] SLAMing on 107.25255784400001 meters Centerline goodness : 0.141785 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911703 0.00967685 -0.04088416 0.250854 ] [-0.009498 0.99994447 0.00456643 -0.08675655] [ 0.04092607 -0.00417408 0.99915346 0.92732877] [ 0. 0. 0. 1. ]] SLAMing on 107.28255784400001 meters Centerline goodness : 0.158926 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 0.99911942 0.00973331 -0.04081224 0.25082346] [-0.00955266 0.9999437 0.00461885 -0.08678632] [ 0.0408549 -0.00422492 0.99915616 0.92707153] [ 0. 0. 0. 1. ]] SLAMing on 107.312557844 meters Centerline goodness : 0.107227 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 9.99159056e-01 6.07004097e-03 -4.05504144e-02 2.50193028e-01] [-6.04088241e-03 9.99981400e-01 8.41562349e-04 -8.67460173e-02] [ 4.05547685e-02 -5.95894357e-04 9.99177139e-01 9.26809664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.342557844 meters Centerline goodness : 0.119225 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.93 [[ 9.99158144e-01 6.14209183e-03 -4.05620280e-02 2.49893773e-01] [-6.10348040e-03 9.99980795e-01 1.07567913e-03 -8.80076446e-02] [ 4.05678559e-02 -8.27204017e-04 9.99176443e-01 9.27359618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372557844 meters Centerline goodness : 0.119770 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99176416e-01 -7.92746369e-04 -4.05692079e-02 2.68711799e-01] [ 8.70879393e-04 9.99997800e-01 1.90828291e-03 -8.38076319e-02] [ 4.05676059e-02 -1.94204216e-03 9.99174909e-01 9.29470206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402557844 meters Centerline goodness : 0.142337 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99182682e-01 -8.00303859e-04 -4.04144417e-02 2.68245566e-01] [ 8.80800363e-04 9.99997664e-01 1.97400922e-03 -8.39266018e-02] [ 4.04127674e-02 -2.00799288e-03 9.99181053e-01 9.29455770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432557844 meters Centerline goodness : 0.142337 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99182682e-01 -8.00303859e-04 -4.04144417e-02 2.68245566e-01] [ 8.80800363e-04 9.99997664e-01 1.97400922e-03 -8.39266018e-02] [ 4.04127674e-02 -2.00799288e-03 9.99181053e-01 9.29455770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462557844 meters Centerline goodness : 0.148845 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99176477e-01 -6.89232224e-04 -4.05695996e-02 2.68546484e-01] [ 7.66821405e-04 9.99997907e-01 1.89696545e-03 -8.34440812e-02] [ 4.05682072e-02 -1.92651289e-03 9.99174914e-01 9.29728495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492557844 meters Centerline goodness : 0.123095 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99166704e-01 -7.75915443e-04 -4.08080308e-02 2.69198027e-01] [ 8.47079129e-04 9.99998151e-01 1.72660262e-03 -8.28017956e-02] [ 4.08066157e-02 -1.75973149e-03 9.99165514e-01 9.29705528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522557844 meters Centerline goodness : 0.121218 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99145225e-01 -6.55139125e-04 -4.13326721e-02 2.70828926e-01] [ 7.23168990e-04 9.99998408e-01 1.63097998e-03 -8.24371708e-02] [ 4.13315378e-02 -1.65947637e-03 9.99144109e-01 9.29374109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552557844 meters Centerline goodness : 0.213249 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99126917e-01 -3.52918306e-04 -4.17765312e-02 2.72875420e-01] [ 4.38857578e-04 9.99997807e-01 2.04796531e-03 -8.30765201e-02] [ 4.17757168e-02 -2.06451121e-03 9.99124881e-01 9.27782115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58255784400001 meters Centerline goodness : 0.120549 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99142632e-01 -4.49124835e-04 -4.13980661e-02 2.71899887e-01] [ 5.40964630e-04 9.99997418e-01 2.20728062e-03 -8.35792598e-02] [ 4.13969679e-02 -2.22778306e-03 9.99140294e-01 9.27510666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61255784400001 meters Centerline goodness : 0.121558 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:0.93 [[ 9.99171002e-01 -6.82796706e-04 -4.07043223e-02 2.69635605e-01] [ 7.79724468e-04 9.99996898e-01 2.36543651e-03 -8.44295479e-02] [ 4.07025809e-02 -2.39521372e-03 9.99168436e-01 9.27983414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64255784400001 meters Centerline goodness : 0.151454 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.93 [[ 0.99924996 0.00550454 -0.0383303 0.29043929] [-0.00556532 0.99998342 -0.00147905 -0.08571985] [ 0.03832152 0.00169126 0.99926403 0.92783351] [ 0. 0. 0. 1. ]] SLAMing on 107.672557844 meters Centerline goodness : 0.122247 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.93 [[ 0.99925009 0.00553162 -0.038323 0.28991754] [-0.00557706 0.99998387 -0.00107909 -0.08786549] [ 0.03831642 0.00129202 0.99926482 0.92869528] [ 0. 0. 0. 1. ]] SLAMing on 107.702557844 meters Centerline goodness : 0.173628 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.93 [[ 9.99306437e-01 -2.09889492e-03 -3.71784808e-02 3.10043659e-01] [ 2.10362391e-03 9.99997784e-01 8.80789203e-05 -8.73686299e-02] [ 3.71782135e-02 -1.66227373e-04 9.99308637e-01 9.30172255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732557844 meters Centerline goodness : 0.118921 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99934137 0.006309 -0.03573556 0.33072313] [-0.00638113 0.99997783 -0.00190475 -0.0904382 ] [ 0.03572275 0.00213153 0.99935947 0.92975999] [ 0. 0. 0. 1. ]] SLAMing on 107.762557844 meters Centerline goodness : 0.381235 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.9993363 0.00633185 -0.035873 0.33126905] [-0.00640178 0.99997782 -0.00183493 -0.09088092] [ 0.03586058 0.00206336 0.99935467 0.92945556] [ 0. 0. 0. 1. ]] SLAMing on 107.792557844 meters Centerline goodness : 0.384168 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932879 0.00622492 -0.0361001 0.33226055] [-0.00630375 0.99997799 -0.00207036 -0.08996795] [ 0.03608642 0.00229654 0.99934603 0.92884704] [ 0. 0. 0. 1. ]] SLAMing on 107.822557844 meters Centerline goodness : 0.106840 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932008 0.00623677 -0.03633853 0.33337469] [-0.00633562 0.99997654 -0.00260554 -0.08689709] [ 0.03632142 0.00283399 0.99933614 0.92790401] [ 0. 0. 0. 1. ]] SLAMing on 107.852557844 meters Centerline goodness : 0.121474 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.93 [[ 0.99932037 0.00613979 -0.03634705 0.33360805] [-0.00625117 0.99997611 -0.00295159 -0.08509086] [ 0.03632806 0.00317679 0.99933487 0.92753218] [ 0. 0. 0. 1. ]] SLAMing on 107.882557844 meters Centerline goodness : 0.276085 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.9993227 0.00607936 -0.03629294 0.33352965] [-0.00620084 0.99997554 -0.00323546 -0.08350882] [ 0.03627238 0.00345832 0.99933596 0.92740599] [ 0. 0. 0. 1. ]] SLAMing on 107.912557844 meters Centerline goodness : 0.379215 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99933064 0.00598553 -0.03608929 0.33294934] [-0.00611675 0.99997507 -0.00352658 -0.08204966] [ 0.03606728 0.00374497 0.99934235 0.9275047 ] [ 0. 0. 0. 1. ]] SLAMing on 107.942557844 meters Centerline goodness : 0.134604 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99935807 0.0059347 -0.03533025 0.33046895] [-0.00607719 0.99997382 -0.00392707 -0.07983275] [ 0.03530601 0.00413926 0.99936798 0.92837781] [ 0. 0. 0. 1. ]] SLAMing on 107.97255784400001 meters Centerline goodness : 0.130842 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.93 [[ 0.99936935 0.00581157 -0.03503025 0.32957983] [-0.00596706 0.9999728 -0.00433603 -0.07761347] [ 0.03500409 0.00454232 0.99937685 0.92855558] [ 0. 0. 0. 1. ]] SLAMing on 108.00255784400001 meters Centerline goodness : 0.145561 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99938089 0.0057285 -0.03471349 0.32884568] [-0.00589681 0.99997134 -0.00474784 -0.07497875] [ 0.0346853 0.0049496 0.99938603 0.92836351] [ 0. 0. 0. 1. ]] SLAMing on 108.03255784400001 meters Centerline goodness : 0.388742 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99938762 0.00552171 -0.03455285 0.32887468] [-0.00571145 0.99996914 -0.00539491 -0.07126645] [ 0.034522 0.00558895 0.99938831 0.92764249] [ 0. 0. 0. 1. ]] SLAMing on 108.062557844 meters Centerline goodness : 0.126197 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.9993826 0.00540675 -0.03471576 0.32915041] [-0.00560118 0.99996916 -0.0055058 -0.07110249] [ 0.03468492 0.00569685 0.99938206 0.92790553] [ 0. 0. 0. 1. ]] SLAMing on 108.092557844 meters Centerline goodness : 0.149614 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99937932 0.00534691 -0.03481934 0.32908685] [-0.00553955 0.99996987 -0.00543847 -0.07185437] [ 0.03478921 0.00562797 0.99937883 0.92840673] [ 0. 0. 0. 1. ]] SLAMing on 108.122557844 meters Centerline goodness : 0.389352 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99937977 0.00533413 -0.03480842 0.32881962] [-0.00552351 0.99997045 -0.00534654 -0.07234688] [ 0.03477887 0.00553548 0.9993797 0.92876407] [ 0. 0. 0. 1. ]] SLAMing on 108.152557844 meters Centerline goodness : 0.115517 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.93 [[ 0.99936916 0.00526211 -0.03512256 0.32991687] [-0.00545009 0.99997132 -0.00525876 -0.07274307] [ 0.03509388 0.00544687 0.99936918 0.92816152] [ 0. 0. 0. 1. ]] SLAMing on 108.182557844 meters Centerline goodness : 0.144311 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:0.93 [[ 0.99937365 -0.00202006 -0.03533012 0.35031219] [ 0.0018565 0.99998741 -0.0046617 -0.06866423] [ 0.0353391 0.00459319 0.99936482 0.9295906 ] [ 0. 0. 0. 1. ]] SLAMing on 108.212557844 meters Centerline goodness : 0.363127 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.07, Z:0.93 [[ 0.99937236 -0.00194866 -0.03537066 0.35000229] [ 0.0017942 0.99998872 -0.00439814 -0.07004021] [ 0.03537883 0.00433192 0.99936458 0.93027491] [ 0. 0. 0. 1. ]] SLAMing on 108.242557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.272557844 meters Centerline goodness : 0.263602 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:0.93 [[ 0.99948574 -0.00176195 -0.03201812 0.39007325] [ 0.00156263 0.99997925 -0.00624912 -0.0699167 ] [ 0.03202847 0.00619588 0.99946775 0.93224887] [ 0. 0. 0. 1. ]] SLAMing on 108.302557844 meters Centerline goodness : 0.382550 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:0.93 [[ 0.99947736 -0.00172363 -0.03228051 0.39109576] [ 0.00152836 0.99998039 -0.00607279 -0.070923 ] [ 0.03229034 0.00602028 0.9994604 0.93169994] [ 0. 0. 0. 1. ]] SLAMing on 108.33255784400001 meters Centerline goodness : 0.382086 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:0.93 [[ 0.9993571 -0.00367594 -0.03566344 0.34862566] [ 0.0034958 0.99998082 -0.0051122 -0.07577756] [ 0.03568155 0.00498424 0.99935078 0.93148803] [ 0. 0. 0. 1. ]] SLAMing on 108.36255784400001 meters Centerline goodness : 0.376237 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99934808 0.00330136 -0.0359516 0.37209507] [-0.00360566 0.9999582 -0.00840268 -0.07932288] [ 0.03592236 0.00852683 0.99931821 0.93139545] [ 0. 0. 0. 1. ]] SLAMing on 108.39255784400001 meters Centerline goodness : 0.377730 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99934707 0.00339893 -0.03597063 0.37194594] [-0.00369442 0.99995995 -0.0081517 -0.08051735] [ 0.03594148 0.00827927 0.9993196 0.93172932] [ 0. 0. 0. 1. ]] SLAMing on 108.422557844 meters Centerline goodness : 0.387515 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99935509 0.00352389 -0.03573492 0.37107379] [-0.00380941 0.99996134 -0.00792497 -0.08138101] [ 0.03570562 0.00805598 0.99932988 0.93215432] [ 0. 0. 0. 1. ]] SLAMing on 108.452557844 meters Centerline goodness : 0.382952 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:0.93 [[ 0.99936056 0.00361163 -0.03557281 0.3704857 ] [-0.0038899 0.99996235 -0.00775654 -0.08206591] [ 0.03554345 0.00788996 0.99933699 0.93243918] [ 0. 0. 0. 1. ]] SLAMing on 108.482557844 meters Centerline goodness : 0.381545 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:0.93 [[ 0.99936566 -0.00347651 -0.03544287 0.39053329] [ 0.00322952 0.99997012 -0.00702344 -0.07862109] [ 0.03546623 0.00690452 0.99934702 0.93346948] [ 0. 0. 0. 1. ]] SLAMing on 108.512557844 meters Centerline goodness : 0.119260 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:0.93 [[ 0.99936414 -0.00339023 -0.03549408 0.39068622] [ 0.00315013 0.99997179 -0.00681839 -0.07955962] [ 0.03551619 0.00670225 0.99934663 0.9334048 ] [ 0. 0. 0. 1. ]] SLAMing on 108.542557844 meters Centerline goodness : 0.269465 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:0.93 [[ 0.9994038 0.00488268 -0.03417911 0.41181383] [-0.00519047 0.99994672 -0.0089223 -0.08204957] [ 0.03413373 0.00909439 0.9993759 0.93300994] [ 0. 0. 0. 1. ]] SLAMing on 108.572557844 meters Centerline goodness : 0.388049 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:0.93 [[ 0.99940032 0.0049796 -0.03426657 0.41189981] [-0.00527929 0.99994856 -0.00866105 -0.08341906] [ 0.03422168 0.00883676 0.9993752 0.93323861] [ 0. 0. 0. 1. ]] SLAMing on 108.602557844 meters Centerline goodness : 0.133241 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:0.93 [[ 0.99940221 0.00517829 -0.03418205 0.41135354] [-0.00546025 0.99995179 -0.00816058 -0.08583783] [ 0.03413815 0.00834234 0.99938231 0.93375624] [ 0. 0. 0. 1. ]] SLAMing on 108.632557844 meters Centerline goodness : 0.379896 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 0.99943572 -0.00173025 -0.0335448 0.43065946] [ 0.00149813 0.99997477 -0.00694346 -0.08218096] [ 0.03355596 0.00688928 0.9994131 0.93545891] [ 0. 0. 0. 1. ]] SLAMing on 108.662557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.692557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.72255784400001 meters Centerline goodness : 0.333783 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:0.94 [[ 0.9993862 -0.00945129 -0.03373274 0.45349701] [ 0.00924348 0.99993736 -0.00631122 -0.08161533] [ 0.03379027 0.00599554 0.99941096 0.9358347 ] [ 0. 0. 0. 1. ]] SLAMing on 108.75255784400001 meters Centerline goodness : 0.384845 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:0.94 [[ 9.99347690e-01 5.39721087e-04 -3.61096017e-02 4.38611935e-01] [-8.11160449e-04 9.99971524e-01 -7.50286878e-03 -8.73307528e-02] [ 3.61045239e-02 7.52726526e-03 9.99319670e-01 9.36028770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78255784400001 meters Centerline goodness : 0.120975 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:0.94 [[ 9.99340303e-01 4.64294755e-04 -3.63145046e-02 4.39293785e-01] [-7.45588897e-04 9.99969823e-01 -7.73289611e-03 -8.61698587e-02] [ 3.63098184e-02 7.75487043e-03 9.99310492e-01 9.35737460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812557844 meters Centerline goodness : 0.122195 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:0.94 [[ 9.99345595e-01 3.79490917e-04 -3.61695793e-02 4.39177766e-01] [-6.71765562e-04 9.99967221e-01 -8.06886570e-03 -8.43339479e-02] [ 3.61653316e-02 8.08788287e-03 9.99313092e-01 9.35323149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.842557844 meters Centerline goodness : 0.219324 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:0.94 [[ 9.99361197e-01 3.86166419e-04 -3.57358250e-02 4.38130681e-01] [-6.86100556e-04 9.99964642e-01 -8.38121152e-03 -8.23159636e-02] [ 3.57313249e-02 8.40037594e-03 9.99326126e-01 9.35250832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872557844 meters Centerline goodness : 0.389732 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 9.99405040e-01 5.41947343e-04 -3.44858350e-02 4.34698688e-01] [-8.49426514e-04 9.99960015e-01 -8.90207432e-03 -7.85641659e-02] [ 3.44796316e-02 8.92607112e-03 9.99365539e-01 9.35663933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902557844 meters Centerline goodness : 0.120912 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:0.94 [[ 9.99414658e-01 4.43140014e-04 -3.42073904e-02 4.33927194e-01] [-7.63933151e-04 9.99955852e-01 -9.36538961e-03 -7.61369735e-02] [ 3.42017301e-02 9.38603981e-03 9.99370874e-01 9.35760250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932557844 meters Centerline goodness : 0.314548 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 9.99417112e-01 2.89863013e-04 -3.41372649e-02 4.33821344e-01] [-6.27620199e-04 9.99950957e-01 -9.88379036e-03 -7.34640859e-02] [ 3.41327257e-02 9.89945445e-03 9.99368279e-01 9.35583512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962557844 meters Centerline goodness : 0.193103 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.93 [[ 9.99416173e-01 7.74381760e-05 -3.41658671e-02 4.34307478e-01] [-4.34820688e-04 9.99945272e-01 -1.04529146e-02 -7.06489902e-02] [ 3.41631879e-02 1.04616679e-02 9.99361511e-01 9.34898451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992557844 meters Centerline goodness : 0.146208 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.93 [[ 9.99415856e-01 -1.60449014e-05 -3.41752291e-02 4.34365734e-01] [-3.45366815e-04 9.99944083e-01 -1.05693242e-02 -7.03857260e-02] [ 3.41734877e-02 1.05749532e-02 9.99359967e-01 9.34823687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022557844 meters Centerline goodness : 0.120863 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 9.99415549e-01 -4.58677088e-05 -3.41841864e-02 4.34145446e-01] [-3.16279334e-04 9.99943890e-01 -1.05885106e-02 -7.04056726e-02] [ 3.41827540e-02 1.05931339e-02 9.99359457e-01 9.35208267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.08255784400001 meters Centerline goodness : 0.386206 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:0.93 [[ 9.99403902e-01 -2.39894488e-04 -3.45222194e-02 4.35089973e-01] [-1.35665411e-04 9.99940845e-01 -1.08760342e-02 -6.89640991e-02] [ 3.45227864e-02 1.08742345e-02 9.99344749e-01 9.34919558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11255784400001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.14255784400001 meters Centerline goodness : 0.298734 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:0.94 [[ 0.99931125 -0.00714406 -0.03641407 0.45545197] [ 0.00674833 0.99991696 -0.01097884 -0.06344311] [ 0.03648948 0.01072554 0.99927648 0.93644057] [ 0. 0. 0. 1. ]] SLAMing on 109.172557844 meters Centerline goodness : 0.392996 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99941666 0.00169693 -0.03410956 0.43361518] [-0.0020703 0.9999383 -0.01091375 -0.07056234] [ 0.03408894 0.010978 0.99935851 0.93645843] [ 0. 0. 0. 1. ]] SLAMing on 109.202557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.232557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.262557844 meters Centerline goodness : 0.106001 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942837 0.00193188 -0.03375207 0.43191024] [-0.00227862 0.99994499 -0.01023796 -0.07350233] [ 0.03373043 0.01030902 0.9993778 0.93786735] [ 0. 0. 0. 1. ]] SLAMing on 109.292557844 meters Centerline goodness : 0.116399 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942629 0.00187015 -0.03381692 0.43265515] [-0.00222203 0.99994375 -0.01037077 -0.07331273] [ 0.03379563 0.01043996 0.99937424 0.9370308 ] [ 0. 0. 0. 1. ]] SLAMing on 109.322557844 meters Centerline goodness : 0.116399 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:0.94 [[ 0.99942629 0.00187015 -0.03381692 0.43265515] [-0.00222203 0.99994375 -0.01037077 -0.07331273] [ 0.03379563 0.01043996 0.99937424 0.9370308 ] [ 0. 0. 0. 1. ]] SLAMing on 109.352557844 meters Centerline goodness : 0.392419 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99947702 0.00458792 -0.03200997 0.47526281] [-0.00494043 0.99992793 -0.01094201 -0.06930432] [ 0.03195746 0.01109443 0.99942765 0.9376164 ] [ 0. 0. 0. 1. ]] SLAMing on 109.382557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.412557844 meters Centerline goodness : 0.096440 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:0.94 [[ 0.99949491 0.0049631 -0.0313893 0.47357073] [-0.00530747 0.99992654 -0.01089706 -0.06815127] [ 0.03133291 0.01105815 0.99944783 0.93775555] [ 0. 0. 0. 1. ]] SLAMing on 109.442557844 meters Centerline goodness : 0.173188 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99946954 0.00513516 -0.03216003 0.47614191] [-0.00548588 0.99992634 -0.01082677 -0.06825221] [ 0.03210206 0.01099745 0.99942409 0.93655525] [ 0. 0. 0. 1. ]] SLAMing on 109.47255784400001 meters Centerline goodness : 0.127831 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99946356 0.00518466 -0.03233732 0.47689347] [-0.00553198 0.99992788 -0.01066027 -0.06923221] [ 0.03227972 0.01083344 0.99942016 0.93608794] [ 0. 0. 0. 1. ]] SLAMing on 109.50255784400001 meters Centerline goodness : 0.147174 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.99945932 0.00525647 -0.03245674 0.47706475] [-0.00559654 0.9999303 -0.01039577 -0.07070109] [ 0.03239983 0.01057179 0.99941908 0.93633449] [ 0. 0. 0. 1. ]] SLAMing on 109.53255784400001 meters Centerline goodness : 0.121200 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:0.94 [[ 0.9994616 0.00534067 -0.03237267 0.47630841] [-0.00566996 0.99993303 -0.01008853 -0.07230256] [ 0.03231662 0.01026665 0.99942495 0.93717719] [ 0. 0. 0. 1. ]] SLAMing on 109.562557844 meters Centerline goodness : 0.366659 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:0.94 [[ 0.99948206 -0.00140426 -0.03215026 0.495304 ] [ 0.00111577 0.99995897 -0.00898931 -0.06676418] [ 0.03216156 0.00894878 0.99944262 0.9390646 ] [ 0. 0. 0. 1. ]] SLAMing on 109.592557844 meters Centerline goodness : 0.227884 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948791 -0.00139354 -0.03196844 0.49495272] [ 0.0011056 0.99995868 -0.00902288 -0.06634798] [ 0.03197969 0.00898291 0.99944815 0.93884941] [ 0. 0. 0. 1. ]] SLAMing on 109.622557844 meters Centerline goodness : 0.276437 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99949707 -0.00140833 -0.03167992 0.49423389] [ 0.00111948 0.99995766 -0.00913342 -0.06555233] [ 0.03169145 0.00909336 0.99945633 0.93877393] [ 0. 0. 0. 1. ]] SLAMing on 109.652557844 meters Centerline goodness : 0.387420 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.99949546 -0.0016455 -0.03171927 0.49443624] [ 0.00133949 0.99995238 -0.00966629 -0.0632021 ] [ 0.03173367 0.00961892 0.99945007 0.93859816] [ 0. 0. 0. 1. ]] SLAMing on 109.682557844 meters Centerline goodness : 0.263343 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99948766 -0.00176628 -0.0319576 0.4951893 ] [ 0.00145127 0.99995016 -0.00987784 -0.06233616] [ 0.03197346 0.0098264 0.99944041 0.93832167] [ 0. 0. 0. 1. ]] SLAMing on 109.712557844 meters Centerline goodness : 0.297854 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99948053 -0.00186927 -0.03217423 0.49601107] [ 0.00154684 0.99994837 -0.01004339 -0.06163232] [ 0.03219135 0.0099884 0.99943181 0.93782246] [ 0. 0. 0. 1. ]] SLAMing on 109.742557844 meters Centerline goodness : 0.395173 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99947304 -0.00193744 -0.03240194 0.49682409] [ 0.00161069 0.99994762 -0.01010733 -0.06135107] [ 0.03241982 0.01004981 0.99942381 0.93733321] [ 0. 0. 0. 1. ]] SLAMing on 109.772557844 meters Centerline goodness : 0.139418 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99943901 -0.00253739 -0.03339489 0.49952709] [ 0.00218997 0.99994315 -0.01043586 -0.06143314] [ 0.03341947 0.01035687 0.99938775 0.93707016] [ 0. 0. 0. 1. ]] SLAMing on 109.802557844 meters Centerline goodness : 0.157371 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.999433 -0.0026313 -0.03356708 0.49947102] [ 0.00228896 0.99994502 -0.01023297 -0.06295686] [ 0.03359216 0.01015034 0.99938408 0.93788895] [ 0. 0. 0. 1. ]] SLAMing on 109.83255784400001 meters Centerline goodness : 0.120212 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:0.94 [[ 0.99943985 -0.00266213 -0.03336001 0.49839703] [ 0.00233299 0.99994826 -0.00990128 -0.06483117] [ 0.03338464 0.0098179 0.99939435 0.93879723] [ 0. 0. 0. 1. ]] SLAMing on 109.86255784400001 meters Centerline goodness : 0.142472 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:0.94 [[ 0.99945296 -0.00253404 -0.03297518 0.49674971] [ 0.00222528 0.99995337 -0.00939688 -0.06714767] [ 0.03299745 0.00931836 0.999412 0.93985358] [ 0. 0. 0. 1. ]] SLAMing on 109.89255784400001 meters Centerline goodness : 0.202962 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948976 -0.00267402 -0.03182872 0.49304655] [ 0.00239691 0.99995892 -0.00874116 -0.07147265] [ 0.03185078 0.00866041 0.99945511 0.94138437] [ 0. 0. 0. 1. ]] SLAMing on 109.922557844 meters Centerline goodness : 0.143456 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:0.94 [[ 0.99948083 -0.002545 -0.03211846 0.49366483] [ 0.00227956 0.99996297 -0.00829842 -0.07390564] [ 0.03213839 0.0082209 0.99944962 0.94158579] [ 0. 0. 0. 1. ]] SLAMing on 109.952557844 meters Centerline goodness : 0.135818 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.99946946 -0.00240999 -0.03248075 0.49464775] [ 0.00215421 0.99996642 -0.00790739 -0.0759476 ] [ 0.03249872 0.00783323 0.99944108 0.94149725] [ 0. 0. 0. 1. ]] SLAMing on 109.982557844 meters Centerline goodness : 0.127828 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:0.94 [[ 0.99946146 -0.00224198 -0.0327377 0.49550367] [ 0.00199704 0.99996979 -0.00751259 -0.07781726] [ 0.03275355 0.00744317 0.99943574 0.94114444] [ 0. 0. 0. 1. ]] SLAMing on 110.012557844 meters Centerline goodness : 0.391386 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.9994745 -0.00178403 -0.03236572 0.4944953 ] [ 0.00156513 0.99997574 -0.00678746 -0.08075447] [ 0.03237705 0.00673324 0.99945305 0.94137105] [ 0. 0. 0. 1. ]] SLAMing on 110.042557844 meters Centerline goodness : 0.388445 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 0.99948817 -0.00154088 -0.03195334 0.49311074] [ 0.00133203 0.99997762 -0.00655634 -0.08145816] [ 0.03196273 0.00651042 0.99946786 0.9420027 ] [ 0. 0. 0. 1. ]] SLAMing on 110.072557844 meters Centerline goodness : 0.146095 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:0.94 [[ 9.99511323e-01 -1.18822737e-03 -3.12362529e-02 4.91188381e-01] [ 9.88610026e-04 9.99978998e-01 -6.40523371e-03 -8.12934689e-02] [ 3.12432078e-02 6.37122314e-03 9.99491505e-01 9.42321530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102557844 meters Centerline goodness : 0.119936 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:0.94 [[ 0.99946127 0.01144213 -0.03076105 0.51336492] [-0.01161346 0.999918 -0.00539675 -0.07999746] [ 0.03069678 0.00575109 0.9995122 0.94227415] [ 0. 0. 0. 1. ]] SLAMing on 110.132557844 meters Centerline goodness : 0.119257 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:0.94 [[ 0.99945633 0.01181689 -0.03078 0.51375156] [-0.01199743 0.99991185 -0.00568732 -0.07734705] [ 0.03071008 0.00605351 0.99951 0.94159207] [ 0. 0. 0. 1. ]] SLAMing on 110.162557844 meters Centerline goodness : 0.120465 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:0.94 [[ 0.99946373 0.01212517 -0.03041763 0.51308445] [-0.01231465 0.99990587 -0.00604975 -0.0744642 ] [ 0.03034142 0.00642109 0.99951897 0.94108018] [ 0. 0. 0. 1. ]] SLAMing on 110.192557844 meters Centerline goodness : 0.120186 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:0.94 [[ 0.99948107 0.01224247 -0.02979449 0.51175232] [-0.01244331 0.99990103 -0.00656485 -0.07117523] [ 0.02971118 0.00693219 0.99953449 0.94059148] [ 0. 0. 0. 1. ]] SLAMing on 110.22255784400001 meters Centerline goodness : 0.147302 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.94 [[ 0.99948354 0.01260375 -0.02956024 0.51140047] [-0.0128187 0.99989268 -0.00709319 -0.06468454] [ 0.02946767 0.00746845 0.99953783 0.93999554] [ 0. 0. 0. 1. ]] SLAMing on 110.25255784400001 meters Centerline goodness : 0.116890 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:0.94 [[ 0.99948074 0.01233492 -0.02976742 0.51211646] [-0.01256782 0.99989176 -0.0076496 -0.06221802] [ 0.02966985 0.00801974 0.99952758 0.93969934] [ 0. 0. 0. 1. ]] SLAMing on 110.28255784400001 meters Centerline goodness : 0.118217 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.99951669 0.00254776 -0.03098217 0.49305948] [-0.00275515 0.99997407 -0.0066529 -0.05688102] [ 0.03096441 0.00673504 0.9994978 0.93838365] [ 0. 0. 0. 1. ]] SLAMing on 110.312557844 meters Centerline goodness : 0.096978 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.94 [[ 0.9995158 0.00237999 -0.03102432 0.49305411] [-0.00259609 0.99997264 -0.00692711 -0.05564234] [ 0.03100698 0.0070043 0.99949463 0.93850143] [ 0. 0. 0. 1. ]] SLAMing on 110.342557844 meters Centerline goodness : 0.389761 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 0.99953121 0.0019819 -0.03055214 0.49127371] [-0.00220693 0.99997067 -0.0073335 -0.05363275] [ 0.03053671 0.00739748 0.99950627 0.93921659] [ 0. 0. 0. 1. ]] SLAMing on 110.372557844 meters Centerline goodness : 0.135391 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:0.94 [[ 9.99448001e-01 -5.03453082e-04 -3.32180797e-02 4.45973892e-01] [ 2.73081418e-04 9.99975885e-01 -6.93930131e-03 -5.51226334e-02] [ 3.32207722e-02 6.92639958e-03 9.99424037e-01 9.39795500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402557844 meters Centerline goodness : 0.139606 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:0.94 [[ 9.99442211e-01 -7.10112430e-04 -3.33880559e-02 4.46485281e-01] [ 4.67963290e-04 9.99973538e-01 -7.25982293e-03 -5.38283462e-02] [ 3.33923277e-02 7.24014910e-03 9.99416096e-01 9.39653965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432557844 meters Centerline goodness : 0.149572 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.05, Z:0.94 [[ 9.99433086e-01 -1.05212206e-03 -3.36511515e-02 4.47242118e-01] [ 7.88951575e-04 9.99969011e-01 -7.83287163e-03 -5.14283177e-02] [ 3.36583499e-02 7.80188194e-03 9.99402945e-01 9.39384967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462557844 meters Centerline goodness : 0.149616 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99507893e-01 3.70491455e-04 -3.13661224e-02 4.88813064e-01] [-6.49580566e-04 9.99960289e-01 -8.88806583e-03 -4.71220617e-02] [ 3.13615838e-02 8.90406678e-03 9.99468443e-01 9.40346660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492557844 meters Centerline goodness : 0.133992 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99507667e-01 3.06090122e-04 -3.13740477e-02 4.88556809e-01] [-5.88110496e-04 9.99959505e-01 -8.98013623e-03 -4.66942484e-02] [ 3.13700285e-02 8.99416641e-03 9.99467371e-01 9.40751887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522557844 meters Centerline goodness : 0.123390 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99506265e-01 2.25786404e-04 -3.14193351e-02 4.88573790e-01] [-5.10416843e-04 9.99958905e-01 -9.05135983e-03 -4.64633699e-02] [ 3.14160003e-02 9.06292782e-03 9.99465306e-01 9.40899755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552557844 meters Centerline goodness : 0.148828 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.94 [[ 9.99491531e-01 -1.80300392e-05 -3.18854000e-02 4.90018944e-01] [-2.78798444e-04 9.99956671e-01 -9.30475834e-03 -4.57201498e-02] [ 3.18841862e-02 9.30891676e-03 9.99448219e-01 9.40371113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58255784400001 meters Centerline goodness : 0.156565 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.94 [[ 0.99941686 -0.00659081 -0.03350378 0.50915599] [ 0.0062969 0.99994083 -0.00887067 -0.04030248] [ 0.03356026 0.00865452 0.99939922 0.94234381] [ 0. 0. 0. 1. ]] SLAMing on 110.61255784400001 meters Centerline goodness : 0.186832 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.04, Z:0.94 [[ 0.99941468 -0.00660057 -0.03356681 0.50944183] [ 0.00630007 0.9999392 -0.00905019 -0.03954997] [ 0.03362451 0.00883342 0.9993955 0.94223319] [ 0. 0. 0. 1. ]] SLAMing on 110.64255784400001 meters Centerline goodness : 0.154433 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99948024 0.00286991 -0.03210939 0.52815304] [-0.00320171 0.99994196 -0.01028682 -0.04131111] [ 0.032078 0.01038428 0.99943142 0.94354929] [ 0. 0. 0. 1. ]] SLAMing on 110.672557844 meters Centerline goodness : 0.118563 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99949211 0.0028941 -0.03173558 0.52689967] [-0.00322808 0.9999399 -0.01047751 -0.03993153] [ 0.03170335 0.01057463 0.99944138 0.94405178] [ 0. 0. 0. 1. ]] SLAMing on 110.702557844 meters Centerline goodness : 0.135841 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99950699 0.00286707 -0.03126575 0.52529665] [-0.00321054 0.99993499 -0.01094082 -0.03725544] [ 0.03123235 0.0110358 0.99945123 0.94477206] [ 0. 0. 0. 1. ]] SLAMing on 110.732557844 meters Centerline goodness : 0.143869 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.04, Z:0.94 [[ 0.99950752 0.00272704 -0.03126164 0.52537208] [-0.00308279 0.99993098 -0.01133717 -0.03544996] [ 0.03122856 0.01142796 0.99944694 0.94467685] [ 0. 0. 0. 1. ]] SLAMing on 110.762557844 meters Centerline goodness : 0.187699 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:0.94 [[ 0.99950705 0.00262778 -0.03128516 0.52559133] [-0.00299802 0.99992596 -0.01179357 -0.03317127] [ 0.03125186 0.01188155 0.99944092 0.94441329] [ 0. 0. 0. 1. ]] SLAMing on 110.792557844 meters Centerline goodness : 0.385888 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:0.94 [[ 0.99951721 0.00255711 -0.03096467 0.5250012 ] [-0.00293635 0.99992117 -0.01220823 -0.03085403] [ 0.03093101 0.01229326 0.99944592 0.94403081] [ 0. 0. 0. 1. ]] SLAMing on 110.822557844 meters Centerline goodness : 0.136020 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.94 [[ 0.99956667 -0.00136505 -0.02940426 0.54548432] [ 0.00111359 0.99996269 -0.0085665 -0.02529198] [ 0.02941486 0.00853004 0.99953089 0.94482683] [ 0. 0. 0. 1. ]] SLAMing on 110.852557844 meters Centerline goodness : 0.141176 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.9995731 -0.00138094 -0.02918405 0.54457525] [ 0.00112755 0.99996154 -0.00869711 -0.02447893] [ 0.02919493 0.0086605 0.99953622 0.94543179] [ 0. 0. 0. 1. ]] SLAMing on 110.882557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 110.912557844 meters Centerline goodness : 0.139683 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.99957117 -0.00140374 -0.02924887 0.54415531] [ 0.00114966 0.99996148 -0.00870191 -0.02453998] [ 0.02925996 0.00866455 0.99953428 0.94639002] [ 0. 0. 0. 1. ]] SLAMing on 110.942557844 meters Centerline goodness : 0.128346 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.95 [[ 0.99956649 -0.001422 -0.02940769 0.54482263] [ 0.00116806 0.9999619 -0.00865047 -0.02493607] [ 0.02941887 0.00861237 0.99953007 0.94586073] [ 0. 0. 0. 1. ]] SLAMing on 110.97255784400001 meters Centerline goodness : 0.153473 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99951933 -0.00865335 -0.02976974 0.56519544] [ 0.00841877 0.99993259 -0.0079962 -0.02013356] [ 0.02983693 0.00774174 0.9995248 0.94698402] [ 0. 0. 0. 1. ]] SLAMing on 111.00255784400001 meters Centerline goodness : 0.130226 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.95 [[ 0.99952514 0.00117064 -0.03079156 0.54919506] [-0.00144157 0.99996043 -0.00877825 -0.0273141 ] [ 0.03078007 0.00881847 0.99948728 0.94605714] [ 0. 0. 0. 1. ]] SLAMing on 111.03255784400001 meters Centerline goodness : 0.137248 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.95 [[ 0.99951719 0.00118555 -0.0310481 0.55000984] [-0.00145639 0.99996107 -0.00870221 -0.02781806] [ 0.03103657 0.00874323 0.99948001 0.94579326] [ 0. 0. 0. 1. ]] SLAMing on 111.062557844 meters Centerline goodness : 0.140050 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99947562 -0.00480086 -0.03202241 0.56743999] [ 0.00456358 0.99996162 -0.00747861 -0.02228761] [ 0.03205709 0.00732856 0.99945917 0.94860092] [ 0. 0. 0. 1. ]] SLAMing on 111.092557844 meters Centerline goodness : 0.140681 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:0.95 [[ 0.99946128 -0.001476 -0.03278674 0.56903154] [ 0.00132069 0.99998781 -0.00475825 -0.01965071] [ 0.03279336 0.00471239 0.99945104 0.94935917] [ 0. 0. 0. 1. ]] SLAMing on 111.122557844 meters Centerline goodness : 0.148272 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:0.95 [[ 0.99945272 0.00813276 -0.03206444 0.5900649 ] [-0.00832585 0.99994797 -0.00589303 -0.02078518] [ 0.03201484 0.00615677 0.99946843 0.94987711] [ 0. 0. 0. 1. ]] SLAMing on 111.152557844 meters Centerline goodness : 0.145296 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:0.95 [[ 0.9994558 0.00820766 -0.03194887 0.59025068] [-0.00841813 0.99994371 -0.00645889 -0.01725064] [ 0.03189406 0.00672433 0.99946863 0.94897741] [ 0. 0. 0. 1. ]] SLAMing on 111.182557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.212557844 meters Centerline goodness : 0.386290 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.9994601 0.00807839 -0.03184741 0.59029663] [-0.00831873 0.99993786 -0.00742134 -0.01310348] [ 0.03178548 0.00768226 0.99946519 0.9488937 ] [ 0. 0. 0. 1. ]] SLAMing on 111.242557844 meters Centerline goodness : 0.135998 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99946233 0.00782173 -0.03184145 0.59057606] [-0.00808291 0.99993467 -0.00808209 -0.00999282] [ 0.03177616 0.00833512 0.99946026 0.94837612] [ 0. 0. 0. 1. ]] SLAMing on 111.272557844 meters Centerline goodness : 0.135998 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99946233 0.00782173 -0.03184145 0.59057606] [-0.00808291 0.99993467 -0.00808209 -0.00999282] [ 0.03177616 0.00833512 0.99946026 0.94837612] [ 0. 0. 0. 1. ]] SLAMing on 111.302557844 meters Centerline goodness : 0.103693 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.00, Z:0.95 [[ 0.99945108 -0.00194487 -0.03307213 0.5707671 ] [ 0.00168841 0.9999683 -0.00778089 -0.00158664] [ 0.03308621 0.00772078 0.99942268 0.94739341] [ 0. 0. 0. 1. ]] SLAMing on 111.33255784400001 meters Centerline goodness : 0.132856 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:0.95 [[ 0.99942624 0.00643481 -0.03325336 0.58715423] [-0.00670818 0.99994456 -0.00811591 -0.00633983] [ 0.03319929 0.00833432 0.999414 0.94847979] [ 0. 0. 0. 1. ]] SLAMing on 111.36255784400001 meters Centerline goodness : 0.386674 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99422876e-01 -4.76127898e-04 -3.39659882e-02 6.05994265e-01] [ 2.34944582e-04 9.99974736e-01 -7.10436800e-03 -5.60349748e-04] [ 3.39685127e-02 7.09228777e-03 9.99397738e-01 9.51401811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39255784400001 meters Centerline goodness : 0.140452 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99421256e-01 -5.17594761e-04 -3.40130065e-02 6.06021982e-01] [ 2.76298871e-04 9.99974767e-01 -7.09854141e-03 -4.97074190e-04] [ 3.40158225e-02 7.08503542e-03 9.99396181e-01 9.51452596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters Centerline goodness : 0.180136 Centerline is valid? [False, False] Translation: X:0.63, Y:0.00, Z:0.95 [[ 0.99939954 -0.00836703 -0.03362365 0.62745204] [ 0.0081613 0.99994716 -0.00625128 0.00421729] [ 0.03367418 0.00597312 0.99941501 0.95285413] [ 0. 0. 0. 1. ]] SLAMing on 111.452557844 meters Centerline goodness : 0.136815 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99495212e-01 -6.11525123e-04 -3.17639180e-02 6.10403561e-01] [ 3.66967496e-04 9.99970253e-01 -7.70448649e-03 -2.66002378e-03] [ 3.17676846e-02 7.68894103e-03 9.99465704e-01 9.50252768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482557844 meters Centerline goodness : 0.117860 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99494298e-01 -5.88495395e-04 -3.17931113e-02 6.10326702e-01] [ 3.48441365e-04 9.99971396e-01 -7.55551736e-03 -3.52037313e-03] [ 3.17966482e-02 7.54061848e-03 9.99465913e-01 9.50514859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512557844 meters Centerline goodness : 0.140227 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99494163e-01 -5.25122067e-04 -3.17984659e-02 6.10047512e-01] [ 2.88887871e-04 9.99972331e-01 -7.43324530e-03 -3.98147317e-03] [ 3.18014894e-02 7.42029909e-03 9.99466660e-01 9.51023377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542557844 meters Centerline goodness : 0.140288 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99496718e-01 -4.98049001e-04 -3.17185047e-02 6.09618125e-01] [ 2.61966092e-04 9.99972238e-01 -7.44678629e-03 -3.71128923e-03] [ 3.17213330e-02 7.43472928e-03 9.99469100e-01 9.51427905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572557844 meters Centerline goodness : 0.171614 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99499734e-01 -4.73229702e-04 -3.16236834e-02 6.09291731e-01] [ 2.37496442e-04 9.99972163e-01 -7.45766693e-03 -3.56383950e-03] [ 3.16263323e-02 7.44642560e-03 9.99472024e-01 9.51578469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602557844 meters Centerline goodness : 0.138899 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99496718e-01 -3.90888304e-04 -3.17199892e-02 6.09547516e-01] [ 1.59249171e-04 9.99973307e-01 -7.30482110e-03 -4.40276120e-03] [ 3.17219979e-02 7.29609334e-03 9.99470101e-01 9.51596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632557844 meters Centerline goodness : 0.094855 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.00, Z:0.95 [[ 9.99495359e-01 -3.38426887e-04 -3.17633759e-02 6.09675520e-01] [ 1.09736744e-04 9.99974064e-01 -7.20127306e-03 -4.90238665e-03] [ 3.17649892e-02 7.19415339e-03 9.99469474e-01 9.51573704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662557844 meters Centerline goodness : 0.140121 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99493361e-01 -7.23747158e-03 -3.09941957e-02 6.28307570e-01] [ 7.05592122e-03 9.99957328e-01 -5.96293330e-03 -2.89264151e-04] [ 3.10360296e-02 5.74121964e-03 9.99501778e-01 9.53430290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692557844 meters Centerline goodness : 0.148620 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99495383e-01 -7.23405969e-03 -3.09297245e-02 6.27843657e-01] [ 7.05014343e-03 9.99956838e-01 -6.05119014e-03 -1.89424779e-04] [ 3.09721642e-02 5.83007761e-03 9.99503244e-01 9.54104007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72255784400001 meters Centerline goodness : 0.146559 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.95 [[ 9.99495257e-01 -7.22989030e-03 -3.09347527e-02 6.27577774e-01] [ 7.04500862e-03 9.99956692e-01 -6.08133146e-03 -4.06841029e-04] [ 3.09773803e-02 5.86032635e-03 9.99502906e-01 9.54694569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75255784400001 meters Centerline goodness : 0.131926 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.96 [[ 0.99953745 0.00173218 -0.03036264 0.64516203] [-0.00192424 0.99997832 -0.00629752 -0.00826441] [ 0.03035107 0.00635303 0.99951911 0.95586549] [ 0. 0. 0. 1. ]] SLAMing on 111.78255784400001 meters Centerline goodness : 0.142686 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954329 0.00188093 -0.03016091 0.64435054] [-0.00206248 0.99997994 -0.00598953 -0.00955489] [ 0.03014904 0.006049 0.99952711 0.95634901] [ 0. 0. 0. 1. ]] SLAMing on 111.812557844 meters Centerline goodness : 0.139356 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954754 0.00198809 -0.03001258 0.64374243] [-0.0021612 0.99998121 -0.00573657 -0.01069005] [ 0.03000061 0.00579884 0.99953306 0.95675707] [ 0. 0. 0. 1. ]] SLAMing on 111.842557844 meters Centerline goodness : 0.137658 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.9995468 0.00206862 -0.030032 0.64365911] [-0.00223545 0.99998225 -0.00552263 -0.01174053] [ 0.03002005 0.00558726 0.99953368 0.9569833 ] [ 0. 0. 0. 1. ]] SLAMing on 111.872557844 meters Centerline goodness : 0.144535 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954298 0.0021078 -0.03015618 0.64402953] [-0.00227199 0.99998278 -0.00541124 -0.01235142] [ 0.03014426 0.00547728 0.99953055 0.95687107] [ 0. 0. 0. 1. ]] SLAMing on 111.902557844 meters Centerline goodness : 0.093039 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:0.96 [[ 0.99954077 0.00217425 -0.03022445 0.64428136] [-0.00233345 0.99998359 -0.00523279 -0.0133272 ] [ 0.03021258 0.00530092 0.99952944 0.95675048] [ 0. 0. 0. 1. ]] SLAMing on 111.932557844 meters Centerline goodness : 0.134826 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.96 [[ 0.99952767 -0.0047497 -0.03036256 0.66337258] [ 0.00462032 0.99997995 -0.0043298 -0.00842908] [ 0.03038251 0.00418747 0.99952957 0.95857707] [ 0. 0. 0. 1. ]] SLAMing on 111.962557844 meters Centerline goodness : 0.133730 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:0.96 [[ 0.99952114 -0.00455482 -0.03060632 0.66431416] [ 0.00443217 0.99998188 -0.00407375 -0.00900521] [ 0.03062432 0.00393615 0.99952322 0.95802096] [ 0. 0. 0. 1. ]] SLAMing on 111.992557844 meters Centerline goodness : 0.133848 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.96 [[ 0.99950697 -0.00426546 -0.03110648 0.66624557] [ 0.00414997 0.99998426 -0.00377641 -0.00961617] [ 0.03112209 0.00364545 0.99950894 0.95694489] [ 0. 0. 0. 1. ]] SLAMing on 112.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.052557844 meters Centerline goodness : 0.144872 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:0.95 [[ 0.99946443 -0.00380282 -0.03250205 0.67130453] [ 0.00367857 0.9999857 -0.00388168 -0.00813792] [ 0.03251635 0.00376004 0.99946413 0.9547757 ] [ 0. 0. 0. 1. ]] SLAMing on 112.08255784400001 meters Centerline goodness : 0.135497 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99946971 0.00522609 -0.03214023 0.68835078] [-0.00536972 0.99997597 -0.00438401 -0.01089272] [ 0.03211654 0.00455427 0.99947375 0.95606693] [ 0. 0. 0. 1. ]] SLAMing on 112.11255784400001 meters Centerline goodness : 0.135766 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99947166 0.00513964 -0.03209333 0.68814912] [-0.00528944 0.9999755 -0.00458468 -0.00991426] [ 0.03206899 0.00475201 0.99947436 0.95619957] [ 0. 0. 0. 1. ]] SLAMing on 112.14255784400001 meters Centerline goodness : 0.136118 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:0.96 [[ 0.99946897 0.0049693 -0.03220379 0.68861662] [-0.00512946 0.99997488 -0.00489248 -0.0086667 ] [ 0.03217867 0.00505507 0.99946935 0.9558788 ] [ 0. 0. 0. 1. ]] SLAMing on 112.17255784400001 meters Centerline goodness : 0.141385 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99941377 -0.00436456 -0.03395697 0.66988873] [ 0.00424268 0.9999843 -0.00366053 -0.0043927 ] [ 0.03397241 0.00351432 0.99941659 0.95415643] [ 0. 0. 0. 1. ]] SLAMing on 112.202557844 meters Centerline goodness : 0.138609 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99939731 -0.00419772 -0.03445849 0.67171953] [ 0.00407853 0.99998546 -0.00352863 -0.00440722] [ 0.0344728 0.00338596 0.9993999 0.95315394] [ 0. 0. 0. 1. ]] SLAMing on 112.232557844 meters Centerline goodness : 0.135038 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.9993925 -0.00413244 -0.03460581 0.67235407] [ 0.00401289 0.99998574 -0.00352322 -0.00411635] [ 0.03461987 0.00338221 0.99939483 0.95271463] [ 0. 0. 0. 1. ]] SLAMing on 112.262557844 meters Centerline goodness : 0.170182 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.95 [[ 0.99939482 0.00519907 -0.03439432 0.6540355 ] [-0.00535719 0.99997549 -0.00450667 -0.00944757] [ 0.03437004 0.0046882 0.99939818 0.95261233] [ 0. 0. 0. 1. ]] SLAMing on 112.292557844 meters Centerline goodness : 0.140813 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:0.95 [[ 0.99939673 0.00512514 -0.03434985 0.65385291] [-0.00528895 0.99997506 -0.00467985 -0.00862237] [ 0.034325 0.0048587 0.99939891 0.95270684] [ 0. 0. 0. 1. ]] SLAMing on 112.322557844 meters Centerline goodness : 0.139562 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 0.99941195 -0.0016783 -0.03424827 0.67280543] [ 0.001551 0.99999179 -0.00374324 -0.00197957] [ 0.03425427 0.00368792 0.99940635 0.95462125] [ 0. 0. 0. 1. ]] SLAMing on 112.352557844 meters Centerline goodness : 0.115172 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:0.95 [[ 9.99412316e-01 -1.82816066e-03 -3.42298100e-02 6.73051351e-01] [ 1.68738063e-03 9.99990001e-01 -4.14122654e-03 -6.61259767e-05] [ 3.42370386e-02 4.08103409e-03 9.99405408e-01 9.54143219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382557844 meters Centerline goodness : 0.139819 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:0.95 [[ 0.99940909 -0.00201436 -0.03431344 0.67364781] [ 0.0018558 0.99998746 -0.0046521 0.00231252] [ 0.03432238 0.00458567 0.99940029 0.95350402] [ 0. 0. 0. 1. ]] SLAMing on 112.412557844 meters Centerline goodness : 0.136536 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.95 [[ 9.99381968e-01 6.64935519e-04 -3.51459669e-02 6.77561847e-01] [-7.64628881e-04 9.99995722e-01 -2.82318714e-03 8.11358621e-03] [ 3.51439393e-02 2.84831595e-03 9.99378202e-01 9.51287275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442557844 meters Centerline goodness : 0.137548 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:0.95 [[ 9.99388361e-01 5.51465688e-04 -3.49656882e-02 6.77095324e-01] [-6.71991840e-04 9.99993873e-01 -3.43532533e-03 1.14173820e-02] [ 3.49635795e-02 3.45672081e-03 9.99382609e-01 9.51255370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47255784400001 meters Centerline goodness : 0.135026 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:0.95 [[ 0.99938255 0.01021182 -0.03361896 0.69665364] [-0.01035745 0.9999377 -0.00416059 0.01072672] [ 0.03357438 0.00450623 0.99942606 0.95220083] [ 0. 0. 0. 1. ]] SLAMing on 112.50255784400001 meters Centerline goodness : 0.137169 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:0.95 [[ 0.9994493 0.00996363 -0.03165174 0.69085227] [-0.01011814 0.99993765 -0.00472525 0.01409764] [ 0.03160268 0.0050429 0.99948779 0.95329279] [ 0. 0. 0. 1. ]] SLAMing on 112.53255784400001 meters Centerline goodness : 0.139129 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:0.95 [[ 0.99946443 0.00961303 -0.03128008 0.68962621] [-0.00978108 0.99993852 -0.0052241 0.01568669] [ 0.03122794 0.00552725 0.99949701 0.95366657] [ 0. 0. 0. 1. ]] SLAMing on 112.562557844 meters Centerline goodness : 0.360428 Centerline is valid? [False, False] Translation: X:0.71, Y:0.02, Z:0.96 [[ 0.99949071 0.00185193 -0.03185724 0.70711381] [-0.00199532 0.99998802 -0.00446982 0.02467366] [ 0.03184858 0.0045311 0.99948243 0.95534514] [ 0. 0. 0. 1. ]] SLAMing on 112.592557844 meters Centerline goodness : 0.132097 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99948942 0.00161987 -0.0319104 0.70714088] [-0.00177561 0.99998665 -0.00485291 0.02628428] [ 0.03190211 0.00490709 0.99947895 0.95546239] [ 0. 0. 0. 1. ]] SLAMing on 112.622557844 meters Centerline goodness : 0.161278 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99949628 0.00162013 -0.03169483 0.70629648] [-0.00177485 0.99998664 -0.00485417 0.02643938] [ 0.03168654 0.00490798 0.99948581 0.95590299] [ 0. 0. 0. 1. ]] SLAMing on 112.652557844 meters Centerline goodness : 0.139683 Centerline is valid? [False, False] Translation: X:0.71, Y:0.03, Z:0.96 [[ 0.99950302 0.00164427 -0.0314802 0.70539992] [-0.00179705 0.99998674 -0.00482533 0.02652464] [ 0.03147184 0.00487951 0.99949273 0.95650918] [ 0. 0. 0. 1. ]] SLAMing on 112.682557844 meters Centerline goodness : 0.139434 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:0.96 [[ 0.99950846 0.00162074 -0.03130829 0.70476315] [-0.0017739 0.99998659 -0.00486509 0.02675484] [ 0.03129999 0.00491824 0.99949793 0.9568551 ] [ 0. 0. 0. 1. ]] SLAMing on 112.712557844 meters Centerline goodness : 0.112910 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:0.96 [[ 0.99947921 -0.00547703 -0.03180115 0.72424731] [ 0.0053367 0.99997565 -0.00449618 0.03367221] [ 0.031825 0.00432412 0.9994841 0.95833636] [ 0. 0. 0. 1. ]] SLAMing on 112.742557844 meters Centerline goodness : 0.194887 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:0.96 [[ 0.99946896 -0.00542363 -0.03213066 0.72532163] [ 0.00527936 0.99997561 -0.00457328 0.03400058] [ 0.03215468 0.00440123 0.99947321 0.9580395 ] [ 0. 0. 0. 1. ]] SLAMing on 112.772557844 meters Centerline goodness : 0.114073 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:0.96 [[ 0.99946458 -0.00538143 -0.03227368 0.72560165] [ 0.00523733 0.99997594 -0.00454791 0.03381085] [ 0.03229738 0.00437644 0.99946872 0.9581881 ] [ 0. 0. 0. 1. ]] SLAMing on 112.802557844 meters Centerline goodness : 0.142514 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:0.96 [[ 0.99947001 -0.00537703 -0.03210592 0.72497664] [ 0.0052366 0.99997636 -0.00445631 0.03349699] [ 0.03212912 0.00428583 0.99947454 0.95844373] [ 0. 0. 0. 1. ]] SLAMing on 112.83255784400001 meters Centerline goodness : 0.114852 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99946749 0.00330144 -0.0324629 0.74153965] [-0.00344264 0.99998485 -0.00429458 0.02788554] [ 0.03244823 0.00440405 0.99946371 0.95978247] [ 0. 0. 0. 1. ]] SLAMing on 112.86255784400001 meters Centerline goodness : 0.140082 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99946731 0.00332286 -0.03246622 0.74155507] [-0.00346218 0.99998504 -0.00423578 0.0275864 ] [ 0.03245166 0.00434593 0.99946386 0.95980415] [ 0. 0. 0. 1. ]] SLAMing on 112.89255784400001 meters Centerline goodness : 0.140084 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99945207 0.0033209 -0.03293224 0.74299324] [-0.00346612 0.99998452 -0.00435328 0.02757831] [ 0.03291727 0.00446504 0.99944811 0.95956676] [ 0. 0. 0. 1. ]] SLAMing on 112.92255784400001 meters Centerline goodness : 0.140025 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.999449 0.00333053 -0.0330243 0.74340831] [-0.00347657 0.99998443 -0.00436583 0.02767681] [ 0.03300924 0.00447824 0.99944501 0.95922874] [ 0. 0. 0. 1. ]] SLAMing on 112.952557844 meters Centerline goodness : 0.115622 Centerline is valid? [False, False] Translation: X:0.74, Y:0.03, Z:0.96 [[ 0.99943751 0.00344919 -0.0333582 0.74463399] [-0.00360025 0.99998353 -0.0044692 0.02851671] [ 0.03334224 0.00458678 0.99943347 0.95876815] [ 0. 0. 0. 1. ]] SLAMing on 112.982557844 meters Centerline goodness : 0.115945 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:0.96 [[ 0.99939821 0.00395449 -0.03446119 0.74836995] [-0.0041151 0.999981 -0.00459077 0.03017395] [ 0.03444239 0.00472981 0.99939549 0.95753816] [ 0. 0. 0. 1. ]] SLAMing on 113.012557844 meters Centerline goodness : 0.116696 Centerline is valid? [False, False] Translation: X:0.75, Y:0.03, Z:0.96 [[ 0.99939996 0.0038596 -0.03442121 0.74831531] [-0.00402978 0.99997999 -0.00487614 0.03145537] [ 0.0344017 0.00501192 0.99939552 0.95747188] [ 0. 0. 0. 1. ]] SLAMing on 113.042557844 meters Centerline goodness : 0.138356 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:0.96 [[ 0.99942826 0.00434069 -0.03353089 0.78653994] [-0.00449837 0.99997917 -0.00462856 0.03404837] [ 0.0335101 0.00477675 0.99942696 0.95921788] [ 0. 0. 0. 1. ]] SLAMing on 113.072557844 meters Centerline goodness : 0.137159 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99943237 0.00416809 -0.03343013 0.78599255] [-0.00433511 0.99997848 -0.00492505 0.0350164 ] [ 0.03340888 0.00506718 0.99942892 0.95967224] [ 0. 0. 0. 1. ]] SLAMing on 113.102557844 meters Centerline goodness : 0.126498 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99943203 0.00399429 -0.03346143 0.78631519] [-0.00417403 0.99997723 -0.00530326 0.03665363] [ 0.03343949 0.00543992 0.99942594 0.95918511] [ 0. 0. 0. 1. ]] SLAMing on 113.132557844 meters Centerline goodness : 0.160982 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99942901 0.00391088 -0.03356118 0.78685257] [-0.00409662 0.99997666 -0.00546722 0.03743753] [ 0.03353901 0.00560159 0.99942171 0.95866034] [ 0. 0. 0. 1. ]] SLAMing on 113.162557844 meters Centerline goodness : 0.160982 Centerline is valid? [False, False] Translation: X:0.79, Y:0.04, Z:0.96 [[ 0.99942901 0.00391088 -0.03356118 0.78685257] [-0.00409662 0.99997666 -0.00546722 0.03743753] [ 0.03353901 0.00560159 0.99942171 0.95866034] [ 0. 0. 0. 1. ]] SLAMing on 113.192557844 meters Centerline goodness : 0.141745 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 0.99944747 0.00458609 -0.03291987 0.82730709] [-0.0047383 0.99997844 -0.00454712 0.03932307] [ 0.03289831 0.00470059 0.99944765 0.95897786] [ 0. 0. 0. 1. ]] SLAMing on 113.22255784400001 meters Centerline goodness : 0.144686 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 0.99944609 0.00450725 -0.03297274 0.82743886] [-0.00466213 0.99997845 -0.00462188 0.03952922] [ 0.0329512 0.00477304 0.99944556 0.95896487] [ 0. 0. 0. 1. ]] SLAMing on 113.25255784400001 meters Centerline goodness : 0.115038 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99467914e-01 3.91502988e-04 -3.26149523e-02 8.26063069e-01] [-6.73442113e-04 9.99962500e-01 -8.63393805e-03 3.98261273e-02] [ 3.26103490e-02 8.65130834e-03 9.99430698e-01 9.59353999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28255784400001 meters Centerline goodness : 0.115925 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99466100e-01 3.80857986e-04 -3.26706393e-02 8.26162270e-01] [-6.62861986e-04 9.99962616e-01 -8.62132919e-03 3.98149849e-02] [ 3.26661344e-02 8.63838239e-03 9.99428988e-01 9.59329255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312557844 meters Centerline goodness : 0.159696 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99462939e-01 3.60914485e-04 -3.27674271e-02 8.26571252e-01] [-6.45485201e-04 9.99962168e-01 -8.67439803e-03 4.02174253e-02] [ 3.27630568e-02 8.69089024e-03 9.99425360e-01 9.58996809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.342557844 meters Centerline goodness : 0.164212 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99462166e-01 3.31342131e-04 -3.27913049e-02 8.26756787e-01] [-6.19489752e-04 9.99961285e-01 -8.77754842e-03 4.08638056e-02] [ 3.27871270e-02 8.79314143e-03 9.99423676e-01 9.58776041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372557844 meters Centerline goodness : 0.138832 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99467333e-01 2.35209884e-04 -3.26342628e-02 8.25928182e-01] [-5.28259894e-04 9.99959616e-01 -8.97149489e-03 4.16166157e-02] [ 3.26308347e-02 8.98395544e-03 9.99427094e-01 9.59535002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402557844 meters Centerline goodness : 0.115673 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:0.96 [[ 9.99473406e-01 2.08296020e-04 -3.24479217e-02 8.25131927e-01] [-5.02433821e-04 9.99958858e-01 -9.05702973e-03 4.19906331e-02] [ 3.24447002e-02 9.06856329e-03 9.99432390e-01 9.60081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432557844 meters Centerline goodness : 0.127656 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:0.96 [[ 9.99483984e-01 2.06214874e-04 -3.21204382e-02 8.23939758e-01] [-5.00087643e-04 9.99958092e-01 -9.14132478e-03 4.24692440e-02] [ 3.21172070e-02 9.15267075e-03 9.99442201e-01 9.60619809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462557844 meters Centerline goodness : 0.138970 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:0.96 [[ 9.99494647e-01 2.00068729e-04 -3.17869411e-02 8.22904291e-01] [-4.93898728e-04 9.99957224e-01 -9.23615024e-03 4.30735060e-02] [ 3.17837336e-02 9.24718226e-03 9.99451992e-01 9.60953333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492557844 meters Centerline goodness : 0.113746 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:0.96 [[ 0.99955731 -0.00441064 -0.02942319 0.84510786] [ 0.00423979 0.9999738 -0.00586637 0.04552376] [ 0.02944829 0.00573902 0.99954983 0.9608391 ] [ 0. 0. 0. 1. ]] SLAMing on 113.522557844 meters Centerline goodness : 0.147242 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:0.96 [[ 0.99955418 -0.00436458 -0.02953622 0.84538276] [ 0.00419011 0.99997342 -0.00596642 0.04590626] [ 0.02956148 0.00584 0.9995459 0.96099661] [ 0. 0. 0. 1. ]] SLAMing on 113.552557844 meters Centerline goodness : 0.151292 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:0.96 [[ 0.9995412 0.00484356 -0.02989856 0.86493337] [-0.00502507 0.99996938 -0.00599881 0.04139608] [ 0.02986858 0.0061463 0.99953494 0.96184179] [ 0. 0. 0. 1. ]] SLAMing on 113.58255784400001 meters Centerline goodness : 0.124116 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:0.96 [[ 0.99954195 0.00481809 -0.0298777 0.86499085] [-0.0050038 0.99996861 -0.00614384 0.04218715] [ 0.02984716 0.00629053 0.99953468 0.96167235] [ 0. 0. 0. 1. ]] SLAMing on 113.61255784400001 meters Centerline goodness : 0.121941 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99949416 0.00708965 -0.03100255 0.86871774] [-0.00723977 0.99996259 -0.0047326 0.04708237] [ 0.03096784 0.00495466 0.9995081 0.96136514] [ 0. 0. 0. 1. ]] SLAMing on 113.64255784400001 meters Centerline goodness : 0.144369 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99948001 0.00704349 -0.03146591 0.87001161] [-0.00721188 0.99996026 -0.00524121 0.04922389] [ 0.03142774 0.00546542 0.99949108 0.9613982 ] [ 0. 0. 0. 1. ]] SLAMing on 113.67255784400001 meters Centerline goodness : 0.190045 Centerline is valid? [False, False] Translation: X:0.87, Y:0.05, Z:0.96 [[ 0.99947937 0.00691147 -0.03151546 0.87026566] [-0.00709904 0.99995773 -0.00584372 0.05212059] [ 0.03147373 0.00606441 0.99948618 0.96124633] [ 0. 0. 0. 1. ]] SLAMing on 113.702557844 meters Centerline goodness : 0.210664 Centerline is valid? [False, False] Translation: X:0.89, Y:0.06, Z:0.96 [[ 0.99946399 0.00119989 -0.03271529 0.88750821] [-0.00132954 0.99999135 -0.00394173 0.06274955] [ 0.03271028 0.00398311 0.99945694 0.96355997] [ 0. 0. 0. 1. ]] SLAMing on 113.732557844 meters Centerline goodness : 0.181320 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 0.99947897 0.00109875 -0.03225815 0.88663156] [-0.00125605 0.99998742 -0.00485647 0.06818991] [ 0.03225241 0.00489446 0.99946777 0.9629958 ] [ 0. 0. 0. 1. ]] SLAMing on 113.762557844 meters Centerline goodness : 0.191303 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99480352e-01 8.99117784e-04 -3.22213816e-02 8.86660274e-01] [-1.07194205e-03 9.99985131e-01 -5.34677885e-03 7.03959605e-02] [ 3.22160952e-02 5.37853986e-03 9.99466455e-01 9.62760401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792557844 meters Centerline goodness : 0.115952 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99475150e-01 6.85077896e-04 -3.23875921e-02 8.87283565e-01] [-8.72678765e-04 9.99982923e-01 -5.77858770e-03 7.21851443e-02] [ 3.23830803e-02 5.80381877e-03 9.99458679e-01 9.62425129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822557844 meters Centerline goodness : 0.184060 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:0.96 [[ 9.99466722e-01 5.09719950e-04 -3.26498305e-02 8.88285506e-01] [-7.09100068e-04 9.99981172e-01 -6.09533233e-03 7.34128722e-02] [ 3.26461089e-02 6.11523382e-03 9.99448266e-01 9.61826666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852557844 meters Centerline goodness : 0.221312 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99433647e-01 1.11247089e-04 -3.36507553e-02 8.91119414e-01] [-3.31668224e-04 9.99978528e-01 -6.54474709e-03 7.51093154e-02] [ 3.36493046e-02 6.55220134e-03 9.99412224e-01 9.61286757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882557844 meters Centerline goodness : 0.124202 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99430840e-01 4.19934630e-05 -3.37341637e-02 8.91307604e-01] [-2.66492107e-04 9.99977850e-01 -6.65046566e-03 7.56375817e-02] [ 3.37331372e-02 6.65567037e-03 9.99408714e-01 9.61278263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912557844 meters Centerline goodness : 0.209319 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99431355e-01 -1.61578429e-04 -3.37185391e-02 8.91199593e-01] [-6.85690300e-05 9.99976712e-01 -6.82427861e-03 7.61082634e-02] [ 3.37188565e-02 6.82271006e-03 9.99408069e-01 9.61422412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942557844 meters Centerline goodness : 0.126178 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99433129e-01 -2.20148972e-04 -3.36656048e-02 8.91070033e-01] [-1.25267487e-05 9.99976119e-01 -6.91101091e-03 7.64400561e-02] [ 3.36663223e-02 6.90751498e-03 9.99409258e-01 9.61410576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97255784400001 meters Centerline goodness : 0.125741 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99432534e-01 -3.10973070e-04 -3.36825334e-02 8.91086592e-01] [ 7.10005371e-05 9.99974611e-01 -7.12550108e-03 7.74108329e-02] [ 3.36838941e-02 7.11906613e-03 9.99407181e-01 9.61483392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00255784400001 meters Centerline goodness : 0.181034 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99432253e-01 -4.41037982e-04 -3.36894113e-02 8.91080434e-01] [ 1.88970104e-04 9.99971970e-01 -7.48492754e-03 7.91154891e-02] [ 3.36917681e-02 7.47431171e-03 9.99404322e-01 9.61516844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03255784400001 meters Centerline goodness : 0.204067 Centerline is valid? [False, False] Translation: X:0.89, Y:0.08, Z:0.96 [[ 9.99450276e-01 -5.16787720e-04 -3.31493257e-02 8.89602688e-01] [ 2.42635946e-04 9.99965743e-01 -8.27369629e-03 8.36196342e-02] [ 3.31524658e-02 8.26110482e-03 9.99416164e-01 9.61650353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062557844 meters Centerline goodness : 0.129454 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:0.96 [[ 0.99946463 -0.00535139 -0.03227708 0.91216442] [ 0.00518257 0.99997246 -0.00531158 0.08961545] [ 0.03230462 0.00514146 0.99946485 0.96193236] [ 0. 0. 0. 1. ]] SLAMing on 114.092557844 meters Centerline goodness : 0.146721 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:0.96 [[ 0.99948326 -0.00543524 -0.03168081 0.91031572] [ 0.00525334 0.99996925 -0.00582196 0.09258096] [ 0.03171148 0.00565252 0.99948108 0.96239304] [ 0. 0. 0. 1. ]] SLAMing on 114.122557844 meters Centerline goodness : 0.144592 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:0.96 [[ 0.99949411 -0.0055946 -0.0313087 0.90915181] [ 0.00539888 0.99996538 -0.00633252 0.0952292 ] [ 0.03134304 0.00616028 0.9994897 0.96271208] [ 0. 0. 0. 1. ]] SLAMing on 114.152557844 meters Centerline goodness : 0.149058 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:0.96 [[ 0.99949475 -0.00581635 -0.03124754 0.9090752 ] [ 0.00560362 0.99996055 -0.0068913 0.09781366] [ 0.03128639 0.00671272 0.99948792 0.96250962] [ 0. 0. 0. 1. ]] SLAMing on 114.182557844 meters Centerline goodness : 0.151613 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99944516 0.00130658 -0.03328162 0.89003312] [-0.00159506 0.99996138 -0.00864279 0.09509624] [ 0.03326905 0.00869108 0.99940864 0.96133531] [ 0. 0. 0. 1. ]] SLAMing on 114.212557844 meters Centerline goodness : 0.141522 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99943901 0.00118893 -0.03347028 0.89049681] [-0.00148261 0.99996061 -0.00875092 0.0953963 ] [ 0.03345855 0.00879564 0.9994014 0.96136935] [ 0. 0. 0. 1. ]] SLAMing on 114.242557844 meters Centerline goodness : 0.123318 Centerline is valid? [False, False] Translation: X:0.89, Y:0.10, Z:0.96 [[ 0.99943813 0.00112478 -0.03349874 0.89044152] [-0.00142004 0.99996034 -0.0087916 0.09551319] [ 0.03348752 0.00883423 0.99940009 0.96157848] [ 0. 0. 0. 1. ]] SLAMing on 114.272557844 meters Centerline goodness : 0.107239 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949681 0.00173185 -0.0316721 0.93284444] [-0.00200958 0.99995979 -0.00873901 0.09868651] [ 0.03165569 0.00879826 0.99946011 0.96235944] [ 0. 0. 0. 1. ]] SLAMing on 114.302557844 meters Centerline goodness : 0.122825 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949895 0.00166338 -0.03160811 0.93257645] [-0.00194408 0.99995893 -0.00885182 0.09925873] [ 0.03159209 0.00890883 0.99946114 0.96245305] [ 0. 0. 0. 1. ]] SLAMing on 114.33255784400001 meters Centerline goodness : 0.132926 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99949895 0.00152369 -0.0316154 0.93225618] [-0.00181518 0.9999561 -0.00919306 0.10095306] [ 0.0316 0.00924584 0.99945783 0.96304749] [ 0. 0. 0. 1. ]] SLAMing on 114.36255784400001 meters Centerline goodness : 0.134160 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950094 0.00147103 -0.03155491 0.93198305] [-0.00176624 0.99995492 -0.00932965 0.10159429] [ 0.03153976 0.00938072 0.99945848 0.96325661] [ 0. 0. 0. 1. ]] SLAMing on 114.39255784400001 meters Centerline goodness : 0.124129 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:0.97 [[ 0.99949173 -0.00589024 -0.03133038 0.95143978] [ 0.00563125 0.9999493 -0.00834812 0.10712112] [ 0.03137797 0.00816745 0.99947422 0.96504651] [ 0. 0. 0. 1. ]] SLAMing on 114.42255784400001 meters Centerline goodness : 0.121562 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950493 0.00211428 -0.03139134 0.930702 ] [-0.00238988 0.99995891 -0.0087447 0.10153475] [ 0.03137156 0.00881539 0.99946892 0.9636519 ] [ 0. 0. 0. 1. ]] SLAMing on 114.452557844 meters Centerline goodness : 0.126390 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950438 0.00210485 -0.03140974 0.93070966] [-0.00238065 0.99995892 -0.00874589 0.10150797] [ 0.03139004 0.00881633 0.99946833 0.96374376] [ 0. 0. 0. 1. ]] SLAMing on 114.482557844 meters Centerline goodness : 0.166812 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950593 0.00206429 -0.03136309 0.93056806] [-0.00234348 0.99995794 -0.00886755 0.10206641] [ 0.03134347 0.00893666 0.99946872 0.96378573] [ 0. 0. 0. 1. ]] SLAMing on 114.512557844 meters Centerline goodness : 0.123744 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:0.96 [[ 0.99950498 0.00197514 -0.03139888 0.93079618] [-0.00226356 0.99995555 -0.00915274 0.10339173] [ 0.03137941 0.00921929 0.99946503 0.96356171] [ 0. 0. 0. 1. ]] SLAMing on 114.542557844 meters Centerline goodness : 0.169507 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99949969 0.00187776 -0.03157295 0.93152063] [-0.0021801 0.99995208 -0.00954415 0.10536045] [ 0.03155351 0.00960821 0.99945588 0.96304827] [ 0. 0. 0. 1. ]] SLAMing on 114.572557844 meters Centerline goodness : 0.137172 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99950016 0.0018061 -0.03156203 0.93175017] [-0.0021222 0.9999479 -0.00998474 0.10770653] [ 0.03154236 0.01004673 0.99945192 0.96261032] [ 0. 0. 0. 1. ]] SLAMing on 114.602557844 meters Centerline goodness : 0.137092 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99948737 0.00569978 -0.0315042 0.93154923] [-0.00591308 0.9999602 -0.00668143 0.11081503] [ 0.03146486 0.00686429 0.99948129 0.96274218] [ 0. 0. 0. 1. ]] SLAMing on 114.632557844 meters Centerline goodness : 0.134394 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:0.96 [[ 0.99949207 0.00552862 -0.03138522 0.93139266] [-0.00575909 0.99995708 -0.0072577 0.11366495] [ 0.03134374 0.00743476 0.99948101 0.96247007] [ 0. 0. 0. 1. ]] SLAMing on 114.662557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 114.692557844 meters Centerline goodness : 0.132911 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99344078e-01 4.97949055e-04 -3.62100135e-02 9.09414430e-01] [-6.63368125e-04 9.99989399e-01 -4.55645319e-03 1.20163003e-01] [ 3.62073607e-02 4.57748508e-03 9.99333815e-01 9.63646929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72255784400001 meters Centerline goodness : 0.169029 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99336946e-01 3.04491205e-04 -3.64084529e-02 9.09994189e-01] [-4.86867319e-04 9.99987379e-01 -5.00040852e-03 1.22174494e-01] [ 3.64064708e-02 5.01481906e-03 9.99324482e-01 9.63484156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75255784400001 meters Centerline goodness : 0.133110 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.96 [[ 9.99334738e-01 1.37732943e-04 -3.64700172e-02 9.10066010e-01] [-3.34483450e-04 9.99985424e-01 -5.38881008e-03 1.24042742e-01] [ 3.64687434e-02 5.39742373e-03 9.99320218e-01 9.63566294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78255784400001 meters Centerline goodness : 0.150704 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.96 [[ 9.99337722e-01 6.09310184e-06 -3.63884304e-02 9.09683529e-01] [-2.14295084e-04 9.99983631e-01 -5.71775579e-03 1.25721676e-01] [ 3.63877999e-02 5.72176691e-03 9.99321364e-01 9.63817394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812557844 meters Centerline goodness : 0.133883 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99933467 -0.00750299 -0.0356921 0.92869032] [ 0.00733445 0.99996134 -0.00485084 0.13484515] [ 0.03572711 0.00458584 0.99935106 0.96589839] [ 0. 0. 0. 1. ]] SLAMing on 114.842557844 meters Centerline goodness : 0.129203 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:0.97 [[ 0.99933832 -0.00758922 -0.03557132 0.92825622] [ 0.00741569 0.99995996 -0.00500799 0.13557595] [ 0.0356079 0.00474089 0.99935459 0.96606777] [ 0. 0. 0. 1. ]] SLAMing on 114.872557844 meters Centerline goodness : 0.133686 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.96 [[ 9.99362163e-01 8.14577014e-05 -3.57107985e-02 9.07948971e-01] [-2.90575421e-04 9.99982842e-01 -5.85071706e-03 1.29969402e-01] [ 3.57097091e-02 5.85736193e-03 9.99345040e-01 9.64872822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902557844 meters Centerline goodness : 0.133050 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.97 [[ 9.99361141e-01 4.01809237e-05 -3.57394462e-02 9.07832226e-01] [-2.49076518e-04 9.99982913e-01 -5.84052576e-03 1.29866320e-01] [ 3.57386009e-02 5.84569634e-03 9.99344075e-01 9.65192687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932557844 meters Centerline goodness : 0.129513 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99934562 -0.00762808 -0.03535741 0.92747942] [ 0.00746652 0.99996108 -0.00469894 0.13474487] [ 0.03539188 0.00443187 0.99936368 0.96725383] [ 0. 0. 0. 1. ]] SLAMing on 114.962557844 meters Centerline goodness : 0.131074 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.97 [[ 0.99934515 -0.00762672 -0.03537098 0.92735749] [ 0.00746781 0.99996143 -0.00462245 0.13434379] [ 0.03540487 0.00435528 0.99936356 0.96753955] [ 0. 0. 0. 1. ]] SLAMing on 114.992557844 meters Centerline goodness : 0.138095 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99511113e-01 4.56402134e-04 -3.12622240e-02 9.43925246e-01] [-6.40175303e-04 9.99982574e-01 -5.86868513e-03 1.31644988e-01] [ 3.12590007e-02 5.88582931e-03 9.99493988e-01 9.68902498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022557844 meters Centerline goodness : 0.163462 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99524152e-01 4.83857917e-04 -3.08421088e-02 9.42250536e-01] [-6.64487745e-04 9.99982688e-01 -5.84661738e-03 1.31694989e-01] [ 3.08387459e-02 5.86432948e-03 9.99507169e-01 9.69920540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052557844 meters Centerline goodness : 0.145451 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99533127e-01 4.91241480e-04 -3.05497405e-02 9.41213055e-01] [-6.72080900e-04 9.99982313e-01 -5.90952097e-03 1.32052958e-01] [ 3.05462972e-02 5.92729387e-03 9.99515778e-01 9.70414775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08255784400001 meters Centerline goodness : 0.145451 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99533127e-01 4.91241480e-04 -3.05497405e-02 9.41213055e-01] [-6.72080900e-04 9.99982313e-01 -5.90952097e-03 1.32052958e-01] [ 3.05462972e-02 5.92729387e-03 9.99515778e-01 9.70414775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11255784400001 meters Centerline goodness : 0.145154 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 9.99521706e-01 6.28610323e-04 -3.09186537e-02 9.42645988e-01] [-8.20823125e-04 9.99980415e-01 -6.20442665e-03 1.34007399e-01] [ 3.09141480e-02 6.22683785e-03 9.99502647e-01 9.69445789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14255784400001 meters Centerline goodness : 0.136156 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99511330e-01 6.18056040e-04 -3.12525051e-02 9.43983222e-01] [-8.20019935e-04 9.99978863e-01 -6.44992262e-03 1.35487466e-01] [ 3.12478581e-02 6.47239841e-03 9.99490710e-01 9.68510590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17255784400001 meters Centerline goodness : 0.144902 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99505899e-01 5.77087307e-04 -3.14265050e-02 9.44769742e-01] [-7.88432312e-04 9.99977156e-01 -6.71307939e-03 1.36916457e-01] [ 3.14219131e-02 6.73454012e-03 9.99483521e-01 9.67872418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.202557844 meters Centerline goodness : 0.136325 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99504425e-01 5.36119250e-04 -3.14740609e-02 9.44867386e-01] [-7.55436378e-04 9.99975516e-01 -6.95670886e-03 1.38164834e-01] [ 3.14695607e-02 6.97703794e-03 9.99480359e-01 9.67853916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232557844 meters Centerline goodness : 0.135674 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99514665e-01 4.65049894e-04 -3.11483097e-02 9.43738322e-01] [-6.94007720e-04 9.99972820e-01 -7.34016205e-03 1.40104884e-01] [ 3.11440495e-02 7.35821678e-03 9.99487821e-01 9.68316579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262557844 meters Centerline goodness : 0.140884 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 9.99517008e-01 3.86517829e-04 -3.10741360e-02 9.43640070e-01] [-6.21628783e-04 9.99971254e-01 -7.55682550e-03 1.41176834e-01] [ 3.10703219e-02 7.57249219e-03 9.99488515e-01 9.68099252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292557844 meters Centerline goodness : 0.135185 Centerline is valid? [False, False] Translation: X:0.97, Y:0.15, Z:0.97 [[ 0.99950964 -0.00486207 -0.03093293 0.96651651] [ 0.00472399 0.99997856 -0.00453524 0.14510203] [ 0.03095432 0.00438689 0.99951117 0.96811469] [ 0. 0. 0. 1. ]] SLAMing on 115.322557844 meters Centerline goodness : 0.133710 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.9994897 0.00318919 -0.03178314 0.94632091] [-0.00335949 0.99998028 -0.0053062 0.13989542] [ 0.03176559 0.00541027 0.9994807 0.96663876] [ 0. 0. 0. 1. ]] SLAMing on 115.352557844 meters Centerline goodness : 0.164556 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948295 0.00304876 -0.03200835 0.94698857] [-0.00322437 0.99998002 -0.00543633 0.13998028] [ 0.03199114 0.00553673 0.99947282 0.96652353] [ 0. 0. 0. 1. ]] SLAMing on 115.382557844 meters Centerline goodness : 0.164971 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948027 0.00301709 -0.03209506 0.94722352] [-0.00319394 0.99997999 -0.00546025 0.13995467] [ 0.03207794 0.00555993 0.99946991 0.96652219] [ 0. 0. 0. 1. ]] SLAMing on 115.412557844 meters Centerline goodness : 0.139855 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948285 0.00300229 -0.03201577 0.94695033] [-0.00317919 0.99997995 -0.00547596 0.14001853] [ 0.03199868 0.00557492 0.99947236 0.96663242] [ 0. 0. 0. 1. ]] SLAMing on 115.442557844 meters Centerline goodness : 0.136828 Centerline is valid? [False, False] Translation: X:0.97, Y:0.15, Z:0.97 [[ 0.99950031 -0.00470578 -0.03125663 0.96646537] [ 0.00456664 0.99997935 -0.00452141 0.14558528] [ 0.03127726 0.00437642 0.99950117 0.96824717] [ 0. 0. 0. 1. ]] SLAMing on 115.47255784400001 meters Centerline goodness : 0.131468 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99949718 0.00276574 -0.03158685 0.94735123] [-0.00294826 0.99997922 -0.00573316 0.13921545] [ 0.03157034 0.00582341 0.99948457 0.96623791] [ 0. 0. 0. 1. ]] SLAMing on 115.50255784400001 meters Centerline goodness : 0.135246 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99948203 0.0026745 -0.03207057 0.94881567] [-0.00285877 0.99997966 -0.00570133 0.13850039] [ 0.03205467 0.00579006 0.99946935 0.9658591 ] [ 0. 0. 0. 1. ]] SLAMing on 115.53255784400001 meters Centerline goodness : 0.163029 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99947298 0.00264947 -0.03235325 0.94985941] [-0.00283585 0.99997964 -0.00571617 0.13852969] [ 0.03233745 0.0058049 0.99946015 0.96532376] [ 0. 0. 0. 1. ]] SLAMing on 115.562557844 meters Centerline goodness : 0.135547 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.96 [[ 0.99946534 0.00264534 -0.03258896 0.95066665] [-0.00283297 0.99997967 -0.00571248 0.13857115] [ 0.03257319 0.00580174 0.99945251 0.96493783] [ 0. 0. 0. 1. ]] SLAMing on 115.592557844 meters Centerline goodness : 0.140199 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.96 [[ 0.99946374 0.00264885 -0.03263751 0.95090552] [-0.00283299 0.99998032 -0.00559702 0.13791655] [ 0.03262204 0.00568648 0.99945158 0.96478042] [ 0. 0. 0. 1. ]] SLAMing on 115.622557844 meters Centerline goodness : 0.139847 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99946651 0.00268339 -0.03254989 0.9503008 ] [-0.00286225 0.99998106 -0.00544938 0.13715831] [ 0.03253465 0.00553964 0.99945526 0.96545406] [ 0. 0. 0. 1. ]] SLAMing on 115.652557844 meters Centerline goodness : 0.143422 Centerline is valid? [False, False] Translation: X:0.95, Y:0.14, Z:0.97 [[ 0.99947148 0.00271152 -0.03239444 0.9495811 ] [-0.00288453 0.99998182 -0.00529547 0.13633423] [ 0.03237949 0.00538611 0.99946113 0.96602927] [ 0. 0. 0. 1. ]] SLAMing on 115.682557844 meters Centerline goodness : 0.129382 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99945881 -0.00493572 -0.03252262 0.96911772] [ 0.00480195 0.99997969 -0.00418988 0.140247 ] [ 0.03254264 0.00403144 0.99946222 0.96813762] [ 0. 0. 0. 1. ]] SLAMing on 115.712557844 meters Centerline goodness : 0.131186 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944823 -0.00486087 -0.03285744 0.9702749 ] [ 0.0047382 0.99998152 -0.00381025 0.13828463] [ 0.03287535 0.00365246 0.99945279 0.96763563] [ 0. 0. 0. 1. ]] SLAMing on 115.742557844 meters Centerline goodness : 0.135161 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944447 -0.0047924 -0.03298145 0.97057843] [ 0.00467479 0.99998244 -0.00364227 0.13747778] [ 0.03299833 0.00348607 0.99944933 0.96768287] [ 0. 0. 0. 1. ]] SLAMing on 115.772557844 meters Centerline goodness : 0.138790 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944561 -0.00475424 -0.03295248 0.97042611] [ 0.00463865 0.99998282 -0.0035833 0.13725859] [ 0.03296895 0.00342846 0.9994505 0.9677994 ] [ 0. 0. 0. 1. ]] SLAMing on 115.802557844 meters Centerline goodness : 0.133137 Centerline is valid? [False, False] Translation: X:0.97, Y:0.14, Z:0.97 [[ 0.99944632 -0.00473346 -0.03293386 0.97018455] [ 0.00461642 0.99998276 -0.00362885 0.1376228 ] [ 0.03295047 0.0034748 0.99945095 0.96810435] [ 0. 0. 0. 1. ]] SLAMing on 115.83255784400001 meters Centerline goodness : 0.141113 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 0.99935123 -0.00481592 -0.03569206 0.92409382] [ 0.00472316 0.99998525 -0.00268252 0.13475462] [ 0.03570445 0.0025122 0.99935924 0.96876411] [ 0. 0. 0. 1. ]] SLAMing on 115.86255784400001 meters Centerline goodness : 0.138017 Centerline is valid? [False, False] Translation: X:0.95, Y:0.13, Z:0.97 [[ 0.99936821 0.00535292 -0.03513588 0.94640219] [-0.00546052 0.99998069 -0.00296725 0.13451619] [ 0.03511932 0.00315724 0.99937814 0.96933377] [ 0. 0. 0. 1. ]] SLAMing on 115.89255784400001 meters Centerline goodness : 0.138675 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99371904e-01 -1.95474097e-03 -3.53832806e-02 9.23456576e-01] [ 1.93153165e-03 9.99997896e-01 -6.90111298e-04 1.37900879e-01] [ 3.53845552e-02 6.21333916e-04 9.99373577e-01 9.68689352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92255784400001 meters Centerline goodness : 0.155155 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:0.97 [[ 0.99939826 0.0074257 -0.03388187 0.94466916] [-0.00747853 0.99997101 -0.0014327 0.13764893] [ 0.03387025 0.00168522 0.99942482 0.96948757] [ 0. 0. 0. 1. ]] SLAMing on 115.952557844 meters Centerline goodness : 0.163897 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99450085e-01 -5.69449279e-04 -3.31542433e-02 9.22471637e-01] [ 5.76299165e-04 9.99999815e-01 1.97050982e-04 1.42149124e-01] [ 3.31541249e-02 -2.16049383e-04 9.99450228e-01 9.67857837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982557844 meters Centerline goodness : 0.148327 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99466450e-01 -5.96804501e-04 -3.26566781e-02 9.20822459e-01] [ 5.94764831e-04 9.99999821e-01 -7.21720726e-05 1.43630952e-01] [ 3.26567153e-02 5.27105216e-05 9.99466626e-01 9.68472898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012557844 meters Centerline goodness : 0.137393 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99468877e-01 -6.40976843e-04 -3.25814965e-02 9.20428278e-01] [ 6.35325338e-04 9.99999781e-01 -1.83809884e-04 1.44172283e-01] [ 3.25816072e-02 1.63012408e-04 9.99469065e-01 9.68776736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042557844 meters Centerline goodness : 0.137715 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99474789e-01 -6.60375813e-04 -3.23992333e-02 9.19912995e-01] [ 6.53174813e-04 9.99999760e-01 -2.32841797e-04 1.44492782e-01] [ 3.23993793e-02 2.11557142e-04 9.99474980e-01 9.68834447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072557844 meters Centerline goodness : 0.142752 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.97 [[ 9.99482985e-01 -6.82315637e-04 -3.21449284e-02 9.19135569e-01] [ 6.72759667e-04 9.99999726e-01 -3.08092440e-04 1.45075140e-01] [ 3.21451298e-02 2.86307341e-04 9.99483171e-01 9.69015856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102557844 meters Centerline goodness : 0.138407 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.97 [[ 9.99486999e-01 -7.02803009e-04 -3.20194388e-02 9.18764206e-01] [ 6.92330315e-04 9.99999703e-01 -3.38158684e-04 1.45259935e-01] [ 3.20196670e-02 3.15817180e-04 9.99487189e-01 9.69098395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132557844 meters Centerline goodness : 0.154015 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99486068e-01 -8.07427996e-04 -3.20460330e-02 9.18792624e-01] [ 7.97523693e-04 9.99999630e-01 -3.21845684e-04 1.44733666e-01] [ 3.20462810e-02 2.96122807e-04 9.99486342e-01 9.69221853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162557844 meters Centerline goodness : 0.142403 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99483550e-01 -7.80551478e-04 -3.21251332e-02 9.18790076e-01] [ 7.76332382e-04 9.99999688e-01 -1.43806102e-04 1.43761435e-01] [ 3.21252354e-02 1.18792052e-04 9.99483844e-01 9.69568217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192557844 meters Centerline goodness : 0.149491 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99488836e-01 -1.05433575e-03 -3.19523974e-02 9.18010086e-01] [ 1.06047995e-03 9.99999422e-01 1.75346363e-04 1.41144410e-01] [ 3.19521940e-02 -2.09141609e-04 9.99489376e-01 9.70353533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22255784400001 meters Centerline goodness : 0.140566 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99487387e-01 -9.71707198e-04 -3.20003076e-02 9.17993489e-01] [ 9.91999850e-04 9.99999317e-01 6.18269173e-04 1.38846637e-01] [ 3.19996849e-02 -6.49696541e-04 9.99487668e-01 9.70668978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25255784400001 meters Centerline goodness : 0.128960 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99481366e-01 -8.84257488e-04 -3.21903129e-02 9.18519758e-01] [ 9.18007490e-04 9.99999044e-01 1.03368793e-03 1.36638495e-01] [ 3.21893681e-02 -1.06270277e-03 9.99481223e-01 9.70669276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28255784400001 meters Centerline goodness : 0.147065 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99476019e-01 -8.07768451e-04 -3.23579050e-02 9.19209609e-01] [ 8.51669445e-04 9.99998736e-01 1.34297190e-03 1.34917828e-01] [ 3.23567793e-02 -1.36982645e-03 9.99475444e-01 9.70297307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312557844 meters Centerline goodness : 0.139817 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99468571e-01 -7.60376785e-04 -3.25883162e-02 9.20184264e-01] [ 8.10007878e-04 9.99998532e-01 1.50979715e-03 1.33972811e-01] [ 3.25871204e-02 -1.53539159e-03 9.99467719e-01 9.69692170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.342557844 meters Centerline goodness : 0.159855 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:0.97 [[ 0.99936242 -0.00154985 -0.03567016 0.87567835] [ 0.0016263 0.99999644 0.00211437 0.13018207] [ 0.03566676 -0.00217104 0.99936138 0.96925172] [ 0. 0. 0. 1. ]] SLAMing on 116.372557844 meters Centerline goodness : 0.149626 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 0.99933234 0.00796238 -0.03565771 0.89831867] [-0.00790602 0.99996727 0.00172116 0.12824817] [ 0.03567024 -0.0014381 0.99936258 0.96988955] [ 0. 0. 0. 1. ]] SLAMing on 116.402557844 meters Centerline goodness : 0.141252 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 0.99932733 0.00789142 -0.0358136 0.89904575] [-0.00784435 0.99996817 0.00145457 0.12959767] [ 0.03582394 -0.00117265 0.99935743 0.96937114] [ 0. 0. 0. 1. ]] SLAMing on 116.432557844 meters Centerline goodness : 0.149468 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99324854e-01 7.76539165e-03 -3.59101009e-02 8.99489364e-01] [-7.73167656e-03 9.99969529e-01 1.07764916e-03 1.31372228e-01] [ 3.59173750e-02 -7.99276307e-04 9.99354443e-01 9.69010736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462557844 meters Centerline goodness : 0.125099 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99332178e-01 7.70874734e-03 -3.57179711e-02 8.98930129e-01] [-7.68370203e-03 9.99970128e-01 8.38412425e-04 1.32581948e-01] [ 3.57233673e-02 -5.63406268e-04 9.99361558e-01 9.69113456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492557844 meters Centerline goodness : 0.134198 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.97 [[ 9.99347052e-01 7.60072270e-03 -3.53227806e-02 8.97650233e-01] [-7.59232190e-03 9.99971109e-01 3.71958065e-04 1.34936130e-01] [ 3.53245872e-02 -1.03533275e-04 9.99375887e-01 9.69566126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522557844 meters Centerline goodness : 0.138917 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99343343e-01 7.49657647e-03 -3.54497375e-02 8.98319901e-01] [-7.49656069e-03 9.99971892e-01 1.33364420e-04 1.35949245e-01] [ 3.54497408e-02 1.32474263e-04 9.99371452e-01 9.68958799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552557844 meters Centerline goodness : 0.136109 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99337425e-01 7.39303131e-03 -3.56378265e-02 8.99208529e-01] [-7.40229118e-03 9.99972594e-01 -1.27895056e-04 1.37137776e-01] [ 3.56359043e-02 3.91611884e-04 9.99364763e-01 9.68211919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58255784400001 meters Centerline goodness : 0.122879 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.97 [[ 9.99336020e-01 7.33568719e-03 -3.56890263e-02 8.99521058e-01] [-7.35028948e-03 9.99972948e-01 -2.77965035e-04 1.37844971e-01] [ 3.56860218e-02 5.40105147e-04 9.99362905e-01 9.67889458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61255784400001 meters Centerline goodness : 0.134455 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99424479e-01 2.04371509e-05 -3.39221257e-02 9.16626213e-01] [ 2.16354090e-05 9.99999231e-01 1.23990144e-03 1.43018929e-01] [ 3.39221250e-02 -1.23992177e-03 9.99423710e-01 9.70693761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64255784400001 meters Centerline goodness : 0.139108 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99433188e-01 1.04700035e-04 -3.36644023e-02 9.15437484e-01] [-5.66470921e-05 9.99998978e-01 1.42836174e-03 1.42308155e-01] [ 3.36645175e-02 -1.42564514e-03 9.99432173e-01 9.71630014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67255784400001 meters Centerline goodness : 0.135377 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.97 [[ 9.99441391e-01 1.69825220e-04 -3.34196968e-02 9.14458464e-01] [-1.15198878e-04 9.99998654e-01 1.63647397e-03 1.41343124e-01] [ 3.34199298e-02 -1.63170991e-03 9.99440066e-01 9.72287596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.702557844 meters Centerline goodness : 0.139222 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.97 [[ 9.99443234e-01 2.61462827e-04 -3.33639565e-02 9.14091865e-01] [-1.90018405e-04 9.99997682e-01 2.14451819e-03 1.38409245e-01] [ 3.33644399e-02 -2.13698443e-03 9.99440967e-01 9.72767952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732557844 meters Centerline goodness : 0.131660 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.97 [[ 9.99433534e-01 3.50629455e-04 -3.36524714e-02 9.15054204e-01] [-2.66210842e-04 9.99996807e-01 2.51298910e-03 1.36296207e-01] [ 3.36532450e-02 -2.50260692e-03 9.99430436e-01 9.72429134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762557844 meters Centerline goodness : 0.153038 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99418114e-01 4.27238605e-04 -3.41064707e-02 9.16578151e-01] [-3.30327599e-04 9.99995893e-01 2.84701005e-03 1.34424898e-01] [ 3.41075470e-02 -2.83408711e-03 9.99414150e-01 9.71853081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792557844 meters Centerline goodness : 0.147726 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99408522e-01 5.29403420e-04 -3.43849746e-02 9.17695245e-01] [-4.23051871e-04 9.99995105e-01 3.10016757e-03 1.33243478e-01] [ 3.43864476e-02 -3.08378726e-03 9.99403854e-01 9.71206009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822557844 meters Centerline goodness : 0.150286 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99411225e-01 7.15538757e-04 -3.43029439e-02 9.17494597e-01] [-6.00241163e-04 9.99994137e-01 3.37133762e-03 1.32442721e-01] [ 3.43051551e-02 -3.34876262e-03 9.99405795e-01 9.71213239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852557844 meters Centerline goodness : 0.131469 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99416119e-01 7.42717103e-04 -3.41594731e-02 9.16873424e-01] [-6.27129538e-04 9.99994043e-01 3.39435297e-03 1.32322162e-01] [ 3.41617906e-02 -3.37094865e-03 9.99410631e-01 9.71621840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882557844 meters Centerline goodness : 0.132737 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99422303e-01 7.64396183e-04 -3.39775711e-02 9.16165646e-01] [-6.48032332e-04 9.99993888e-01 3.43560596e-03 1.32135228e-01] [ 3.39799896e-02 -3.41160266e-03 9.99416691e-01 9.72038112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912557844 meters Centerline goodness : 0.134713 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994278 0.00954142 -0.03245033 0.93589592] [-0.00947285 0.99995256 0.00226604 0.12994535] [ 0.03247042 -0.00195734 0.99947078 0.97313101] [ 0. 0. 0. 1. ]] SLAMing on 116.942557844 meters Centerline goodness : 0.148403 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99943296 0.00953931 -0.03229189 0.93601128] [-0.00947341 0.99995272 0.00219332 0.13045645] [ 0.03231128 -0.00188617 0.99947607 0.97229496] [ 0. 0. 0. 1. ]] SLAMing on 116.97255784400001 meters Centerline goodness : 0.148403 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99943296 0.00953931 -0.03229189 0.93601128] [-0.00947341 0.99995272 0.00219332 0.13045645] [ 0.03231128 -0.00188617 0.99947607 0.97229496] [ 0. 0. 0. 1. ]] SLAMing on 117.00255784400001 meters Centerline goodness : 0.133826 Centerline is valid? [False, False] Translation: X:0.92, Y:0.13, Z:0.97 [[ 9.99432215e-01 3.06939813e-04 -3.36920354e-02 9.16430733e-01] [-2.09739365e-04 9.99995806e-01 2.88846445e-03 1.34690466e-01] [ 3.36927807e-02 -2.87975788e-03 9.99428088e-01 9.70792864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03255784400001 meters Centerline goodness : 0.140564 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994165 0.00879789 -0.03300392 0.93666528] [-0.00875196 0.99996052 0.00153587 0.13217818] [ 0.03301613 -0.00124613 0.99945404 0.97210747] [ 0. 0. 0. 1. ]] SLAMing on 117.062557844 meters Centerline goodness : 0.130190 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99941425 0.00879641 -0.03307249 0.93679025] [-0.00874907 0.99996048 0.00157571 0.1319462 ] [ 0.03308504 -0.00128543 0.99945171 0.97216795] [ 0. 0. 0. 1. ]] SLAMing on 117.092557844 meters Centerline goodness : 0.136510 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99941846 0.00884632 -0.03293143 0.93641555] [-0.00879345 0.99995981 0.00174989 0.13121106] [ 0.03294559 -0.00145929 0.99945608 0.97211778] [ 0. 0. 0. 1. ]] SLAMing on 117.122557844 meters Centerline goodness : 0.139081 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99945084 0.00479305 -0.03278799 0.93617517] [-0.00486549 0.9999859 -0.00212987 0.13125961] [ 0.03277732 0.00228823 0.99946006 0.97185947] [ 0. 0. 0. 1. ]] SLAMing on 117.152557844 meters Centerline goodness : 0.150946 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.9994378 0.00476248 -0.03318731 0.93718571] [-0.0048265 0.99998664 -0.00184913 0.1293559 ] [ 0.03317806 0.00200827 0.99944744 0.97188662] [ 0. 0. 0. 1. ]] SLAMing on 117.182557844 meters Centerline goodness : 0.130906 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99942617 0.00480867 -0.03352916 0.93813673] [-0.00486167 0.99998706 -0.00149943 0.12734841] [ 0.03352152 0.00166157 0.99943661 0.97180097] [ 0. 0. 0. 1. ]] SLAMing on 117.212557844 meters Centerline goodness : 0.167007 Centerline is valid? [False, False] Translation: X:0.94, Y:0.13, Z:0.97 [[ 0.99942096 0.00492708 -0.0336669 0.93842836] [-0.00496693 0.99998706 -0.00110019 0.12535654] [ 0.03366104 0.00126677 0.9994325 0.97189532] [ 0. 0. 0. 1. ]] SLAMing on 117.242557844 meters Centerline goodness : 0.144267 Centerline is valid? [False, False] Translation: X:0.96, Y:0.13, Z:0.97 [[ 9.99494151e-01 -3.49538722e-03 -3.16104975e-02 9.59272450e-01] [ 3.48575110e-03 9.99993860e-01 -3.59941164e-04 1.25397134e-01] [ 3.16115616e-02 2.49572761e-04 9.99500199e-01 9.72579088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272557844 meters Centerline goodness : 0.133891 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 9.99497168e-01 -3.32148379e-03 -3.15337645e-02 9.58909656e-01] [ 3.32719673e-03 9.99994457e-01 1.28697759e-04 1.23053769e-01] [ 3.15331623e-02 -2.33552084e-04 9.99502679e-01 9.72904456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302557844 meters Centerline goodness : 0.131707 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 9.99494944e-01 -3.12744242e-03 -3.16239666e-02 9.59226000e-01] [ 3.14972729e-03 9.99994825e-01 6.54891625e-04 1.20459211e-01] [ 3.16217548e-02 -7.54167739e-04 9.99499623e-01 9.72836229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33255784400001 meters Centerline goodness : 0.212786 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 0.99948629 -0.00298758 -0.03190987 0.96021421] [ 0.00302227 0.99999489 0.00103912 0.11839136] [ 0.03190661 -0.00113503 0.99949021 0.97243459] [ 0. 0. 0. 1. ]] SLAMing on 117.36255784400001 meters Centerline goodness : 0.155235 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.97 [[ 0.99947191 -0.00270351 -0.03238209 0.96164601] [ 0.00276036 0.99999473 0.00171092 0.11502557] [ 0.03237729 -0.0017994 0.9994741 0.9721498 ] [ 0. 0. 0. 1. ]] SLAMing on 117.39255784400001 meters Centerline goodness : 0.138377 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99947539 -0.00248541 -0.03229202 0.96103513] [ 0.00255681 0.99999438 0.00217007 0.1130742 ] [ 0.03228645 -0.0022515 0.99947612 0.97279861] [ 0. 0. 0. 1. ]] SLAMing on 117.42255784400001 meters Centerline goodness : 0.111189 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99948167 -0.00226146 -0.03211358 0.96010967] [ 0.0023479 0.99999372 0.00265424 0.11100363] [ 0.03210737 -0.00272827 0.9994807 0.97359459] [ 0. 0. 0. 1. ]] SLAMing on 117.452557844 meters Centerline goodness : 0.135454 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.99948638 -0.00208632 -0.03197861 0.95956716] [ 0.00218463 0.99999299 0.00303944 0.10932233] [ 0.03197204 -0.00310774 0.99948393 0.97395127] [ 0. 0. 0. 1. ]] SLAMing on 117.482557844 meters Centerline goodness : 0.133111 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:0.97 [[ 0.9994841 -0.00195734 -0.03205784 0.95988438] [ 0.00206562 0.99999227 0.003345 0.10788845] [ 0.03205105 -0.0034095 0.99948042 0.97377778] [ 0. 0. 0. 1. ]] SLAMing on 117.512557844 meters Centerline goodness : 0.154857 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99944523 0.00676564 -0.03261082 0.98131774] [-0.00668915 0.99997462 0.00245395 0.1013606 ] [ 0.03262659 -0.00223445 0.99946511 0.97528772] [ 0. 0. 0. 1. ]] SLAMing on 117.542557844 meters Centerline goodness : 0.173791 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943996 0.00684862 -0.03275463 0.98143124] [-0.00676673 0.9999737 0.00261041 0.10045641] [ 0.03277164 -0.00238731 0.99946001 0.97581782] [ 0. 0. 0. 1. ]] SLAMing on 117.572557844 meters Centerline goodness : 0.084415 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99944011 0.0069083 -0.03273737 0.98108552] [-0.00682287 0.99997302 0.0027208 0.09989404] [ 0.03275528 -0.00249592 0.99946029 0.97639665] [ 0. 0. 0. 1. ]] SLAMing on 117.602557844 meters Centerline goodness : 0.159159 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943942 0.00698843 -0.0327414 0.98087926] [-0.00689939 0.99997219 0.00283173 0.09942758] [ 0.03276028 -0.00260425 0.99945985 0.97678644] [ 0. 0. 0. 1. ]] SLAMing on 117.632557844 meters Centerline goodness : 0.126353 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 0.99943856 0.00715368 -0.03273196 0.98096258] [-0.00705765 0.99997045 0.00304839 0.09872131] [ 0.0327528 -0.00281567 0.99945952 0.97668677] [ 0. 0. 0. 1. ]] SLAMing on 117.662557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.692557844 meters Centerline goodness : 0.126702 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:0.98 [[ 9.99464372e-01 3.70791341e-03 -3.25149118e-02 9.81034062e-01] [-3.71675450e-03 9.99993070e-01 -2.11471661e-04 9.69383121e-02] [ 3.25139023e-02 3.32208335e-04 9.99471228e-01 9.75843726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72255784400001 meters Centerline goodness : 0.148334 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:0.98 [[ 9.99462346e-01 3.87037327e-03 -3.25582397e-02 9.81190994e-01] [-3.86423256e-03 9.99992502e-01 2.51527914e-04 9.46866900e-02] [ 3.25589691e-02 -1.25580068e-04 9.99469808e-01 9.75784367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75255784400001 meters Centerline goodness : 0.134243 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.98 [[ 0.99949819 -0.00413594 -0.03140493 1.0012017 ] [ 0.00418584 0.99999008 0.00152335 0.09842079] [ 0.03139832 -0.00165404 0.99950558 0.97624754] [ 0. 0. 0. 1. ]] SLAMing on 117.78255784400001 meters Centerline goodness : 0.184142 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.98 [[ 0.99950126 -0.00396194 -0.03132955 1.00081666] [ 0.00402727 0.99998985 0.00202245 0.09598216] [ 0.03132122 -0.00214761 0.99950706 0.9766425 ] [ 0. 0. 0. 1. ]] SLAMing on 117.812557844 meters Centerline goodness : 0.143833 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99949521 -0.00377833 -0.03154429 1.0011898 ] [ 0.00386659 0.99998878 0.00273753 0.09185238] [ 0.0315336 -0.00285812 0.99949861 0.97703196] [ 0. 0. 0. 1. ]] SLAMing on 117.842557844 meters Centerline goodness : 0.224584 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99949182 -0.00364757 -0.03166698 1.00163016] [ 0.00374592 0.99998834 0.00304688 0.09041523] [ 0.03165549 -0.00316396 0.99949383 0.9768267 ] [ 0. 0. 0. 1. ]] SLAMing on 117.872557844 meters Centerline goodness : 0.121761 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:0.98 [[ 0.99940104 -0.0040884 -0.03436354 0.95708858] [ 0.00424781 0.99998055 0.00456728 0.08541144] [ 0.0343442 -0.00471051 0.99939896 0.97657753] [ 0. 0. 0. 1. ]] SLAMing on 117.902557844 meters Centerline goodness : 0.122658 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99948117 -0.00223397 -0.03213086 1.00072714] [ 0.0023837 0.99998647 0.00462264 0.08654889] [ 0.0321201 -0.00469683 0.99947298 0.9771547 ] [ 0. 0. 0. 1. ]] SLAMing on 117.932557844 meters Centerline goodness : 0.207168 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99948174 0.00489321 -0.03181693 0.98165904] [-0.00478308 0.99998231 0.00353662 0.0794978 ] [ 0.03183367 -0.0033826 0.99948746 0.97498853] [ 0. 0. 0. 1. ]] SLAMing on 117.962557844 meters Centerline goodness : 0.192755 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.98 [[ 0.99947285 0.00502418 -0.03207474 0.98234825] [-0.00490666 0.99998096 0.00374141 0.07846434] [ 0.03209293 -0.00358206 0.99947847 0.97505681] [ 0. 0. 0. 1. ]] SLAMing on 117.992557844 meters Centerline goodness : 0.084860 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99946223 0.00521308 -0.03237405 0.98344013] [-0.00508472 0.99997889 0.00404603 0.07719683] [ 0.03239446 -0.00387924 0.99946763 0.97462819] [ 0. 0. 0. 1. ]] SLAMing on 118.022557844 meters Centerline goodness : 0.191285 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 0.99945148 0.00538953 -0.03267558 0.98460598] [-0.00525092 0.99997685 0.0043264 0.07604668] [ 0.03269814 -0.00415245 0.99945665 0.97410058] [ 0. 0. 0. 1. ]] SLAMing on 118.052557844 meters Centerline goodness : 0.034856 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943781 0.00562023 -0.03305271 0.985991 ] [-0.00546565 0.99997371 0.00476549 0.07393606] [ 0.03307863 -0.00458216 0.99944225 0.97364884] [ 0. 0. 0. 1. ]] SLAMing on 118.08255784400001 meters Centerline goodness : 0.212521 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943597 0.00568325 -0.03309755 0.98587371] [-0.0055256 0.99997296 0.00485265 0.07352535] [ 0.03312423 -0.00466703 0.99944035 0.97408282] [ 0. 0. 0. 1. ]] SLAMing on 118.11255784400001 meters Centerline goodness : 0.198187 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99943667 0.00572953 -0.03306838 0.98549893] [-0.00557057 0.99997249 0.00489701 0.07335156] [ 0.03309553 -0.00471004 0.99944109 0.9746317 ] [ 0. 0. 0. 1. ]] SLAMing on 118.14255784400001 meters Centerline goodness : 0.088721 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99935998 0.01446404 -0.03271735 1.00424996] [-0.01434156 0.99988925 0.00397504 0.06771656] [ 0.03277122 -0.00350328 0.99945674 0.97639526] [ 0. 0. 0. 1. ]] SLAMing on 118.17255784400001 meters Centerline goodness : 0.184790 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.98 [[ 0.99935083 0.014222 -0.03310064 1.00514055] [-0.01411997 0.99989482 0.00331411 0.06995845] [ 0.03314429 -0.00284457 0.99944653 0.9767478 ] [ 0. 0. 0. 1. ]] SLAMing on 118.202557844 meters Centerline goodness : 0.184124 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.98 [[ 0.9993506 0.01412805 -0.03314781 1.00515143] [-0.01403498 0.99989689 0.00303887 0.07106612] [ 0.03318732 -0.00257167 0.99944584 0.97693953] [ 0. 0. 0. 1. ]] SLAMing on 118.232557844 meters Centerline goodness : 0.132977 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99935886 0.01406023 -0.03292699 1.00453162] [-0.01397335 0.99989826 0.00286707 0.0720722 ] [ 0.03296395 -0.00240513 0.99945365 0.9769659 ] [ 0. 0. 0. 1. ]] SLAMing on 118.262557844 meters Centerline goodness : 0.132956 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:0.98 [[ 0.99936966 0.0140259 -0.03261233 1.00377488] [-0.0139411 0.99989882 0.00282631 0.07269851] [ 0.03264867 -0.00236988 0.99946408 0.97673181] [ 0. 0. 0. 1. ]] SLAMing on 118.292557844 meters Centerline goodness : 0.192722 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 0.99948227 0.00586661 -0.03163515 0.98596203] [-0.00575799 0.99997721 0.00352354 0.08019525] [ 0.03165511 -0.00333956 0.99949327 0.97451162] [ 0. 0. 0. 1. ]] SLAMing on 118.322557844 meters Centerline goodness : 0.112430 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 0.99948309 0.00574641 -0.03163128 0.98599495] [-0.00564501 0.99997864 0.0032941 0.08116134] [ 0.03164953 -0.00311384 0.99949418 0.97437037] [ 0. 0. 0. 1. ]] SLAMing on 118.352557844 meters Centerline goodness : 0.180538 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.9994762 -0.00173849 -0.03231577 1.00498533] [ 0.00186905 0.99999021 0.00401023 0.0906194 ] [ 0.03230848 -0.00406853 0.99946966 0.97579143] [ 0. 0. 0. 1. ]] SLAMing on 118.382557844 meters Centerline goodness : 0.187148 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:0.98 [[ 0.99947486 -0.00184528 -0.03235104 1.00501472] [ 0.00196932 0.99999083 0.00380297 0.09163037] [ 0.03234373 -0.00386469 0.99946933 0.97578816] [ 0. 0. 0. 1. ]] SLAMing on 118.412557844 meters Centerline goodness : 0.174503 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.98 [[ 0.99947677 -0.00182744 -0.03229307 1.00463907] [ 0.00195412 0.99999052 0.00389165 0.0912798 ] [ 0.03228565 -0.00395271 0.99947087 0.97614513] [ 0. 0. 0. 1. ]] SLAMing on 118.442557844 meters Centerline goodness : 0.127976 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99532340e-01 4.83531582e-03 -3.01947249e-02 1.02657722e+00] [-4.80790921e-03 9.99987962e-01 9.80199856e-04 9.12379210e-02] [ 3.01991010e-02 -8.34567960e-04 9.99543555e-01 9.75573286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47255784400001 meters Centerline goodness : 0.186227 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99554367e-01 6.68959047e-04 -2.98432437e-02 1.02572869e+00] [-7.59121378e-04 9.99995182e-01 -3.00996989e-03 9.11942245e-02] [ 2.98410864e-02 3.03128319e-03 9.99550059e-01 9.75435250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50255784400001 meters Centerline goodness : 0.201089 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555122e-01 6.97865578e-04 -2.98172893e-02 1.02547448e+00] [-7.81733622e-04 9.99995771e-01 -2.80116740e-03 9.00749559e-02] [ 2.98152084e-02 2.82323040e-03 9.99551441e-01 9.75762238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53255784400001 meters Centerline goodness : 0.180948 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555872e-01 7.32252079e-04 -2.97913009e-02 1.02527548e+00] [-8.11283048e-04 9.99996184e-01 -2.64081957e-03 8.93370413e-02] [ 2.97892534e-02 2.66381589e-03 9.99552652e-01 9.75975829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters Centerline goodness : 0.147591 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99555496e-01 7.72243520e-04 -2.98029086e-02 1.02516342e+00] [-8.48471257e-04 9.99996401e-01 -2.54516662e-03 8.89979829e-02] [ 2.98008358e-02 2.56932220e-03 9.99552554e-01 9.76191546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.592557844 meters Centerline goodness : 0.189327 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99553867e-01 7.99224259e-04 -2.98567971e-02 1.02533875e+00] [-8.72664357e-04 9.99996626e-01 -2.44679529e-03 8.84399252e-02] [ 2.98547408e-02 2.47175865e-03 9.99551192e-01 9.76138449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622557844 meters Centerline goodness : 0.034642 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99552615e-01 8.28313314e-04 -2.98978975e-02 1.02543754e+00] [-8.98273739e-04 9.99996890e-01 -2.32662269e-03 8.77044201e-02] [ 2.98958773e-02 2.35243829e-03 9.99550250e-01 9.76175637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652557844 meters Centerline goodness : 0.191036 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.98 [[ 9.99553168e-01 8.63712062e-04 -2.98783939e-02 1.02582776e+00] [-9.32479387e-04 9.99996948e-01 -2.28771666e-03 8.75089455e-02] [ 2.98763268e-02 2.31455542e-03 9.99550923e-01 9.75439092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682557844 meters Centerline goodness : 0.182064 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:0.97 [[ 9.99549788e-01 8.56936883e-04 -2.99914469e-02 1.02656267e+00] [-9.27362920e-04 9.99996845e-01 -2.33437322e-03 8.76643143e-02] [ 2.99893518e-02 2.36113522e-03 9.99547429e-01 9.74688047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712557844 meters Centerline goodness : 0.279885 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 9.99436582e-01 -5.52483002e-04 -3.35591158e-02 9.83780610e-01] [ 4.82834984e-04 9.99997713e-01 -2.08345157e-03 8.44358081e-02] [ 3.35601902e-02 2.06607420e-03 9.99434563e-01 9.74070902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742557844 meters Centerline goodness : 0.145504 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99418529e-01 -5.14732050e-04 -3.40931061e-02 9.85504965e-01] [ 4.49667306e-04 9.99998063e-01 -1.91608285e-03 8.33826618e-02] [ 3.40940263e-02 1.89963815e-03 9.99416824e-01 9.73360634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772557844 meters Centerline goodness : 0.187927 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99413384e-01 -4.12173273e-04 -3.42449789e-02 9.85893578e-01] [ 3.55660634e-04 9.99998565e-01 -1.65632119e-03 8.22730084e-02] [ 3.42456125e-02 1.64316997e-03 9.99412096e-01 9.73304445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802557844 meters Centerline goodness : 0.313514 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99413322e-01 -2.58325372e-04 -3.42482738e-02 9.85685713e-01] [ 2.13824077e-04 9.99999128e-01 -1.30302963e-03 8.07285617e-02] [ 3.42485806e-02 1.29494207e-03 9.99412506e-01 9.73678622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83255784400001 meters Centerline goodness : 0.186190 Centerline is valid? [False, False] Translation: X:0.98, Y:0.08, Z:0.97 [[ 9.99417954e-01 -1.18174483e-04 -3.41136266e-02 9.84918272e-01] [ 8.89857112e-05 9.99999629e-01 -8.57150774e-04 7.85462673e-02] [ 3.41137153e-02 8.53616247e-04 9.99417593e-01 9.74423400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86255784400001 meters Centerline goodness : 0.184687 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.97 [[ 0.99947047 0.0062577 -0.03193158 1.00665771] [-0.00639256 0.99997107 -0.00412324 0.07635356] [ 0.03190486 0.00432518 0.99948155 0.97399699] [ 0. 0. 0. 1. ]] SLAMing on 118.89255784400001 meters Centerline goodness : 0.184687 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.97 [[ 0.99947047 0.0062577 -0.03193158 1.00665771] [-0.00639256 0.99997107 -0.00412324 0.07635356] [ 0.03190486 0.00432518 0.99948155 0.97399699] [ 0. 0. 0. 1. ]] SLAMing on 118.92255784400001 meters Centerline goodness : 0.290936 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.97 [[ 0.99946812 0.00642535 -0.0319717 1.0068427 ] [-0.0065448 0.99997198 -0.00363281 0.07421561] [ 0.03194746 0.00384013 0.99948217 0.97380766] [ 0. 0. 0. 1. ]] SLAMing on 118.952557844 meters Centerline goodness : 0.316092 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.97 [[ 0.9994117 0.006335 -0.03370633 0.97013828] [-0.00642859 0.99997577 -0.00266916 0.06808558] [ 0.0336886 0.00288428 0.99942822 0.97083319] [ 0. 0. 0. 1. ]] SLAMing on 118.982557844 meters Centerline goodness : 0.183561 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.97 [[ 0.99940583 0.00658257 -0.03383264 0.97057854] [-0.00665876 0.99997554 -0.00213995 0.06597064] [ 0.03381772 0.00236397 0.99942522 0.97066747] [ 0. 0. 0. 1. ]] SLAMing on 119.012557844 meters Centerline goodness : 0.188189 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 0.99945509 -0.00178002 -0.03296 0.99040965] [ 0.0017319 0.99999739 -0.00148844 0.07057307] [ 0.03296256 0.00143055 0.99945556 0.9715949 ] [ 0. 0. 0. 1. ]] SLAMing on 119.042557844 meters Centerline goodness : 0.198864 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99450682e-01 -1.58563745e-03 -3.31031574e-02 9.90559643e-01] [ 1.55318986e-03 9.99998288e-01 -1.00588780e-03 6.82066107e-02] [ 3.31046957e-02 9.53919765e-04 9.99451434e-01 9.71990828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072557844 meters Centerline goodness : 0.194316 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99439296e-01 -1.30161077e-03 -3.34574344e-02 9.91595817e-01] [ 1.28963779e-03 9.99999096e-01 -3.79434621e-04 6.50361478e-02] [ 3.34578980e-02 3.36073899e-04 9.99440071e-01 9.71900398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102557844 meters Centerline goodness : 0.180316 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99946665 0.00791675 -0.03168187 1.0111576 ] [-0.007964 0.99996735 -0.00136543 0.06151504] [ 0.03167002 0.00161702 0.99949707 0.97305562] [ 0. 0. 0. 1. ]] SLAMing on 119.132557844 meters Centerline goodness : 0.275967 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99947507 0.00796519 -0.03140287 1.00992627] [-0.00801673 0.99996672 -0.0015157 0.0621839 ] [ 0.03138975 0.00176665 0.99950566 0.97406254] [ 0. 0. 0. 1. ]] SLAMing on 119.162557844 meters Centerline goodness : 0.120768 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.9994814 0.00798267 -0.03119618 1.00916006] [-0.0080364 0.99996643 -0.00159738 0.06258354] [ 0.03118239 0.00184725 0.999512 0.97452323] [ 0. 0. 0. 1. ]] SLAMing on 119.192557844 meters Centerline goodness : 0.148547 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99947555 0.00804845 -0.03136642 1.00975455] [-0.00810446 0.99996578 -0.00165913 0.06288451] [ 0.031352 0.00191247 0.99950658 0.97439331] [ 0. 0. 0. 1. ]] SLAMing on 119.22255784400001 meters Centerline goodness : 0.145118 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99946327 0.0081473 -0.03173011 1.0110535 ] [-0.00820539 0.99996489 -0.00170119 0.06315951] [ 0.03171514 0.00196063 0.99949503 0.97393433] [ 0. 0. 0. 1. ]] SLAMing on 119.25255784400001 meters Centerline goodness : 0.175815 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99944057 0.00840167 -0.03237215 1.01299329] [-0.00845778 0.99996296 -0.00159688 0.06282393] [ 0.03235753 0.00186978 0.99947461 0.97363462] [ 0. 0. 0. 1. ]] SLAMing on 119.28255784400001 meters Centerline goodness : 0.145119 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99943676 0.00849689 -0.03246473 1.01320817] [-0.00854774 0.99996245 -0.00142805 0.0622832 ] [ 0.03245138 0.00170475 0.99947186 0.9736031 ] [ 0. 0. 0. 1. ]] SLAMing on 119.31255784400001 meters Centerline goodness : 0.184327 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99943757 0.00857201 -0.03242009 1.01303335] [-0.00861516 0.99996218 -0.00119125 0.06127668] [ 0.03240866 0.00146989 0.99947362 0.97366194] [ 0. 0. 0. 1. ]] SLAMing on 119.342557844 meters Centerline goodness : 0.187973 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99440984e-01 8.49072699e-03 -3.23361465e-02 1.01270503e+00] [-8.52596126e-03 9.99963200e-01 -9.51893842e-04 5.98319414e-02] [ 3.23268742e-02 1.22705845e-03 9.99476597e-01 9.73771358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372557844 meters Centerline goodness : 0.128082 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99442977e-01 8.51246036e-03 -3.22687718e-02 1.01252505e+00] [-8.54435039e-03 9.99963135e-01 -8.50495590e-04 5.94566097e-02] [ 3.22603424e-02 1.12573754e-03 9.99478866e-01 9.73739274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402557844 meters Centerline goodness : 0.186758 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99447959e-01 8.51523208e-03 -3.21133590e-02 1.01202776e+00] [-8.54604497e-03 9.99963144e-01 -8.22367059e-04 5.95211716e-02] [ 3.21051728e-02 1.09635529e-03 9.99483895e-01 9.73855311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432557844 meters Centerline goodness : 0.190862 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 9.99454958e-01 8.44416974e-03 -3.19136660e-02 1.01129222e+00] [-8.47523774e-03 9.99963733e-01 -8.38352085e-04 5.96570957e-02] [ 3.19054294e-02 1.10837106e-03 9.99490278e-01 9.74112808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462557844 meters Centerline goodness : 0.150649 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945714 0.00830229 -0.03188241 1.01101186] [-0.00834211 0.99996458 -0.00111594 0.06058497] [ 0.03187202 0.0013813 0.999491 0.97446136] [ 0. 0. 0. 1. ]] SLAMing on 119.492557844 meters Centerline goodness : 0.198198 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.999458 0.00811689 -0.03190317 1.01083924] [-0.00816936 0.99996548 -0.00151461 0.0619535 ] [ 0.03188978 0.00177441 0.99948982 0.97488079] [ 0. 0. 0. 1. ]] SLAMing on 119.522557844 meters Centerline goodness : 0.179654 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.9994568 0.00805536 -0.0319566 1.01133554] [-0.00811506 0.99996556 -0.00173893 0.06315999] [ 0.03194149 0.00199732 0.99948774 0.97427365] [ 0. 0. 0. 1. ]] SLAMing on 119.552557844 meters Centerline goodness : 0.124269 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945422 0.00808213 -0.03203033 1.01174632] [-0.00813956 0.99996549 -0.00166324 0.06303103] [ 0.03201578 0.00192304 0.99948551 0.97378925] [ 0. 0. 0. 1. ]] SLAMing on 119.58255784400001 meters Centerline goodness : 0.190945 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.97 [[ 0.99945408 0.00804483 -0.03204397 1.01178349] [-0.00810229 0.99996579 -0.0016638 0.06295121] [ 0.03202949 0.00192252 0.99948508 0.9737538 ] [ 0. 0. 0. 1. ]] SLAMing on 119.61255784400001 meters Centerline goodness : 0.128517 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 9.99554392e-01 4.56168792e-03 -2.94992913e-02 1.04155478e+00] [-4.59273675e-03 9.99988968e-01 -9.84857496e-04 6.37216613e-02] [ 2.94944732e-02 1.11990111e-03 9.99564316e-01 9.74073282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64255784400001 meters Centerline goodness : 0.085481 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 9.99555121e-01 4.55254355e-03 -2.94760056e-02 1.04129620e+00] [-4.58217628e-03 9.99989062e-01 -9.37847899e-04 6.34663206e-02] [ 2.94714136e-02 1.07249492e-03 9.99565048e-01 9.74389944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67255784400001 meters Centerline goodness : 0.197407 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99516225e-01 -4.88119856e-03 -3.07162904e-02 1.02081420e+00] [ 4.88860399e-03 9.99988037e-01 1.65997707e-04 6.64341335e-02] [ 3.07151127e-02 -3.16077181e-04 9.99528130e-01 9.73412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.702557844 meters Centerline goodness : 0.189425 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99511151e-01 -4.87958885e-03 -3.08812101e-02 1.02141345e+00] [ 4.88799374e-03 9.99988034e-01 1.96682150e-04 6.62681148e-02] [ 3.08798808e-02 -3.47533163e-04 9.99523042e-01 9.73082958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732557844 meters Centerline goodness : 0.144218 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99503969e-01 -4.88509653e-03 -3.11119314e-02 1.02228613e+00] [ 4.89498329e-03 9.99987990e-01 2.41623266e-04 6.59789236e-02] [ 3.11103774e-02 -3.93795798e-04 9.99515877e-01 9.72578389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762557844 meters Centerline goodness : 0.210387 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.97 [[ 9.99498300e-01 -4.85241393e-03 -3.12986061e-02 1.02288550e+00] [ 4.86527277e-03 9.99988108e-01 3.34699615e-04 6.55007927e-02] [ 3.12966098e-02 -4.86807952e-04 9.99510023e-01 9.72358750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792557844 meters Centerline goodness : 0.181640 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.97 [[ 0.99950847 0.00365742 -0.03113572 1.04223695] [-0.00370617 0.999992 -0.00150801 0.06220294] [ 0.03112996 0.00162266 0.99951403 0.97471353] [ 0. 0. 0. 1. ]] SLAMing on 119.822557844 meters Centerline goodness : 0.185340 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99414233e-01 2.43553270e-03 -3.41358783e-02 9.96349037e-01] [-2.46179198e-03 9.99996705e-01 -7.27248718e-04 5.87646692e-02] [ 3.41339945e-02 8.10858152e-04 9.99416936e-01 9.76050976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852557844 meters Centerline goodness : 0.186064 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99418857e-01 2.45434400e-03 -3.39988827e-02 9.95842686e-01] [-2.48216885e-03 9.99996618e-01 -7.76221416e-04 5.92240297e-02] [ 3.39968626e-02 8.60161288e-04 9.99421569e-01 9.76291545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882557844 meters Centerline goodness : 0.193525 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.98 [[ 9.99425178e-01 2.50732042e-03 -3.38086923e-02 9.95275032e-01] [-2.53518777e-03 9.99996481e-01 -7.81422942e-04 5.95128982e-02] [ 3.38066141e-02 8.66685146e-04 9.99428017e-01 9.76415193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912557844 meters Centerline goodness : 0.139632 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99431497e-01 2.46984973e-03 -3.36241300e-02 9.94872552e-01] [-2.50094938e-03 9.99996483e-01 -8.82893955e-04 5.98233849e-02] [ 3.36218311e-02 9.66484275e-04 9.99434159e-01 9.76322922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942557844 meters Centerline goodness : 0.151183 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99436147e-01 2.46820967e-03 -3.34857603e-02 9.94337091e-01] [-2.49966935e-03 9.99996473e-01 -8.97663236e-04 5.99086343e-02] [ 3.34834266e-02 9.80860414e-04 9.99438792e-01 9.76587056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97255784400001 meters Centerline goodness : 0.210580 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99441732e-01 2.49552098e-03 -3.33166214e-02 9.93559139e-01] [-2.52581233e-03 9.99996434e-01 -8.67139884e-04 5.99125465e-02] [ 3.33143386e-02 9.50807320e-04 9.99444471e-01 9.77088481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00255784400001 meters Centerline goodness : 0.261605 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99446093e-01 2.56624906e-03 -3.31801234e-02 9.92878088e-01] [-2.59131247e-03 9.99996389e-01 -7.12394258e-04 5.93593980e-02] [ 3.31781754e-02 7.97979725e-04 9.99449134e-01 9.77589737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03255784400001 meters Centerline goodness : 0.190492 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.98 [[ 9.99434043e-01 -4.58171725e-03 -3.33256884e-02 1.01194922e+00] [ 4.59966191e-03 9.99989315e-01 4.61818185e-04 6.35327534e-02] [ 3.33232164e-02 -6.14843715e-04 9.99444438e-01 9.80066597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06255784400001 meters Centerline goodness : 0.197306 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99382877e-01 -3.61221227e-04 -3.51245702e-02 9.90160321e-01] [ 2.56720302e-04 9.99995528e-01 -2.97961617e-03 5.70028954e-02] [ 3.51254894e-02 2.96876019e-03 9.99378500e-01 9.79515251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.092557844 meters Centerline goodness : 0.121762 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99377483e-01 -2.60268496e-04 -3.52785952e-02 9.90709954e-01] [ 1.67073912e-04 9.99996489e-01 -2.64459727e-03 5.52730672e-02] [ 3.52791597e-02 2.63705683e-03 9.99374017e-01 9.79262163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122557844 meters Centerline goodness : 0.116216 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99384286e-01 -1.57279583e-04 -3.50859619e-02 9.90252570e-01] [ 7.69455636e-05 9.99997373e-01 -2.29097275e-03 5.40771968e-02] [ 3.50862301e-02 2.28686245e-03 9.99381672e-01 9.79108871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152557844 meters Centerline goodness : 0.149460 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99389733e-01 -4.61494554e-05 -3.49307893e-02 9.89712836e-01] [-2.68427592e-05 9.99997817e-01 -2.08915212e-03 5.33116847e-02] [ 3.49308095e-02 2.08881482e-03 9.99387550e-01 9.79373930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182557844 meters Centerline goodness : 0.192589 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99388082e-01 1.13402495e-04 -3.49778284e-02 9.89990615e-01] [-1.78757913e-04 9.99998244e-01 -1.86535971e-03 5.23337729e-02] [ 3.49775555e-02 1.87047082e-03 9.99386348e-01 9.79118100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212557844 meters Centerline goodness : 0.120045 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99386198e-01 1.53520633e-04 -3.50314649e-02 9.90048012e-01] [-2.17724793e-04 9.99998304e-01 -1.82894950e-03 5.21380722e-02] [ 3.50311247e-02 1.83545411e-03 9.99384536e-01 9.79250303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242557844 meters Centerline goodness : 0.190382 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387217e-01 1.83410258e-04 -3.50022455e-02 9.90017112e-01] [-2.47385097e-04 9.99998307e-01 -1.82341317e-03 5.21807652e-02] [ 3.50018518e-02 1.83095484e-03 9.99385570e-01 9.79179045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272557844 meters Centerline goodness : 0.139628 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99388288e-01 2.06159673e-04 -3.49715295e-02 9.90161714e-01] [-2.71770863e-04 9.99998212e-01 -1.87138835e-03 5.25414294e-02] [ 3.49710811e-02 1.87974784e-03 9.99386557e-01 9.78761641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302557844 meters Centerline goodness : 0.322141 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387959e-01 2.01169092e-04 -3.49809417e-02 9.90423432e-01] [-2.71276428e-04 9.99997964e-01 -1.99942340e-03 5.32843850e-02] [ 3.49804683e-02 2.00768917e-03 9.99385980e-01 9.78340525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33255784400001 meters Centerline goodness : 0.142669 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.98 [[ 9.99387840e-01 1.67710599e-04 -3.49845365e-02 9.90643177e-01] [-2.43927699e-04 9.99997606e-01 -2.17433717e-03 5.41751063e-02] [ 3.49840881e-02 2.18153983e-03 9.99385488e-01 9.77969935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36255784400001 meters Centerline goodness : 0.148147 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99387909e-01 4.19297118e-05 -3.49829228e-02 9.91038556e-01] [-1.39100689e-04 9.99996139e-01 -2.77523973e-03 5.70876546e-02] [ 3.49826714e-02 2.77840718e-03 9.99384057e-01 9.77255016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39255784400001 meters Centerline goodness : 0.388587 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99389567e-01 -9.24000401e-05 -3.49354320e-02 9.91149564e-01] [-2.19787530e-05 9.99994641e-01 -3.27360719e-03 5.95775350e-02] [ 3.49355473e-02 3.27237671e-03 9.99384210e-01 9.76790449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42255784400001 meters Centerline goodness : 0.138801 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99392282e-01 -1.68780216e-04 -3.48573946e-02 9.91223403e-01] [ 3.88543759e-05 9.99993050e-01 -3.72799750e-03 6.20745714e-02] [ 3.48577816e-02 3.72437757e-03 9.99385343e-01 9.76222943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.452557844 meters Centerline goodness : 0.134502 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.98 [[ 9.99387841e-01 -2.86297900e-04 -3.49837300e-02 9.91769757e-01] [ 1.37787661e-04 9.99990970e-01 -4.24746023e-03 6.48062816e-02] [ 3.49846301e-02 4.24003978e-03 9.99378856e-01 9.75752884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482557844 meters Centerline goodness : 0.172081 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99384763e-01 -4.78931898e-04 -3.50694435e-02 9.92145125e-01] [ 3.11449621e-04 9.99988522e-01 -4.78103954e-03 6.73216701e-02] [ 3.50713308e-02 4.76717570e-03 9.99373442e-01 9.75474945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512557844 meters Centerline goodness : 0.145221 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99383208e-01 -6.83653759e-04 -3.51103567e-02 9.92352835e-01] [ 4.98182596e-04 9.99985878e-01 -5.29099675e-03 6.96599725e-02] [ 3.51134781e-02 5.27024194e-03 9.99369435e-01 9.75252353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542557844 meters Centerline goodness : 0.166940 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.97 [[ 9.99384568e-01 -1.00152817e-03 -3.50639649e-02 9.92322176e-01] [ 7.88610577e-04 9.99981172e-01 -6.08556596e-03 7.35264344e-02] [ 3.50693996e-02 6.05416889e-03 9.99366541e-01 9.74926732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572557844 meters Centerline goodness : 0.228223 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.97 [[ 9.99389715e-01 -1.14583501e-03 -3.49125418e-02 9.91956513e-01] [ 9.22205378e-04 9.99978961e-01 -6.42085389e-03 7.51563468e-02] [ 3.49191645e-02 6.38473880e-03 9.99369745e-01 9.74832401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602557844 meters Centerline goodness : 0.176170 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99939688 -0.00126661 -0.03470271 0.99124193] [ 0.00103636 0.99997734 -0.00665217 0.07621454] [ 0.03471035 0.00661219 0.99937554 0.97509433] [ 0. 0. 0. 1. ]] SLAMing on 120.632557844 meters Centerline goodness : 0.112327 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940521 -0.00136033 -0.03445836 0.99031998] [ 0.00112747 0.9999764 -0.00677639 0.07670992] [ 0.03446677 0.00673351 0.99938316 0.97557583] [ 0. 0. 0. 1. ]] SLAMing on 120.662557844 meters Centerline goodness : 0.177370 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99941093 -0.00140812 -0.03429006 0.98950765] [ 0.00117538 0.99997614 -0.00680651 0.07684938] [ 0.03429882 0.0067622 0.99938874 0.97618124] [ 0. 0. 0. 1. ]] SLAMing on 120.692557844 meters Centerline goodness : 0.253019 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940881 -0.00145578 -0.03434975 0.98922044] [ 0.00122379 0.99997631 -0.00677397 0.07703928] [ 0.0343588 0.00672793 0.99938692 0.97675222] [ 0. 0. 0. 1. ]] SLAMing on 120.72255784400001 meters Centerline goodness : 0.238621 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940379 -0.00145774 -0.03449558 0.98956463] [ 0.00122603 0.99997655 -0.00673733 0.07694287] [ 0.0345046 0.00669102 0.99938214 0.97678177] [ 0. 0. 0. 1. ]] SLAMing on 120.75255784400001 meters Centerline goodness : 0.169932 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940112 -0.00143945 -0.03457344 0.98964991] [ 0.00121157 0.99997741 -0.00661107 0.07629157] [ 0.03458217 0.00656522 0.99938029 0.9769714 ] [ 0. 0. 0. 1. ]] SLAMing on 120.78255784400001 meters Centerline goodness : 0.169932 Centerline is valid? [False, False] Translation: X:0.99, Y:0.08, Z:0.98 [[ 0.99940112 -0.00143945 -0.03457344 0.98964991] [ 0.00121157 0.99997741 -0.00661107 0.07629157] [ 0.03458217 0.00656522 0.99938029 0.9769714 ] [ 0. 0. 0. 1. ]] SLAMing on 120.81255784400001 meters Centerline goodness : 0.205207 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99940239 -0.0014541 -0.03453616 0.98912078] [ 0.00123402 0.9999788 -0.00639287 0.0748989 ] [ 0.03454473 0.00634643 0.999383 0.97773031] [ 0. 0. 0. 1. ]] SLAMing on 120.842557844 meters Centerline goodness : 0.147291 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941079 -0.00144294 -0.0342926 0.98790518] [ 0.00123499 0.99998073 -0.00608462 0.0730354 ] [ 0.03430072 0.00603868 0.99939331 0.97878897] [ 0. 0. 0. 1. ]] SLAMing on 120.872557844 meters Centerline goodness : 0.182525 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941618 -0.00132065 -0.03414032 0.98700661] [ 0.00112768 0.99998328 -0.00567105 0.07104811] [ 0.03414724 0.00562924 0.99940096 0.97966459] [ 0. 0. 0. 1. ]] SLAMing on 120.902557844 meters Centerline goodness : 0.190013 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 0.99941393 -0.00118901 -0.03421081 0.98719927] [ 0.00101077 0.99998583 -0.00522701 0.06887769] [ 0.03421654 0.00518937 0.99940097 0.97964096] [ 0. 0. 0. 1. ]] SLAMing on 120.932557844 meters Centerline goodness : 0.183839 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99411214e-01 -1.13434119e-03 -3.42919482e-02 9.87640662e-01] [ 9.61046823e-04 9.99986688e-01 -5.06956087e-03 6.81380117e-02] [ 3.42972423e-02 5.03361982e-03 9.99399000e-01 9.79239032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962557844 meters Centerline goodness : 0.200026 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99410215e-01 -1.07405944e-03 -3.43229930e-02 9.87808839e-01] [ 9.04903607e-04 9.99987371e-01 -4.94350731e-03 6.75910664e-02] [ 3.43278692e-02 4.90953271e-03 9.99398566e-01 9.79092666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992557844 meters Centerline goodness : 0.174256 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99410230e-01 -1.02950780e-03 -3.43239448e-02 9.87835590e-01] [ 8.63223298e-04 9.99987822e-01 -4.85902963e-03 6.72164584e-02] [ 3.43285292e-02 4.82653469e-03 9.99398948e-01 9.79070228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022557844 meters Centerline goodness : 0.148220 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.98 [[ 9.99408229e-01 -1.01768505e-03 -3.43824857e-02 9.88051046e-01] [ 8.52008123e-04 9.99987958e-01 -4.83295084e-03 6.70467876e-02] [ 3.43869901e-02 4.80079669e-03 9.99397062e-01 9.78970517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052557844 meters Centerline goodness : 0.130193 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99450184e-01 7.15675159e-04 -3.31484180e-02 1.03329573e+00] [-8.96617479e-04 9.99984779e-01 -5.44400757e-03 7.04876300e-02] [ 3.31440173e-02 5.47073582e-03 9.99435613e-01 9.79124305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08255784400001 meters Centerline goodness : 0.188124 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99456824e-01 7.29473487e-04 -3.29472958e-02 1.03287001e+00] [-9.14170725e-04 9.99983952e-01 -5.59112318e-03 7.14932815e-02] [ 3.29426885e-02 5.61820567e-03 9.99441452e-01 9.78946639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11255784400001 meters Centerline goodness : 0.142944 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99463947e-01 7.00772089e-04 -3.27311512e-02 1.03230279e+00] [-8.89250216e-04 9.99983107e-01 -5.74416951e-03 7.23602248e-02] [ 3.27265729e-02 5.77019651e-03 9.99447686e-01 9.78941180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14255784400001 meters Centerline goodness : 0.127242 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99468222e-01 6.47658057e-04 -3.26014427e-02 1.03199893e+00] [-8.40724545e-04 9.99982190e-01 -5.90866318e-03 7.31576715e-02] [ 3.25970353e-02 5.93292992e-03 9.99450966e-01 9.78880076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17255784400001 meters Centerline goodness : 0.141520 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99467131e-01 5.49743963e-04 -3.26366599e-02 1.03232634e+00] [-7.49782988e-04 9.99981008e-01 -6.11735177e-03 7.39737477e-02] [ 3.26326771e-02 6.13856243e-03 9.99448561e-01 9.78495344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.202557844 meters Centerline goodness : 0.198753 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99463604e-01 4.68324335e-04 -3.27457710e-02 1.03295702e+00] [-6.73513427e-04 9.99980208e-01 -6.25537543e-03 7.44453751e-02] [ 3.27421934e-02 6.27407479e-03 9.99444138e-01 9.77891158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232557844 meters Centerline goodness : 0.143923 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.98 [[ 9.99459950e-01 4.30502040e-04 -3.28576042e-02 1.03364024e+00] [-6.38019213e-04 9.99979917e-01 -6.30542799e-03 7.45646824e-02] [ 3.28542298e-02 6.32298653e-03 9.99440153e-01 9.77192162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262557844 meters Centerline goodness : 0.287618 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99453852e-01 3.50682295e-04 -3.30435348e-02 1.03432162e+00] [-5.63046735e-04 9.99979248e-01 -6.41772169e-03 7.51207603e-02] [ 3.30405985e-02 6.43282171e-03 9.99433308e-01 9.76792461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292557844 meters Centerline goodness : 0.184976 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99448395e-01 3.53279044e-04 -3.32081491e-02 1.03460547e+00] [-5.65933166e-04 9.99979395e-01 -6.39449159e-03 7.50813249e-02] [ 3.32052058e-02 6.40975795e-03 9.99428001e-01 9.77002102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322557844 meters Centerline goodness : 0.180126 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.98 [[ 9.99439121e-01 3.16774543e-04 -3.34864569e-02 1.03531020e+00] [-5.32460205e-04 9.99979171e-01 -6.43226051e-03 7.51970646e-02] [ 3.34837218e-02 6.44648300e-03 9.99418473e-01 9.77027481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352557844 meters Centerline goodness : 0.186317 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.98 [[ 9.99434513e-01 2.59988874e-04 -3.36241969e-02 1.03588548e+00] [-4.79567146e-04 9.99978614e-01 -6.52246489e-03 7.54759702e-02] [ 3.36217821e-02 6.53490158e-03 9.99413263e-01 9.76642083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382557844 meters Centerline goodness : 0.189257 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.98 [[ 9.99449389e-01 2.81307791e-04 -3.31789068e-02 1.03451089e+00] [-4.97404119e-04 9.99978719e-01 -6.50498945e-03 7.54758213e-02] [ 3.31763708e-02 6.51791106e-03 9.99428259e-01 9.77050781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412557844 meters Centerline goodness : 0.195490 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947508 -0.00713448 -0.03160153 1.05332584] [ 0.00696285 0.99996042 -0.00553784 0.08078429] [ 0.03163979 0.00531489 0.99948521 0.97859844] [ 0. 0. 0. 1. ]] SLAMing on 121.442557844 meters Centerline goodness : 0.181968 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.9994775 -0.00712249 -0.03152759 1.05292174] [ 0.00695152 0.99996055 -0.00552918 0.08078686] [ 0.03156573 0.00530712 0.99948759 0.97895324] [ 0. 0. 0. 1. ]] SLAMing on 121.47255784400001 meters Centerline goodness : 0.128713 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947256 -0.00714081 -0.0316798 1.05342707] [ 0.00696755 0.99996018 -0.00557601 0.08101724] [ 0.03171835 0.00535234 0.99948252 0.97874833] [ 0. 0. 0. 1. ]] SLAMing on 121.50255784400001 meters Centerline goodness : 0.199414 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99946856 -0.00717085 -0.03179913 1.05384269] [ 0.00699473 0.9999596 -0.00564613 0.08133968] [ 0.03183834 0.0054207 0.99947833 0.97854415] [ 0. 0. 0. 1. ]] SLAMing on 121.53255784400001 meters Centerline goodness : 0.144631 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99947018 -0.00708368 -0.03176772 1.05330848] [ 0.00691194 0.99996092 -0.00551274 0.08098991] [ 0.03180553 0.00529024 0.99948008 0.97928598] [ 0. 0. 0. 1. ]] SLAMing on 121.56255784400001 meters Centerline goodness : 0.201386 Centerline is valid? [False, False] Translation: X:1.05, Y:0.08, Z:0.98 [[ 0.99946858 -0.00704985 -0.03182549 1.05338134] [ 0.00688081 0.99996165 -0.00541772 0.08050025] [ 0.03186246 0.00519586 0.99947876 0.97943338] [ 0. 0. 0. 1. ]] SLAMing on 121.592557844 meters Centerline goodness : 0.183186 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.98 [[ 0.99950854 0.00140889 -0.03131612 1.07337061] [-0.00162869 0.99997421 -0.00699438 0.07669478] [ 0.03130545 0.00704194 0.99948506 0.98069003] [ 0. 0. 0. 1. ]] SLAMing on 121.622557844 meters Centerline goodness : 0.127307 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.98 [[ 0.99950467 0.0015 -0.03143512 1.0739322 ] [-0.00171298 0.99997576 -0.00674934 0.07549792] [ 0.03142424 0.00679985 0.99948301 0.98024173] [ 0. 0. 0. 1. ]] SLAMing on 121.652557844 meters Centerline goodness : 0.187846 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950549 0.00158707 -0.03140482 1.07400869] [-0.00179275 0.99997712 -0.00652226 0.07447537] [ 0.03139375 0.00657534 0.99948547 0.97996742] [ 0. 0. 0. 1. ]] SLAMing on 121.682557844 meters Centerline goodness : 0.146556 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950728 0.00169092 -0.03134223 1.07384441] [-0.00188955 0.99997831 -0.00630871 0.07357193] [ 0.03133088 0.00636483 0.9994888 0.9799597 ] [ 0. 0. 0. 1. ]] SLAMing on 121.712557844 meters Centerline goodness : 0.138560 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950758 0.00172685 -0.03133067 1.07372577] [-0.00192305 0.99997873 -0.00623299 0.07311989] [ 0.03131924 0.00629017 0.99948964 0.98016907] [ 0. 0. 0. 1. ]] SLAMing on 121.742557844 meters Centerline goodness : 0.173968 Centerline is valid? [False, False] Translation: X:1.07, Y:0.07, Z:0.98 [[ 0.99950671 0.00166697 -0.03136169 1.07362502] [-0.00187094 0.99997728 -0.0064756 0.07406746] [ 0.03135018 0.00653108 0.99948712 0.98051936] [ 0. 0. 0. 1. ]] SLAMing on 121.772557844 meters Centerline goodness : 0.151024 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99950881 -0.0047378 -0.03097881 1.09145003] [ 0.00458873 0.99997756 -0.00488125 0.08050204] [ 0.03100124 0.0047367 0.99950812 0.98306368] [ 0. 0. 0. 1. ]] SLAMing on 121.802557844 meters Centerline goodness : 0.182866 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99951433 -0.00470875 -0.03080467 1.09094041] [ 0.00455492 0.99997682 -0.00506182 0.0818059 ] [ 0.03082779 0.00491905 0.99951261 0.9830924 ] [ 0. 0. 0. 1. ]] SLAMing on 121.83255784400001 meters Centerline goodness : 0.183167 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.98 [[ 0.99951684 -0.00475693 -0.03071566 1.09073959] [ 0.00459573 0.99997531 -0.00531658 0.08316367] [ 0.03074019 0.00517285 0.99951402 0.9830181 ] [ 0. 0. 0. 1. ]] SLAMing on 121.86255784400001 meters Centerline goodness : 0.132898 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951419 -0.00493194 -0.0307744 1.09097902] [ 0.00475597 0.99997194 -0.00578854 0.08513592] [ 0.03080208 0.00563937 0.99950959 0.98285821] [ 0. 0. 0. 1. ]] SLAMing on 121.89255784400001 meters Centerline goodness : 0.184254 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951566 -0.004995 -0.03071627 1.09089048] [ 0.00481392 0.99997061 -0.00596627 0.08594592] [ 0.03074517 0.00581551 0.99951034 0.98270768] [ 0. 0. 0. 1. ]] SLAMing on 121.92255784400001 meters Centerline goodness : 0.252768 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99951845 -0.00504857 -0.03061679 1.09067578] [ 0.00486252 0.99996928 -0.00614816 0.08693149] [ 0.03064688 0.00599632 0.99951229 0.98256635] [ 0. 0. 0. 1. ]] SLAMing on 121.952557844 meters Centerline goodness : 0.144631 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952317 -0.00510479 -0.03045288 1.09032169] [ 0.00491339 0.99996772 -0.00635672 0.0881151 ] [ 0.03048435 0.00620406 0.99951599 0.98240291] [ 0. 0. 0. 1. ]] SLAMing on 121.982557844 meters Centerline goodness : 0.147190 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952415 -0.00520773 -0.03040317 1.09028757] [ 0.00500797 0.9999654 -0.00664285 0.08956248] [ 0.03043671 0.00648743 0.99951564 0.98220491] [ 0. 0. 0. 1. ]] SLAMing on 122.012557844 meters Centerline goodness : 0.146299 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.98 [[ 0.99952452 -0.00531398 -0.03037274 1.09022673] [ 0.00510547 0.99996289 -0.0069387 0.09105899] [ 0.03040849 0.00678034 0.99951456 0.9820842 ] [ 0. 0. 0. 1. ]] SLAMing on 122.042557844 meters Centerline goodness : 0.176907 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99960428 0.00169878 -0.02807851 1.11150512] [-0.00197224 0.99995087 -0.00971413 0.09316244] [ 0.02806063 0.00976566 0.99955852 0.98160075] [ 0. 0. 0. 1. ]] SLAMing on 122.072557844 meters Centerline goodness : 0.183470 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:0.98 [[ 0.99955641 -0.00781325 -0.02873911 1.09058638] [ 0.00756508 0.99993324 -0.00873394 0.09585767] [ 0.02880544 0.00851265 0.99954879 0.98062386] [ 0. 0. 0. 1. ]] SLAMing on 122.102557844 meters Centerline goodness : 0.268453 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99630584e-01 7.16449660e-04 -2.71694957e-02 1.10876274e+00] [-9.91936347e-04 9.99948224e-01 -1.01274366e-02 9.25969552e-02] [ 2.71608332e-02 1.01506458e-02 9.99579538e-01 9.81881928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132557844 meters Centerline goodness : 0.140019 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99632257e-01 7.26916166e-04 -2.71076108e-02 1.10846128e+00] [-9.99466527e-04 9.99949076e-01 -1.00421920e-02 9.22000615e-02] [ 2.70989306e-02 1.00655922e-02 9.99582079e-01 9.82100088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162557844 meters Centerline goodness : 0.152757 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99628595e-01 6.81600603e-04 -2.72434824e-02 1.10871449e+00] [-9.48414985e-04 9.99951706e-01 -9.78197464e-03 9.07612682e-02] [ 2.72354993e-02 9.80417970e-03 9.99580965e-01 9.82274132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192557844 meters Centerline goodness : 0.303411 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99622564e-01 7.10937528e-04 -2.74631269e-02 1.10916146e+00] [-9.72854920e-04 9.99954164e-01 -9.52487274e-03 8.92742827e-02] [ 2.74550965e-02 9.54799535e-03 9.99577437e-01 9.82471086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22255784400001 meters Centerline goodness : 0.265005 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99614602e-01 7.07567584e-04 -2.77515108e-02 1.10979713e+00] [-9.65529956e-04 9.99956445e-01 -9.28313701e-03 8.76750051e-02] [ 2.77437336e-02 9.30635423e-03 9.99571747e-01 9.82674504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25255784400001 meters Centerline goodness : 0.127305 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99613434e-01 8.13595128e-04 -2.77906435e-02 1.10976382e+00] [-1.06388755e-03 9.99958998e-01 -8.99275750e-03 8.62422168e-02] [ 2.77821875e-02 9.01884732e-03 9.99573314e-01 9.82910228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28255784400001 meters Centerline goodness : 0.126588 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 9.99620877e-01 8.46039205e-04 -2.75206496e-02 1.10892099e+00] [-1.08693448e-03 9.99961219e-01 -8.73947389e-03 8.53261520e-02] [ 2.75121884e-02 8.76607370e-03 9.99583031e-01 9.83032759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31255784400001 meters Centerline goodness : 0.125805 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.98 [[ 9.99624022e-01 9.30451941e-04 -2.74034628e-02 1.10850498e+00] [-1.16694008e-03 9.99962208e-01 -8.61513581e-03 8.49761554e-02] [ 2.73944112e-02 8.64387491e-03 9.99587330e-01 9.83217056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.342557844 meters Centerline goodness : 0.126990 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99964092 0.0012019 -0.02676901 1.10672441] [-0.00143349 0.9999617 -0.0086342 0.08597776] [ 0.02675761 0.00866947 0.99960436 0.98355536] [ 0. 0. 0. 1. ]] SLAMing on 122.372557844 meters Centerline goodness : 0.152000 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99962656 0.00121453 -0.02729949 1.1080436 ] [-0.0014682 0.99995592 -0.00927414 0.08848512] [ 0.02728702 0.00931076 0.99958428 0.98400088] [ 0. 0. 0. 1. ]] SLAMing on 122.402557844 meters Centerline goodness : 0.189526 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99962971 0.00129996 -0.02718002 1.10793295] [-0.00156241 0.99995234 -0.00963709 0.09070612] [ 0.0271662 0.00967599 0.9995841 0.98363671] [ 0. 0. 0. 1. ]] SLAMing on 122.432557844 meters Centerline goodness : 0.143807 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99964194 0.0016586 -0.02670668 1.10688229] [-0.00192031 0.99995036 -0.00977675 0.09269088] [ 0.02668914 0.00982454 0.9995955 0.98324624] [ 0. 0. 0. 1. ]] SLAMing on 122.462557844 meters Centerline goodness : 0.145322 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:0.98 [[ 0.99965781 0.00190458 -0.026089 1.1053312 ] [-0.00216601 0.99994769 -0.00999615 0.09483378] [ 0.0260686 0.01004924 0.99960964 0.98310082] [ 0. 0. 0. 1. ]] SLAMing on 122.492557844 meters Centerline goodness : 0.200430 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.99 [[ 0.99964234 0.00555841 -0.02615907 1.1457571 ] [-0.00583679 0.99992702 -0.01057757 0.10338164] [ 0.02609836 0.01072647 0.99960183 0.98550455] [ 0. 0. 0. 1. ]] SLAMing on 122.522557844 meters Centerline goodness : 0.212151 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.99 [[ 0.99963843 0.00535878 -0.02634955 1.14638536] [-0.00565217 0.99992272 -0.01107257 0.10554862] [ 0.02628818 0.0112175 0.99959147 0.98526893] [ 0. 0. 0. 1. ]] SLAMing on 122.552557844 meters Centerline goodness : 0.132181 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.98 [[ 0.99963496 0.0051811 -0.02651608 1.14700922] [-0.00548797 0.99991866 -0.0115133 0.10753925] [ 0.02645427 0.01165462 0.99958208 0.98490633] [ 0. 0. 0. 1. ]] SLAMing on 122.58255784400001 meters Centerline goodness : 0.138310 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.98 [[ 0.99963707 0.00499492 -0.02647226 1.14718633] [-0.00531317 0.9999143 -0.01196545 0.10963054] [ 0.02641022 0.01210176 0.99957793 0.9843758 ] [ 0. 0. 0. 1. ]] SLAMing on 122.61255784400001 meters Centerline goodness : 0.125984 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.98 [[ 0.9996022 -0.00248131 -0.02809426 1.12513162] [ 0.00221927 0.99995378 -0.00935461 0.11245294] [ 0.02811617 0.00928854 0.99956151 0.98446428] [ 0. 0. 0. 1. ]] SLAMing on 122.64255784400001 meters Centerline goodness : 0.133550 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99658228e-01 -7.19281905e-04 -2.61325385e-02 1.16874819e+00] [ 4.63039061e-04 9.99951771e-01 -9.81023746e-03 1.19488113e-01] [ 2.61383345e-02 9.79478421e-03 9.99610349e-01 9.84825970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67255784400001 meters Centerline goodness : 0.144222 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.702557844 meters Centerline goodness : 0.144222 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732557844 meters Centerline goodness : 0.144222 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99649191e-01 -1.12905890e-03 -2.64616804e-02 1.16972880e+00] [ 8.46207263e-04 9.99942418e-01 -1.06978647e-02 1.23544493e-01] [ 2.64722352e-02 1.06717197e-02 9.99592585e-01 9.84544665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762557844 meters Centerline goodness : 0.148759 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.98 [[ 9.99643460e-01 -1.27478128e-03 -2.66707353e-02 1.17045504e+00] [ 9.82460937e-04 9.99939339e-01 -1.09705749e-02 1.24705430e-01] [ 2.66831025e-02 1.09404605e-02 9.99584073e-01 9.84228815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792557844 meters Centerline goodness : 0.260203 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.98 [[ 0.99964222 -0.00150606 -0.02670515 1.17043859] [ 0.00120144 0.99993408 -0.01141899 0.12669778] [ 0.02672058 0.01138282 0.99957813 0.98435902] [ 0. 0. 0. 1. ]] SLAMing on 122.822557844 meters Centerline goodness : 0.136612 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.99 [[ 0.99963437 -0.00895364 -0.02551383 1.18922697] [ 0.00869296 0.99990906 -0.01031001 0.13314049] [ 0.02560382 0.01008445 0.9996213 0.98643903] [ 0. 0. 0. 1. ]] SLAMing on 122.852557844 meters Centerline goodness : 0.148633 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970171 -0.00151106 -0.02437631 1.16872124] [ 0.00125052 0.99994197 -0.01069998 0.1279096 ] [ 0.02439106 0.0106663 0.99964559 0.98538781] [ 0. 0. 0. 1. ]] SLAMing on 122.882557844 meters Centerline goodness : 0.149385 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970545 -0.00154421 -0.02422056 1.16802627] [ 0.00128523 0.99994188 -0.01070449 0.12794029] [ 0.02423569 0.0106702 0.99964933 0.98586493] [ 0. 0. 0. 1. ]] SLAMing on 122.912557844 meters Centerline goodness : 0.152324 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.99 [[ 0.99970447 -0.00157272 -0.02425884 1.16803565] [ 0.00131541 0.99994275 -0.01061943 0.12745165] [ 0.02427415 0.01058438 0.99964931 0.98600687] [ 0. 0. 0. 1. ]] SLAMing on 122.942557844 meters Centerline goodness : 0.127403 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:0.99 [[ 0.99963199 -0.00312229 -0.02694676 1.12307193] [ 0.00284884 0.99994412 -0.01018015 0.12286016] [ 0.02697704 0.01009963 0.99958503 0.98638502] [ 0. 0. 0. 1. ]] SLAMing on 122.97255784400001 meters Centerline goodness : 0.148717 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.99 [[ 0.99956917 -0.01167137 -0.02693037 1.14565456] [ 0.01140975 0.99988641 -0.00984812 0.12550685] [ 0.02704226 0.00953661 0.9995888 0.98707273] [ 0. 0. 0. 1. ]] SLAMing on 123.00255784400001 meters Centerline goodness : 0.148499 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:0.99 [[ 0.99962335 -0.00435275 -0.02709626 1.12713293] [ 0.0040687 0.99993629 -0.01052908 0.11785264] [ 0.02714037 0.01041487 0.99957738 0.98528056] [ 0. 0. 0. 1. ]] SLAMing on 123.03255784400001 meters Centerline goodness : 0.148288 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:0.99 [[ 0.99962163 -0.00424743 -0.02717649 1.12723053] [ 0.0039738 0.99994095 -0.01011475 0.11581547] [ 0.02721784 0.01000292 0.99957948 0.98547604] [ 0. 0. 0. 1. ]] SLAMing on 123.06255784400001 meters Centerline goodness : 0.148067 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99961991 -0.00416702 -0.02725217 1.12723942] [ 0.00390291 0.99994497 -0.00973732 0.11386104] [ 0.02729124 0.00962726 0.99958116 0.98583246] [ 0. 0. 0. 1. ]] SLAMing on 123.092557844 meters Centerline goodness : 0.157492 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.99 [[ 0.99953329 -0.00591021 -0.02997125 1.0815834 ] [ 0.00562971 0.99993964 -0.00943473 0.10885612] [ 0.0300252 0.0092616 0.99950623 0.98653509] [ 0. 0. 0. 1. ]] SLAMing on 123.122557844 meters Centerline goodness : 0.167442 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.99 [[ 0.99952874 -0.00581454 -0.0301413 1.08199574] [ 0.00554084 0.99994273 -0.0091562 0.10750836] [ 0.03019281 0.00898488 0.99950371 0.9865718 ] [ 0. 0. 0. 1. ]] SLAMing on 123.152557844 meters Centerline goodness : 0.135000 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99959643 -0.00457141 -0.02803713 1.12686587] [ 0.0043199 0.99994994 -0.00902484 0.10657791] [ 0.02807698 0.00890008 0.99956614 0.98667017] [ 0. 0. 0. 1. ]] SLAMing on 123.182557844 meters Centerline goodness : 0.146952 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:0.99 [[ 0.99960457 -0.00452876 -0.02775235 1.12573054] [ 0.00428658 0.99995227 -0.00877986 0.10547228] [ 0.02779078 0.00865742 0.99957627 0.98728199] [ 0. 0. 0. 1. ]] SLAMing on 123.212557844 meters Centerline goodness : 0.160135 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.999609 -0.00456015 -0.027587 1.12469021] [ 0.00432052 0.99995248 -0.00873956 0.10486033] [ 0.02762554 0.00861696 0.9995812 0.98830034] [ 0. 0. 0. 1. ]] SLAMing on 123.242557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 123.272557844 meters Centerline goodness : 0.183791 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99960001 -0.00444681 -0.02792947 1.12511097] [ 0.00421075 0.99995496 -0.0085054 0.10301543] [ 0.02796603 0.00838439 0.99957371 0.98925481] [ 0. 0. 0. 1. ]] SLAMing on 123.302557844 meters Centerline goodness : 0.191936 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99959055 -0.00412307 -0.02831503 1.12680556] [ 0.00390474 0.99996225 -0.00776161 0.09970444] [ 0.02834596 0.00764787 0.99956892 0.98799254] [ 0. 0. 0. 1. ]] SLAMing on 123.33255784400001 meters Centerline goodness : 0.140140 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99958748 -0.00384469 -0.02846214 1.12749116] [ 0.00364005 0.99996718 -0.00723803 0.09792129] [ 0.02848904 0.00713144 0.99956867 0.98748442] [ 0. 0. 0. 1. ]] SLAMing on 123.36255784400001 meters Centerline goodness : 0.178776 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:0.99 [[ 0.99958653 -0.00371937 -0.02851202 1.12745118] [ 0.00352322 0.9999698 -0.00692664 0.09627054] [ 0.02853693 0.00682333 0.99956945 0.98782426] [ 0. 0. 0. 1. ]] SLAMing on 123.39255784400001 meters Centerline goodness : 0.172431 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99957848 0.00184176 -0.02897345 1.10359875] [-0.00212563 0.99995001 -0.00977 0.09177025] [ 0.02895401 0.00982747 0.99953243 0.98822433] [ 0. 0. 0. 1. ]] SLAMing on 123.42255784400001 meters Centerline goodness : 0.197306 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.99 [[ 0.99957608 0.00265854 -0.02899296 1.142888 ] [-0.00292546 0.99995369 -0.00916811 0.09249768] [ 0.02896725 0.00924904 0.99953757 0.99058545] [ 0. 0. 0. 1. ]] SLAMing on 123.452557844 meters Centerline goodness : 0.150283 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99949014 0.00299834 -0.03178783 1.09938849] [-0.00325181 0.99996331 -0.00792516 0.08944542] [ 0.0317629 0.00802449 0.99946322 0.99102287] [ 0. 0. 0. 1. ]] SLAMing on 123.482557844 meters Centerline goodness : 0.150834 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99948314 0.00360196 -0.03194485 1.10032269] [-0.00384924 0.99996308 -0.00768272 0.089523 ] [ 0.031916 0.00780172 0.99946011 0.99050716] [ 0. 0. 0. 1. ]] SLAMing on 123.512557844 meters Centerline goodness : 0.143065 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950561 -0.00420219 -0.03115906 1.11979409] [ 0.00398517 0.99996739 -0.00702378 0.09771406] [ 0.03118756 0.00689614 0.99948976 0.99119371] [ 0. 0. 0. 1. ]] SLAMing on 123.542557844 meters Centerline goodness : 0.144078 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950591 -0.00419438 -0.03115046 1.11969997] [ 0.00397621 0.99996716 -0.00706242 0.09787197] [ 0.03117906 0.00693507 0.99948976 0.99129155] [ 0. 0. 0. 1. ]] SLAMing on 123.572557844 meters Centerline goodness : 0.145025 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99949165 0.00354243 -0.03168418 1.09976428] [-0.0037956 0.99996132 -0.00793383 0.09252161] [ 0.03165485 0.00805006 0.99946644 0.98936483] [ 0. 0. 0. 1. ]] SLAMing on 123.602557844 meters Centerline goodness : 0.142681 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99948474 0.00350599 -0.03190539 1.1007522 ] [-0.00376626 0.99996009 -0.00810107 0.09332352] [ 0.03187572 0.00821706 0.99945806 0.98860814] [ 0. 0. 0. 1. ]] SLAMing on 123.632557844 meters Centerline goodness : 0.140668 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99947704 0.00345744 -0.03215124 1.10172624] [-0.0037244 0.99995906 -0.00824698 0.09395372] [ 0.03212141 0.00836241 0.99944899 0.98805351] [ 0. 0. 0. 1. ]] SLAMing on 123.662557844 meters Centerline goodness : 0.159598 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99946704 0.00338035 -0.03246853 1.10277137] [-0.00365393 0.99995829 -0.00837012 0.09432048] [ 0.03243888 0.00848429 0.99943771 0.9876365 ] [ 0. 0. 0. 1. ]] SLAMing on 123.692557844 meters Centerline goodness : 0.143702 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99945869 0.00335051 -0.03272775 1.10343211] [-0.00362488 0.99995876 -0.00832752 0.09396978] [ 0.0326985 0.00844165 0.99942961 0.98763159] [ 0. 0. 0. 1. ]] SLAMing on 123.72255784400001 meters Centerline goodness : 0.132558 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99945777 0.00341442 -0.03274919 1.10347084] [-0.00368206 0.99996029 -0.00811578 0.09306396] [ 0.03272018 0.00823197 0.99943065 0.98758605] [ 0. 0. 0. 1. ]] SLAMing on 123.75255784400001 meters Centerline goodness : 0.151621 Centerline is valid? [False, False] Translation: X:1.10, Y:0.09, Z:0.99 [[ 0.99946187 0.0034893 -0.03261599 1.10301403] [-0.00374963 0.99996157 -0.00792395 0.09224857] [ 0.03258708 0.00804199 0.99943655 0.98776548] [ 0. 0. 0. 1. ]] SLAMing on 123.78255784400001 meters Centerline goodness : 0.191327 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.99950559 -0.00394194 -0.03119347 1.12235566] [ 0.00373269 0.99997016 -0.00676347 0.09656634] [ 0.0312192 0.00664369 0.99949048 0.98924196] [ 0. 0. 0. 1. ]] SLAMing on 123.81255784400001 meters Centerline goodness : 0.181848 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.99 [[ 0.9995131 -0.00382639 -0.03096658 1.12149867] [ 0.00362867 0.99997269 -0.00643848 0.09507423] [ 0.03099037 0.00632298 0.99949968 0.98969449] [ 0. 0. 0. 1. ]] SLAMing on 123.842557844 meters Centerline goodness : 0.144924 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99950027 -0.00377935 -0.03138357 1.12276151] [ 0.00359572 0.9999761 -0.00590558 0.09204414] [ 0.03140514 0.00578978 0.99948997 0.98939399] [ 0. 0. 0. 1. ]] SLAMing on 123.872557844 meters Centerline goodness : 0.144173 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99949059 -0.00366625 -0.03170366 1.12388725] [ 0.0034927 0.99997862 -0.00552762 0.09010871] [ 0.03172324 0.00541407 0.99948203 0.98885707] [ 0. 0. 0. 1. ]] SLAMing on 123.902557844 meters Centerline goodness : 0.146687 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.9994835 -0.00355371 -0.03193895 1.12462357] [ 0.00339135 0.99998106 -0.00513611 0.08809337] [ 0.0319566 0.00502514 0.99947662 0.98865746] [ 0. 0. 0. 1. ]] SLAMing on 123.932557844 meters Centerline goodness : 0.174862 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.99 [[ 0.99948086 -0.00340493 -0.03203771 1.12478967] [ 0.00325738 0.99998385 -0.00465646 0.08567033] [ 0.03205305 0.00454969 0.99947581 0.98882771] [ 0. 0. 0. 1. ]] SLAMing on 123.962557844 meters Centerline goodness : 0.137525 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948896 0.00511077 -0.0315546 1.10548391] [-0.00527631 0.99997274 -0.00516511 0.07576987] [ 0.03152734 0.00532896 0.99948868 0.98791277] [ 0. 0. 0. 1. ]] SLAMing on 123.992557844 meters Centerline goodness : 0.144325 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.99 [[ 0.99949232 0.00515719 -0.03144054 1.10487894] [-0.00531585 0.99997355 -0.00496475 0.07482018] [ 0.03141411 0.00512936 0.99949329 0.98843328] [ 0. 0. 0. 1. ]] SLAMing on 124.022557844 meters Centerline goodness : 0.145558 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.99 [[ 0.99950512 0.00522206 -0.03102021 1.1031908 ] [-0.00537938 0.99997308 -0.00499039 0.07497759] [ 0.03099332 0.00515479 0.9995063 0.98956281] [ 0. 0. 0. 1. ]] SLAMing on 124.052557844 meters Centerline goodness : 0.144806 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99950661 0.00516612 -0.03098133 1.10275698] [-0.00533176 0.99997192 -0.00526614 0.07591191] [ 0.03095326 0.00542873 0.99950609 0.99026977] [ 0. 0. 0. 1. ]] SLAMing on 124.08255784400001 meters Centerline goodness : 0.094893 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99950154 0.0052414 -0.03113197 1.10308337] [-0.00541304 0.9999706 -0.00543137 0.07677409] [ 0.03110258 0.00559718 0.99950053 0.99053014] [ 0. 0. 0. 1. ]] SLAMing on 124.11255784400001 meters Centerline goodness : 0.138333 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.9994909 0.0053976 -0.0314453 1.10414887] [-0.00557475 0.99996907 -0.00554838 0.07767298] [ 0.03141438 0.00572085 0.99949007 0.99024921] [ 0. 0. 0. 1. ]] SLAMing on 124.14255784400001 meters Centerline goodness : 0.143393 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99947211 0.00561328 -0.03199991 1.10589668] [-0.00579783 0.99996708 -0.0056772 0.07851879] [ 0.03196699 0.00585973 0.99947175 0.98994286] [ 0. 0. 0. 1. ]] SLAMing on 124.17255784400001 meters Centerline goodness : 0.116934 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99945773 0.00561943 -0.03244489 1.10714583] [-0.00581884 0.99996474 -0.00605501 0.07999757] [ 0.03240972 0.00624052 0.99945518 0.98999143] [ 0. 0. 0. 1. ]] SLAMing on 124.202557844 meters Centerline goodness : 0.115939 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99945747 0.00561333 -0.03245386 1.10717248] [-0.00582324 0.99996271 -0.00637703 0.08143607] [ 0.03241686 0.00656255 0.99945289 0.98997537] [ 0. 0. 0. 1. ]] SLAMing on 124.232557844 meters Centerline goodness : 0.140377 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99946074 0.0056016 -0.03235517 1.10685498] [-0.00581437 0.99996206 -0.00648573 0.08201315] [ 0.03231761 0.00667035 0.99945539 0.99001608] [ 0. 0. 0. 1. ]] SLAMing on 124.262557844 meters Centerline goodness : 0.114133 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99947061 0.0056232 -0.03204497 1.10597402] [-0.00583576 0.99996156 -0.00654337 0.08254546] [ 0.03200694 0.00672691 0.99946501 0.99009427] [ 0. 0. 0. 1. ]] SLAMing on 124.292557844 meters Centerline goodness : 0.141601 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948019 0.00563342 -0.03174296 1.10500019] [-0.00584434 0.99996143 -0.0065557 0.08273302] [ 0.03170481 0.00673781 0.99947457 0.990416 ] [ 0. 0. 0. 1. ]] SLAMing on 124.322557844 meters Centerline goodness : 0.143581 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948777 0.00563462 -0.03150323 1.10398618] [-0.00584361 0.9999615 -0.00654596 0.08268293] [ 0.03146513 0.0067267 0.99948221 0.99107918] [ 0. 0. 0. 1. ]] SLAMing on 124.352557844 meters Centerline goodness : 0.115254 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948955 0.00562125 -0.03144906 1.10355521] [-0.00582906 0.99996175 -0.00652002 0.08246892] [ 0.03141121 0.00670001 0.99948409 0.99156726] [ 0. 0. 0. 1. ]] SLAMing on 124.382557844 meters Centerline goodness : 0.141413 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:0.99 [[ 0.99948158 0.00559786 -0.03170537 1.10406509] [-0.00580541 0.9999623 -0.00645798 0.0821655 ] [ 0.03166803 0.00663869 0.99947639 0.9917421 ] [ 0. 0. 0. 1. ]] SLAMing on 124.412557844 meters Centerline goodness : 0.145640 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.99940783 0.01312311 -0.03180842 1.08735125] [-0.01336171 0.99988408 -0.00730028 0.0729993 ] [ 0.03170893 0.00772097 0.99946732 0.98849034] [ 0. 0. 0. 1. ]] SLAMing on 124.442557844 meters Centerline goodness : 0.144319 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.9994017 0.01316336 -0.03198379 1.08840306] [-0.01339793 0.99988482 -0.00713079 0.07235967] [ 0.03188624 0.00755504 0.99946295 0.98745749] [ 0. 0. 0. 1. ]] SLAMing on 124.47255784400001 meters Centerline goodness : 0.121271 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.99 [[ 0.99945326 0.01004052 -0.03150203 1.08798317] [-0.01036643 0.99989425 -0.01019961 0.07096318] [ 0.03139629 0.01052059 0.99945164 0.98619415] [ 0. 0. 0. 1. ]] SLAMing on 124.50255784400001 meters Centerline goodness : 0.182285 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.9995066 0.00129237 -0.03138286 1.10614192] [-0.00160585 0.99994905 -0.00996589 0.07794963] [ 0.03136838 0.01001137 0.99945775 0.98783033] [ 0. 0. 0. 1. ]] SLAMing on 124.53255784400001 meters Centerline goodness : 0.143806 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950777 0.00133575 -0.03134364 1.10579985] [-0.00164427 0.99995044 -0.00981934 0.07724084] [ 0.03132897 0.00986604 0.99946043 0.98820922] [ 0. 0. 0. 1. ]] SLAMing on 124.56255784400001 meters Centerline goodness : 0.143554 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950248 0.00147505 -0.03150567 1.10601397] [-0.0017757 0.99995313 -0.00951712 0.07633577] [ 0.03149015 0.00956833 0.99945826 0.98842735] [ 0. 0. 0. 1. ]] SLAMing on 124.592557844 meters Centerline goodness : 0.143554 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950248 0.00147505 -0.03150567 1.10601397] [-0.0017757 0.99995313 -0.00951712 0.07633577] [ 0.03149015 0.00956833 0.99945826 0.98842735] [ 0. 0. 0. 1. ]] SLAMing on 124.622557844 meters Centerline goodness : 0.118257 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99949508 0.00148853 -0.03173899 1.10679169] [-0.00178899 0.99995384 -0.00944018 0.07593795] [ 0.03172348 0.00949219 0.99945161 0.988118 ] [ 0. 0. 0. 1. ]] SLAMing on 124.652557844 meters Centerline goodness : 0.204112 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99948742 0.00149084 -0.03197933 1.10748769] [-0.00178988 0.99995493 -0.00932431 0.07515846] [ 0.03196399 0.00937677 0.99944504 0.98801551] [ 0. 0. 0. 1. ]] SLAMing on 124.682557844 meters Centerline goodness : 0.183324 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:0.99 [[ 0.99948959 0.00156378 -0.03190779 1.10708124] [-0.00185546 0.99995675 -0.00911375 0.07410796] [ 0.03189216 0.0091683 0.99944926 0.98838271] [ 0. 0. 0. 1. ]] SLAMing on 124.712557844 meters Centerline goodness : 0.142904 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:0.99 [[ 0.99949878 0.00162788 -0.03161538 1.1059212 ] [-0.00191357 0.99995759 -0.00900817 0.07376113] [ 0.03159938 0.00906415 0.99945951 0.98903111] [ 0. 0. 0. 1. ]] SLAMing on 124.742557844 meters Centerline goodness : 0.145478 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950832 0.00152083 -0.03131781 1.10521894] [-0.00181596 0.99995419 -0.00939743 0.07587739] [ 0.03130208 0.00944968 0.9994653 0.98892049] [ 0. 0. 0. 1. ]] SLAMing on 124.772557844 meters Centerline goodness : 0.144247 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99950078 0.00135752 -0.03156496 1.10632956] [-0.00166972 0.99994993 -0.00986644 0.07806494] [ 0.03154998 0.00991422 0.999453 0.98808866] [ 0. 0. 0. 1. ]] SLAMing on 124.802557844 meters Centerline goodness : 0.146345 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:0.99 [[ 0.99949418 0.00118929 -0.03178007 1.10716267] [-0.00151721 0.99994584 -0.01029618 0.0800015 ] [ 0.03176611 0.01033918 0.99944185 0.98761202] [ 0. 0. 0. 1. ]] SLAMing on 124.83255784400001 meters Centerline goodness : 0.132755 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:0.99 [[ 9.99378830e-01 1.65435958e-04 -3.52409747e-02 1.06278959e+00] [-5.03521666e-04 9.99953937e-01 -9.58488119e-03 7.83465249e-02] [ 3.52377658e-02 9.59667195e-03 9.99332879e-01 9.88004275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86255784400001 meters Centerline goodness : 0.208376 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.99 [[ 0.9993332 -0.006504 -0.03592845 1.081466 ] [ 0.00620062 0.99994423 -0.00854899 0.08551909] [ 0.03598205 0.00832052 0.9993178 0.99054472] [ 0. 0. 0. 1. ]] SLAMing on 124.89255784400001 meters Centerline goodness : 0.147897 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:0.99 [[ 0.999336 0.00146663 -0.03640627 1.06028824] [-0.00179402 0.99995823 -0.00896171 0.08117584] [ 0.03639161 0.00902107 0.99929689 0.9900638 ] [ 0. 0. 0. 1. ]] SLAMing on 124.92255784400001 meters Centerline goodness : 0.210615 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99411017e-01 -4.88698318e-04 -3.43129860e-02 1.09422738e+00] [ 1.68279687e-04 9.99956364e-01 -9.34038268e-03 8.21400685e-02] [ 3.43160533e-02 9.32910717e-03 9.99367488e-01 9.92114067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.952557844 meters Centerline goodness : 0.146410 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99416777e-01 -5.57882900e-04 -3.41437218e-02 1.09367239e+00] [ 2.39611150e-04 9.99956493e-01 -9.32491271e-03 8.18222523e-02] [ 3.41474385e-02 9.31129299e-03 9.99373430e-01 9.92326870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982557844 meters Centerline goodness : 0.179398 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99418164e-01 -6.01857715e-04 -3.41023510e-02 1.09349161e+00] [ 2.83990274e-04 9.99956480e-01 -9.32506044e-03 8.16945874e-02] [ 3.41064792e-02 9.30995005e-03 9.99374841e-01 9.92464845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012557844 meters Centerline goodness : 0.149180 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99427251e-01 -7.27398613e-04 -3.38325299e-02 1.09256067e+00] [ 4.09562787e-04 9.99955732e-01 -9.40036712e-03 8.18917259e-02] [ 3.38378700e-02 9.38112653e-03 9.99383306e-01 9.92740853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042557844 meters Centerline goodness : 0.173531 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99427778e-01 -7.47568329e-04 -3.38165354e-02 1.09217255e+00] [ 4.28827246e-04 9.99955427e-01 -9.43186939e-03 8.20996458e-02] [ 3.38220791e-02 9.41197081e-03 9.99383551e-01 9.93316478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072557844 meters Centerline goodness : 0.067674 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99430768e-01 -8.95982010e-04 -3.37244302e-02 1.09143287e+00] [ 5.72723565e-04 9.99953815e-01 -9.59372996e-03 8.23729929e-02] [ 3.37314684e-02 9.56895413e-03 9.99385123e-01 9.94058563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102557844 meters Centerline goodness : 0.150153 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:0.99 [[ 9.99434221e-01 -1.07907008e-03 -3.36165549e-02 1.09073061e+00] [ 7.49827447e-04 9.99951647e-01 -9.80513021e-03 8.27029335e-02] [ 3.36255099e-02 9.77437606e-03 9.99386705e-01 9.94753276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132557844 meters Centerline goodness : 0.125702 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:1.00 [[ 0.99941963 0.00725822 -0.03328231 1.10823505] [-0.00760954 0.99991653 -0.01044121 0.07609527] [ 0.03320375 0.01068841 0.99939145 0.99603875] [ 0. 0. 0. 1. ]] SLAMing on 125.162557844 meters Centerline goodness : 0.126982 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:1.00 [[ 0.99942554 0.00733371 -0.03308779 1.10751621] [-0.00767717 0.99991784 -0.01026544 0.07534764] [ 0.03300979 0.01051356 0.99939973 0.99636969] [ 0. 0. 0. 1. ]] SLAMing on 125.192557844 meters Centerline goodness : 0.149078 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:1.00 [[ 0.99943077 0.00746141 -0.03290089 1.10666249] [-0.00779287 0.99992006 -0.00995764 0.07402599] [ 0.03282396 0.01020837 0.99940901 0.99699549] [ 0. 0. 0. 1. ]] SLAMing on 125.22255784400001 meters Centerline goodness : 0.132479 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:1.00 [[ 9.99492417e-01 1.03303040e-04 -3.18574736e-02 1.12552801e+00] [-3.78087997e-04 9.99962780e-01 -8.61954388e-03 7.67166173e-02] [ 3.18553974e-02 8.62721367e-03 9.99455254e-01 9.99295092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25255784400001 meters Centerline goodness : 0.225059 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99492711e-01 3.67247871e-04 -3.18462764e-02 1.12522697e+00] [-6.18726616e-04 9.99968705e-01 -7.88715022e-03 7.31592930e-02] [ 3.18423832e-02 7.90285330e-03 9.99461659e-01 9.99780116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28255784400001 meters Centerline goodness : 0.225059 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99492711e-01 3.67247871e-04 -3.18462764e-02 1.12522697e+00] [-6.18726616e-04 9.99968705e-01 -7.88715022e-03 7.31592930e-02] [ 3.18423832e-02 7.90285330e-03 9.99461659e-01 9.99780116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31255784400001 meters Centerline goodness : 0.128966 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99489459e-01 5.24601736e-04 -3.19459786e-02 1.12558016e+00] [-7.65288062e-04 9.99971413e-01 -7.52240568e-03 7.14589244e-02] [ 3.19411191e-02 7.54301307e-03 9.99461289e-01 9.99631360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.342557844 meters Centerline goodness : 0.220233 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99490172e-01 7.26315460e-04 -3.19197218e-02 1.12555516e+00] [-9.55138523e-04 9.99973953e-01 -7.15404181e-03 6.97646744e-02] [ 3.19136943e-02 7.18088223e-03 9.99464832e-01 9.99597734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372557844 meters Centerline goodness : 0.116165 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99491008e-01 7.89339538e-04 -3.18920341e-02 1.12547610e+00] [-1.01910075e-03 9.99973641e-01 -7.18873247e-03 7.01542366e-02] [ 3.18855191e-02 7.21757466e-03 9.99465467e-01 9.99620338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402557844 meters Centerline goodness : 0.121736 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:1.00 [[ 9.99484857e-01 7.94276191e-04 -3.20840985e-02 1.12620987e+00] [-1.03017480e-03 9.99972556e-01 -7.33664745e-03 7.09830909e-02] [ 3.20773906e-02 7.36592026e-03 9.99458245e-01 9.99174801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432557844 meters Centerline goodness : 0.200065 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:1.00 [[ 0.99932591 0.00945562 -0.03547267 1.153952 ] [-0.0097497 0.99991945 -0.00812648 0.06910137] [ 0.03539298 0.00846685 0.99933761 0.99784752] [ 0. 0. 0. 1. ]] SLAMing on 125.462557844 meters Centerline goodness : 0.134420 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:1.00 [[ 0.99928842 0.00970435 -0.03644839 1.15724174] [-0.01001402 0.99991522 -0.00832333 0.07016927] [ 0.03636453 0.00868241 0.99930087 0.99690299] [ 0. 0. 0. 1. ]] SLAMing on 125.492557844 meters Centerline goodness : 0.150296 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:1.00 [[ 0.99928151 0.00972613 -0.03663136 1.15781198] [-0.01004773 0.99991249 -0.0086055 0.0715146 ] [ 0.03654446 0.00896738 0.99929179 0.99694319] [ 0. 0. 0. 1. ]] SLAMing on 125.522557844 meters Centerline goodness : 0.180545 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934946 0.00308291 -0.03593257 1.17212792] [-0.00331369 0.99997425 -0.00636493 0.07961681] [ 0.03591202 0.00647986 0.99933395 0.99979615] [ 0. 0. 0. 1. ]] SLAMing on 125.552557844 meters Centerline goodness : 0.220236 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.9993633 0.00312035 -0.03554222 1.17071606] [-0.00335251 0.99997342 -0.00647429 0.0805291 ] [ 0.03552108 0.00658932 0.9993472 1.0004469 ] [ 0. 0. 0. 1. ]] SLAMing on 125.58255784400001 meters Centerline goodness : 0.178289 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99936642 0.00310401 -0.03545596 1.17039561] [-0.00333851 0.99997293 -0.00655653 0.08099237] [ 0.03543465 0.00667074 0.99934973 1.00059847] [ 0. 0. 0. 1. ]] SLAMing on 125.61255784400001 meters Centerline goodness : 0.126748 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99935145 0.00302435 -0.03588212 1.17193285] [-0.00326077 0.99997335 -0.00653207 0.08038768] [ 0.03586141 0.00664484 0.99933468 0.99982491] [ 0. 0. 0. 1. ]] SLAMing on 125.64255784400001 meters Centerline goodness : 0.125435 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934616 0.00305602 -0.03602644 1.17251745] [-0.00328739 0.99997434 -0.00636458 0.07945225] [ 0.03600606 0.00647885 0.99933057 0.99942928] [ 0. 0. 0. 1. ]] SLAMing on 125.67255784400001 meters Centerline goodness : 0.182130 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99933684 0.0030865 -0.0362817 1.17317333] [-0.00330868 0.99997613 -0.00606543 0.07782525] [ 0.03626211 0.00618145 0.9993232 0.99940654] [ 0. 0. 0. 1. ]] SLAMing on 125.702557844 meters Centerline goodness : 0.087726 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 0.99934265 0.00315725 -0.03611518 1.17270463] [-0.00336083 0.9999788 -0.00557766 0.0757219 ] [ 0.0360968 0.00569538 0.99933207 0.99932176] [ 0. 0. 0. 1. ]] SLAMing on 125.732557844 meters Centerline goodness : 0.035779 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99933888 0.00324599 -0.03621143 1.17256167] [-0.00343542 0.99998073 -0.00517025 0.07356997] [ 0.03619395 0.00529124 0.99933078 0.999984 ] [ 0. 0. 0. 1. ]] SLAMing on 125.762557844 meters Centerline goodness : 0.085425 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99935845 0.00307641 -0.03568213 1.1704944 ] [-0.00325576 0.99998235 -0.0049691 0.0721292 ] [ 0.03566621 0.00508208 0.99935084 1.000948 ] [ 0. 0. 0. 1. ]] SLAMing on 125.792557844 meters Centerline goodness : 0.121295 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:1.00 [[ 0.99941302 0.00130428 -0.03423335 1.16558464] [-0.00150421 0.99998196 -0.00581501 0.06643325] [ 0.03422514 0.00586309 0.99939695 1.00170161] [ 0. 0. 0. 1. ]] SLAMing on 125.822557844 meters Centerline goodness : 0.223870 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99941273 0.00156409 -0.03423087 1.16588556] [-0.00174548 0.99998459 -0.0052696 0.06467632] [ 0.0342221 0.00532626 0.99940006 1.00114404] [ 0. 0. 0. 1. ]] SLAMing on 125.852557844 meters Centerline goodness : 0.195866 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99940825 0.00169348 -0.03435509 1.1664816 ] [-0.00186581 0.99998583 -0.00498483 0.06337486] [ 0.03434616 0.00504598 0.99939726 1.00066937] [ 0. 0. 0. 1. ]] SLAMing on 125.882557844 meters Centerline goodness : 0.178754 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99940248 0.00181472 -0.03451661 1.16702411] [-0.00197739 0.9999871 -0.00467917 0.06190277] [ 0.03450768 0.00474463 0.99939317 1.00045451] [ 0. 0. 0. 1. ]] SLAMing on 125.912557844 meters Centerline goodness : 0.189480 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99939163 0.00196438 -0.03482099 1.16778744] [-0.00212232 0.99998763 -0.00449946 0.06104057] [ 0.03481172 0.00457062 0.99938344 1.00061327] [ 0. 0. 0. 1. ]] SLAMing on 125.942557844 meters Centerline goodness : 0.151321 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99939339 0.00207831 -0.03476406 1.16743092] [-0.00222811 0.9999884 -0.00427085 0.06005441] [ 0.03475478 0.00434572 0.99938642 1.00099153] [ 0. 0. 0. 1. ]] SLAMing on 125.97255784400001 meters Centerline goodness : 0.185802 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939578 0.01132253 -0.03286158 1.18583719] [-0.01149347 0.99992136 -0.00501766 0.05370631] [ 0.03280218 0.00539232 0.99944732 1.00293766] [ 0. 0. 0. 1. ]] SLAMing on 126.00255784400001 meters Centerline goodness : 0.140370 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939678 0.01128237 -0.03284474 1.18561032] [-0.01145588 0.99992138 -0.00509931 0.05375689] [ 0.03278463 0.0054725 0.99944746 1.00334215] [ 0. 0. 0. 1. ]] SLAMing on 126.03255784400001 meters Centerline goodness : 0.131411 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99939156 0.01133027 -0.03298675 1.18601522] [-0.01150535 0.99992069 -0.00512254 0.05382696] [ 0.0329261 0.00549895 0.99944266 1.00333487] [ 0. 0. 0. 1. ]] SLAMing on 126.06255784400001 meters Centerline goodness : 0.202964 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99938334 0.01142169 -0.03320369 1.18685754] [-0.0115994 0.99991939 -0.00516414 0.05432793] [ 0.03314203 0.0055461 0.99943526 1.00295968] [ 0. 0. 0. 1. ]] SLAMing on 126.092557844 meters Centerline goodness : 0.193993 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:1.00 [[ 0.99937772 0.01155153 -0.03332762 1.18756329] [-0.01172953 0.99991794 -0.00515048 0.05475279] [ 0.03326539 0.00553819 0.99943121 1.00237303] [ 0. 0. 0. 1. ]] SLAMing on 126.122557844 meters Centerline goodness : 0.136286 Centerline is valid? [False, False] Translation: X:1.19, Y:0.06, Z:1.00 [[ 0.999367 0.01166329 -0.03360911 1.18899196] [-0.01184335 0.99991653 -0.00516331 0.05525758] [ 0.03354608 0.00555808 0.99942172 1.00132809] [ 0. 0. 0. 1. ]] SLAMing on 126.152557844 meters Centerline goodness : 0.179884 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99932418 0.00266601 -0.03666157 1.17252682] [-0.00282823 0.99998644 -0.00437366 0.06230224] [ 0.03664941 0.00447439 0.99931817 0.99956354] [ 0. 0. 0. 1. ]] SLAMing on 126.182557844 meters Centerline goodness : 0.150488 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99931877 0.00260135 -0.03681336 1.17306803] [-0.00276838 0.9999861 -0.00448712 0.06269754] [ 0.03680117 0.00458597 0.99931208 0.99928834] [ 0. 0. 0. 1. ]] SLAMing on 126.212557844 meters Centerline goodness : 0.127284 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:1.00 [[ 0.99931922 0.00260673 -0.03680093 1.17277851] [-0.0027726 0.99998622 -0.00445705 0.06256449] [ 0.0367888 0.00455605 0.99931268 0.99971599] [ 0. 0. 0. 1. ]] SLAMing on 126.242557844 meters Centerline goodness : 0.186409 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936193 -0.00483519 -0.03538872 1.19193168] [ 0.00471284 0.99998263 -0.00353982 0.06715869] [ 0.03540522 0.00337078 0.99936735 1.00171889] [ 0. 0. 0. 1. ]] SLAMing on 126.272557844 meters Centerline goodness : 0.188338 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937321 -0.00479848 -0.0350738 1.19051821] [ 0.00468113 0.99998317 -0.00342717 0.06674664] [ 0.03508965 0.00326084 0.99937885 1.00271135] [ 0. 0. 0. 1. ]] SLAMing on 126.302557844 meters Centerline goodness : 0.386707 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99938216 -0.00474406 -0.03482521 1.18952389] [ 0.00463077 0.99998372 -0.00333314 0.06651079] [ 0.03484045 0.00316982 0.99938786 1.0032833 ] [ 0. 0. 0. 1. ]] SLAMing on 126.33255784400001 meters Centerline goodness : 0.176856 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99939383 -0.00472747 -0.03449096 1.1889968 ] [ 0.00461569 0.99998384 -0.00331968 0.06664241] [ 0.0345061 0.00315847 0.9993995 1.00268547] [ 0. 0. 0. 1. ]] SLAMing on 126.36255784400001 meters Centerline goodness : 0.131697 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99938729 -0.00478865 -0.0346716 1.18980883] [ 0.00467261 0.99998321 -0.00342687 0.06706447] [ 0.03468743 0.00326276 0.99939288 1.00206036] [ 0. 0. 0. 1. ]] SLAMing on 126.39255784400001 meters Centerline goodness : 0.193818 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937766 -0.00483659 -0.0349414 1.19073812] [ 0.00471789 0.99998282 -0.00347878 0.06714635] [ 0.03495762 0.00331177 0.99938331 1.00165924] [ 0. 0. 0. 1. ]] SLAMing on 126.42255784400001 meters Centerline goodness : 0.187359 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.999372 -0.00489128 -0.0350954 1.19110687] [ 0.00476958 0.99998232 -0.00355079 0.06734671] [ 0.03511215 0.00338117 0.99937766 1.00166685] [ 0. 0. 0. 1. ]] SLAMing on 126.452557844 meters Centerline goodness : 0.192283 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937061 -0.00488102 -0.03513633 1.19103491] [ 0.00476098 0.99998254 -0.00349946 0.06712145] [ 0.0351528 0.00332997 0.9993764 1.00194589] [ 0. 0. 0. 1. ]] SLAMing on 126.482557844 meters Centerline goodness : 0.192283 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937061 -0.00488102 -0.03513633 1.19103491] [ 0.00476098 0.99998254 -0.00349946 0.06712145] [ 0.0351528 0.00332997 0.9993764 1.00194589] [ 0. 0. 0. 1. ]] SLAMing on 126.512557844 meters Centerline goodness : 0.190357 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937269 -0.00485188 -0.0350812 1.1906115 ] [ 0.00473562 0.99998302 -0.00339639 0.06665936] [ 0.03509708 0.00322813 0.99937869 1.00242353] [ 0. 0. 0. 1. ]] SLAMing on 126.542557844 meters Centerline goodness : 0.149791 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937253 -0.00480823 -0.03509182 1.19035675] [ 0.00469977 0.99998392 -0.00317264 0.06552546] [ 0.03510651 0.00300572 0.99937906 1.00290047] [ 0. 0. 0. 1. ]] SLAMing on 126.572557844 meters Centerline goodness : 0.222719 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936664 -0.00480606 -0.03525942 1.19093512] [ 0.00469752 0.99998397 -0.00316047 0.06548055] [ 0.03527405 0.00299284 0.9993732 1.00263976] [ 0. 0. 0. 1. ]] SLAMing on 126.602557844 meters Centerline goodness : 0.216099 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936467 -0.00486683 -0.03530687 1.1913546 ] [ 0.00475199 0.99998314 -0.00333605 0.06632559] [ 0.03532251 0.00316616 0.99937095 1.00212028] [ 0. 0. 0. 1. ]] SLAMing on 126.632557844 meters Centerline goodness : 0.196829 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99936598 -0.00493572 -0.03526026 1.19141312] [ 0.00481111 0.99998188 -0.00361791 0.06773479] [ 0.03527748 0.00344597 0.99937162 1.00180003] [ 0. 0. 0. 1. ]] SLAMing on 126.662557844 meters Centerline goodness : 0.202554 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99937276 -0.00502799 -0.03505432 1.19096179] [ 0.0048908 0.99998005 -0.00399829 0.06962641] [ 0.03507372 0.00382433 0.99937741 1.00168106] [ 0. 0. 0. 1. ]] SLAMing on 126.692557844 meters Centerline goodness : 0.188773 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99942461 -0.00443069 -0.03362772 1.18672587] [ 0.00430139 0.99998308 -0.00391629 0.07171686] [ 0.0336445 0.00376939 0.99942676 1.00239963] [ 0. 0. 0. 1. ]] SLAMing on 126.72255784400001 meters Centerline goodness : 0.125882 Centerline is valid? [False, False] Translation: X:1.19, Y:0.07, Z:1.00 [[ 0.99943044 -0.00451284 -0.03344294 1.18648734] [ 0.00437272 0.99998136 -0.00426194 0.07359701] [ 0.03346155 0.00411327 0.99943154 1.00195131] [ 0. 0. 0. 1. ]] SLAMing on 126.75255784400001 meters Centerline goodness : 0.175757 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:1.00 [[ 0.9994589 0.00469053 -0.03255619 1.20741428] [-0.00486831 0.99997366 -0.00538359 0.07352659] [ 0.03253008 0.00553917 0.99945541 1.00238187] [ 0. 0. 0. 1. ]] SLAMing on 126.78255784400001 meters Centerline goodness : 0.203510 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:1.00 [[ 0.99945733 0.00451064 -0.03262981 1.20791854] [-0.00470257 0.99997208 -0.00580743 0.07543394] [ 0.0326027 0.00595773 0.99945063 1.00184262] [ 0. 0. 0. 1. ]] SLAMing on 126.81255784400001 meters Centerline goodness : 0.181135 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:1.00 [[ 0.99945199 0.00433973 -0.03281591 1.20849653] [-0.00454786 0.99997 -0.00627046 0.07731924] [ 0.03278772 0.00641627 0.99944174 1.00170082] [ 0. 0. 0. 1. ]] SLAMing on 126.842557844 meters Centerline goodness : 0.124563 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99512344e-01 -1.16721764e-03 -3.12043656e-02 1.17346092e+00] [ 9.95607543e-04 9.99984299e-01 -5.51452610e-03 7.92163838e-02] [ 3.12103123e-02 5.48076961e-03 9.99497813e-01 1.00008449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872557844 meters Centerline goodness : 0.149124 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99540513e-01 -1.15670704e-03 -3.02890139e-02 1.17012009e+00] [ 9.75937819e-04 9.99981630e-01 -5.98224843e-03 8.25110576e-02] [ 3.02953772e-02 5.94993947e-03 9.99523281e-01 1.00166429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902557844 meters Centerline goodness : 0.181559 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:1.00 [[ 9.99555100e-01 -1.24986299e-03 -2.97999937e-02 1.16857026e+00] [ 1.06067139e-03 9.99979189e-01 -6.36367551e-03 8.46689470e-02] [ 2.98073273e-02 6.32923631e-03 9.99535624e-01 1.00216438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932557844 meters Centerline goodness : 0.156706 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99956257 -0.00140726 -0.02954121 1.16773978] [ 0.00120706 0.99997619 -0.00679391 0.08684522] [ 0.02955006 0.00675528 0.99954047 1.0024121 ] [ 0. 0. 0. 1. ]] SLAMing on 126.962557844 meters Centerline goodness : 0.184363 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99956466 -0.00153585 -0.02946411 1.16758137] [ 0.00132752 0.99997399 -0.00708878 0.08818373] [ 0.02947423 0.00704658 0.9995407 1.00230244] [ 0. 0. 0. 1. ]] SLAMing on 126.992557844 meters Centerline goodness : 0.187891 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.9995633 -0.0016304 -0.02950524 1.16789513] [ 0.00141658 0.9999726 -0.00726638 0.08891215] [ 0.02951628 0.00722141 0.99953821 1.0019074 ] [ 0. 0. 0. 1. ]] SLAMing on 127.022557844 meters Centerline goodness : 0.171271 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99955343 -0.00168771 -0.02983432 1.16874666] [ 0.00147417 0.99997315 -0.00717818 0.08830149] [ 0.02984563 0.007131 0.99952908 1.00185386] [ 0. 0. 0. 1. ]] SLAMing on 127.052557844 meters Centerline goodness : 0.177326 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:1.00 [[ 0.99955229 -0.00164471 -0.02987514 1.16871203] [ 0.00143615 0.99997446 -0.0070013 0.0874405 ] [ 0.02988589 0.00695526 0.99952912 1.00208728] [ 0. 0. 0. 1. ]] SLAMing on 127.08255784400001 meters Centerline goodness : 0.119033 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947154 -0.00382537 -0.03228003 1.12307247] [ 0.0036019 0.99996917 -0.00697804 0.08277897] [ 0.03230573 0.00685809 0.9994545 1.00244599] [ 0. 0. 0. 1. ]] SLAMing on 127.11255784400001 meters Centerline goodness : 0.114726 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947127 -0.00380006 -0.03229145 1.12295164] [ 0.0035825 0.99997051 -0.00679259 0.08163117] [ 0.03231631 0.00667331 0.99945541 1.00273702] [ 0. 0. 0. 1. ]] SLAMing on 127.14255784400001 meters Centerline goodness : 0.148846 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99947181 -0.0037556 -0.03228009 1.12290805] [ 0.0035427 0.99997161 -0.00664999 0.08086084] [ 0.03230414 0.00653212 0.99945674 1.00274972] [ 0. 0. 0. 1. ]] SLAMing on 127.17255784400001 meters Centerline goodness : 0.213081 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946988 -0.0037722 -0.03233778 1.12391966] [ 0.00355356 0.99997046 -0.00681586 0.08180724] [ 0.03236254 0.00669733 0.99945376 1.00124569] [ 0. 0. 0. 1. ]] SLAMing on 127.20255784400001 meters Centerline goodness : 0.205250 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946956 -0.0038393 -0.03233967 1.12431741] [ 0.00361308 0.99996862 -0.00705069 0.0829945 ] [ 0.03236573 0.00693011 0.99945207 1.00055367] [ 0. 0. 0. 1. ]] SLAMing on 127.232557844 meters Centerline goodness : 0.185171 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99946617 -0.00388263 -0.03243905 1.12471046] [ 0.00364751 0.99996667 -0.0073041 0.08431981] [ 0.03246632 0.00718188 0.99944703 1.0002625 ] [ 0. 0. 0. 1. ]] SLAMing on 127.262557844 meters Centerline goodness : 0.179628 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:1.00 [[ 0.9994761 0.00486271 -0.0319982 1.14489208] [-0.00515112 0.9999468 -0.00893701 0.08276616] [ 0.03195304 0.00909715 0.99944797 1.0017949 ] [ 0. 0. 0. 1. ]] SLAMing on 127.292557844 meters Centerline goodness : 0.211424 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:1.00 [[ 0.99947161 0.0048107 -0.03214584 1.14535634] [-0.00510291 0.99994635 -0.00901428 0.08292404] [ 0.03210075 0.00917356 0.99944254 1.0016242 ] [ 0. 0. 0. 1. ]] SLAMing on 127.322557844 meters Centerline goodness : 0.184862 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:1.00 [[ 0.99946356 0.00472662 -0.03240761 1.1457708 ] [-0.00501469 0.99994859 -0.00881337 0.08143787] [ 0.03236428 0.00897115 0.99943588 1.00198314] [ 0. 0. 0. 1. ]] SLAMing on 127.352557844 meters Centerline goodness : 0.197886 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:1.00 [[ 0.99940825 0.00297091 -0.03426849 1.09862565] [-0.00324479 0.99996322 -0.00793954 0.0753438 ] [ 0.03424364 0.00804603 0.99938113 1.00219176] [ 0. 0. 0. 1. ]] SLAMing on 127.382557844 meters Centerline goodness : 0.332442 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:1.00 [[ 0.99941346 0.00304248 -0.03410972 1.0980595 ] [-0.00330298 0.99996579 -0.00758335 0.07364862] [ 0.03408548 0.00769157 0.99938932 1.00245896] [ 0. 0. 0. 1. ]] SLAMing on 127.412557844 meters Centerline goodness : 0.199749 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:1.00 [[ 0.99945686 -0.00530222 -0.03252483 1.117076 ] [ 0.00509903 0.99996698 -0.00632704 0.07808604] [ 0.0325573 0.00615776 0.9994509 1.00294012] [ 0. 0. 0. 1. ]] SLAMing on 127.442557844 meters Centerline goodness : 0.335311 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:1.00 [[ 0.99945853 0.00271962 -0.032791 1.09651179] [-0.00294991 0.99997131 -0.0069766 0.06791169] [ 0.03277108 0.00706955 0.99943788 1.00217682] [ 0. 0. 0. 1. ]] SLAMing on 127.47255784400001 meters Centerline goodness : 0.326059 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99944728 -0.00510407 -0.03284949 1.11763072] [ 0.0048962 0.9999675 -0.00640535 0.0714157 ] [ 0.03288112 0.00624098 0.99943978 1.00343007] [ 0. 0. 0. 1. ]] SLAMing on 127.50255784400001 meters Centerline goodness : 0.195565 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99941141 -0.00530939 -0.0338918 1.12078375] [ 0.0050965 0.99996676 -0.00636466 0.06996087] [ 0.03392446 0.00618818 0.99940524 1.00262546] [ 0. 0. 0. 1. ]] SLAMing on 127.53255784400001 meters Centerline goodness : 0.090752 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940287 -0.00529009 -0.03414563 1.1216858 ] [ 0.00507702 0.99996712 -0.00632376 0.06973239] [ 0.03417796 0.00614663 0.99939686 1.00218241] [ 0. 0. 0. 1. ]] SLAMing on 127.56255784400001 meters Centerline goodness : 0.295583 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99939975 -0.00523251 -0.03424569 1.12213323] [ 0.00502119 0.99996784 -0.00625389 0.06962196] [ 0.03427731 0.00607818 0.99939388 1.00183387] [ 0. 0. 0. 1. ]] SLAMing on 127.592557844 meters Centerline goodness : 0.288326 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940241 -0.00512276 -0.03418462 1.12190596] [ 0.0049181 0.99996949 -0.00606817 0.06899033] [ 0.03421466 0.00589642 0.99939711 1.00190626] [ 0. 0. 0. 1. ]] SLAMing on 127.622557844 meters Centerline goodness : 0.315498 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99940832 -0.00491916 -0.03404126 1.1211518 ] [ 0.00472954 0.99997286 -0.00564861 0.06722365] [ 0.03406812 0.00548427 0.99940447 1.00256917] [ 0. 0. 0. 1. ]] SLAMing on 127.652557844 meters Centerline goodness : 0.293675 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:1.00 [[ 0.99941097 -0.00473373 -0.0339898 1.12058278] [ 0.00455946 0.99997607 -0.00520304 0.06500042] [ 0.03401361 0.005045 0.99940864 1.00332273] [ 0. 0. 0. 1. ]] SLAMing on 127.682557844 meters Centerline goodness : 0.128829 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99941345 -0.00482316 -0.03390418 1.12032139] [ 0.00465977 0.99997716 -0.00489652 0.06263077] [ 0.03392702 0.00473566 0.99941309 1.00355028] [ 0. 0. 0. 1. ]] SLAMing on 127.712557844 meters Centerline goodness : 0.189036 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99942287 -0.00473048 -0.03363862 1.11982481] [ 0.00458301 0.99997955 -0.00445994 0.06115153] [ 0.03365903 0.0043032 0.99942411 1.00307026] [ 0. 0. 0. 1. ]] SLAMing on 127.742557844 meters Centerline goodness : 0.145012 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:1.00 [[ 0.99942932 -0.00456923 -0.03346861 1.11968172] [ 0.00443981 0.99998238 -0.0039403 0.05952367] [ 0.03348603 0.00378946 0.999432 1.00244321] [ 0. 0. 0. 1. ]] SLAMing on 127.772557844 meters Centerline goodness : 0.330970 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99945516 0.00427689 -0.03272747 1.13978031] [-0.00444519 0.99997726 -0.00507137 0.05496296] [ 0.03270504 0.00521408 0.99945145 1.00331758] [ 0. 0. 0. 1. ]] SLAMing on 127.802557844 meters Centerline goodness : 0.123856 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99944993 0.00439224 -0.03287168 1.14023867] [-0.0045513 0.99997829 -0.00476537 0.05341073] [ 0.03285003 0.00491236 0.99944822 1.00320069] [ 0. 0. 0. 1. ]] SLAMing on 127.83255784400001 meters Centerline goodness : 0.186927 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99944512 0.00452086 -0.03300021 1.14014419] [-0.0046752 0.99997849 -0.00460129 0.05250798] [ 0.0329787 0.00475302 0.99944475 1.00403454] [ 0. 0. 0. 1. ]] SLAMing on 127.86255784400001 meters Centerline goodness : 0.147677 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:1.01 [[ 0.99947759 -0.00307048 -0.03217336 1.15847933] [ 0.00296806 0.99999038 -0.00323052 0.05983833] [ 0.03218297 0.00313334 0.99947708 1.00558078] [ 0. 0. 0. 1. ]] SLAMing on 127.89255784400001 meters Centerline goodness : 0.175417 Centerline is valid? [False, False] Translation: X:1.16, Y:0.06, Z:1.01 [[ 0.99947434 -0.00305411 -0.03227554 1.15861739] [ 0.00294631 0.99998992 -0.00338712 0.06037741] [ 0.03228556 0.00329025 0.99947327 1.00592128] [ 0. 0. 0. 1. ]] SLAMing on 127.92255784400001 meters Centerline goodness : 0.142669 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949217 0.0042487 -0.03158079 1.13897392] [-0.00438658 0.99998114 -0.00429805 0.05558094] [ 0.03156193 0.0044344 0.99949196 1.00363442] [ 0. 0. 0. 1. ]] SLAMing on 127.95255784400001 meters Centerline goodness : 0.189538 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949222 0.00412032 -0.03159621 1.13917067] [-0.00427028 0.99997993 -0.00467999 0.05713748] [ 0.03157629 0.00481254 0.99948976 1.0034265 ] [ 0. 0. 0. 1. ]] SLAMing on 127.982557844 meters Centerline goodness : 0.180104 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949461 0.00410405 -0.0315226 1.13920551] [-0.00425405 0.99997994 -0.00469285 0.057388 ] [ 0.0315027 0.00482458 0.99949202 1.00297692] [ 0. 0. 0. 1. ]] SLAMing on 128.012557844 meters Centerline goodness : 0.129844 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949763 0.00415171 -0.03142043 1.13910225] [-0.00429533 0.99998063 -0.00450508 0.05685844] [ 0.03140112 0.00463778 0.9994961 1.00258588] [ 0. 0. 0. 1. ]] SLAMing on 128.04255784400002 meters Centerline goodness : 0.156477 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:1.00 [[ 0.99949926 0.00422432 -0.03135897 1.13896328] [-0.00435787 0.99998172 -0.00419185 0.05575527] [ 0.03134068 0.00432641 0.9994994 1.00237817] [ 0. 0. 0. 1. ]] SLAMing on 128.07255784400002 meters Centerline goodness : 0.183699 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.9994969 0.00426158 -0.03142897 1.13909292] [-0.00438725 0.99998265 -0.00393056 0.0546644 ] [ 0.03141168 0.00406647 0.99949826 1.00230043] [ 0. 0. 0. 1. ]] SLAMing on 128.10255784400002 meters Centerline goodness : 0.181626 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99949264 0.00430155 -0.03155883 1.1394318 ] [-0.00441814 0.99998367 -0.0036258 0.05330174] [ 0.03154272 0.00376339 0.99949532 1.00211653] [ 0. 0. 0. 1. ]] SLAMing on 128.13255784400002 meters Centerline goodness : 0.186779 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.99948452 0.00411784 -0.03183935 1.14008929] [-0.00422629 0.99998549 -0.00333942 0.05092334] [ 0.03182514 0.00347226 0.99948742 1.00224772] [ 0. 0. 0. 1. ]] SLAMing on 128.162557844 meters Centerline goodness : 0.132970 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:1.00 [[ 0.9994878 0.00422487 -0.03172219 1.1395839 ] [-0.00432171 0.99998621 -0.00298498 0.04922316] [ 0.03170914 0.00312054 0.99949227 1.00257968] [ 0. 0. 0. 1. ]] SLAMing on 128.192557844 meters Centerline goodness : 0.144037 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 0.99952367 -0.00312795 -0.03070247 1.15881551] [ 0.00307808 0.99999387 -0.00167159 0.05238708] [ 0.03070751 0.00157629 0.99952717 1.00428224] [ 0. 0. 0. 1. ]] SLAMing on 128.222557844 meters Centerline goodness : 0.218174 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99535541e-01 -3.08865294e-03 -3.03176918e-02 1.15780909e+00] [ 3.05390706e-03 9.99994626e-01 -1.19229716e-03 5.07804222e-02] [ 3.03212115e-02 1.09915597e-03 9.99539602e-01 1.00401543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252557844 meters Centerline goodness : 0.131527 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99530799e-01 -2.90495855e-03 -3.04916978e-02 1.15836301e+00] [ 2.88558924e-03 9.99995606e-01 -6.79216500e-04 4.90092826e-02] [ 3.04935369e-02 5.90911296e-04 9.99534789e-01 1.00363250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282557844 meters Centerline goodness : 0.183482 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99521413e-01 -2.67452806e-03 -3.08187052e-02 1.15940199e+00] [ 2.66766683e-03 9.99996407e-01 -2.63746671e-04 4.76135603e-02] [ 3.08192999e-02 1.81406408e-04 9.99524956e-01 1.00317717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312557844 meters Centerline goodness : 0.189905 Centerline is valid? [False, False] Translation: X:1.16, Y:0.05, Z:1.00 [[ 9.99500767e-01 -2.27667071e-03 -3.15124378e-02 1.16162529e+00] [ 2.28977717e-03 9.99997306e-01 3.79832716e-04 4.55103670e-02] [ 3.15114881e-02 -4.51799552e-04 9.99503288e-01 1.00234395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342557844 meters Centerline goodness : 0.183361 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99502200e-01 -2.15036600e-03 -3.14758466e-02 1.16178928e+00] [ 2.17197861e-03 9.99997428e-01 6.52466241e-04 4.48124767e-02] [ 3.14743626e-02 -7.20506308e-04 9.99504300e-01 1.00182488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372557844 meters Centerline goodness : 0.183361 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99502200e-01 -2.15036600e-03 -3.14758466e-02 1.16178928e+00] [ 2.17197861e-03 9.99997428e-01 6.52466241e-04 4.48124767e-02] [ 3.14743626e-02 -7.20506308e-04 9.99504300e-01 1.00182488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402557844 meters Centerline goodness : 0.185046 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99511986e-01 -2.06360541e-03 -3.11693853e-02 1.16084432e+00] [ 2.08900695e-03 9.99997512e-01 7.82409108e-04 4.44480467e-02] [ 3.11676931e-02 -8.47140345e-04 9.99513810e-01 1.00206549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432557844 meters Centerline goodness : 0.128923 Centerline is valid? [False, False] Translation: X:1.16, Y:0.04, Z:1.00 [[ 9.99531223e-01 -2.25122789e-03 -3.05330389e-02 1.15880358e+00] [ 2.27463480e-03 9.99997145e-01 7.31897195e-04 4.45224999e-02] [ 3.05313041e-02 -8.01005611e-04 9.99533490e-01 1.00266075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462557844 meters Centerline goodness : 0.175591 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99586909e-01 6.53560568e-03 -2.79874440e-02 1.17732894e+00] [-6.55010480e-03 9.99978457e-01 -4.26410355e-04 4.08118856e-02] [ 2.79840542e-02 6.09554900e-04 9.99608184e-01 1.00361834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492557844 meters Centerline goodness : 0.171706 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99586131e-01 6.50115675e-03 -2.80232439e-02 1.17706134e+00] [-6.50361168e-03 9.99978851e-01 3.54074156e-06 3.80340118e-02] [ 2.80226742e-02 1.78713020e-04 9.99607272e-01 1.00427064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.522557844 meters Centerline goodness : 0.205683 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:1.00 [[ 9.99572374e-01 6.39467675e-03 -2.85337924e-02 1.17834509e+00] [-6.39152289e-03 9.99979554e-01 2.01736318e-04 3.63223596e-02] [ 2.85344991e-02 -1.92756630e-05 9.99592808e-01 1.00428679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552557844 meters Centerline goodness : 0.206806 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:1.00 [[ 9.99555107e-01 6.26306114e-03 -2.91609623e-02 1.18009466e+00] [-6.25403919e-03 9.99980363e-01 4.00581359e-04 3.46292918e-02] [ 2.91628986e-02 -2.18029342e-04 9.99574648e-01 1.00400169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582557844 meters Centerline goodness : 0.277354 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:1.00 [[ 9.99537460e-01 6.20295758e-03 -2.97723071e-02 1.18175335e+00] [-6.18606478e-03 9.99980649e-01 6.59474133e-04 3.29112013e-02] [ 2.97758216e-02 -4.74995679e-04 9.99556489e-01 1.00378051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612557844 meters Centerline goodness : 0.136744 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:1.00 [[ 0.99952093 -0.00369369 -0.03072898 1.16127768] [ 0.00375489 0.99999108 0.00193436 0.03297042] [ 0.03072156 -0.00204882 0.99952588 1.00298695] [ 0. 0. 0. 1. ]] SLAMing on 128.642557844 meters Centerline goodness : 0.082225 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:1.00 [[ 0.99960741 -0.00277748 -0.02788015 1.20272392] [ 0.0028182 0.99999502 0.0014215 0.03282422] [ 0.02787606 -0.00149951 0.99961026 1.00418063] [ 0. 0. 0. 1. ]] SLAMing on 128.672557844 meters Centerline goodness : 0.156586 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:1.00 [[ 0.99961301 -0.00268455 -0.02768789 1.20198216] [ 0.00273457 0.9999947 0.00176884 0.03116668] [ 0.02768299 -0.00184387 0.99961505 1.00458493] [ 0. 0. 0. 1. ]] SLAMing on 128.702557844 meters Centerline goodness : 0.168173 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:1.00 [[ 9.99653271e-01 4.12120705e-03 -2.60068105e-02 1.22411622e+00] [-4.15006261e-03 9.99990831e-01 -1.05566181e-03 2.85293680e-02] [ 2.60022214e-02 1.16322567e-03 9.99661208e-01 1.00338700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732557844 meters Centerline goodness : 0.131037 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:1.00 [[ 9.99654296e-01 4.19220402e-03 -2.59560020e-02 1.22399064e+00] [-4.21332057e-03 9.99990836e-01 -7.58915094e-04 2.69600322e-02] [ 2.59525826e-02 8.68013691e-04 9.99662798e-01 1.00334434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 128.79255784400002 meters Centerline goodness : 0.160621 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:1.00 [[ 0.99959318 0.00125981 -0.02849348 1.17861026] [-0.00129504 0.99999842 -0.00121807 0.02276203] [ 0.02849191 0.00125448 0.99959324 1.00408288] [ 0. 0. 0. 1. ]] SLAMing on 128.82255784400002 meters Centerline goodness : 0.329535 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:1.00 [[ 0.99963483 0.00236281 -0.0269188 1.22349249] [-0.00241503 0.99999526 -0.0019074 0.02263788] [ 0.02691416 0.00197171 0.9996358 1.00406164] [ 0. 0. 0. 1. ]] SLAMing on 128.85255784400002 meters Centerline goodness : 0.084030 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:1.00 [[ 0.99962898 0.00238806 -0.02713285 1.22428124] [-0.00243232 0.99999576 -0.00159841 0.02088092] [ 0.02712891 0.00166381 0.99963056 1.00356561] [ 0. 0. 0. 1. ]] SLAMing on 128.88255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 128.912557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 128.942557844 meters Centerline goodness : 0.174280 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:1.00 [[ 9.99604251e-01 -5.28995289e-04 -2.81257988e-02 1.22942780e+00] [ 4.34539376e-04 9.99994246e-01 -3.36434311e-03 1.42525535e-02] [ 2.81274167e-02 3.35078991e-03 9.99598730e-01 1.00036616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 129.002557844 meters Centerline goodness : 0.188348 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:1.00 [[ 0.99958818 -0.00348947 -0.02848328 1.23166266] [ 0.00334433 0.99998119 -0.00514168 0.00697072] [ 0.02850068 0.00504431 0.99958105 0.99879441] [ 0. 0. 0. 1. ]] SLAMing on 129.032557844 meters Centerline goodness : 0.132366 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:1.00 [[ 0.99966035 -0.00285825 -0.02590398 1.27238038] [ 0.00270194 0.99997795 -0.00606698 0.00541955] [ 0.02592075 0.00599493 0.99964603 1.00031913] [ 0. 0. 0. 1. ]] SLAMing on 129.062557844 meters Centerline goodness : 0.183156 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966645 -0.00276176 -0.02567815 1.27148084] [ 0.00261373 0.99997978 -0.00579656 0.00422023] [ 0.02569364 0.00572751 0.99965346 1.00081252] [ 0. 0. 0. 1. ]] SLAMing on 129.092557844 meters Centerline goodness : 0.240549 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966906 -0.00267528 -0.02558548 1.27110539] [ 0.0025333 0.99998122 -0.00558019 0.003311 ] [ 0.02559993 0.00551352 0.99965706 1.000994 ] [ 0. 0. 0. 1. ]] SLAMing on 129.122557844 meters Centerline goodness : 0.385493 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.9996686 -0.00260554 -0.02561062 1.27136451] [ 0.00246883 0.99998254 -0.00536834 0.00233285] [ 0.02562416 0.00530333 0.99965758 1.0005852 ] [ 0. 0. 0. 1. ]] SLAMing on 129.152557844 meters Centerline goodness : 0.153509 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966829 -0.0025957 -0.02562366 1.27143748] [ 0.00246018 0.99998283 -0.00531914 0.00202501] [ 0.02563703 0.00525434 0.99965751 1.00050023] [ 0. 0. 0. 1. ]] SLAMing on 129.182557844 meters Centerline goodness : 0.151102 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:1.00 [[ 0.99966663 -0.00261047 -0.02568704 1.27158014] [ 0.00247357 0.99998258 -0.0053599 0.00220316] [ 0.02570058 0.00529457 0.99965566 1.00051965] [ 0. 0. 0. 1. ]] SLAMing on 129.212557844 meters Centerline goodness : 0.155697 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99703124e-01 -1.03706852e-03 -2.43431397e-02 1.31550019e+00] [ 8.89858169e-04 9.99981258e-01 -6.05735700e-03 2.77022275e-03] [ 2.43489653e-02 6.03389678e-03 9.99685310e-01 1.00070417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242557844 meters Centerline goodness : 0.140568 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99702060e-01 -1.05133473e-03 -2.43861847e-02 1.31589778e+00] [ 9.02497471e-04 9.99980905e-01 -6.11354652e-03 3.11736041e-03] [ 2.43921464e-02 6.08971658e-03 9.99683919e-01 1.00017329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.272557844 meters Centerline goodness : 0.134629 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99697076e-01 -1.08482021e-03 -2.45882061e-02 1.31671095e+00] [ 9.32518907e-04 9.99980316e-01 -6.20469954e-03 3.64961056e-03] [ 2.45944531e-02 6.17989102e-03 9.99678409e-01 9.99625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302557844 meters Centerline goodness : 0.322198 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99688571e-01 -1.10267981e-03 -2.49308158e-02 1.31778782e+00] [ 9.47719029e-04 9.99980165e-01 -6.22659352e-03 3.70780001e-03] [ 2.49371873e-02 6.20102697e-03 9.99669787e-01 9.99283441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332557844 meters Centerline goodness : 0.320676 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:1.00 [[ 9.99683650e-01 -1.15134223e-03 -2.51251896e-02 1.31798548e+00] [ 9.93222235e-04 9.99979631e-01 -6.30485784e-03 3.84218182e-03] [ 2.51319368e-02 6.27790839e-03 9.99664431e-01 9.99844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362557844 meters Centerline goodness : 0.142357 Centerline is valid? [False, False] Translation: X:1.36, Y:0.00, Z:1.00 [[ 9.99739473e-01 1.31946858e-04 -2.28247574e-02 1.35863514e+00] [-3.01475496e-04 9.99972395e-01 -7.42412002e-03 4.80141895e-03] [ 2.28231477e-02 7.42906693e-03 9.99711915e-01 1.00176939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392557844 meters Centerline goodness : 0.328236 Centerline is valid? [False, False] Translation: X:1.36, Y:0.01, Z:1.00 [[ 9.99753564e-01 2.11536863e-04 -2.21983603e-02 1.35638620e+00] [-3.80042197e-04 9.99971146e-01 -7.58694697e-03 5.97193477e-03] [ 2.21961149e-02 7.59351358e-03 9.99724798e-01 1.00297349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422557844 meters Centerline goodness : 0.156334 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:1.01 [[ 0.99977831 0.00245552 -0.02091162 1.35115514] [-0.00258519 0.99997759 -0.00617612 0.0124393 ] [ 0.02089598 0.00622881 0.99976225 1.00544469] [ 0. 0. 0. 1. ]] SLAMing on 129.452557844 meters Centerline goodness : 0.131467 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.99977937 0.00249179 -0.02085665 1.35155618] [-0.00263287 0.99997382 -0.00673983 0.01580095] [ 0.02083931 0.00679326 0.99975976 1.00460449] [ 0. 0. 0. 1. ]] SLAMing on 129.482557844 meters Centerline goodness : 0.120313 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.99977142 0.00252116 -0.02123103 1.3531364 ] [-0.00267699 0.99996966 -0.00731474 0.01924516] [ 0.02121195 0.0073699 0.99974784 1.0035569 ] [ 0. 0. 0. 1. ]] SLAMing on 129.512557844 meters Centerline goodness : 0.151730 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:1.00 [[ 0.9997665 0.00240075 -0.02147502 1.35425111] [-0.00257258 0.99996487 -0.00797756 0.02262785] [ 0.02145511 0.00803095 0.99973756 1.00275892] [ 0. 0. 0. 1. ]] SLAMing on 129.54255784400002 meters Centerline goodness : 0.120716 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.00 [[ 0.99976463 0.00222175 -0.02158104 1.35463259] [-0.00240779 0.99996013 -0.00859833 0.02562376] [ 0.02156107 0.00864827 0.99973013 1.00266095] [ 0. 0. 0. 1. ]] SLAMing on 129.57255784400002 meters Centerline goodness : 0.119378 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.00 [[ 0.99976408 0.00206856 -0.02162189 1.35461798] [-0.00226761 0.99995524 -0.00918561 0.02857222] [ 0.02160192 0.00923248 0.99972402 1.00291503] [ 0. 0. 0. 1. ]] SLAMing on 129.60255784400002 meters Centerline goodness : 0.121370 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:1.01 [[ 0.99977165 0.00416937 -0.0209588 1.3506497 ] [-0.00433302 0.99996044 -0.0077686 0.03472281] [ 0.02092558 0.00785764 0.99975016 1.00543173] [ 0. 0. 0. 1. ]] SLAMing on 129.63255784400002 meters Centerline goodness : 0.163932 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:1.01 [[ 0.99977249 0.00398535 -0.02095413 1.3508224 ] [-0.00415869 0.99995744 -0.00823526 0.03689334] [ 0.02092042 0.00832053 0.99974652 1.00510857] [ 0. 0. 0. 1. ]] SLAMing on 129.662557844 meters Centerline goodness : 0.152911 Centerline is valid? [False, False] Translation: X:1.35, Y:0.04, Z:1.00 [[ 0.99977208 0.00381376 -0.02100586 1.35126143] [-0.0039955 0.99995489 -0.00861695 0.03851544] [ 0.02097205 0.00869891 0.99974222 1.00460431] [ 0. 0. 0. 1. ]] SLAMing on 129.692557844 meters Centerline goodness : 0.218056 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:1.01 [[ 0.99974298 -0.00253918 -0.02252848 1.36958217] [ 0.00236283 0.99996639 -0.00785101 0.04509701] [ 0.02254766 0.00779577 0.99971537 1.00695378] [ 0. 0. 0. 1. ]] SLAMing on 129.722557844 meters Centerline goodness : 0.144815 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:1.01 [[ 0.9997443 -0.00267687 -0.02245357 1.36946517] [ 0.00249185 0.99996275 -0.00826422 0.04712185] [ 0.02247486 0.00820616 0.99971373 1.00681945] [ 0. 0. 0. 1. ]] SLAMing on 129.752557844 meters Centerline goodness : 0.146219 Centerline is valid? [False, False] Translation: X:1.36, Y:0.05, Z:1.01 [[ 9.99771625e-01 -3.79435488e-04 -2.13671127e-02 1.36450365e+00] [ 2.37861578e-04 9.99978007e-01 -6.62793741e-03 5.35768787e-02] [ 2.13691577e-02 6.62134134e-03 9.99749727e-01 1.00955537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782557844 meters Centerline goodness : 0.144154 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:1.01 [[ 9.99777135e-01 -5.60754387e-04 -2.11036836e-02 1.36396648e+00] [ 4.06251554e-04 9.99973091e-01 -7.32470629e-03 5.71374331e-02] [ 2.11072231e-02 7.31450047e-03 9.99750460e-01 1.00938805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812557844 meters Centerline goodness : 0.192680 Centerline is valid? [False, False] Translation: X:1.36, Y:0.06, Z:1.01 [[ 9.99774913e-01 -7.24635476e-04 -2.12037293e-02 1.36458971e+00] [ 5.54733012e-04 9.99967704e-01 -8.01764268e-03 6.07128682e-02] [ 2.12088544e-02 8.00407561e-03 9.99743027e-01 1.00874761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842557844 meters Centerline goodness : 0.209385 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974155 -0.00532601 -0.0221015 1.38747731] [ 0.00521145 0.9999727 -0.00523786 0.06625955] [ 0.02212879 0.00512132 0.99974201 1.00889177] [ 0. 0. 0. 1. ]] SLAMing on 129.872557844 meters Centerline goodness : 0.142331 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974001 -0.00552535 -0.02212198 1.38780702] [ 0.00539783 0.9999685 -0.00581998 0.06901219] [ 0.02215344 0.00569906 0.99973834 1.00846142] [ 0. 0. 0. 1. ]] SLAMing on 129.902557844 meters Centerline goodness : 0.115158 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974023 -0.00567477 -0.02207432 1.3878037 ] [ 0.00553662 0.99996474 -0.00631442 0.07134809] [ 0.02210938 0.00619056 0.99973639 1.00829184] [ 0. 0. 0. 1. ]] SLAMing on 129.932557844 meters Centerline goodness : 0.119736 Centerline is valid? [False, False] Translation: X:1.39, Y:0.07, Z:1.01 [[ 0.99974118 -0.00585166 -0.02198498 1.38758941] [ 0.00569942 0.99995939 -0.00698107 0.07446874] [ 0.02202494 0.00685396 0.99973393 1.00834406] [ 0. 0. 0. 1. ]] SLAMing on 129.962557844 meters Centerline goodness : 0.180649 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:1.01 [[ 0.99974011 -0.00590679 -0.02201846 1.38767481] [ 0.00575085 0.99995798 -0.00713852 0.07519505] [ 0.0220597 0.00701003 0.99973208 1.00833644] [ 0. 0. 0. 1. ]] SLAMing on 129.992557844 meters Centerline goodness : 0.131779 Centerline is valid? [False, False] Translation: X:1.39, Y:0.08, Z:1.01 [[ 0.9997382 -0.00593282 -0.02209828 1.38777878] [ 0.00577472 0.99995732 -0.00721131 0.07556757] [ 0.02214012 0.00708181 0.9997298 1.00850379] [ 0. 0. 0. 1. ]] SLAMing on 130.022557844 meters Centerline goodness : 0.149013 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.9997879 -0.00440762 -0.02011774 1.43141895] [ 0.00425512 0.99996194 -0.00761674 0.07792457] [ 0.02015055 0.00752952 0.9997686 1.00886827] [ 0. 0. 0. 1. ]] SLAMing on 130.052557844 meters Centerline goodness : 0.176694 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99979008 -0.00442265 -0.02000604 1.43110963] [ 0.00426909 0.99996115 -0.00771215 0.07843534] [ 0.02003937 0.00762512 0.99977011 1.00894889] [ 0. 0. 0. 1. ]] SLAMing on 130.082557844 meters Centerline goodness : 0.159101 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99979356 -0.00443357 -0.01982863 1.43057995] [ 0.00427937 0.99996033 -0.00781224 0.07899616] [ 0.01986248 0.00772578 0.99977287 1.00908178] [ 0. 0. 0. 1. ]] SLAMing on 130.112557844 meters Centerline goodness : 0.146861 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99980149 -0.00441722 -0.01942851 1.4295536 ] [ 0.00426018 0.99995798 -0.00811685 0.08087597] [ 0.01946355 0.00803247 0.9997783 1.00909506] [ 0. 0. 0. 1. ]] SLAMing on 130.142557844 meters Centerline goodness : 0.161505 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99794742e-01 -1.40156436e-03 -2.02116323e-02 1.43176451e+00] [ 1.29812910e-03 9.99986000e-01 -5.12982295e-03 8.13558838e-02] [ 2.02185391e-02 5.10253271e-03 9.99782564e-01 1.00879580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172557844 meters Centerline goodness : 0.193852 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99787542e-01 -1.51887749e-03 -2.05563368e-02 1.43277041e+00] [ 1.40657613e-03 9.99984015e-01 -5.47645836e-03 8.29776991e-02] [ 2.05643263e-02 5.44638079e-03 9.99773697e-01 1.00861329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202557844 meters Centerline goodness : 0.145716 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99978341 -0.00162252 -0.02074867 1.43344115] [ 0.00150084 0.99998159 -0.00587895 0.08491005] [ 0.02075782 0.00584653 0.99976744 1.0083234 ] [ 0. 0. 0. 1. ]] SLAMing on 130.232557844 meters Centerline goodness : 0.203497 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99977323 -0.00157307 -0.02123706 1.43477196] [ 0.00143739 0.99997847 -0.00640275 0.08691651] [ 0.02124668 0.00637077 0.99975397 1.00856129] [ 0. 0. 0. 1. ]] SLAMing on 130.262557844 meters Centerline goodness : 0.145087 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:1.01 [[ 9.99770515e-01 -1.54653622e-03 -2.13664370e-02 1.43527069e+00] [ 1.40027996e-03 9.99975500e-01 -6.85840667e-03 8.88186624e-02] [ 2.13765203e-02 6.82691377e-03 9.99748187e-01 1.00863011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29255784400002 meters Centerline goodness : 0.185678 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99784303e-01 -1.51716583e-03 -2.07134327e-02 1.43360121e+00] [ 1.36591149e-03 9.99972316e-01 -7.31443067e-03 9.15068319e-02] [ 2.07239565e-02 7.28456025e-03 9.99758697e-01 1.00868034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32255784400002 meters Centerline goodness : 0.185678 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99784303e-01 -1.51716583e-03 -2.07134327e-02 1.43360121e+00] [ 1.36591149e-03 9.99972316e-01 -7.31443067e-03 9.15068319e-02] [ 2.07239565e-02 7.28456025e-03 9.99758697e-01 1.00868034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35255784400002 meters Centerline goodness : 0.148266 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99783522e-01 -1.57396773e-03 -2.07468604e-02 1.43378814e+00] [ 1.41846015e-03 9.99970808e-01 -7.50806101e-03 9.24294161e-02] [ 2.07580722e-02 7.47700708e-03 9.99756569e-01 1.00849439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38255784400002 meters Centerline goodness : 0.147512 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99978065 -0.00162036 -0.02088123 1.4344218 ] [ 0.0014608 0.99996964 -0.00765407 0.09309422] [ 0.02089299 0.00762189 0.99975266 1.00793536] [ 0. 0. 0. 1. ]] SLAMing on 130.412557844 meters Centerline goodness : 0.191575 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:1.01 [[ 0.99977702 -0.00165613 -0.02105156 1.43508899] [ 0.00149241 0.99996854 -0.00779082 0.09376833] [ 0.0210638 0.00775767 0.99974804 1.00750672] [ 0. 0. 0. 1. ]] SLAMing on 130.442557844 meters Centerline goodness : 0.331303 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99977913 -0.00164604 -0.02095175 1.43495337] [ 0.00148204 0.99996816 -0.00784052 0.09409441] [ 0.02096399 0.00780774 0.99974974 1.00729636] [ 0. 0. 0. 1. ]] SLAMing on 130.472557844 meters Centerline goodness : 0.205795 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 9.99797097e-01 -1.53653712e-03 -2.00849000e-02 1.43232765e+00] [ 1.37821036e-03 9.99967889e-01 -7.89434130e-03 9.47722592e-02] [ 2.00963851e-02 7.86505830e-03 9.99767111e-01 1.00805417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502557844 meters Centerline goodness : 0.149701 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:1.01 [[ 9.99804182e-01 -1.51405119e-03 -1.97308241e-02 1.43121938e+00] [ 1.35765876e-03 9.99967578e-01 -7.93728604e-03 9.50708793e-02] [ 1.97422019e-02 7.90894405e-03 9.99773821e-01 1.00841998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532557844 meters Centerline goodness : 0.201919 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:1.01 [[ 9.99805375e-01 -1.52678089e-03 -1.96693109e-02 1.43104204e+00] [ 1.36908237e-03 9.99966834e-01 -8.02846296e-03 9.55798156e-02] [ 1.96809162e-02 7.99997151e-03 9.99774306e-01 1.00843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562557844 meters Centerline goodness : 0.120175 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:1.01 [[ 0.99973367 -0.00174378 -0.02301189 1.38688952] [ 0.00159568 0.99997791 -0.0064526 0.09168701] [ 0.02302264 0.00641417 0.99971437 1.00869594] [ 0. 0. 0. 1. ]] SLAMing on 130.592557844 meters Centerline goodness : 0.146226 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.999695 -0.00647105 -0.02383351 1.41167902] [ 0.00639597 0.99997435 -0.00322502 0.09421177] [ 0.02385377 0.0030716 0.99971074 1.00758706] [ 0. 0. 0. 1. ]] SLAMing on 130.622557844 meters Centerline goodness : 0.224103 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99969464 -0.00641706 -0.02386308 1.41185806] [ 0.00634571 0.99997517 -0.00306461 0.09330762] [ 0.02388216 0.00291224 0.99971054 1.00741543] [ 0. 0. 0. 1. ]] SLAMing on 130.652557844 meters Centerline goodness : 0.204399 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99969167 -0.00635141 -0.02400456 1.41223559] [ 0.00628534 0.99997625 -0.00282652 0.09189481] [ 0.02402194 0.00267477 0.99970785 1.00743995] [ 0. 0. 0. 1. ]] SLAMing on 130.682557844 meters Centerline goodness : 0.135790 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:1.01 [[ 0.99968575 -0.00632238 -0.02425762 1.4128896 ] [ 0.00625922 0.99997682 -0.00267899 0.09093653] [ 0.02427399 0.00252631 0.99970215 1.00743402] [ 0. 0. 0. 1. ]] SLAMing on 130.712557844 meters Centerline goodness : 0.141884 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970371 0.00262067 -0.02419975 1.43334997] [-0.0027108 0.99998951 -0.00369253 0.08710322] [ 0.02418981 0.00375703 0.99970032 1.00873581] [ 0. 0. 0. 1. ]] SLAMing on 130.742557844 meters Centerline goodness : 0.182142 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970193 0.00269195 -0.02426533 1.43379904] [-0.00278136 0.99998946 -0.00365189 0.08730078] [ 0.02425524 0.00371829 0.99969888 1.00820631] [ 0. 0. 0. 1. ]] SLAMing on 130.772557844 meters Centerline goodness : 0.143570 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.99970704 0.00284638 -0.02403614 1.43337588] [-0.00293125 0.99998959 -0.00349635 0.0869999 ] [ 0.02402594 0.00356578 0.99970498 1.00800564] [ 0. 0. 0. 1. ]] SLAMing on 130.802557844 meters Centerline goodness : 0.189221 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:1.01 [[ 0.9997065 0.00289024 -0.02405323 1.43318421] [-0.00297034 0.99999016 -0.00329511 0.08565351] [ 0.02404347 0.00336559 0.99970525 1.00844447] [ 0. 0. 0. 1. ]] SLAMing on 130.832557844 meters Centerline goodness : 0.182308 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99970197 0.00292064 -0.02423713 1.4335731 ] [-0.00299579 0.99999081 -0.00306523 0.08407483] [ 0.02422795 0.00313693 0.99970154 1.0086133 ] [ 0. 0. 0. 1. ]] SLAMing on 130.862557844 meters Centerline goodness : 0.183183 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99969663 0.00302429 -0.02444398 1.43417341] [-0.00309322 0.99999134 -0.00278264 0.08267233] [ 0.02443535 0.00285741 0.99969733 1.00847906] [ 0. 0. 0. 1. ]] SLAMing on 130.892557844 meters Centerline goodness : 0.217432 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.9996932 0.00316156 -0.02456635 1.43472954] [-0.00322357 0.99999172 -0.00248506 0.08144771] [ 0.02455829 0.00256348 0.99969511 1.00801224] [ 0. 0. 0. 1. ]] SLAMing on 130.922557844 meters Centerline goodness : 0.189344 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 0.99969307 0.00335789 -0.0245456 1.43496804] [-0.00340849 0.99999215 -0.00201998 0.07942018] [ 0.02453863 0.00210303 0.99969667 1.0075523 ] [ 0. 0. 0. 1. ]] SLAMing on 130.952557844 meters Centerline goodness : 0.194741 Centerline is valid? [False, False] Translation: X:1.44, Y:0.08, Z:1.01 [[ 0.99969108 0.00328817 -0.02463617 1.4351352 ] [-0.00333943 0.99999234 -0.00203957 0.0790223 ] [ 0.02462927 0.00212121 0.9996944 1.00771268] [ 0. 0. 0. 1. ]] SLAMing on 130.982557844 meters Centerline goodness : 0.185603 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99705603e-01 3.52516678e-04 -2.42607459e-02 1.43456425e+00] [-4.73100533e-04 9.99987564e-01 -4.96476736e-03 7.70973618e-02] [ 2.42586940e-02 4.97478352e-03 9.99693337e-01 1.00715428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012557844 meters Centerline goodness : 0.129601 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:1.01 [[ 9.99703968e-01 4.17264307e-04 -2.43269783e-02 1.43471374e+00] [-5.34229047e-04 9.99988329e-01 -4.80172505e-03 7.62880663e-02] [ 2.43246908e-02 4.81329977e-03 9.99692524e-01 1.00721864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04255784400002 meters Centerline goodness : 0.192520 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99969056 -0.00645035 -0.02402467 1.45351493] [ 0.0063679 0.99997358 -0.00350659 0.08144766] [ 0.02404665 0.00335252 0.99970522 1.00885905] [ 0. 0. 0. 1. ]] SLAMing on 131.07255784400002 meters Centerline goodness : 0.174562 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99969107 -0.00639752 -0.02401734 1.45353891] [ 0.00631735 0.99997422 -0.00341246 0.08113365] [ 0.02403855 0.00325968 0.99970572 1.00875769] [ 0. 0. 0. 1. ]] SLAMing on 131.10255784400002 meters Centerline goodness : 0.185394 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99968989 -0.00623172 -0.02410979 1.45400611] [ 0.00616108 0.99997651 -0.00300317 0.07924268] [ 0.02412794 0.0028537 0.99970481 1.00836645] [ 0. 0. 0. 1. ]] SLAMing on 131.13255784400002 meters Centerline goodness : 0.184880 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99968997 -0.00614446 -0.02412896 1.45400968] [ 0.006079 0.99997764 -0.00278542 0.07817912] [ 0.02414554 0.00263787 0.99970497 1.00846085] [ 0. 0. 0. 1. ]] SLAMing on 131.162557844 meters Centerline goodness : 0.179926 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.9996908 -0.00610917 -0.02410352 1.45398117] [ 0.00604604 0.9999781 -0.00269135 0.07769581] [ 0.02411943 0.00254478 0.99970585 1.00840715] [ 0. 0. 0. 1. ]] SLAMing on 131.192557844 meters Centerline goodness : 0.119471 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99969721 0.00161828 -0.02455334 1.43339052] [-0.0017006 0.999993 -0.00333187 0.07149528] [ 0.02454777 0.00337262 0.99969297 1.00733552] [ 0. 0. 0. 1. ]] SLAMing on 131.222557844 meters Centerline goodness : 0.113222 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99969335 0.00163599 -0.02470883 1.43353436] [-0.00172006 0.9999928 -0.00338161 0.07142481] [ 0.02470312 0.00342307 0.99968897 1.00781282] [ 0. 0. 0. 1. ]] SLAMing on 131.252557844 meters Centerline goodness : 0.120662 Centerline is valid? [False, False] Translation: X:1.43, Y:0.07, Z:1.01 [[ 0.99970194 0.00176343 -0.02435014 1.43207037] [-0.00184118 0.99999328 -0.00317102 0.07053608] [ 0.02434438 0.0032149 0.99969846 1.00880804] [ 0. 0. 0. 1. ]] SLAMing on 131.282557844 meters Centerline goodness : 0.185293 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99971021 -0.00521398 -0.02350125 1.45047167] [ 0.0051718 0.99998491 -0.00185507 0.07549032] [ 0.02351057 0.00173299 0.99972209 1.01061523] [ 0. 0. 0. 1. ]] SLAMing on 131.312557844 meters Centerline goodness : 0.130126 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:1.01 [[ 0.99971372 -0.00515137 -0.02336552 1.45033468] [ 0.00511065 0.99998532 -0.00180214 0.0754693 ] [ 0.02337446 0.00168221 0.99972536 1.01022981] [ 0. 0. 0. 1. ]] SLAMing on 131.342557844 meters Centerline goodness : 0.148178 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973912 0.00410861 -0.0224681 1.470895 ] [-0.00417047 0.99998764 -0.00270726 0.07274442] [ 0.0224567 0.00280026 0.99974389 1.01057152] [ 0. 0. 0. 1. ]] SLAMing on 131.372557844 meters Centerline goodness : 0.148121 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973949 0.00413578 -0.02244653 1.47107553] [-0.004196 0.99998772 -0.00263671 0.07229408] [ 0.02243535 0.00273021 0.99974457 1.01017231] [ 0. 0. 0. 1. ]] SLAMing on 131.402557844 meters Centerline goodness : 0.184192 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 0.99970521 -0.00533262 -0.02368667 1.45086281] [ 0.00529515 0.99998463 -0.00164436 0.07432078] [ 0.02369508 0.00151845 0.99971808 1.00960472] [ 0. 0. 0. 1. ]] SLAMing on 131.432557844 meters Centerline goodness : 0.151080 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99703891e-01 -5.22276267e-03 -2.37666207e-02 1.45055394e+00] [ 5.19307686e-03 9.99985657e-01 -1.31060315e-03 7.24780444e-02] [ 2.37731248e-02 1.18679318e-03 9.99716675e-01 1.01050701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462557844 meters Centerline goodness : 0.153216 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 0.99973037 0.00378233 -0.02291017 1.46974505] [-0.00384249 0.99998928 -0.00258252 0.06953257] [ 0.02290015 0.00266985 0.99973419 1.0117787 ] [ 0. 0. 0. 1. ]] SLAMing on 131.492557844 meters Centerline goodness : 0.382832 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99689769e-01 -4.43244894e-03 -2.45095870e-02 1.44905030e+00] [ 4.42578204e-03 9.99990153e-01 -3.26250759e-04 7.11558191e-02] [ 2.45107917e-02 2.17675456e-04 9.99699542e-01 1.01163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.522557844 meters Centerline goodness : 0.358813 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99691334e-01 -4.38951795e-03 -2.44533864e-02 1.44903905e+00] [ 4.38411313e-03 9.99990352e-01 -2.74632438e-04 7.10202741e-02] [ 2.44543560e-02 1.67341256e-04 9.99700934e-01 1.01137275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552557844 meters Centerline goodness : 0.151034 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99692116e-01 -4.36767482e-03 -2.44253463e-02 1.44901611e+00] [ 4.36370669e-03 9.99990456e-01 -2.15757564e-04 7.07784222e-02] [ 2.44260555e-02 1.09106088e-04 9.99701633e-01 1.01127995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582557844 meters Centerline goodness : 0.153476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:1.01 [[ 9.99687803e-01 -4.27621732e-03 -2.46172897e-02 1.44937226e+00] [ 4.27916832e-03 9.99990842e-01 6.71973297e-05 6.94187790e-02] [ 2.46167770e-02 -1.72517877e-04 9.99696946e-01 1.01151810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612557844 meters Centerline goodness : 0.156355 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:1.01 [[ 9.99685799e-01 4.37520965e-03 -2.46811937e-02 1.46846103e+00] [-4.41021576e-03 9.99989345e-01 -1.36407653e-03 6.53095086e-02] [ 2.46749626e-02 1.47249732e-03 9.99694442e-01 1.01359693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642557844 meters Centerline goodness : 0.152600 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99679323e-01 4.50373390e-03 -2.49192154e-02 1.46919690e+00] [-4.53090667e-03 9.99989201e-01 -1.03407927e-03 6.39150851e-02] [ 2.49142891e-02 1.14665430e-03 9.99688933e-01 1.01336720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672557844 meters Centerline goodness : 0.147512 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99677144e-01 4.62457952e-03 -2.49844221e-02 1.46948239e+00] [-4.64359024e-03 9.99988971e-01 -7.02938583e-04 6.25855232e-02] [ 2.49808958e-02 8.18729054e-04 9.99687593e-01 1.01313312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702557844 meters Centerline goodness : 0.157495 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99678836e-01 4.58070839e-03 -2.49247134e-02 1.46921169e+00] [-4.59413544e-03 9.99989331e-01 -4.81467788e-04 6.14305528e-02] [ 2.49222420e-02 5.95820667e-04 9.99689215e-01 1.01318246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732557844 meters Centerline goodness : 0.189626 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:1.01 [[ 9.99619112e-01 2.78915596e-03 -2.74563702e-02 1.42294962e+00] [-2.78610851e-03 9.99996108e-01 1.49247388e-04 5.56064546e-02] [ 2.74566796e-02 -7.26941145e-05 9.99622992e-01 1.01451885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762557844 meters Centerline goodness : 0.193916 Centerline is valid? [False, False] Translation: X:1.42, Y:0.05, Z:1.02 [[ 9.99616632e-01 2.91908694e-03 -2.75330424e-02 1.42288155e+00] [-2.90387479e-03 9.99995608e-01 5.92472929e-04 5.36062737e-02] [ 2.75346510e-02 -5.12293286e-04 9.99620718e-01 1.01501914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79255784400002 meters Centerline goodness : 0.069932 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99672588e-01 3.65514377e-03 -2.53250315e-02 1.46646643e+00] [-3.65525812e-03 9.99993319e-01 4.17766989e-05 5.63771801e-02] [ 2.53250150e-02 5.08065063e-05 9.99679269e-01 1.01450830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82255784400002 meters Centerline goodness : 0.200791 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99671281e-01 3.60933697e-03 -2.53831264e-02 1.46655689e+00] [-3.61254082e-03 9.99993472e-01 -8.03644492e-05 5.67184846e-02] [ 2.53826706e-02 1.72035612e-04 9.99677793e-01 1.01469418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85255784400002 meters Centerline goodness : 0.171298 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.01 [[ 9.99670271e-01 3.52337509e-03 -2.54349185e-02 1.46652322e+00] [-3.52619811e-03 9.99993781e-01 -6.61391493e-05 5.67172924e-02] [ 2.54345273e-02 1.55805903e-04 9.99676478e-01 1.01475967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88255784400002 meters Centerline goodness : 0.201228 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:1.02 [[ 9.99670607e-01 3.50223224e-03 -2.54246302e-02 1.46640751e+00] [-3.50940005e-03 9.99993814e-01 -2.37309557e-04 5.74654760e-02] [ 2.54236418e-02 3.26456587e-04 9.99676714e-01 1.01500745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912557844 meters Centerline goodness : 0.146502 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99696100e-01 4.07210921e-03 -2.43130824e-02 1.46338202e+00] [-4.06839351e-03 9.99991704e-01 2.02290212e-04 5.76818200e-02] [ 2.43137044e-02 -1.03313549e-04 9.99704373e-01 1.01536172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942557844 meters Centerline goodness : 0.118383 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99699661e-01 3.92554678e-03 -2.41904591e-02 1.46264221e+00] [-3.93132288e-03 9.99992254e-01 -1.91223385e-04 5.90478630e-02] [ 2.41895210e-02 2.86266458e-04 9.99707350e-01 1.01619788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972557844 meters Centerline goodness : 0.390603 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 9.99698287e-01 3.70530151e-03 -2.42817877e-02 1.46254540e+00] [-3.72337634e-03 9.99992824e-01 -6.99208180e-04 6.05479363e-02] [ 2.42790227e-02 7.89407454e-04 9.99704909e-01 1.01688222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002557844 meters Centerline goodness : 0.345832 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:1.02 [[ 0.99970605 0.00156515 -0.02419419 1.46195537] [-0.00163777 0.99999421 -0.00298205 0.0582814 ] [ 0.02418938 0.0030208 0.99970283 1.0171894 ] [ 0. 0. 0. 1. ]] SLAMing on 132.032557844 meters Centerline goodness : 0.143314 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99652583e-01 -3.00725122e-03 -2.61852976e-02 1.48650585e+00] [ 3.00256098e-03 9.99995468e-01 -2.18433793e-04 6.25128981e-02] [ 2.61858358e-02 1.39734952e-04 9.99657082e-01 1.01677958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062557844 meters Centerline goodness : 0.143293 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99652316e-01 -3.02888272e-03 -2.61930011e-02 1.48672880e+00] [ 3.02204865e-03 9.99995388e-01 -3.00493423e-04 6.29681570e-02] [ 2.61937905e-02 2.21232422e-04 9.99656859e-01 1.01642510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092557844 meters Centerline goodness : 0.151465 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:1.02 [[ 9.99650624e-01 -3.08717470e-03 -2.62507183e-02 1.48686751e+00] [ 3.07652765e-03 9.99995168e-01 -4.45968607e-04 6.35888524e-02] [ 2.62519683e-02 3.65051735e-04 9.99655291e-01 1.01643208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122557844 meters Centerline goodness : 0.188997 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99966077 0.00540005 -0.02547925 1.50640638] [-0.00546701 0.99998178 -0.00255915 0.06206475] [ 0.02546497 0.00269757 0.99967208 1.01798739] [ 0. 0. 0. 1. ]] SLAMing on 132.152557844 meters Centerline goodness : 0.152778 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.9996534 0.00525388 -0.02579684 1.50728078] [-0.00533427 0.99998113 -0.00304839 0.06388548] [ 0.02578034 0.00318494 0.99966256 1.01799845] [ 0. 0. 0. 1. ]] SLAMing on 132.182557844 meters Centerline goodness : 0.152778 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.9996534 0.00525388 -0.02579684 1.50728078] [-0.00533427 0.99998113 -0.00304839 0.06388548] [ 0.02578034 0.00318494 0.99966256 1.01799845] [ 0. 0. 0. 1. ]] SLAMing on 132.212557844 meters Centerline goodness : 0.185815 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99964888 0.00519435 -0.02598337 1.50805908] [-0.005285 0.99998018 -0.00342125 0.06577501] [ 0.02596508 0.00355737 0.99965652 1.01749443] [ 0. 0. 0. 1. ]] SLAMing on 132.242557844 meters Centerline goodness : 0.180189 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965818 0.00537825 -0.02558501 1.50753578] [-0.00547525 0.99997808 -0.00372273 0.06949688] [ 0.02556443 0.00386154 0.99966572 1.01673055] [ 0. 0. 0. 1. ]] SLAMing on 132.272557844 meters Centerline goodness : 0.147473 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99966185 0.00530381 -0.02545707 1.50712546] [-0.00540283 0.9999781 -0.00382221 0.06991456] [ 0.02543624 0.00395845 0.99966861 1.01679647] [ 0. 0. 0. 1. ]] SLAMing on 132.302557844 meters Centerline goodness : 0.152917 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965842 0.00519699 -0.02561332 1.50739498] [-0.0052981 0.99997843 -0.00388126 0.06980912] [ 0.0255926 0.00401564 0.99966439 1.01706756] [ 0. 0. 0. 1. ]] SLAMing on 132.332557844 meters Centerline goodness : 0.122158 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99966653 0.0016276 -0.02577154 1.50786031] [-0.00181927 0.99997085 -0.00741549 0.06885742] [ 0.02575872 0.00745991 0.99964035 1.01676401] [ 0. 0. 0. 1. ]] SLAMing on 132.362557844 meters Centerline goodness : 0.192399 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99965351 0.00152489 -0.0262781 1.50916097] [-0.00171732 0.99997187 -0.00730183 0.06783293] [ 0.02626622 0.00734443 0.999628 1.01673891] [ 0. 0. 0. 1. ]] SLAMing on 132.392557844 meters Centerline goodness : 0.083174 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:1.02 [[ 0.99964921 0.00154524 -0.0264399 1.50950649] [-0.00173153 0.99997383 -0.00702444 0.06643046] [ 0.02642836 0.00706775 0.99962572 1.01681373] [ 0. 0. 0. 1. ]] SLAMing on 132.422557844 meters Centerline goodness : 0.060015 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99659120e-01 1.33475245e-03 -2.60741492e-02 1.50823248e+00] [-1.50734226e-03 9.99977079e-01 -6.60065977e-03 6.36974196e-02] [ 2.60647413e-02 6.63771241e-03 9.99638220e-01 1.01753026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452557844 meters Centerline goodness : 0.119795 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99657908e-01 1.41829223e-03 -2.61161983e-02 1.50798693e+00] [-1.58022564e-03 9.99979649e-01 -6.18090322e-03 6.15263309e-02] [ 2.61069005e-02 6.22005827e-03 9.99639805e-01 1.01815684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482557844 meters Centerline goodness : 0.227191 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 9.99661313e-01 1.42355236e-03 -2.59852599e-02 1.50735127e+00] [-1.57621792e-03 9.99981614e-01 -5.85554639e-03 5.99600916e-02] [ 2.59764464e-02 5.89452162e-03 9.99645176e-01 1.01851240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512557844 meters Centerline goodness : 0.118692 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99964801 0.00165179 -0.02647885 1.50876215] [-0.00178979 0.99998494 -0.00518893 0.05678311] [ 0.02646988 0.0052345 0.99963591 1.01826073] [ 0. 0. 0. 1. ]] SLAMing on 132.54255784400002 meters Centerline goodness : 0.197545 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:1.02 [[ 0.99964269 0.00178506 -0.02667029 1.50946984] [-0.00191494 0.99998643 -0.00484521 0.05516284] [ 0.02666128 0.00489455 0.99963254 1.01786857] [ 0. 0. 0. 1. ]] SLAMing on 132.57255784400002 meters Centerline goodness : 0.187511 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963898 0.00189573 -0.02680158 1.50990064] [-0.00201702 0.99998784 -0.00449918 0.05343537] [ 0.02679272 0.00455162 0.99963065 1.01769318] [ 0. 0. 0. 1. ]] SLAMing on 132.60255784400002 meters Centerline goodness : 0.198662 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963708 0.00199348 -0.02686507 1.50989491] [-0.00210711 0.99998895 -0.004202 0.05196758] [ 0.0268564 0.00425708 0.99963024 1.01800723] [ 0. 0. 0. 1. ]] SLAMing on 132.63255784400002 meters Centerline goodness : 0.117814 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99963811 0.002083 -0.02681987 1.50943697] [-0.0021901 0.99998974 -0.00396436 0.05083003] [ 0.02681133 0.00402166 0.99963242 1.01861615] [ 0. 0. 0. 1. ]] SLAMing on 132.662557844 meters Centerline goodness : 0.134229 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99964095 0.00219986 -0.02670445 1.50867226] [-0.00229908 0.99999057 -0.0036853 0.0496366 ] [ 0.0266961 0.00374538 0.99963658 1.01946427] [ 0. 0. 0. 1. ]] SLAMing on 132.692557844 meters Centerline goodness : 0.209886 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965409 0.00247512 -0.02618364 1.50666886] [-0.00256012 0.99999156 -0.00321344 0.04796875] [ 0.02617547 0.00327936 0.99965198 1.02068251] [ 0. 0. 0. 1. ]] SLAMing on 132.722557844 meters Centerline goodness : 0.124153 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965735 0.00257959 -0.02604869 1.5062314 ] [-0.00265851 0.99999198 -0.00299572 0.04701874] [ 0.02604075 0.00306395 0.99965619 1.02086313] [ 0. 0. 0. 1. ]] SLAMing on 132.752557844 meters Centerline goodness : 0.195844 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99965604 0.00264648 -0.02609228 1.50632142] [-0.00272149 0.99999226 -0.0028398 0.04622066] [ 0.02608457 0.00290984 0.9996555 1.02092713] [ 0. 0. 0. 1. ]] SLAMing on 132.782557844 meters Centerline goodness : 0.154204 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.9996492 0.00271494 -0.02634599 1.50701673] [-0.00279145 0.99999199 -0.00286761 0.04620795] [ 0.026338 0.00294015 0.99964877 1.02098816] [ 0. 0. 0. 1. ]] SLAMing on 132.812557844 meters Centerline goodness : 0.182842 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99964778 0.00273292 -0.02639777 1.5072003 ] [-0.00280923 0.99999198 -0.00285409 0.04618581] [ 0.02638975 0.00292724 0.99964744 1.02090733] [ 0. 0. 0. 1. ]] SLAMing on 132.842557844 meters Centerline goodness : 0.175095 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:1.02 [[ 0.99962778 0.00302351 -0.02711365 1.50944326] [-0.00310074 0.99999125 -0.00280671 0.04626182] [ 0.02710493 0.00288974 0.99962842 1.02043046] [ 0. 0. 0. 1. ]] SLAMing on 132.872557844 meters Centerline goodness : 0.179674 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:1.02 [[ 0.99962195 0.00298316 -0.02733222 1.54683402] [-0.00305267 0.99999221 -0.00250171 0.04734836] [ 0.02732454 0.0025842 0.99962327 1.0212438 ] [ 0. 0. 0. 1. ]] SLAMing on 132.902557844 meters Centerline goodness : 0.197029 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99542389e-01 1.31421539e-03 -3.02205995e-02 1.50084462e+00] [-1.37614633e-03 9.99996996e-01 -2.02858823e-03 4.41430972e-02] [ 3.02178427e-02 2.06924790e-03 9.99541195e-01 1.02274290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932557844 meters Centerline goodness : 0.150489 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99552109e-01 1.12859250e-03 -2.99049679e-02 1.49955876e+00] [-1.19913607e-03 9.99996541e-01 -2.34109570e-03 4.50022532e-02] [ 2.99022223e-02 2.37590727e-03 9.99550005e-01 1.02361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962557844 meters Centerline goodness : 0.156423 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99559042e-01 1.02988740e-03 -2.96759235e-02 1.49859920e+00] [-1.10400189e-03 9.99996312e-01 -2.48118542e-03 4.54747865e-02] [ 2.96732587e-02 2.51285360e-03 9.99556493e-01 1.02422131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992557844 meters Centerline goodness : 0.113402 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99561426e-01 9.91325228e-04 -2.95968240e-02 1.49839497e+00] [-1.06852812e-03 9.99996068e-01 -2.59278355e-03 4.61135461e-02] [ 2.95941374e-02 2.62327147e-03 9.99558555e-01 1.02420160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.022557844 meters Centerline goodness : 0.133329 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99558434e-01 8.64753056e-04 -2.97016871e-02 1.49895837e+00] [-9.49802913e-04 9.99995489e-01 -2.84947977e-03 4.72159387e-02] [ 2.96990890e-02 2.87643229e-03 9.99554746e-01 1.02367384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052557844 meters Centerline goodness : 0.203974 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99557821e-01 7.91088714e-04 -2.97243381e-02 1.49892858e+00] [-8.79450769e-04 9.99995233e-01 -2.95976151e-03 4.75691534e-02] [ 2.97218550e-02 2.98459386e-03 9.99553752e-01 1.02379042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082557844 meters Centerline goodness : 0.132504 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99561762e-01 6.67903918e-04 -2.95945675e-02 1.49832562e+00] [-7.61726963e-04 9.99994720e-01 -3.15911877e-03 4.81187451e-02] [ 2.95923013e-02 3.18027731e-03 9.99556993e-01 1.02427585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112557844 meters Centerline goodness : 0.128922 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99560315e-01 6.56795380e-04 -2.96436398e-02 1.49833537e+00] [-7.51139737e-04 9.99994688e-01 -3.17159369e-03 4.81915822e-02] [ 2.96413992e-02 3.19246570e-03 9.99555499e-01 1.02445530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142557844 meters Centerline goodness : 0.194685 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99550824e-01 7.09856736e-04 -2.99607353e-02 1.49943327e+00] [-8.02125463e-04 9.99994973e-01 -3.06774849e-03 4.78201568e-02] [ 2.99584071e-02 3.09040280e-03 9.99546369e-01 1.02391914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172557844 meters Centerline goodness : 0.191182 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99535508e-01 8.66309370e-04 -3.04633833e-02 1.50110385e+00] [-9.53412059e-04 9.99995499e-01 -2.84484933e-03 4.70611760e-02] [ 3.04607816e-02 2.87257208e-03 9.99531835e-01 1.02320998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202557844 meters Centerline goodness : 0.149013 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99428410e-01 -1.07016422e-03 -3.37891564e-02 1.45860341e+00] [ 9.85974471e-04 9.99996368e-01 -2.50818442e-03 4.34038617e-02] [ 3.37917178e-02 2.47343552e-03 9.99425836e-01 1.02251467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232557844 meters Centerline goodness : 0.190992 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99423508e-01 -9.29705461e-04 -3.39379979e-02 1.45904243e+00] [ 8.49917357e-04 9.99996841e-01 -2.36534692e-03 4.30504029e-02] [ 3.39400898e-02 2.33513883e-03 9.99421141e-01 1.02243317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262557844 meters Centerline goodness : 0.150165 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:1.02 [[ 9.99419588e-01 -8.30949737e-04 -3.40557918e-02 1.45938428e+00] [ 7.54744828e-04 9.99997183e-01 -2.25044339e-03 4.27091373e-02] [ 3.40575659e-02 2.22343377e-03 9.99417400e-01 1.02237105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29255784400002 meters Centerline goodness : 0.085007 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99434026e-01 -4.43591601e-04 -3.36367383e-02 1.49767440e+00] [ 3.91301257e-04 9.99998705e-01 -1.56112745e-03 4.30909477e-02] [ 3.36373872e-02 1.54708180e-03 9.99432906e-01 1.02356062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32255784400002 meters Centerline goodness : 0.139261 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99434103e-01 -4.51535322e-04 -3.36343591e-02 1.49765006e+00] [ 3.97149882e-04 9.99998603e-01 -1.62362405e-03 4.34719489e-02] [ 3.36350453e-02 1.60934737e-03 9.99432886e-01 1.02358728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35255784400002 meters Centerline goodness : 0.154515 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:1.02 [[ 9.99437510e-01 -4.49517474e-04 -3.35329908e-02 1.49744664e+00] [ 3.91048495e-04 9.99998392e-01 -1.75016352e-03 4.42500502e-02] [ 3.35337236e-02 1.73606605e-03 9.99436079e-01 1.02345913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38255784400002 meters Centerline goodness : 0.122387 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99454615e-01 -3.83049304e-04 -3.30200803e-02 1.49625497e+00] [ 3.14384757e-04 9.99997778e-01 -2.08464534e-03 4.65689487e-02] [ 3.30208054e-02 2.07312740e-03 9.99452514e-01 1.02320027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412557844 meters Centerline goodness : 0.135702 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:1.02 [[ 9.99460385e-01 -4.51225869e-04 -3.28441054e-02 1.49574483e+00] [ 3.74360186e-04 9.99997177e-01 -2.34643079e-03 4.79931553e-02] [ 3.28450714e-02 2.33286909e-03 9.99457732e-01 1.02324916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442557844 meters Centerline goodness : 0.133247 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99946732 0.00862082 -0.03147624 1.515992 ] [-0.00874022 0.99995511 -0.00365773 0.04724445] [ 0.0314433 0.0039309 0.99949781 1.02384882] [ 0. 0. 0. 1. ]] SLAMing on 133.472557844 meters Centerline goodness : 0.140679 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947053 0.0084085 -0.03143181 1.5158383 ] [-0.0085437 0.99995481 -0.00416964 0.04913907] [ 0.03139533 0.00443598 0.9994972 1.02397626] [ 0. 0. 0. 1. ]] SLAMing on 133.502557844 meters Centerline goodness : 0.200169 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947473 0.00810798 -0.031377 1.51549802] [-0.00826415 0.99995409 -0.00485078 0.05152753] [ 0.03133623 0.00510753 0.99949585 1.02441965] [ 0. 0. 0. 1. ]] SLAMing on 133.532557844 meters Centerline goodness : 0.129661 Centerline is valid? [False, False] Translation: X:1.52, Y:0.05, Z:1.02 [[ 0.99947695 0.00781965 -0.03137957 1.51534541] [-0.00799809 0.99995253 -0.0055652 0.05412318] [ 0.03133457 0.00581326 0.99949205 1.024763 ] [ 0. 0. 0. 1. ]] SLAMing on 133.562557844 meters Centerline goodness : 0.132102 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:1.02 [[ 0.99944842 0.00936746 -0.03186065 1.51727706] [-0.00951798 0.99994423 -0.00457604 0.06037967] [ 0.03181601 0.00487676 0.99948185 1.02432985] [ 0. 0. 0. 1. ]] SLAMing on 133.592557844 meters Centerline goodness : 0.201259 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:1.02 [[ 0.99943253 0.00937795 -0.03235227 1.51918283] [-0.00955243 0.99994063 -0.00524281 0.06406968] [ 0.03230118 0.00554888 0.99946278 1.02338234] [ 0. 0. 0. 1. ]] SLAMing on 133.622557844 meters Centerline goodness : 0.177221 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943396 0.00914304 -0.03237523 1.51903806] [-0.00933517 0.99993967 -0.00578821 0.0660885 ] [ 0.03232035 0.00608716 0.99945902 1.02371649] [ 0. 0. 0. 1. ]] SLAMing on 133.652557844 meters Centerline goodness : 0.216116 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.99944733 0.0084697 -0.03214484 1.51726566] [-0.00869959 0.99993753 -0.00701874 0.06999582] [ 0.03208339 0.00729451 0.99945858 1.02561355] [ 0. 0. 0. 1. ]] SLAMing on 133.682557844 meters Centerline goodness : 0.184295 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.9994458 0.00836851 -0.03221891 1.51757236] [-0.00860822 0.99993624 -0.00730831 0.07123598] [ 0.0321557 0.0075816 0.99945412 1.02544419] [ 0. 0. 0. 1. ]] SLAMing on 133.712557844 meters Centerline goodness : 0.178803 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943894 0.00834488 -0.03243725 1.51852534] [-0.00859209 0.99993504 -0.00748925 0.0722028 ] [ 0.03237265 0.00776376 0.99944571 1.02484523] [ 0. 0. 0. 1. ]] SLAMing on 133.742557844 meters Centerline goodness : 0.197540 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.02 [[ 0.99943747 0.0083053 -0.03249263 1.51882185] [-0.00855858 0.99993401 -0.00766374 0.07304654] [ 0.03242684 0.00793752 0.99944259 1.02462876] [ 0. 0. 0. 1. ]] SLAMing on 133.772557844 meters Centerline goodness : 0.186437 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:1.03 [[ 0.99944543 0.00815918 -0.03228417 1.51805578] [-0.00841887 0.99993323 -0.00791602 0.07400413] [ 0.03221742 0.00818343 0.99944738 1.0250177 ] [ 0. 0. 0. 1. ]] SLAMing on 133.802557844 meters Centerline goodness : 0.181736 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99532726e-01 4.63226940e-04 -3.05632881e-02 1.53490775e+00] [-6.61040068e-04 9.99978900e-01 -6.46245965e-03 8.14380944e-02] [ 3.05596496e-02 6.47964347e-03 9.99511942e-01 1.02665038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832557844 meters Centerline goodness : 0.204599 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.03 [[ 9.99608631e-01 -2.73966974e-04 -2.79733928e-02 1.48865732e+00] [ 1.41804677e-04 9.99988820e-01 -4.72644604e-03 7.89279449e-02] [ 2.79743750e-02 4.72062949e-03 9.99597494e-01 1.02593713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862557844 meters Centerline goodness : 0.212482 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960559 -0.00741516 -0.02708669 1.50737005] [ 0.00731738 0.99996636 -0.00370715 0.08522272] [ 0.02711326 0.00350749 0.99962621 1.02747083] [ 0. 0. 0. 1. ]] SLAMing on 133.892557844 meters Centerline goodness : 0.121124 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960731 -0.00742371 -0.0270207 1.50727085] [ 0.00732475 0.99996611 -0.00375965 0.08551013] [ 0.02704769 0.00356025 0.9996278 1.02732422] [ 0. 0. 0. 1. ]] SLAMing on 133.922557844 meters Centerline goodness : 0.220578 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99960346 -0.00746118 -0.02715238 1.50791679] [ 0.0073597 0.99996556 -0.0038353 0.08580677] [ 0.02718006 0.00363395 0.99962395 1.02681445] [ 0. 0. 0. 1. ]] SLAMing on 133.952557844 meters Centerline goodness : 0.123796 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99959409 -0.00748722 -0.02748806 1.50916745] [ 0.00738209 0.99996505 -0.00392385 0.08619419] [ 0.02751648 0.00371934 0.99961443 1.02613867] [ 0. 0. 0. 1. ]] SLAMing on 133.982557844 meters Centerline goodness : 0.183542 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.02 [[ 9.99559867e-01 2.75706485e-04 -2.96647289e-02 1.48967192e+00] [-4.15882585e-04 9.99988778e-01 -4.71927963e-03 8.13641307e-02] [ 2.96630948e-02 4.72953956e-03 9.99548764e-01 1.02469788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012557844 meters Centerline goodness : 0.282199 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:1.02 [[ 9.99545514e-01 2.26373997e-04 -3.01448792e-02 1.49106826e+00] [-3.69765982e-04 9.99988644e-01 -4.75127137e-03 8.11805975e-02] [ 3.01434614e-02 4.76025853e-03 9.99534247e-01 1.02439251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04255784400002 meters Centerline goodness : 0.231706 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99953361 -0.00710955 -0.02969866 1.51030714] [ 0.00699488 0.99996768 -0.00396318 0.08662819] [ 0.02972587 0.00375359 0.99955104 1.02632967] [ 0. 0. 0. 1. ]] SLAMing on 134.07255784400002 meters Centerline goodness : 0.131282 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99953713 -0.00711012 -0.02958005 1.50966556] [ 0.00699519 0.99996759 -0.00398698 0.08682304] [ 0.02960744 0.00377822 0.99955446 1.02686098] [ 0. 0. 0. 1. ]] SLAMing on 134.10255784400002 meters Centerline goodness : 0.192442 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954135 -0.00709456 -0.02944058 1.50903866] [ 0.00698003 0.99996767 -0.00399121 0.08701181] [ 0.02946795 0.00378388 0.99955856 1.02726522] [ 0. 0. 0. 1. ]] SLAMing on 134.13255784400002 meters Centerline goodness : 0.192442 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954135 -0.00709456 -0.02944058 1.50903866] [ 0.00698003 0.99996767 -0.00399121 0.08701181] [ 0.02946795 0.00378388 0.99955856 1.02726522] [ 0. 0. 0. 1. ]] SLAMing on 134.162557844 meters Centerline goodness : 0.206184 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954901 -0.00713925 -0.02916845 1.50834212] [ 0.00702061 0.99996667 -0.0041675 0.08811019] [ 0.02919723 0.00396084 0.99956582 1.02724303] [ 0. 0. 0. 1. ]] SLAMing on 134.192557844 meters Centerline goodness : 0.128232 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:1.03 [[ 0.99954895 -0.00717716 -0.02916124 1.50840585] [ 0.00705639 0.9999661 -0.00424228 0.08842857] [ 0.0291907 0.00403459 0.99956572 1.02709878] [ 0. 0. 0. 1. ]] SLAMing on 134.222557844 meters Centerline goodness : 0.130381 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99573691e-01 1.28729341e-03 -2.91681293e-02 1.52708397e+00] [-1.45730809e-03 9.99982070e-01 -5.80827437e-03 8.49281407e-02] [ 2.91601294e-02 5.84830520e-03 9.99557644e-01 1.02927361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252557844 meters Centerline goodness : 0.163759 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99570310e-01 1.33165622e-03 -2.92817696e-02 1.52723365e+00] [-1.49715293e-03 9.99983027e-01 -5.63067086e-03 8.40472157e-02] [ 2.92737745e-02 5.67209071e-03 9.99555338e-01 1.02948012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282557844 meters Centerline goodness : 0.173778 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99560866e-01 1.37338765e-03 -2.96004950e-02 1.52784055e+00] [-1.53244061e-03 9.99984507e-01 -5.35130542e-03 8.26390816e-02] [ 2.95926870e-02 5.39431648e-03 9.99547485e-01 1.02981546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312557844 meters Centerline goodness : 0.155245 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 9.99554218e-01 1.43853830e-03 -2.98210665e-02 1.52840737e+00] [-1.59086044e-03 9.99985807e-01 -5.08477381e-03 8.13111922e-02] [ 2.98133286e-02 5.12994826e-03 9.99542320e-01 1.02981323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters Centerline goodness : 0.184850 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:1.03 [[ 0.99954675 0.00153334 -0.03006572 1.52930307] [-0.00166987 0.99998841 -0.00451637 0.07877545] [ 0.03005845 0.00456453 0.99953772 1.02922614] [ 0. 0. 0. 1. ]] SLAMing on 134.372557844 meters Centerline goodness : 0.188896 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99955572 -0.00581535 -0.02923244 1.54804974] [ 0.00572063 0.99997812 -0.00332294 0.08213516] [ 0.02925113 0.00315424 0.99956712 1.03115128] [ 0. 0. 0. 1. ]] SLAMing on 134.402557844 meters Centerline goodness : 0.128816 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99956728 -0.00567965 -0.02886152 1.54669274] [ 0.00559475 0.99997978 -0.00302171 0.08083503] [ 0.0288781 0.00285893 0.99957885 1.03189024] [ 0. 0. 0. 1. ]] SLAMing on 134.432557844 meters Centerline goodness : 0.135221 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:1.03 [[ 0.99957591 -0.00555614 -0.02858536 1.54565887] [ 0.00548008 0.99998123 -0.00273831 0.07957782] [ 0.02860004 0.0025805 0.9995876 1.03249276] [ 0. 0. 0. 1. ]] SLAMing on 134.462557844 meters Centerline goodness : 0.131603 Centerline is valid? [False, False] Translation: X:1.56, Y:0.08, Z:1.03 [[ 0.99962017 0.00320052 -0.02737271 1.56425683] [-0.00331768 0.99998552 -0.00423597 0.07553988] [ 0.02735875 0.00432518 0.99961632 1.03414982] [ 0. 0. 0. 1. ]] SLAMing on 134.492557844 meters Centerline goodness : 0.133367 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:1.03 [[ 0.99962108 0.00330441 -0.0273272 1.56420039] [-0.0034162 0.99998598 -0.0040454 0.07488396] [ 0.02731345 0.00413722 0.99961836 1.03408567] [ 0. 0. 0. 1. ]] SLAMing on 134.522557844 meters Centerline goodness : 0.154687 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:1.03 [[ 0.99960521 0.00359583 -0.02786561 1.56591494] [-0.00370521 0.99998563 -0.00387467 0.07442354] [ 0.02785127 0.00397639 0.99960417 1.03375468] [ 0. 0. 0. 1. ]] SLAMing on 134.552557844 meters Centerline goodness : 0.131127 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:1.03 [[ 0.9995925 0.00370379 -0.02830387 1.56717416] [-0.00381846 0.99998472 -0.00399843 0.07497146] [ 0.02828863 0.00410488 0.99959137 1.03371943] [ 0. 0. 0. 1. ]] SLAMing on 134.582557844 meters Centerline goodness : 0.168756 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958669 0.00369939 -0.02850903 1.56763254] [-0.003822 0.99998368 -0.00424757 0.07592078] [ 0.02849285 0.00435478 0.99958451 1.03400459] [ 0. 0. 0. 1. ]] SLAMing on 134.612557844 meters Centerline goodness : 0.225647 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958191 0.00361578 -0.02868678 1.5679824 ] [-0.0037503 0.99998222 -0.00463682 0.07737595] [ 0.02866951 0.00474247 0.9995777 1.034366 ] [ 0. 0. 0. 1. ]] SLAMing on 134.642557844 meters Centerline goodness : 0.212765 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958441 0.00349269 -0.02861492 1.56776115] [-0.00363468 0.99998133 -0.00491154 0.078721 ] [ 0.02859723 0.0050135 0.99957844 1.03434473] [ 0. 0. 0. 1. ]] SLAMing on 134.672557844 meters Centerline goodness : 0.185763 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99958969 0.00340799 -0.02844021 1.56737199] [-0.00355679 0.99998024 -0.0051832 0.08008982] [ 0.02842199 0.00528223 0.99958206 1.03421488] [ 0. 0. 0. 1. ]] SLAMing on 134.702557844 meters Centerline goodness : 0.129619 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:1.03 [[ 0.99959145 0.00320981 -0.02840109 1.56810871] [-0.00337706 0.99997723 -0.00584261 0.0835951 ] [ 0.02838169 0.00593613 0.99957953 1.03281522] [ 0. 0. 0. 1. ]] SLAMing on 134.732557844 meters Centerline goodness : 0.196923 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99958499 0.00298617 -0.02865177 1.56917656] [-0.00316923 0.99997484 -0.00634586 0.08577005] [ 0.0286321 0.00643403 0.99956931 1.03206208] [ 0. 0. 0. 1. ]] SLAMing on 134.762557844 meters Centerline goodness : 0.036034 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99957718 0.00259181 -0.02896097 1.57028016] [-0.0028021 0.99996999 -0.00722311 0.08961402] [ 0.02894138 0.00730121 0.99955445 1.03149803] [ 0. 0. 0. 1. ]] SLAMing on 134.79255784400002 meters Centerline goodness : 0.201876 Centerline is valid? [False, False] Translation: X:1.57, Y:0.09, Z:1.03 [[ 0.99957852 0.00245673 -0.02892652 1.57008309] [-0.00267617 0.99996792 -0.00754986 0.0911737 ] [ 0.02890704 0.00762409 0.99955303 1.03165381] [ 0. 0. 0. 1. ]] SLAMing on 134.82255784400002 meters Centerline goodness : 0.080556 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957883 -0.0048723 -0.02860814 1.58936856] [ 0.0046791 0.99996582 -0.00681607 0.09815035] [ 0.02864037 0.00667933 0.99956746 1.03339435] [ 0. 0. 0. 1. ]] SLAMing on 134.85255784400002 meters Centerline goodness : 0.035457 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.9995754 -0.0050254 -0.02870147 1.58973139] [ 0.00482428 0.99996335 -0.00707251 0.09918535] [ 0.02873596 0.00693104 0.99956301 1.03313224] [ 0. 0. 0. 1. ]] SLAMing on 134.88255784400002 meters Centerline goodness : 0.127829 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957258 -0.00517019 -0.02877355 1.59009566] [ 0.0049615 0.9999609 -0.00731939 0.1002252 ] [ 0.02881027 0.00717351 0.99955916 1.0327595 ] [ 0. 0. 0. 1. ]] SLAMing on 134.912557844 meters Centerline goodness : 0.131403 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957368 -0.00530787 -0.02871037 1.58995907] [ 0.00509198 0.99995825 -0.00758764 0.10150209] [ 0.02874944 0.00743822 0.99955897 1.03264413] [ 0. 0. 0. 1. ]] SLAMing on 134.942557844 meters Centerline goodness : 0.134908 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:1.03 [[ 0.99957765 -0.00540348 -0.02855383 1.58941052] [ 0.00518218 0.99995601 -0.00781835 0.10276536] [ 0.02859482 0.00766708 0.99956168 1.03283336] [ 0. 0. 0. 1. ]] SLAMing on 134.972557844 meters Centerline goodness : 0.214768 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.03 [[ 0.99966064 0.00283483 -0.02589542 1.60795931] [-0.00307576 0.99995232 -0.00926855 0.10440653] [ 0.02586791 0.00934505 0.99962169 1.03308457] [ 0. 0. 0. 1. ]] SLAMing on 135.002557844 meters Centerline goodness : 0.141782 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99965991 0.002663 -0.02594176 1.60807898] [-0.00291246 0.99994984 -0.00958283 0.10572283] [ 0.02591494 0.00965513 0.99961752 1.033082 ] [ 0. 0. 0. 1. ]] SLAMing on 135.032557844 meters Centerline goodness : 0.061031 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99966682 0.00248315 -0.02569206 1.60740435] [-0.0027339 0.99994893 -0.00972933 0.10623587] [ 0.02566658 0.00979633 0.99962256 1.0329515 ] [ 0. 0. 0. 1. ]] SLAMing on 135.062557844 meters Centerline goodness : 0.084760 Centerline is valid? [False, False] Translation: X:1.61, Y:0.11, Z:1.03 [[ 0.99967752 0.00233252 -0.02528681 1.60619384] [-0.00257825 0.99994973 -0.00968968 0.10602811] [ 0.02526294 0.00975175 0.99963328 1.03297211] [ 0. 0. 0. 1. ]] SLAMing on 135.092557844 meters Centerline goodness : 0.185942 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:1.03 [[ 0.99969012 0.00221282 -0.02479435 1.60488524] [-0.00244397 0.9999538 -0.00929631 0.10449292] [ 0.02477263 0.00935402 0.99964935 1.03267342] [ 0. 0. 0. 1. ]] SLAMing on 135.122557844 meters Centerline goodness : 0.035508 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:1.03 [[ 0.99969701 -0.00571704 -0.02394146 1.62540585] [ 0.00552105 0.99995077 -0.00824438 0.10726159] [ 0.02398742 0.0081097 0.99967937 1.03417136] [ 0. 0. 0. 1. ]] SLAMing on 135.152557844 meters Centerline goodness : 0.035472 Centerline is valid? [False, False] Translation: X:1.62, Y:0.10, Z:1.04 [[ 0.99971434 -0.00649096 -0.02300244 1.62160541] [ 0.00631108 0.999949 -0.00788401 0.10410814] [ 0.02305244 0.00773659 0.99970432 1.03540814] [ 0. 0. 0. 1. ]] SLAMing on 135.182557844 meters Centerline goodness : 0.144174 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:1.04 [[ 0.99972749 0.00183702 -0.02327148 1.60217556] [-0.00205492 0.99995424 -0.0093428 0.0960162 ] [ 0.02325325 0.00938807 0.99968553 1.03517761] [ 0. 0. 0. 1. ]] SLAMing on 135.212557844 meters Centerline goodness : 0.081303 Centerline is valid? [False, False] Translation: X:1.62, Y:0.10, Z:1.04 [[ 0.99970518 -0.00602765 -0.0235206 1.62357569] [ 0.00582226 0.99994441 -0.00879101 0.0988719 ] [ 0.02357228 0.00865147 0.9996847 1.03597083] [ 0. 0. 0. 1. ]] SLAMing on 135.242557844 meters Centerline goodness : 0.037778 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.03 [[ 0.99969098 -0.00551117 -0.02423989 1.62616525] [ 0.00531369 0.99995223 -0.00820366 0.09740229] [ 0.02428394 0.00807232 0.99967251 1.03481918] [ 0. 0. 0. 1. ]] SLAMing on 135.272557844 meters Centerline goodness : 0.057856 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.03 [[ 0.99968068 -0.00334753 -0.02504652 1.628666 ] [ 0.00318255 0.999973 -0.00662398 0.10161576] [ 0.02506802 0.00654215 0.99966434 1.03486592] [ 0. 0. 0. 1. ]] SLAMing on 135.302557844 meters Centerline goodness : 0.133751 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.03 [[ 0.9996586 0.00641564 -0.02532824 1.6115464 ] [-0.00661505 0.99994772 -0.00779727 0.09648916] [ 0.02527689 0.00796215 0.99964878 1.03470341] [ 0. 0. 0. 1. ]] SLAMing on 135.332557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.362557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.392557844 meters Centerline goodness : 0.129918 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.04 [[ 0.99966173 0.00705806 -0.02503215 1.61010322] [-0.00724752 0.99994572 -0.0074858 0.09633217] [ 0.02497796 0.00766469 0.99965862 1.03584886] [ 0. 0. 0. 1. ]] SLAMing on 135.422557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.452557844 meters Centerline goodness : 0.075267 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:1.04 [[ 0.99966248 0.00715609 -0.02497425 1.61025833] [-0.00733935 0.99994676 -0.00725398 0.09524868] [ 0.02492101 0.00743483 0.99966178 1.03527404] [ 0. 0. 0. 1. ]] SLAMing on 135.482557844 meters Centerline goodness : 0.185199 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 9.99710990e-01 -4.90063299e-04 -2.40352944e-02 1.63030086e+00] [ 3.34499614e-04 9.99978975e-01 -6.47589553e-03 9.90974824e-02] [ 2.40379627e-02 6.46598414e-03 9.99690136e-01 1.03623904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512557844 meters Centerline goodness : 0.045016 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 9.99717516e-01 -5.86687625e-04 -2.37601392e-02 1.62923274e+00] [ 4.33596702e-04 9.99979119e-01 -6.44782236e-03 9.86720389e-02] [ 2.37634259e-02 6.43569863e-03 9.99696895e-01 1.03677341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.57255784400002 meters Centerline goodness : 0.085872 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99971901 0.00280608 -0.02353758 1.62744473] [-0.0028758 0.99999158 -0.00292876 0.09886901] [ 0.02352916 0.00299563 0.99971866 1.03833641] [ 0. 0. 0. 1. ]] SLAMing on 135.60255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.63255784400002 meters Centerline goodness : 0.085222 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99973096 0.00276351 -0.02302962 1.62583185] [-0.00283747 0.99999092 -0.0031793 0.1001736 ] [ 0.02302062 0.00324379 0.99972973 1.03894215] [ 0. 0. 0. 1. ]] SLAMing on 135.662557844 meters Centerline goodness : 0.058945 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99973255 0.0027176 -0.02296616 1.6257547 ] [-0.00279531 0.99999047 -0.0033522 0.10100292] [ 0.02295683 0.0034155 0.99973062 1.03880975] [ 0. 0. 0. 1. ]] SLAMing on 135.692557844 meters Centerline goodness : 0.129319 Centerline is valid? [False, False] Translation: X:1.63, Y:0.10, Z:1.04 [[ 0.99970506 0.00301722 -0.0240975 1.62937759] [-0.00310777 0.99998825 -0.00372114 0.10303057] [ 0.02408599 0.00379493 0.99970269 1.03783653] [ 0. 0. 0. 1. ]] SLAMing on 135.722557844 meters Centerline goodness : 0.083760 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964991 -0.00297707 -0.02629054 1.65089191] [ 0.00292005 0.9999933 -0.00220712 0.1119672 ] [ 0.02629694 0.00212958 0.99965191 1.03898442] [ 0. 0. 0. 1. ]] SLAMing on 135.752557844 meters Centerline goodness : 0.129621 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964727 -0.00307807 -0.02637927 1.65135151] [ 0.00301316 0.99999234 -0.00249997 0.11345466] [ 0.02638676 0.0024196 0.99964888 1.03856741] [ 0. 0. 0. 1. ]] SLAMing on 135.782557844 meters Centerline goodness : 0.035591 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:1.04 [[ 0.99964515 -0.00318117 -0.02644706 1.65161665] [ 0.00310934 0.99999137 -0.00275672 0.1146979 ] [ 0.0264556 0.00267351 0.99964641 1.0383904 ] [ 0. 0. 0. 1. ]] SLAMing on 135.812557844 meters Centerline goodness : 0.128123 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964009 -0.00327216 -0.02662679 1.65215123] [ 0.0031948 0.99999055 -0.00294723 0.11554655] [ 0.02663619 0.0028611 0.9996411 1.03825342] [ 0. 0. 0. 1. ]] SLAMing on 135.842557844 meters Centerline goodness : 0.060860 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99963531 -0.0033246 -0.02679921 1.65262786] [ 0.00324309 0.99998998 -0.00308452 0.11620728] [ 0.0268092 0.00299648 0.99963608 1.03815331] [ 0. 0. 0. 1. ]] SLAMing on 135.872557844 meters Centerline goodness : 0.172835 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99963563 -0.00335395 -0.02678343 1.65254582] [ 0.00327046 0.99998966 -0.00316045 0.11659909] [ 0.02679375 0.0030717 0.99963626 1.03822393] [ 0. 0. 0. 1. ]] SLAMing on 135.902557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.932557844 meters Centerline goodness : 0.035494 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964044 -0.00346493 -0.0265893 1.65187577] [ 0.00337627 0.99998859 -0.00337852 0.11740343] [ 0.0266007 0.00328753 0.99964073 1.03854656] [ 0. 0. 0. 1. ]] SLAMing on 135.962557844 meters Centerline goodness : 0.131454 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964303 -0.00351941 -0.02648462 1.65171002] [ 0.00342598 0.99998775 -0.0035723 0.11832231] [ 0.02649686 0.00348029 0.99964284 1.03837401] [ 0. 0. 0. 1. ]] SLAMing on 135.992557844 meters Centerline goodness : 0.131454 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 0.99964303 -0.00351941 -0.02648462 1.65171002] [ 0.00342598 0.99998775 -0.0035723 0.11832231] [ 0.02649686 0.00348029 0.99964284 1.03837401] [ 0. 0. 0. 1. ]] SLAMing on 136.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 136.052557844 meters Centerline goodness : 0.121755 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99655368e-01 6.80220498e-04 -2.62427768e-02 1.65073473e+00] [-6.75184503e-04 9.99999752e-01 2.00760628e-04 1.20254323e-01] [ 2.62429069e-02 -1.82972723e-04 9.99655579e-01 1.03891715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082557844 meters Centerline goodness : 0.214494 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99659907e-01 7.05770482e-04 -2.60686229e-02 1.65033236e+00] [-7.06816990e-04 9.99999750e-01 -3.09299589e-05 1.21659407e-01] [ 2.60685946e-02 4.93451855e-05 9.99660155e-01 1.03883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112557844 meters Centerline goodness : 0.172616 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99658216e-01 7.01703106e-04 -2.61334746e-02 1.65057158e+00] [-7.09950631e-04 9.99999701e-01 -3.06315381e-04 1.23162834e-01] [ 2.61332519e-02 3.24764164e-04 9.99658415e-01 1.03866828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142557844 meters Centerline goodness : 0.161482 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:1.04 [[ 9.99653608e-01 6.49482493e-04 -2.63105107e-02 1.65131408e+00] [-6.66037697e-04 9.99999586e-01 -6.20465466e-04 1.24646852e-01] [ 2.63100968e-02 6.37774333e-04 9.99653626e-01 1.03813392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172557844 meters Centerline goodness : 0.218859 Centerline is valid? [False, False] Translation: X:1.61, Y:0.12, Z:1.04 [[ 9.99559432e-01 1.00407480e-03 -2.96636731e-02 1.60684824e+00] [-9.84094319e-04 9.99999279e-01 6.88158754e-04 1.22625417e-01] [ 2.96643427e-02 -6.58663721e-04 9.99559700e-01 1.03869709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202557844 meters Centerline goodness : 0.212825 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99625763e-01 3.06687886e-03 -2.71832284e-02 1.64962715e+00] [-3.05518750e-03 9.99995222e-01 4.71616931e-04 1.28142383e-01] [ 2.71845449e-02 -3.88390575e-04 9.99630357e-01 1.03928729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232557844 meters Centerline goodness : 0.141729 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99637611e-01 3.04145130e-03 -2.67468820e-02 1.64848244e+00] [-3.03832668e-03 9.99995372e-01 1.57461150e-04 1.29966691e-01] [ 2.67472371e-02 -7.61383226e-05 9.99642226e-01 1.03930510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262557844 meters Centerline goodness : 0.147505 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99644126e-01 2.92576772e-03 -2.65152877e-02 1.64800680e+00] [-2.93410758e-03 9.99995658e-01 -2.75629294e-04 1.32098053e-01] [ 2.65143661e-02 3.53329911e-04 9.99648370e-01 1.03903633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29255784400002 meters Centerline goodness : 0.122186 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:1.04 [[ 9.99648035e-01 2.80895172e-03 -2.63802203e-02 1.64770709e+00] [-2.82704508e-03 9.99995794e-01 -6.48597872e-04 1.33909788e-01] [ 2.63782874e-02 7.22947660e-04 9.99651771e-01 1.03891699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32255784400002 meters Centerline goodness : 0.160406 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99652548e-01 2.71349273e-03 -2.62187164e-02 1.64709463e+00] [-2.73893066e-03 9.99995813e-01 -9.34356830e-04 1.35343991e-01] [ 2.62160713e-02 1.00584343e-03 9.99655794e-01 1.03919777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35255784400002 meters Centerline goodness : 0.176338 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99663737e-01 2.66671589e-03 -2.57934438e-02 1.64520871e+00] [-2.69653964e-03 9.99995735e-01 -1.12154025e-03 1.36712533e-01] [ 2.57903429e-02 1.19071617e-03 9.99666665e-01 1.04044653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38255784400002 meters Centerline goodness : 0.136415 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99666193e-01 2.61615850e-03 -2.57032733e-02 1.64482146e+00] [-2.64710088e-03 9.99995812e-01 -1.16987876e-03 1.36877765e-01] [ 2.57001050e-02 1.23752740e-03 9.99668932e-01 1.04071141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412557844 meters Centerline goodness : 0.163765 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99661778e-01 2.51940636e-03 -2.58840111e-02 1.64539209e+00] [-2.55254237e-03 9.99995964e-01 -1.24721216e-03 1.36905610e-01] [ 2.58807644e-02 1.31286036e-03 9.99664175e-01 1.04051281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442557844 meters Centerline goodness : 0.154926 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 9.99653847e-01 2.36913817e-03 -2.62025334e-02 1.64649977e+00] [-2.40754157e-03 9.99996073e-01 -1.43418651e-03 1.37407333e-01] [ 2.61990328e-02 1.49677375e-03 9.99655626e-01 1.03997840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472557844 meters Centerline goodness : 0.142842 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 0.9996413 0.00223132 -0.02668894 1.64857561] [-0.00228721 0.99999525 -0.00206378 0.14114371] [ 0.02668421 0.00212408 0.99964166 1.03855676] [ 0. 0. 0. 1. ]] SLAMing on 136.502557844 meters Centerline goodness : 0.123706 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:1.04 [[ 0.99963933 0.00205646 -0.02677662 1.64906855] [-0.00212787 0.99999425 -0.00263871 0.14397256] [ 0.02677104 0.00269474 0.99963796 1.03809431] [ 0. 0. 0. 1. ]] SLAMing on 136.532557844 meters Centerline goodness : 0.166322 Centerline is valid? [False, False] Translation: X:1.60, Y:0.14, Z:1.04 [[ 9.99555881e-01 1.20084384e-03 -2.97758168e-02 1.60305900e+00] [-1.27192510e-03 9.99996386e-01 -2.36838879e-03 1.42907561e-01] [ 2.97728651e-02 2.40520955e-03 9.99553796e-01 1.03878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562557844 meters Centerline goodness : 0.392131 Centerline is valid? [False, False] Translation: X:1.62, Y:0.14, Z:1.04 [[ 0.99953861 0.00995861 -0.02869496 1.62343464] [-0.01008064 0.99994074 -0.00411104 0.14397332] [ 0.02865232 0.00439841 0.99957976 1.03972941] [ 0. 0. 0. 1. ]] SLAMing on 136.592557844 meters Centerline goodness : 0.129582 Centerline is valid? [False, False] Translation: X:1.62, Y:0.15, Z:1.04 [[ 0.99954434 0.0097696 -0.02856 1.62318838] [-0.00990555 0.99994025 -0.00462256 0.14641796] [ 0.02851313 0.00490335 0.99958139 1.03950898] [ 0. 0. 0. 1. ]] SLAMing on 136.622557844 meters Centerline goodness : 0.125884 Centerline is valid? [False, False] Translation: X:1.62, Y:0.15, Z:1.04 [[ 0.99955758 0.0095933 -0.02815325 1.62211784] [-0.00974241 0.99993921 -0.00516379 0.14944528] [ 0.028102 0.00543579 0.99959028 1.03945294] [ 0. 0. 0. 1. ]] SLAMing on 136.652557844 meters Centerline goodness : 0.159272 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.999597 0.00219598 -0.02830213 1.64085155] [-0.00231739 0.99998825 -0.00425778 0.15560739] [ 0.02829244 0.00432165 0.99959035 1.04184931] [ 0. 0. 0. 1. ]] SLAMing on 136.682557844 meters Centerline goodness : 0.132076 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959738 0.00210468 -0.02829562 1.64076486] [-0.002229 0.999988 -0.00436252 0.15592034] [ 0.0282861 0.00442384 0.99959008 1.04196304] [ 0. 0. 0. 1. ]] SLAMing on 136.712557844 meters Centerline goodness : 0.121536 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959948 0.00203409 -0.02822646 1.64049609] [-0.00215913 0.99998799 -0.0044001 0.15597256] [ 0.02821717 0.00445928 0.99959187 1.04211258] [ 0. 0. 0. 1. ]] SLAMing on 136.742557844 meters Centerline goodness : 0.132520 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99959409 0.00180899 -0.02843206 1.64120456] [-0.00193831 0.9999879 -0.00452151 0.15636978] [ 0.02842354 0.00457478 0.9995855 1.04179015] [ 0. 0. 0. 1. ]] SLAMing on 136.772557844 meters Centerline goodness : 0.120423 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99958741 0.00172169 -0.02867143 1.64194818] [-0.00185378 0.99998779 -0.00458112 0.15647708] [ 0.0286632 0.00463238 0.99957839 1.04155675] [ 0. 0. 0. 1. ]] SLAMing on 136.802557844 meters Centerline goodness : 0.122418 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 0.99958095 0.00164595 -0.02890007 1.64250937] [-0.00177923 0.9999879 -0.00458664 0.15622709] [ 0.02889217 0.00463613 0.99957178 1.04159196] [ 0. 0. 0. 1. ]] SLAMing on 136.832557844 meters Centerline goodness : 0.120805 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99575313e-01 1.53218806e-03 -2.91006363e-02 1.64282532e+00] [-1.66821457e-03 9.99987794e-01 -4.65064527e-03 1.56144848e-01] [ 2.90931554e-02 4.69721630e-03 9.99565668e-01 1.04195413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862557844 meters Centerline goodness : 0.132800 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99575637e-01 1.45923080e-03 -2.90932401e-02 1.64269671e+00] [-1.59762273e-03 9.99987518e-01 -4.73416420e-03 1.56382650e-01] [ 2.90859687e-02 4.77863522e-03 9.99565491e-01 1.04214823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892557844 meters Centerline goodness : 0.143823 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99574725e-01 1.37615171e-03 -2.91286022e-02 1.64282931e+00] [-1.52027511e-03 9.99986710e-01 -4.92626279e-03 1.57277509e-01] [ 2.91214358e-02 4.96845126e-03 9.99563533e-01 1.04204722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922557844 meters Centerline goodness : 0.120194 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99578238e-01 1.13958986e-03 -2.90180495e-02 1.64313754e+00] [-1.30285038e-03 9.99983427e-01 -5.60788612e-03 1.60832810e-01] [ 2.90111779e-02 5.64332710e-03 9.99563157e-01 1.04105546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952557844 meters Centerline goodness : 0.134455 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99578470e-01 9.78689575e-04 -2.90159430e-02 1.64328117e+00] [-1.15397030e-03 9.99981185e-01 -6.02471217e-03 1.62810997e-01] [ 2.90095008e-02 6.05565611e-03 9.99560792e-01 1.04078472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982557844 meters Centerline goodness : 0.134538 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99581694e-01 8.17427468e-04 -2.89096612e-02 1.64289420e+00] [-1.00308368e-03 9.99978965e-01 -6.40802421e-03 1.64549531e-01] [ 2.89038150e-02 6.43434251e-03 9.99561488e-01 1.04095646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012557844 meters Centerline goodness : 0.136785 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:1.04 [[ 9.99520357e-01 -3.42748042e-05 -3.09686117e-02 1.59487109e+00] [-1.48262654e-04 9.99982631e-01 -5.89195768e-03 1.62799192e-01] [ 3.09682757e-02 5.89372314e-03 9.99502991e-01 1.04235364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04255784400002 meters Centerline goodness : 0.131936 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961653 -0.00525625 -0.02718767 1.61435813] [ 0.0051779 0.99998224 -0.00295128 0.16839541] [ 0.0272027 0.00280937 0.99962599 1.04292133] [ 0. 0. 0. 1. ]] SLAMing on 137.07255784400002 meters Centerline goodness : 0.144563 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961991 -0.00534003 -0.02704662 1.61382659] [ 0.00525744 0.9999813 -0.00312377 0.16920253] [ 0.0270628 0.00298039 0.99962929 1.04319278] [ 0. 0. 0. 1. ]] SLAMing on 137.10255784400002 meters Centerline goodness : 0.135119 Centerline is valid? [False, False] Translation: X:1.61, Y:0.17, Z:1.04 [[ 0.99961524 -0.00546532 -0.02719362 1.61420229] [ 0.00537779 0.99998012 -0.0032908 0.16971094] [ 0.02721107 0.00314329 0.99962477 1.04315191] [ 0. 0. 0. 1. ]] SLAMing on 137.13255784400002 meters Centerline goodness : 0.135709 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99643578e-01 7.24687187e-04 -2.66869315e-02 1.63769531e+00] [-9.03792530e-04 9.99977147e-01 -6.69990001e-03 1.70026247e-01] [ 2.66814663e-02 6.72163146e-03 9.99621388e-01 1.04248874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters Centerline goodness : 0.136841 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99641445e-01 6.84748201e-04 -2.67677688e-02 1.63794084e+00] [-8.64848869e-04 9.99977065e-01 -6.71726795e-03 1.70020687e-01] [ 2.67625553e-02 6.73800952e-03 9.99619110e-01 1.04239792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192557844 meters Centerline goodness : 0.137180 Centerline is valid? [False, False] Translation: X:1.66, Y:0.18, Z:1.04 [[ 0.99966882 -0.00667523 -0.02485322 1.65603462] [ 0.0065479 0.99996504 -0.00520095 0.17634672] [ 0.02488707 0.0050365 0.99967758 1.04498241] [ 0. 0. 0. 1. ]] SLAMing on 137.222557844 meters Centerline goodness : 0.141030 Centerline is valid? [False, False] Translation: X:1.63, Y:0.17, Z:1.04 [[ 9.99701034e-01 1.16936334e-03 -2.44228409e-02 1.63474296e+00] [-1.31362192e-03 9.99981782e-01 -5.89149952e-03 1.70851658e-01] [ 2.44155067e-02 5.92182055e-03 9.99684358e-01 1.04405941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252557844 meters Centerline goodness : 0.137009 Centerline is valid? [False, False] Translation: X:1.63, Y:0.17, Z:1.04 [[ 9.99701077e-01 1.10134400e-03 -2.44242457e-02 1.63471525e+00] [-1.24796768e-03 9.99981288e-01 -5.98877217e-03 1.71056755e-01] [ 2.44171929e-02 6.01746266e-03 9.99683745e-01 1.04413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282557844 meters Centerline goodness : 0.131038 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99608323e-01 -1.49825688e-07 -2.79857143e-02 1.59308378e+00] [-1.73493894e-04 9.99980751e-01 -6.20229883e-03 1.70853552e-01] [ 2.79851766e-02 6.20472488e-03 9.99589081e-01 1.04226862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312557844 meters Centerline goodness : 0.137954 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99607083e-01 -3.90085100e-05 -2.80299490e-02 1.59345119e+00] [-1.39895247e-04 9.99979634e-01 -6.38060367e-03 1.71809829e-01] [ 2.80296271e-02 6.38201788e-03 9.99586720e-01 1.04174726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342557844 meters Centerline goodness : 0.128529 Centerline is valid? [False, False] Translation: X:1.59, Y:0.17, Z:1.04 [[ 9.99607277e-01 -6.58535496e-05 -2.80229665e-02 1.59348130e+00] [-1.17394945e-04 9.99978623e-01 -6.53752996e-03 1.72697546e-01] [ 2.80227980e-02 6.53825228e-03 9.99585901e-01 1.04163285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372557844 meters Centerline goodness : 0.134432 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99662287e-01 1.33068048e-03 -2.59526870e-02 1.63766767e+00] [-1.49997578e-03 9.99977718e-01 -6.50485196e-03 1.75742191e-01] [ 2.59434529e-02 6.54158359e-03 9.99642008e-01 1.04218493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402557844 meters Centerline goodness : 0.138590 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99660323e-01 1.30707395e-03 -2.60294157e-02 1.63792425e+00] [-1.47954395e-03 9.99977074e-01 -6.60780858e-03 1.76252469e-01] [ 2.60201821e-02 6.64407573e-03 9.99639338e-01 1.04207168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432557844 meters Centerline goodness : 0.135669 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:1.04 [[ 9.99657550e-01 1.29819759e-03 -2.61361389e-02 1.63838801e+00] [-1.47177303e-03 9.99976984e-01 -6.62306351e-03 1.76223603e-01] [ 2.61269393e-02 6.65926190e-03 9.99636453e-01 1.04174521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462557844 meters Centerline goodness : 0.137136 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99645519e-01 1.22847583e-03 -2.65956271e-02 1.64003434e+00] [-1.40276146e-03 9.99977659e-01 -6.53550396e-03 1.74866292e-01] [ 2.65870042e-02 6.57049456e-03 9.99624910e-01 1.04098754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492557844 meters Centerline goodness : 0.154873 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99648092e-01 1.30922891e-03 -2.64948509e-02 1.63979856e+00] [-1.47845083e-03 9.99978629e-01 -6.36839308e-03 1.74117685e-01] [ 2.64859470e-02 6.40532333e-03 9.99628664e-01 1.04087675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.522557844 meters Centerline goodness : 0.136824 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99654936e-01 1.41237090e-03 -2.62300204e-02 1.63900602e+00] [-1.57545857e-03 9.99979551e-01 -6.19797120e-03 1.73594316e-01] [ 2.62207302e-02 6.23715681e-03 9.99636720e-01 1.04104629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552557844 meters Centerline goodness : 0.135732 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99662924e-01 1.51545271e-03 -2.59179911e-02 1.63816487e+00] [-1.67201670e-03 9.99980481e-01 -6.02014152e-03 1.72997672e-01] [ 2.59083620e-02 6.06144759e-03 9.99645945e-01 1.04110860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582557844 meters Centerline goodness : 0.136162 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99664936e-01 1.54213767e-03 -2.58386758e-02 1.63807600e+00] [-1.69487835e-03 9.99981215e-01 -5.89046306e-03 1.72313817e-01] [ 2.58291065e-02 5.93228279e-03 9.99648771e-01 1.04090268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612557844 meters Centerline goodness : 0.150265 Centerline is valid? [False, False] Translation: X:1.60, Y:0.17, Z:1.04 [[ 9.99552651e-01 -8.99744695e-04 -2.98946126e-02 1.59703957e+00] [ 6.93148462e-04 9.99975813e-01 -6.92046264e-03 1.68250728e-01] [ 2.99001162e-02 6.89664537e-03 9.99529099e-01 1.03974457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642557844 meters Centerline goodness : 0.136580 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99531477e-01 2.20525868e-04 -3.06068308e-02 1.64104699e+00] [-4.35620463e-04 9.99975256e-01 -7.02117625e-03 1.69288458e-01] [ 3.06045251e-02 7.03121962e-03 9.99506841e-01 1.04153237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672557844 meters Centerline goodness : 0.135469 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99524820e-01 2.88925796e-04 -3.08228924e-02 1.64181474e+00] [-5.00337869e-04 9.99976403e-01 -6.85143815e-03 1.68477177e-01] [ 3.08201855e-02 6.86360434e-03 9.99501379e-01 1.04116994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702557844 meters Centerline goodness : 0.149680 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:1.04 [[ 9.99523773e-01 3.85671441e-04 -3.08557802e-02 1.64199151e+00] [-5.90441706e-04 9.99977863e-01 -6.62753030e-03 1.67448468e-01] [ 3.08525411e-02 6.64259263e-03 9.99501874e-01 1.04100550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732557844 meters Centerline goodness : 0.134631 Centerline is valid? [False, False] Translation: X:1.66, Y:0.17, Z:1.04 [[ 0.99952852 -0.00731272 -0.02982056 1.66154856] [ 0.00714868 0.99995875 -0.00560374 0.17164223] [ 0.02986031 0.00538792 0.99953956 1.04237762] [ 0. 0. 0. 1. ]] SLAMing on 137.762557844 meters Centerline goodness : 0.140068 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99608157e-01 1.85388009e-04 -2.79910212e-02 1.63983509e+00] [-3.45549794e-04 9.99983597e-01 -5.71716992e-03 1.63612365e-01] [ 2.79895022e-02 5.72460198e-03 9.99591825e-01 1.04124847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79255784400002 meters Centerline goodness : 0.134996 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99609620e-01 2.80561869e-04 -2.79379491e-02 1.63962820e+00] [-4.33865369e-04 9.99984883e-01 -5.48137474e-03 1.62579249e-01] [ 2.79359889e-02 5.49135623e-03 9.99594631e-01 1.04136558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82255784400002 meters Centerline goodness : 0.148845 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:1.04 [[ 9.99606650e-01 4.13312094e-04 -2.80423577e-02 1.63992796e+00] [-5.57218242e-04 9.99986716e-01 -5.12412182e-03 1.60938062e-01] [ 2.80398673e-02 5.13773196e-03 9.99593602e-01 1.04128923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85255784400002 meters Centerline goodness : 0.141149 Centerline is valid? [False, False] Translation: X:1.60, Y:0.16, Z:1.04 [[ 9.99518853e-01 -9.01324579e-04 -3.10040328e-02 1.59558090e+00] [ 7.59057582e-04 9.99989131e-01 -4.60012478e-03 1.55670743e-01] [ 3.10078420e-02 4.57437760e-03 9.99508674e-01 1.04121012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88255784400002 meters Centerline goodness : 0.124094 Centerline is valid? [False, False] Translation: X:1.60, Y:0.15, Z:1.04 [[ 9.99522462e-01 -7.15549834e-04 -3.08923226e-02 1.59505173e+00] [ 6.04064912e-04 9.99993273e-01 -3.61800482e-03 1.50562559e-01] [ 3.08947037e-02 3.59761612e-03 9.99516170e-01 1.04176467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91255784400002 meters Centerline goodness : 0.132464 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:1.04 [[ 9.99526283e-01 -5.45611162e-04 -3.07719385e-02 1.59449092e+00] [ 4.51338654e-04 9.99995184e-01 -3.07044962e-03 1.47815437e-01] [ 3.07734655e-02 3.05510653e-03 9.99521716e-01 1.04224261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942557844 meters Centerline goodness : 0.132464 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:1.04 [[ 9.99526283e-01 -5.45611162e-04 -3.07719385e-02 1.59449092e+00] [ 4.51338654e-04 9.99995184e-01 -3.07044962e-03 1.47815437e-01] [ 3.07734655e-02 3.05510653e-03 9.99521716e-01 1.04224261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972557844 meters Centerline goodness : 0.127803 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:1.04 [[ 9.99604998e-01 -8.64894529e-04 -2.80909080e-02 1.63702549e+00] [ 7.40310411e-04 9.99989846e-01 -4.44513079e-03 1.47777725e-01] [ 2.80944673e-02 4.42257896e-03 9.99595489e-01 1.04326144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002557844 meters Centerline goodness : 0.129524 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:1.04 [[ 9.99606098e-01 -7.25075123e-04 -2.80557248e-02 1.63677700e+00] [ 6.12603270e-04 9.99991743e-01 -4.01726109e-03 1.45669935e-01] [ 2.80584060e-02 3.99849165e-03 9.99598288e-01 1.04353861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032557844 meters Centerline goodness : 0.121692 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99602134e-01 -4.98868450e-04 -2.82015088e-02 1.63750495e+00] [ 4.03020351e-04 9.99994124e-01 -3.40426880e-03 1.42928665e-01] [ 2.82030414e-02 3.39154857e-03 9.99596462e-01 1.04288095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062557844 meters Centerline goodness : 0.121638 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99601499e-01 -3.92784845e-04 -2.82256829e-02 1.63760175e+00] [ 3.04655438e-04 9.99995066e-01 -3.12654523e-03 1.41657858e-01] [ 2.82267717e-02 3.11670019e-03 9.99596686e-01 1.04280725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092557844 meters Centerline goodness : 0.161190 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:1.04 [[ 9.99602409e-01 -3.20893350e-04 -2.81943409e-02 1.63724271e+00] [ 2.41073260e-04 9.99995954e-01 -2.83442127e-03 1.40211479e-01] [ 2.81951364e-02 2.82649743e-03 9.99598442e-01 1.04324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters Centerline goodness : 0.174173 Centerline is valid? [False, False] Translation: X:1.68, Y:0.14, Z:1.04 [[ 9.99665075e-01 -2.42208148e-04 -2.58781718e-02 1.68011622e+00] [ 1.41439067e-04 9.99992402e-01 -3.89573934e-03 1.40204672e-01] [ 2.58789187e-02 3.89077438e-03 9.99657513e-01 1.04443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152557844 meters Centerline goodness : 0.126531 Centerline is valid? [False, False] Translation: X:1.68, Y:0.14, Z:1.04 [[ 9.99660107e-01 -1.15399905e-04 -2.60702186e-02 1.68048225e+00] [ 2.58933472e-05 9.99994105e-01 -3.43359906e-03 1.38082683e-01] [ 2.60704611e-02 3.43175696e-03 9.99654217e-01 1.04451353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182557844 meters Centerline goodness : 0.124981 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99615408e-01 -1.52445191e-04 -2.77310814e-02 1.68528145e+00] [ 7.18348757e-05 9.99995770e-01 -2.90783099e-03 1.34811595e-01] [ 2.77314074e-02 2.90472060e-03 9.99611190e-01 1.04330884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212557844 meters Centerline goodness : 0.156262 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99606663e-01 -6.07787277e-05 -2.80448783e-02 1.68622871e+00] [-6.64980694e-06 9.99997110e-01 -2.40420880e-03 1.32120955e-01] [ 2.80449434e-02 2.40344963e-03 9.99603774e-01 1.04307532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242557844 meters Centerline goodness : 0.122583 Centerline is valid? [False, False] Translation: X:1.69, Y:0.13, Z:1.04 [[ 9.99604972e-01 1.54131766e-04 -2.81047299e-02 1.68623074e+00] [-2.03907112e-04 9.99998416e-01 -1.76820918e-03 1.29130311e-01] [ 2.81044129e-02 1.77324144e-03 9.99603420e-01 1.04332711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.272557844 meters Centerline goodness : 0.123309 Centerline is valid? [False, False] Translation: X:1.68, Y:0.12, Z:1.04 [[ 9.99615226e-01 3.74292921e-04 -2.77355516e-02 1.68440025e+00] [-3.96560258e-04 9.99999603e-01 -7.97348446e-04 1.23483068e-01] [ 2.77352422e-02 8.08040464e-04 9.99614978e-01 1.04489693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302557844 meters Centerline goodness : 0.128916 Centerline is valid? [False, False] Translation: X:1.70, Y:0.12, Z:1.05 [[ 0.99963123 0.0078015 -0.02601039 1.7047058 ] [-0.0078889 0.99996357 -0.00325931 0.11983305] [ 0.02598401 0.0034633 0.99965636 1.04519084] [ 0. 0. 0. 1. ]] SLAMing on 138.332557844 meters Centerline goodness : 0.121714 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99962578 0.0078917 -0.02619214 1.70531867] [-0.00797492 0.99996347 -0.00307407 0.11894683] [ 0.02616692 0.0032818 0.9996522 1.04497658] [ 0. 0. 0. 1. ]] SLAMing on 138.362557844 meters Centerline goodness : 0.125084 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961516 0.00798063 -0.02656755 1.70664564] [-0.00806387 0.9999629 -0.00302744 0.11886189] [ 0.02654241 0.00324051 0.99964244 1.04435341] [ 0. 0. 0. 1. ]] SLAMing on 138.392557844 meters Centerline goodness : 0.153133 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.9996041 0.00806253 -0.02695628 1.70814773] [-0.00814809 0.9999621 -0.00306572 0.11920504] [ 0.02693055 0.00328415 0.99963191 1.04348638] [ 0. 0. 0. 1. ]] SLAMing on 138.422557844 meters Centerline goodness : 0.142281 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99959557 0.00813928 -0.02724781 1.70925173] [-0.00822731 0.99996129 -0.00312011 0.11961012] [ 0.02722136 0.00334302 0.99962384 1.04283587] [ 0. 0. 0. 1. ]] SLAMing on 138.452557844 meters Centerline goodness : 0.153272 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99959459 0.00820349 -0.02726444 1.70947924] [-0.00829289 0.9999606 -0.00316722 0.11998584] [ 0.02723739 0.00339204 0.99962324 1.04253464] [ 0. 0. 0. 1. ]] SLAMing on 138.482557844 meters Centerline goodness : 0.138833 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961738 0.00886611 -0.0262007 1.70655697] [-0.00894186 0.99995617 -0.00277523 0.11983255] [ 0.02617495 0.00300845 0.99965285 1.04296266] [ 0. 0. 0. 1. ]] SLAMing on 138.512557844 meters Centerline goodness : 0.233897 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961775 0.00885487 -0.02619068 1.7064818 ] [-0.00893674 0.99995553 -0.00301056 0.1208707 ] [ 0.02616286 0.00324347 0.99965243 1.04318669] [ 0. 0. 0. 1. ]] SLAMing on 138.54255784400002 meters Centerline goodness : 0.201229 Centerline is valid? [False, False] Translation: X:1.71, Y:0.12, Z:1.04 [[ 0.99961533 0.00878254 -0.02630715 1.70663827] [-0.00887305 0.9999551 -0.00332552 0.1220328 ] [ 0.02627676 0.00355766 0.99964838 1.04354264] [ 0. 0. 0. 1. ]] SLAMing on 138.57255784400002 meters Centerline goodness : 0.190866 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99672420e-01 2.04550332e-03 -2.55121380e-02 1.72312583e+00] [-2.08110625e-03 9.99996897e-01 -1.36905626e-03 1.31693736e-01] [ 2.55092585e-02 1.42170125e-03 9.99673575e-01 1.04525044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60255784400002 meters Centerline goodness : 0.161950 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99680763e-01 2.04352240e-03 -2.51832675e-02 1.72227631e+00] [-2.08268473e-03 9.99996662e-01 -1.52896280e-03 1.32747288e-01] [ 2.51800589e-02 1.58092350e-03 9.99681682e-01 1.04528296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63255784400002 meters Centerline goodness : 0.186793 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 0.99968369 0.00199477 -0.02507083 1.72198213] [-0.00203895 0.99999641 -0.00173692 0.13384483] [ 0.02506727 0.00178749 0.99968417 1.04527348] [ 0. 0. 0. 1. ]] SLAMing on 138.66255784400002 meters Centerline goodness : 0.184971 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.04 [[ 0.99968334 0.00189481 -0.02509253 1.72219582] [-0.00194544 0.99999612 -0.00199357 0.13497814] [ 0.02508865 0.00204175 0.99968315 1.04495892] [ 0. 0. 0. 1. ]] SLAMing on 138.692557844 meters Centerline goodness : 0.187767 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.04 [[ 0.99967909 0.0017973 -0.02526843 1.72279867] [-0.00185349 0.99999586 -0.00220032 0.13581918] [ 0.02526437 0.00224644 0.99967828 1.04467288] [ 0. 0. 0. 1. ]] SLAMing on 138.722557844 meters Centerline goodness : 0.184902 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.04 [[ 9.99673977e-01 1.70076270e-03 -2.54763982e-02 1.72333145e+00] [-1.76362332e-03 9.99995455e-01 -2.44514054e-03 1.37096053e-01] [ 2.54721238e-02 2.48927414e-03 9.99672434e-01 1.04457428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752557844 meters Centerline goodness : 0.145308 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 9.99678598e-01 1.71173929e-03 -2.52936716e-02 1.72256653e+00] [-1.77314191e-03 9.99995535e-01 -2.40535952e-03 1.37086483e-01] [ 2.52894413e-02 2.44943570e-03 9.99677170e-01 1.04505639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782557844 meters Centerline goodness : 0.149088 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 0.99968277 0.00173609 -0.02512654 1.72174411] [-0.00179313 0.99999587 -0.00224742 0.13638569] [ 0.02512253 0.00229176 0.99968175 1.04578903] [ 0. 0. 0. 1. ]] SLAMing on 138.812557844 meters Centerline goodness : 0.132033 Centerline is valid? [False, False] Translation: X:1.72, Y:0.14, Z:1.05 [[ 0.99968456 0.00172151 -0.02505644 1.72130712] [-0.00177478 0.99999621 -0.002104 0.13551388] [ 0.02505272 0.00214781 0.99968382 1.04627178] [ 0. 0. 0. 1. ]] SLAMing on 138.842557844 meters Centerline goodness : 0.147357 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99670336e-01 1.49683193e-03 -2.56315865e-02 1.72291176e+00] [-1.55073892e-03 9.99996627e-01 -2.08339889e-03 1.34677234e-01] [ 2.56283816e-02 2.12245996e-03 9.99669286e-01 1.04601065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872557844 meters Centerline goodness : 0.147489 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99664651e-01 1.49986299e-03 -2.58521775e-02 1.72363361e+00] [-1.55206454e-03 9.99996797e-01 -1.99928476e-03 1.34219474e-01] [ 2.58490960e-02 2.03873855e-03 9.99663777e-01 1.04572021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902557844 meters Centerline goodness : 0.191163 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:1.05 [[ 9.99658110e-01 1.56094025e-03 -2.61003190e-02 1.72453291e+00] [-1.60924659e-03 9.99997031e-01 -1.82989310e-03 1.33452050e-01] [ 2.60973851e-02 1.87126932e-03 9.99657654e-01 1.04525241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932557844 meters Centerline goodness : 0.140356 Centerline is valid? [False, False] Translation: X:1.73, Y:0.13, Z:1.05 [[ 9.99650486e-01 1.51462891e-03 -2.63934003e-02 1.72536538e+00] [-1.56398744e-03 9.99997067e-01 -1.84956627e-03 1.33322715e-01] [ 2.63905214e-02 1.89019876e-03 9.99649922e-01 1.04514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 138.992557844 meters Centerline goodness : 0.195753 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.05 [[ 9.99629323e-01 1.58980803e-03 -2.71788252e-02 1.72741399e+00] [-1.65728887e-03 9.99995600e-01 -2.46050071e-03 1.35981322e-01] [ 2.71747939e-02 2.50463182e-03 9.99627559e-01 1.04543610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.022557844 meters Centerline goodness : 0.121661 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.05 [[ 9.99630423e-01 1.55334566e-03 -2.71404443e-02 1.72736876e+00] [-1.62834502e-03 9.99994916e-01 -2.74149732e-03 1.37531834e-01] [ 2.71360479e-02 2.78467813e-03 9.99627871e-01 1.04535973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052557844 meters Centerline goodness : 0.190409 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99628420e-01 1.44878664e-03 -2.72199144e-02 1.72781528e+00] [-1.53326516e-03 9.99994072e-01 -3.08294069e-03 1.39047931e-01] [ 2.72152865e-02 3.12353047e-03 9.99624715e-01 1.04493005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082557844 meters Centerline goodness : 0.142882 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99623601e-01 1.32504997e-03 -2.74025826e-02 1.72854282e+00] [-1.42042709e-03 9.99993000e-01 -3.46141597e-03 1.40662081e-01] [ 2.73978042e-02 3.49903647e-03 9.99618486e-01 1.04448336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112557844 meters Centerline goodness : 0.149310 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99620737e-01 1.21888339e-03 -2.75117650e-02 1.72906693e+00] [-1.32486386e-03 9.99991771e-01 -3.83428785e-03 1.42352700e-01] [ 2.75068650e-02 3.86928299e-03 9.99614126e-01 1.04403706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142557844 meters Centerline goodness : 0.181895 Centerline is valid? [False, False] Translation: X:1.73, Y:0.14, Z:1.04 [[ 9.99646128e-01 1.62396427e-03 -2.65514959e-02 1.72655999e+00] [-1.73119111e-03 9.99990437e-01 -4.01595987e-03 1.44977662e-01] [ 2.65447203e-02 4.06050445e-03 9.99639380e-01 1.04399247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172557844 meters Centerline goodness : 0.140374 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99651248e-01 1.59209339e-03 -2.63599502e-02 1.72608347e+00] [-1.70519779e-03 9.99989435e-01 -4.26884441e-03 1.46412398e-01] [ 2.63528753e-02 4.31230457e-03 9.99643401e-01 1.04394477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202557844 meters Centerline goodness : 0.144772 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99653332e-01 1.55293985e-03 -2.62831674e-02 1.72604257e+00] [-1.67142644e-03 9.99988538e-01 -4.48671035e-03 1.47583325e-01] [ 2.62758985e-02 4.52908534e-03 9.99644469e-01 1.04363126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232557844 meters Centerline goodness : 0.142023 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99654525e-01 1.51650107e-03 -2.62398702e-02 1.72605922e+00] [-1.63862552e-03 9.99987924e-01 -4.63327995e-03 1.48326757e-01] [ 2.62325270e-02 4.67467659e-03 9.99644938e-01 1.04337065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262557844 meters Centerline goodness : 0.177911 Centerline is valid? [False, False] Translation: X:1.73, Y:0.15, Z:1.04 [[ 9.99657752e-01 1.47457195e-03 -2.61190270e-02 1.72549654e+00] [-1.59963796e-03 9.99987353e-01 -4.76806369e-03 1.48978941e-01] [ 2.61116658e-02 4.80821282e-03 9.99647469e-01 1.04380132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29255784400002 meters Centerline goodness : 0.141008 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:1.04 [[ 9.99662093e-01 1.48321763e-03 -2.59518860e-02 1.72482377e+00] [-1.60718388e-03 9.99987396e-01 -4.75656646e-03 1.48970332e-01] [ 2.59445039e-02 4.79666863e-03 9.99651877e-01 1.04420775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32255784400002 meters Centerline goodness : 0.149741 Centerline is valid? [False, False] Translation: X:1.72, Y:0.15, Z:1.04 [[ 9.99666189e-01 1.52823971e-03 -2.57910024e-02 1.72421781e+00] [-1.64804058e-03 9.99987949e-01 -4.62444787e-03 1.48384365e-01] [ 2.57836243e-02 4.66540880e-03 9.99656660e-01 1.04453203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35255784400002 meters Centerline goodness : 0.177926 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99967803 -0.00618784 -0.02460777 1.74407348] [ 0.00609944 0.99997468 -0.00366575 0.15293185] [ 0.02462983 0.00351447 0.99969046 1.04574078] [ 0. 0. 0. 1. ]] SLAMing on 139.38255784400002 meters Centerline goodness : 0.151744 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99968196 -0.00607783 -0.02447534 1.74331743] [ 0.00599806 0.99997646 -0.00333119 0.1514334 ] [ 0.02449501 0.00318333 0.99969488 1.04646079] [ 0. 0. 0. 1. ]] SLAMing on 139.41255784400002 meters Centerline goodness : 0.110617 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.99969004 -0.0060712 -0.02414465 1.74196334] [ 0.00600705 0.99997823 -0.00272864 0.14825077] [ 0.02416069 0.00258276 0.99970475 1.04754527] [ 0. 0. 0. 1. ]] SLAMing on 139.442557844 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:1.74, Y:0.15, Z:1.05 [[ 0.9996832 -0.00600895 -0.02444154 1.74275899] [ 0.0059516 0.99997936 -0.00241852 0.14667228] [ 0.02445557 0.00227229 0.99969834 1.04748104] [ 0. 0. 0. 1. ]] SLAMing on 139.472557844 meters Centerline goodness : 0.176816 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99703308e-01 1.41154407e-03 -2.43167285e-02 1.76552955e+00] [-1.52332183e-03 9.99988357e-01 -4.57883275e-03 1.43969679e-01] [ 2.43099822e-02 4.61451645e-03 9.99693819e-01 1.04696824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502557844 meters Centerline goodness : 0.217993 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99697256e-01 1.54288635e-03 -2.45563815e-02 1.76635508e+00] [-1.64684569e-03 9.99989766e-01 -4.21383589e-03 1.42097995e-01] [ 2.45496287e-02 4.25300074e-03 9.99689566e-01 1.04673419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532557844 meters Centerline goodness : 0.229646 Centerline is valid? [False, False] Translation: X:1.77, Y:0.14, Z:1.05 [[ 9.99702236e-01 1.50256629e-03 -2.43553103e-02 1.76546424e+00] [-1.60470277e-03 9.99989999e-01 -4.17460061e-03 1.41728402e-01] [ 2.43487941e-02 4.21244060e-03 9.99694649e-01 1.04732345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562557844 meters Centerline goodness : 0.123508 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 0.99976536 0.0024341 -0.02152454 1.80700409] [-0.00252371 0.99998826 -0.00413723 0.14405965] [ 0.02151422 0.00419058 0.99975976 1.04808236] [ 0. 0. 0. 1. ]] SLAMing on 139.592557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 139.622557844 meters Centerline goodness : 0.220271 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 9.99757473e-01 -8.87961624e-04 -2.20047085e-02 1.80832448e+00] [ 7.38785257e-04 9.99976699e-01 -6.78649534e-03 1.39067194e-01] [ 2.20102220e-02 6.76859268e-03 9.99734833e-01 1.04790015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652557844 meters Centerline goodness : 0.225504 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:1.05 [[ 9.99746140e-01 -7.20198591e-04 -2.25197010e-02 1.80992301e+00] [ 5.81148790e-04 9.99980732e-01 -6.18051965e-03 1.35859783e-01] [ 2.25237182e-02 6.16586337e-03 9.99727295e-01 1.04746098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters Centerline goodness : 0.196509 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99973759 0.00638411 -0.02199978 1.79231432] [-0.00655336 0.99994942 -0.0076297 0.12417543] [ 0.02194996 0.00777187 0.99972886 1.04515284] [ 0. 0. 0. 1. ]] SLAMing on 139.712557844 meters Centerline goodness : 0.125208 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:1.05 [[ 9.99792815e-01 -1.85801078e-03 -2.02700245e-02 1.81329035e+00] [ 1.71571353e-03 9.99973781e-01 -7.03521641e-03 1.27480402e-01] [ 2.02825646e-02 6.99898127e-03 9.99769789e-01 1.04525741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.742557844 meters Centerline goodness : 0.205588 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:1.05 [[ 9.99795832e-01 -1.64660327e-03 -2.01390847e-02 1.81258630e+00] [ 1.51502427e-03 9.99977420e-01 -6.54702715e-03 1.25222207e-01] [ 2.01494103e-02 6.51517925e-03 9.99775752e-01 1.04589253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.772557844 meters Centerline goodness : 0.145378 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99977366 0.00708874 -0.02005951 1.78935267] [-0.00720921 0.99995637 -0.00593959 0.11675705] [ 0.02001653 0.00608286 0.99978114 1.04605982] [ 0. 0. 0. 1. ]] SLAMing on 139.802557844 meters Centerline goodness : 0.184261 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99975444 0.00744485 -0.02087197 1.79203207] [-0.00756729 0.99995458 -0.00579347 0.11647671] [ 0.02082789 0.00594999 0.99976537 1.04534955] [ 0. 0. 0. 1. ]] SLAMing on 139.832557844 meters Centerline goodness : 0.184261 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:1.05 [[ 0.99975444 0.00744485 -0.02087197 1.79203207] [-0.00756729 0.99995458 -0.00579347 0.11647671] [ 0.02082789 0.00594999 0.99976537 1.04534955] [ 0. 0. 0. 1. ]] SLAMing on 139.862557844 meters Centerline goodness : 0.139647 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.04 [[ 0.99973228 0.00780496 -0.02178171 1.79526497] [-0.00792877 0.99995287 -0.00560348 0.11604627] [ 0.02173695 0.00577468 0.99974705 1.04411074] [ 0. 0. 0. 1. ]] SLAMing on 139.892557844 meters Centerline goodness : 0.132803 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.04 [[ 0.99971729 0.00807501 -0.02236357 1.79743241] [-0.00819764 0.99995183 -0.00539727 0.11551459] [ 0.02231891 0.00557907 0.99973534 1.04315278] [ 0. 0. 0. 1. ]] SLAMing on 139.922557844 meters Centerline goodness : 0.347819 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99737872e-01 1.27010104e-03 -2.28598933e-02 1.81477109e+00] [-1.34874543e-03 9.99993224e-01 -3.42518892e-03 1.22165035e-01] [ 2.28553880e-02 3.45512326e-03 9.99732811e-01 1.04565031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952557844 meters Centerline goodness : 0.180120 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99738585e-01 1.37316465e-03 -2.28226983e-02 1.81423845e+00] [-1.44625983e-03 9.99993877e-01 -3.18654306e-03 1.21118741e-01] [ 2.28181829e-02 3.21871760e-03 9.99734450e-01 1.04638943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982557844 meters Centerline goodness : 0.182385 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:1.05 [[ 9.99738201e-01 1.45438804e-03 -2.28345018e-02 1.81389968e+00] [-1.52115208e-03 9.99994619e-01 -2.90672560e-03 1.19679589e-01] [ 2.28301514e-02 2.94069937e-03 9.99735033e-01 1.04702839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012557844 meters Centerline goodness : 0.135409 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:1.05 [[ 9.99674698e-01 -6.77016480e-04 -2.54958978e-02 1.76701900e+00] [ 6.05889982e-04 9.99995904e-01 -2.79734500e-03 1.14136471e-01] [ 2.54976873e-02 2.78098731e-03 9.99671013e-01 1.04901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04255784400002 meters Centerline goodness : 0.143322 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:1.05 [[ 9.99679563e-01 -7.50570478e-04 -2.53023323e-02 1.76614742e+00] [ 6.82561080e-04 9.99996132e-01 -2.69640013e-03 1.13400229e-01] [ 2.53042583e-02 2.67826572e-03 9.99676208e-01 1.04955111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07255784400002 meters Centerline goodness : 0.186675 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:1.05 [[ 9.99686814e-01 1.94769898e-03 -2.49495423e-02 1.76453518e+00] [-1.94234101e-03 9.99998085e-01 2.38984604e-04 1.14691379e-01] [ 2.49499600e-02 -1.90449238e-04 9.99688683e-01 1.05033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10255784400002 meters Centerline goodness : 0.142040 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99706070e-01 2.48524113e-03 -2.41163394e-02 1.80245258e+00] [-2.45291079e-03 9.99996053e-01 1.37008807e-03 1.15249373e-01] [ 2.41196492e-02 -1.31053013e-03 9.99708220e-01 1.05137732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13255784400002 meters Centerline goodness : 0.175519 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99708582e-01 2.49626312e-03 -2.40108360e-02 1.80201011e+00] [-2.46445249e-03 9.99996046e-01 1.35434477e-03 1.15451083e-01] [ 2.40141219e-02 -1.29477652e-03 9.99710781e-01 1.05166527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16255784400002 meters Centerline goodness : 0.133846 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:1.05 [[ 9.99707781e-01 2.49067409e-03 -2.40447344e-02 1.80193971e+00] [-2.45898831e-03 9.99996069e-01 1.34726176e-03 1.15324106e-01] [ 2.40479955e-02 -1.28774235e-03 9.99709976e-01 1.05195251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192557844 meters Centerline goodness : 0.136093 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 9.99706022e-01 2.44480161e-03 -2.41224530e-02 1.80207381e+00] [-2.40815215e-03 9.99995902e-01 1.54824141e-03 1.14476313e-01] [ 2.41261393e-02 -1.48969573e-03 9.99707812e-01 1.05184089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters Centerline goodness : 0.138275 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 9.99699680e-01 2.44280456e-03 -2.43840577e-02 1.80274336e+00] [-2.40062315e-03 9.99995571e-01 1.75899976e-03 1.13169860e-01] [ 2.43882466e-02 -1.69993457e-03 9.99701117e-01 1.05181133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252557844 meters Centerline goodness : 0.143121 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99970253 0.00254311 -0.02425673 1.80240161] [-0.00249396 0.99999478 0.00205646 0.11221254] [ 0.02426184 -0.00199535 0.99970365 1.05171061] [ 0. 0. 0. 1. ]] SLAMing on 140.282557844 meters Centerline goodness : 0.127424 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99970356 0.00266016 -0.02420137 1.80224577] [-0.00260465 0.99999391 0.00232479 0.11128775] [ 0.02420741 -0.00226107 0.9997044 1.05170742] [ 0. 0. 0. 1. ]] SLAMing on 140.312557844 meters Centerline goodness : 0.142842 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969908 0.00275202 -0.02437575 1.80263007] [-0.00269322 0.99999338 0.00244481 0.11055832] [ 0.02438232 -0.00237843 0.99969988 1.05192857] [ 0. 0. 0. 1. ]] SLAMing on 140.342557844 meters Centerline goodness : 0.175273 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969617 0.002745 -0.02449566 1.80302616] [-0.00268573 0.99999339 0.00245206 0.11037746] [ 0.02450223 -0.00238553 0.99969693 1.05180007] [ 0. 0. 0. 1. ]] SLAMing on 140.372557844 meters Centerline goodness : 0.146749 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:1.05 [[ 0.99969302 0.00274109 -0.02462407 1.80364488] [-0.00268415 0.99999365 0.00234527 0.11095734] [ 0.02463034 -0.00227845 0.99969403 1.05134486] [ 0. 0. 0. 1. ]] SLAMing on 140.402557844 meters Centerline goodness : 0.141612 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 0.99967067 0.00340666 -0.02543516 1.84312459] [-0.00332885 0.99998965 0.00310113 0.11232351] [ 0.02544546 -0.00301543 0.99967166 1.05220076] [ 0. 0. 0. 1. ]] SLAMing on 140.432557844 meters Centerline goodness : 0.142985 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 0.99966938 0.00341179 -0.02548498 1.84360138] [-0.0033347 0.99998974 0.0030668 0.11267958] [ 0.02549518 -0.0029808 0.9996705 1.05162502] [ 0. 0. 0. 1. ]] SLAMing on 140.462557844 meters Centerline goodness : 0.117016 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99701851e-01 1.00905763e-03 -2.43965345e-02 1.83947797e+00] [-9.81429387e-04 9.99998864e-01 1.14441307e-03 1.09393647e-01] [ 2.43976615e-02 -1.12012839e-03 9.99701705e-01 1.05261363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.492557844 meters Centerline goodness : 0.122747 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99702680e-01 1.00199268e-03 -2.43628349e-02 1.83907481e+00] [-9.72628062e-04 9.99998786e-01 1.21712389e-03 1.08939191e-01] [ 2.43640248e-02 -1.19306603e-03 9.99702441e-01 1.05317379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.522557844 meters Centerline goodness : 0.159538 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99704574e-01 1.04090892e-03 -2.42833417e-02 1.83870083e+00] [-1.00834040e-03 9.99998576e-01 1.35339400e-03 1.08299236e-01] [ 2.42847159e-02 -1.32850830e-03 9.99704200e-01 1.05341914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552557844 meters Centerline goodness : 0.145017 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:1.05 [[ 9.99708950e-01 1.09496744e-03 -2.41001391e-02 1.83821000e+00] [-1.05483411e-03 9.99998036e-01 1.67792376e-03 1.07082204e-01] [ 2.41019291e-02 -1.65201375e-03 9.99708141e-01 1.05331123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582557844 meters Centerline goodness : 0.118332 Centerline is valid? [False, False] Translation: X:1.82, Y:0.10, Z:1.05 [[ 9.99689094e-01 8.35471982e-03 -2.34928336e-02 1.82056892e+00] [-8.34125813e-03 9.99964986e-01 6.70949473e-04 9.73947386e-02] [ 2.34976166e-02 -4.74781082e-04 9.99723780e-01 1.05095025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612557844 meters Centerline goodness : 0.226326 Centerline is valid? [False, False] Translation: X:1.82, Y:0.10, Z:1.05 [[ 9.99684278e-01 8.44956713e-03 -2.36632488e-02 1.82131448e+00] [-8.42797377e-03 9.99963972e-01 1.01211138e-03 9.61286727e-02] [ 2.36709482e-02 -8.12358592e-04 9.99719474e-01 1.05029996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642557844 meters Centerline goodness : 0.147966 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99676258e-01 8.42450026e-03 -2.40084656e-02 1.82193090e+00] [-8.39736411e-03 9.99963984e-01 1.23087058e-03 9.46083184e-02] [ 2.40179704e-02 -1.02886427e-03 9.99710998e-01 1.05074412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672557844 meters Centerline goodness : 0.184250 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99680417e-01 8.27338460e-03 -2.38875379e-02 1.82109235e+00] [-8.25036428e-03 9.99965401e-01 1.06209122e-03 9.48694970e-02] [ 2.38954985e-02 -8.64670907e-04 9.99714088e-01 1.05161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702557844 meters Centerline goodness : 0.115254 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99687443e-01 8.52607309e-03 -2.35015420e-02 1.81937927e+00] [-8.49305344e-03 9.99962802e-01 1.50445714e-03 9.35008123e-02] [ 2.35134949e-02 -1.30438706e-03 9.99722669e-01 1.05281317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732557844 meters Centerline goodness : 0.150141 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99684091e-01 8.62249897e-03 -2.36087209e-02 1.81964499e+00] [-8.58248700e-03 9.99961558e-01 1.79559860e-03 9.20704467e-02] [ 2.36232959e-02 -1.59240982e-03 9.99719663e-01 1.05282383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762557844 meters Centerline goodness : 0.148671 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99704033e-01 5.11198852e-03 -2.37847228e-02 1.82061614e+00] [-5.15329083e-03 9.99985318e-01 -1.67553618e-03 9.12768647e-02] [ 2.37758083e-02 1.79760987e-03 9.99715699e-01 1.05198136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79255784400002 meters Centerline goodness : 0.118231 Centerline is valid? [False, False] Translation: X:1.82, Y:0.09, Z:1.05 [[ 9.99693707e-01 5.25121218e-03 -2.41850716e-02 1.82159728e+00] [-5.27955931e-03 9.99985449e-01 -1.10838830e-03 8.82434019e-02] [ 2.41788993e-02 1.23573533e-03 9.99706884e-01 1.05206636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82255784400002 meters Centerline goodness : 0.187137 Centerline is valid? [False, False] Translation: X:1.84, Y:0.09, Z:1.05 [[ 9.99722526e-01 -2.58445898e-03 -2.34135015e-02 1.84272840e+00] [ 2.57952018e-03 9.99996644e-01 -2.41137753e-04 8.88968196e-02] [ 2.34140461e-02 1.80675244e-04 9.99725837e-01 1.05298209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85255784400002 meters Centerline goodness : 0.127122 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 9.99728341e-01 -2.18314364e-03 -2.32051386e-02 1.84155105e+00] [ 2.21134107e-03 9.99996847e-01 1.18954615e-03 8.18021885e-02] [ 2.32024684e-02 -1.24053748e-03 9.99730017e-01 1.05416806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88255784400002 meters Centerline goodness : 0.123481 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 0.99972651 -0.00189628 -0.02330889 1.84154791] [ 0.00194138 0.99999629 0.00191263 0.07846081] [ 0.02330518 -0.00195735 0.99972648 1.05471713] [ 0. 0. 0. 1. ]] SLAMing on 140.91255784400002 meters Centerline goodness : 0.118227 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 9.99722309e-01 -1.68208919e-03 -2.35048146e-02 1.84205579e+00] [ 1.74017528e-03 9.99995482e-01 2.45100690e-03 7.58474055e-02] [ 2.35005856e-02 -2.49122878e-03 9.99720719e-01 1.05480109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942557844 meters Centerline goodness : 0.125440 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.05 [[ 9.99716205e-01 -1.55334485e-03 -2.37717639e-02 1.84304156e+00] [ 1.61922338e-03 9.99994901e-01 2.75229564e-03 7.42567492e-02] [ 2.37673674e-02 -2.79000635e-03 9.99713623e-01 1.05441469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972557844 meters Centerline goodness : 0.168200 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.05 [[ 9.99713649e-01 -1.41316848e-03 -2.38877190e-02 1.84390520e+00] [ 1.48169463e-03 9.99994838e-01 2.85122072e-03 7.39106205e-02] [ 2.38835664e-02 -2.88579857e-03 9.99710582e-01 1.05343814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002557844 meters Centerline goodness : 0.148667 Centerline is valid? [False, False] Translation: X:1.85, Y:0.07, Z:1.05 [[ 0.99970399 0.00288473 -0.02415818 1.84500758] [-0.00272463 0.99997413 0.00665725 0.07488948] [ 0.02417676 -0.00658946 0.99968598 1.05355049] [ 0. 0. 0. 1. ]] SLAMing on 141.032557844 meters Centerline goodness : 0.146068 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.05 [[ 0.99970631 0.00302033 -0.02404533 1.8444202 ] [-0.00286304 0.9999743 0.00657327 0.07512687] [ 0.02406456 -0.0065025 0.99968926 1.05438649] [ 0. 0. 0. 1. ]] SLAMing on 141.062557844 meters Centerline goodness : 0.394828 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:1.06 [[ 0.99970392 0.00287651 -0.02416201 1.84417226] [-0.00272794 0.99997719 0.00617952 0.07578711] [ 0.02417924 -0.00611178 0.99968896 1.05561746] [ 0. 0. 0. 1. ]] SLAMing on 141.092557844 meters Centerline goodness : 0.133385 Centerline is valid? [False, False] Translation: X:1.84, Y:0.07, Z:1.06 [[ 0.99969954 0.00293605 -0.02433533 1.84435117] [-0.00278094 0.99997562 0.00640527 0.07429453] [ 0.02435355 -0.00633567 0.99968333 1.05608621] [ 0. 0. 0. 1. ]] SLAMing on 141.122557844 meters Centerline goodness : 0.379786 Centerline is valid? [False, False] Translation: X:1.85, Y:0.07, Z:1.06 [[ 0.99968247 0.00301477 -0.02501757 1.84618629] [-0.00283859 0.99997095 0.00707454 0.07114894] [ 0.02503817 -0.00700128 0.99966198 1.05561019] [ 0. 0. 0. 1. ]] SLAMing on 141.152557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.182557844 meters Centerline goodness : 0.122917 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 9.99721038e-01 3.58770571e-04 -2.36160543e-02 1.84192049e+00] [-2.09242974e-04 9.99979920e-01 6.33377454e-03 6.23129235e-02] [ 2.36178525e-02 -6.32706616e-03 9.99701038e-01 1.05533060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212557844 meters Centerline goodness : 0.135197 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 9.99743491e-01 -1.36990156e-04 -2.26480363e-02 1.83850222e+00] [ 2.87108587e-04 9.99978012e-01 6.62520118e-03 6.02706725e-02] [ 2.26466307e-02 -6.63000420e-03 9.99721548e-01 1.05629289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.242557844 meters Centerline goodness : 0.142119 Centerline is valid? [False, False] Translation: X:1.84, Y:0.06, Z:1.06 [[ 0.99974097 -0.00380449 -0.02243938 1.83735525] [ 0.00388603 0.999986 0.00359131 0.05651679] [ 0.0224254 -0.00367758 0.99974176 1.05718447] [ 0. 0. 0. 1. ]] SLAMing on 141.272557844 meters Centerline goodness : 0.153338 Centerline is valid? [False, False] Translation: X:1.84, Y:0.05, Z:1.06 [[ 0.99973042 -0.00342335 -0.02296431 1.83894058] [ 0.00352765 0.99998364 0.00450285 0.05355125] [ 0.02294851 -0.00458264 0.99972615 1.05636143] [ 0. 0. 0. 1. ]] SLAMing on 141.302557844 meters Centerline goodness : 0.305492 Centerline is valid? [False, False] Translation: X:1.84, Y:0.05, Z:1.06 [[ 0.99972112 -0.00308153 -0.02341317 1.84049893] [ 0.00320737 0.9999806 0.00533891 0.05081455] [ 0.02339626 -0.00541251 0.99971162 1.05534355] [ 0. 0. 0. 1. ]] SLAMing on 141.332557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.362557844 meters Centerline goodness : 0.143819 Centerline is valid? [False, False] Translation: X:1.83, Y:0.04, Z:1.05 [[ 0.99972243 0.00421411 -0.02317993 1.82514485] [-0.00415126 0.99998758 0.00275896 0.04100745] [ 0.02319127 -0.00266197 0.9997275 1.0542322 ] [ 0. 0. 0. 1. ]] SLAMing on 141.392557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.422557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.452557844 meters Centerline goodness : 0.317852 Centerline is valid? [False, False] Translation: X:1.82, Y:0.04, Z:1.05 [[ 0.9997238 0.00488048 -0.02298921 1.8248295 ] [-0.0047932 0.9999811 0.00385005 0.03639549] [ 0.02300757 -0.00373879 0.9997283 1.05406231] [ 0. 0. 0. 1. ]] SLAMing on 141.482557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.512557844 meters Centerline goodness : 0.118184 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.9997179 0.00516582 -0.02318254 1.82545316] [-0.00506554 0.99997757 0.00438243 0.03393014] [ 0.02320465 -0.00426376 0.99972164 1.05392406] [ 0. 0. 0. 1. ]] SLAMing on 141.54255784400002 meters Centerline goodness : 0.119333 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99971346 0.00523352 -0.0233582 1.82599596] [-0.00512924 0.99997662 0.00452196 0.03326254] [ 0.02338131 -0.00440085 0.99971693 1.05381408] [ 0. 0. 0. 1. ]] SLAMing on 141.57255784400002 meters Centerline goodness : 0.118777 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99970759 0.00530438 -0.02359247 1.82680152] [-0.00519603 0.99997568 0.00465136 0.03261986] [ 0.02361657 -0.00452741 0.99971084 1.05349897] [ 0. 0. 0. 1. ]] SLAMing on 141.60255784400002 meters Centerline goodness : 0.119629 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99970031 0.00547255 -0.02386093 1.82792935] [-0.00535201 0.99997261 0.00511305 0.03014776] [ 0.02388826 -0.00498382 0.99970221 1.05282927] [ 0. 0. 0. 1. ]] SLAMing on 141.63255784400002 meters Centerline goodness : 0.236902 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969735 0.00563617 -0.02394659 1.82821809] [-0.00550524 0.99996956 0.00553003 0.02818406] [ 0.02397703 -0.00539653 0.99969794 1.05273383] [ 0. 0. 0. 1. ]] SLAMing on 141.66255784400002 meters Centerline goodness : 0.123437 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969499 0.00578478 -0.0240096 1.82839244] [-0.00564477 0.99996669 0.00589508 0.02647419] [ 0.0240429 -0.00575776 0.99969435 1.05274747] [ 0. 0. 0. 1. ]] SLAMing on 141.692557844 meters Centerline goodness : 0.145218 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969205 0.00589782 -0.02410432 1.82858457] [-0.00575087 0.99996448 0.00616102 0.02537161] [ 0.0241398 -0.0060205 0.99969046 1.05281247] [ 0. 0. 0. 1. ]] SLAMing on 141.722557844 meters Centerline goodness : 0.145218 Centerline is valid? [False, False] Translation: X:1.83, Y:0.03, Z:1.05 [[ 0.99969205 0.00589782 -0.02410432 1.82858457] [-0.00575087 0.99996448 0.00616102 0.02537161] [ 0.0241398 -0.0060205 0.99969046 1.05281247] [ 0. 0. 0. 1. ]] SLAMing on 141.752557844 meters Centerline goodness : 0.141757 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.99969269 0.00592788 -0.02407058 1.82831709] [-0.00577539 0.99996284 0.00639953 0.02430769] [ 0.02410763 -0.00625855 0.99968978 1.05306683] [ 0. 0. 0. 1. ]] SLAMing on 141.782557844 meters Centerline goodness : 0.145881 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.9996937 0.00615163 -0.02397231 1.82777131] [-0.00598731 0.99995813 0.00692056 0.02202951] [ 0.02401388 -0.00677491 0.99968867 1.05359859] [ 0. 0. 0. 1. ]] SLAMing on 141.812557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.842557844 meters Centerline goodness : 0.111864 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 0.99969612 0.00632229 -0.02382628 1.82715962] [-0.00614819 0.99995392 0.00737322 0.02003105] [ 0.02387179 -0.00722449 0.99968892 1.05401352] [ 0. 0. 0. 1. ]] SLAMing on 141.872557844 meters Centerline goodness : 0.144014 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 0.99974757 0.00743479 -0.0212021 1.86980248] [-0.00730883 0.99995522 0.00601231 0.02227988] [ 0.02124585 -0.00585583 0.99975713 1.05405278] [ 0. 0. 0. 1. ]] SLAMing on 141.902557844 meters Centerline goodness : 0.145270 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 0.99977491 0.00376386 -0.02087973 1.86895752] [-0.00371218 0.99998995 0.00251346 0.02172927] [ 0.02088898 -0.00243538 0.99977884 1.05404805] [ 0. 0. 0. 1. ]] SLAMing on 141.932557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 141.962557844 meters Centerline goodness : 0.143488 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:1.05 [[ 0.9997119 -0.00609593 -0.02321525 1.84855993] [ 0.00618262 0.99997417 0.00366445 0.01988748] [ 0.02319231 -0.00380693 0.99972377 1.05398187] [ 0. 0. 0. 1. ]] SLAMing on 141.992557844 meters Centerline goodness : 0.118188 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:1.05 [[ 0.99972369 -0.00617156 -0.0226817 1.84688889] [ 0.00626386 0.99997238 0.00400071 0.01858626] [ 0.02265638 -0.00414168 0.99973473 1.05422546] [ 0. 0. 0. 1. ]] SLAMing on 142.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 142.052557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 142.082557844 meters Centerline goodness : 0.183275 Centerline is valid? [False, False] Translation: X:1.82, Y:0.01, Z:1.06 [[ 0.99982621 0.00188478 -0.01854704 1.82326053] [-0.00182758 0.99999352 0.0031007 0.01405768] [ 0.01855276 -0.00306627 0.99982318 1.05510942] [ 0. 0. 0. 1. ]] SLAMing on 142.112557844 meters Centerline goodness : 0.144012 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:1.05 [[ 9.99823117e-01 1.82593420e-03 -1.87190137e-02 1.82415677e+00] [-1.77415733e-03 9.99994556e-01 2.78223763e-03 1.56364505e-02] [ 1.87239920e-02 -2.74853502e-03 9.99820913e-01 1.05432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142557844 meters Centerline goodness : 0.138034 Centerline is valid? [False, False] Translation: X:1.82, Y:0.02, Z:1.05 [[ 9.99823475e-01 1.76597653e-03 -1.87056120e-02 1.82454807e+00] [-1.72053036e-03 9.99995530e-01 2.44536173e-03 1.73080936e-02] [ 1.87098469e-02 -2.41274649e-03 9.99822044e-01 1.05356546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172557844 meters Centerline goodness : 0.192148 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99820316e-01 1.71283784e-03 -1.88786119e-02 1.82546652e+00] [-1.67521246e-03 9.99996579e-01 2.00865002e-03 1.93864066e-02] [ 1.88819878e-02 -1.97666341e-03 9.99819765e-01 1.05268893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202557844 meters Centerline goodness : 0.140031 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99812215e-01 1.82564441e-03 -1.92925171e-02 1.82678249e+00] [-1.78775560e-03 9.99996440e-01 1.98097660e-03 1.95872657e-02] [ 1.92960650e-02 -1.94611430e-03 9.99811920e-01 1.05232071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232557844 meters Centerline goodness : 0.133890 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99809699e-01 1.79738688e-03 -1.94251252e-02 1.82728938e+00] [-1.75967534e-03 9.99996534e-01 1.95829811e-03 1.95540978e-02] [ 1.94285777e-02 -1.92374353e-03 9.99809397e-01 1.05201548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262557844 meters Centerline goodness : 0.194165 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99808060e-01 1.79908768e-03 -1.95091237e-02 1.82749967e+00] [-1.76002938e-03 9.99996413e-01 2.01903827e-03 1.91807494e-02] [ 1.95126861e-02 -1.98431411e-03 9.99807640e-01 1.05198721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29255784400002 meters Centerline goodness : 0.165860 Centerline is valid? [False, False] Translation: X:1.83, Y:0.02, Z:1.05 [[ 9.99808381e-01 1.83903306e-03 -1.94889528e-02 1.82737239e+00] [-1.79646952e-03 9.99995964e-01 2.20126512e-03 1.82556497e-02] [ 1.94929223e-02 -2.16583201e-03 9.99807649e-01 1.05211653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32255784400002 meters Centerline goodness : 0.136578 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99853985e-01 1.86804623e-03 -1.69858549e-02 1.87183063e+00] [-1.87199403e-03 9.99998224e-01 -2.16520150e-04 2.10085273e-02] [ 1.69854203e-02 2.48285954e-04 9.99855707e-01 1.05093463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35255784400002 meters Centerline goodness : 0.157421 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99855310e-01 1.84616934e-03 -1.69100708e-02 1.87170658e+00] [-1.84627269e-03 9.99998296e-01 9.49998887e-06 2.01507910e-02] [ 1.69100595e-02 2.17219875e-05 9.99857014e-01 1.05058336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38255784400002 meters Centerline goodness : 0.123214 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99854111e-01 1.86729076e-03 -1.69784938e-02 1.87192388e+00] [-1.86554573e-03 9.99998253e-01 1.18616450e-04 1.95975687e-02] [ 1.69786856e-02 -8.69249885e-05 9.99855848e-01 1.05047352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41255784400002 meters Centerline goodness : 0.093492 Centerline is valid? [False, False] Translation: X:1.87, Y:0.02, Z:1.05 [[ 9.99853537e-01 1.90224889e-03 -1.70083895e-02 1.87203811e+00] [-1.89847358e-03 9.99998170e-01 2.38110819e-04 1.91467236e-02] [ 1.70088113e-02 -2.05785967e-04 9.99855319e-01 1.05038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442557844 meters Centerline goodness : 0.117308 Centerline is valid? [False, False] Translation: X:1.89, Y:0.02, Z:1.05 [[ 9.99845115e-01 -4.77357207e-03 -1.69398472e-02 1.89135989e+00] [ 4.79944850e-03 9.99987377e-01 1.48722297e-03 2.45296124e-02] [ 1.69325340e-02 -1.56829455e-03 9.99855404e-01 1.05181518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472557844 meters Centerline goodness : 0.180477 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:1.05 [[ 9.99878437e-01 3.74751256e-03 -1.51349624e-02 1.87123545e+00] [-3.72681806e-03 9.99992082e-01 1.39530376e-03 1.45562600e-02] [ 1.51400715e-02 -1.33872889e-03 9.99884486e-01 1.05125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502557844 meters Centerline goodness : 0.143495 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:1.05 [[ 9.99911524e-01 4.75766651e-03 -1.24220761e-02 1.91268570e+00] [-4.76242739e-03 9.99988597e-01 -3.53707276e-04 1.73712933e-02] [ 1.24202516e-02 4.12835217e-04 9.99922780e-01 1.05143988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532557844 meters Centerline goodness : 0.100627 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:1.05 [[ 9.99911265e-01 4.81881081e-03 -1.24194026e-02 1.91241070e+00] [-4.82109614e-03 9.99988367e-01 -1.54080607e-04 1.64162350e-02] [ 1.24185157e-02 2.13942068e-04 9.99922864e-01 1.05190428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562557844 meters Centerline goodness : 0.132003 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99909032e-01 4.86986533e-03 -1.25782445e-02 1.91269245e+00] [-4.86528695e-03 9.99988087e-01 3.94566012e-04 1.35844004e-02] [ 1.25800162e-02 -3.33333350e-04 9.99920813e-01 1.05208204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592557844 meters Centerline goodness : 0.095554 Centerline is valid? [False, False] Translation: X:1.87, Y:0.01, Z:1.05 [[ 9.99885132e-01 1.95222467e-03 -1.50303352e-02 1.86754980e+00] [-1.93939062e-03 9.99997742e-01 8.68404633e-04 7.50580356e-03] [ 1.50319966e-02 -8.39155190e-04 9.99886661e-01 1.05383963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622557844 meters Centerline goodness : 0.111770 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:1.05 [[ 9.99884454e-01 -6.05898227e-03 -1.39415695e-02 1.88921962e+00] [ 6.07566565e-03 9.99980876e-01 1.15462116e-03 9.03136077e-03] [ 1.39343071e-02 -1.23919206e-03 9.99902145e-01 1.05392374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652557844 meters Centerline goodness : 0.128896 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:1.05 [[ 9.99882895e-01 -5.90947156e-03 -1.41164327e-02 1.88947072e+00] [ 5.93397688e-03 9.99980958e-01 1.69468786e-03 6.33179343e-03] [ 1.41061492e-02 -1.77825599e-03 9.99898922e-01 1.05429299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682557844 meters Centerline goodness : 0.034213 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99897061e-01 1.48032707e-03 -1.42715232e-02 1.86969152e+00] [-1.45584285e-03 9.99997451e-01 1.72583611e-03 -2.11312161e-03] [ 1.42740416e-02 -1.70488136e-03 9.99896667e-01 1.05334077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 142.742557844 meters Centerline goodness : 0.210362 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893921e-01 1.59660076e-03 -1.44775131e-02 1.87028837e+00] [-1.57031484e-03 9.99997098e-01 1.82682360e-03 -2.55562697e-03] [ 1.44803878e-02 -1.80389556e-03 9.99893526e-01 1.05323035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.772557844 meters Centerline goodness : 0.125041 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893647e-01 1.58924866e-03 -1.44972383e-02 1.87051848e+00] [-1.56420331e-03 9.99997265e-01 1.73877006e-03 -2.14797045e-03] [ 1.44999620e-02 -1.71590850e-03 9.99893398e-01 1.05298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802557844 meters Centerline goodness : 0.087008 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99894293e-01 1.61626319e-03 -1.44495637e-02 1.87060857e+00] [-1.59298639e-03 9.99997415e-01 1.62226424e-03 -1.45535632e-03] [ 1.44521484e-02 -1.59907480e-03 9.99894284e-01 1.05262625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832557844 meters Centerline goodness : 0.184411 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99898722e-01 1.74101753e-03 -1.41249715e-02 1.86979762e+00] [-1.71829253e-03 9.99997210e-01 1.62082935e-03 -1.04151026e-03] [ 1.41277540e-02 -1.59639436e-03 9.99898924e-01 1.05259192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862557844 meters Centerline goodness : 0.095199 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99897122e-01 1.67619043e-03 -1.42455757e-02 1.87012369e+00] [-1.65451291e-03 9.99997456e-01 1.53335135e-03 -8.25282040e-04] [ 1.42481097e-02 -1.50962411e-03 9.99897351e-01 1.05257624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892557844 meters Centerline goodness : 0.187294 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99893969e-01 1.58759296e-03 -1.44751672e-02 1.87083905e+00] [-1.56697775e-03 9.99997742e-01 1.43540860e-03 -6.69443325e-04] [ 1.44774133e-02 -1.41257413e-03 9.99894199e-01 1.05234453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922557844 meters Centerline goodness : 0.120053 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99892525e-01 1.52403940e-03 -1.45813242e-02 1.87116777e+00] [-1.50373901e-03 9.99997885e-01 1.40308130e-03 -7.40241999e-04] [ 1.45834317e-02 -1.38100400e-03 9.99892702e-01 1.05226371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952557844 meters Centerline goodness : 0.110099 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99894191e-01 1.49146484e-03 -1.44700461e-02 1.87098695e+00] [-1.47153628e-03 9.99997954e-01 1.38777846e-03 -7.68912774e-04] [ 1.44720864e-02 -1.36633843e-03 9.99894340e-01 1.05204184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982557844 meters Centerline goodness : 0.118568 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:1.05 [[ 9.99900265e-01 1.46562093e-03 -1.40467689e-02 1.86971533e+00] [-1.44648310e-03 9.99998012e-01 1.37249995e-03 -5.17407540e-04] [ 1.40487525e-02 -1.35204465e-03 9.99900397e-01 1.05226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012557844 meters Centerline goodness : 0.092137 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:1.05 [[ 9.99860743e-01 -5.33234691e-04 -1.66796386e-02 1.82446543e+00] [ 5.73256950e-04 9.99996968e-01 2.39477885e-03 -2.93116798e-03] [ 1.66783111e-02 -2.40400708e-03 9.99858017e-01 1.05386002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04255784400002 meters Centerline goodness : 0.093293 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.00, Z:1.05 [[ 9.99857641e-01 -6.65483099e-04 -1.68598630e-02 1.82509033e+00] [ 7.01850639e-04 9.99997440e-01 2.15122323e-03 -1.91641791e-03] [ 1.68583882e-02 -2.16275008e-03 9.99855548e-01 1.05351232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07255784400002 meters Centerline goodness : 0.095454 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.00, Z:1.05 [[ 9.99852856e-01 -8.23122216e-04 -1.71344551e-02 1.82622302e+00] [ 8.54652731e-04 9.99997955e-01 1.83294075e-03 -3.75338471e-04] [ 1.71329113e-02 -1.84731505e-03 9.99851514e-01 1.05265157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.13255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.16255784400002 meters Centerline goodness : 0.136623 Centerline is valid? [False, False] Translation: X:1.87, Y:0.00, Z:1.05 [[ 9.99892334e-01 4.11215462e-04 -1.46680183e-02 1.86737473e+00] [-3.99490577e-04 9.99999598e-01 8.02271338e-04 2.53682400e-03] [ 1.46683424e-02 -7.96325226e-04 9.99892097e-01 1.05348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.222557844 meters Centerline goodness : 0.140127 Centerline is valid? [False, False] Translation: X:1.87, Y:0.00, Z:1.05 [[ 9.99888726e-01 3.63635049e-04 -1.49131967e-02 1.86810962e+00] [-3.50364761e-04 9.99999540e-01 8.92438292e-04 1.73256525e-03] [ 1.49135144e-02 -8.87113928e-04 9.99888394e-01 1.05327448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252557844 meters Centerline goodness : 0.379803 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:1.05 [[ 9.99922020e-01 1.85544866e-03 -1.23495701e-02 1.91147792e+00] [-1.86055192e-03 9.99998188e-01 -4.01758209e-04 4.20237171e-03] [ 1.23488023e-02 4.24703896e-04 9.99923660e-01 1.05203910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282557844 meters Centerline goodness : 0.377977 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:1.05 [[ 9.99924623e-01 1.91471460e-03 -1.21277327e-02 1.91075199e+00] [-1.91881450e-03 9.99998106e-01 -3.26432944e-04 4.00428704e-03] [ 1.21270847e-02 3.49679208e-04 9.99926403e-01 1.05229195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.342557844 meters Centerline goodness : 0.142938 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99934207e-01 2.42663047e-03 -1.12112841e-02 1.90804334e+00] [-2.42898372e-03 9.99997031e-01 -1.96288319e-04 5.37280782e-03] [ 1.12107745e-02 2.23507431e-04 9.99937132e-01 1.05291651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372557844 meters Centerline goodness : 0.103843 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99931946e-01 2.26884818e-03 -1.14435734e-02 1.90885882e+00] [-2.27618427e-03 9.99997212e-01 -6.28082332e-04 7.21729325e-03] [ 1.14421165e-02 6.54087270e-04 9.99934323e-01 1.05256974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.432557844 meters Centerline goodness : 0.381011 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:1.05 [[ 9.99933943e-01 2.20905809e-03 -1.12795762e-02 1.90853740e+00] [-2.22468221e-03 9.99996583e-01 -1.37281027e-03 1.11387502e-02] [ 1.12765050e-02 1.39781306e-03 9.99935441e-01 1.05236813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.492557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.522557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.552557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.582557844 meters Centerline goodness : 0.148499 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:1.05 [[ 9.99904230e-01 7.05421421e-03 -1.19066418e-02 1.90938347e+00] [-7.03938643e-03 9.99974395e-01 1.28678756e-03 2.83005844e-02] [ 1.19154142e-02 -1.20284888e-03 9.99928285e-01 1.05283367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612557844 meters Centerline goodness : 0.034890 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:1.05 [[ 9.99915169e-01 -1.10360471e-03 -1.29783602e-02 1.88681982e+00] [ 1.15014493e-03 9.99992934e-01 3.57906882e-03 3.21908141e-02] [ 1.29743186e-02 -3.59369220e-03 9.99909372e-01 1.05388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642557844 meters Centerline goodness : 0.034890 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:1.05 [[ 9.99915169e-01 -1.10360471e-03 -1.29783602e-02 1.88681982e+00] [ 1.15014493e-03 9.99992934e-01 3.57906882e-03 3.21908141e-02] [ 1.29743186e-02 -3.59369220e-03 9.99909372e-01 1.05388641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672557844 meters Centerline goodness : 0.386159 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99947085e-01 4.67517368e-04 -1.02766337e-02 1.92917959e+00] [-4.44654201e-04 9.99997421e-01 2.22694431e-03 3.91450096e-02] [ 1.02776483e-02 -2.22225692e-03 9.99944714e-01 1.05298850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702557844 meters Centerline goodness : 0.392061 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99952757e-01 2.38028544e-04 -9.71738396e-03 1.92717237e+00] [-2.22074302e-04 9.99998626e-01 1.64287076e-03 4.20574635e-02] [ 9.71776165e-03 -1.64063516e-03 9.99951436e-01 1.05393458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732557844 meters Centerline goodness : 0.392969 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99953839e-01 1.39447593e-04 -9.60727514e-03 1.92674885e+00] [-1.25250930e-04 9.99998899e-01 1.47828512e-03 4.27856609e-02] [ 9.60747071e-03 -1.47701356e-03 9.99952756e-01 1.05416450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762557844 meters Centerline goodness : 0.313783 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99952408e-01 5.30599722e-05 -9.75593912e-03 1.92709656e+00] [-3.91996056e-05 9.99998990e-01 1.42089638e-03 4.29396884e-02] [ 9.75600465e-03 -1.42044633e-03 9.99951400e-01 1.05417150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79255784400002 meters Centerline goodness : 0.382576 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99950960e-01 -1.25666184e-05 -9.90342078e-03 1.92760915e+00] [ 2.61148562e-05 9.99999064e-01 1.36790804e-03 4.30704657e-02] [ 9.90339432e-03 -1.36809958e-03 9.99950024e-01 1.05389647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82255784400002 meters Centerline goodness : 0.381952 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:1.05 [[ 9.99949548e-01 -5.41983304e-05 -1.00448075e-02 1.92804124e+00] [ 6.76096905e-05 9.99999107e-01 1.33481876e-03 4.31483632e-02] [ 1.00447262e-02 -1.33543054e-03 9.99948659e-01 1.05374058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.88255784400002 meters Centerline goodness : 0.380962 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99947525e-01 -4.27855406e-04 -1.02354673e-02 1.92902301e+00] [ 4.32678277e-04 9.99999796e-01 4.68982385e-04 4.69195488e-02] [ 1.02352646e-02 -4.73386439e-04 9.99947506e-01 1.05283924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91255784400002 meters Centerline goodness : 0.380148 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99946999e-01 -5.83685730e-04 -1.02790733e-02 1.92943636e+00] [ 5.83808986e-04 9.99999830e-01 8.99044856e-06 4.90980985e-02] [ 1.02790663e-02 -1.49909874e-05 9.99947169e-01 1.05227547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters Centerline goodness : 0.340479 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99947814e-01 -6.69154131e-04 -1.01941649e-02 1.92922394e+00] [ 6.65709697e-04 9.99999720e-01 -3.41272458e-04 5.09690094e-02] [ 1.01943904e-02 3.34468294e-04 9.99947980e-01 1.05220582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972557844 meters Centerline goodness : 0.142688 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99952604e-01 -6.76295498e-04 -9.71250294e-03 1.92716623e+00] [ 6.70762897e-04 9.99999611e-01 -5.72883197e-04 5.25314279e-02] [ 9.71288660e-03 5.66341258e-04 9.99952668e-01 1.05373048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002557844 meters Centerline goodness : 0.149766 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99952386e-01 -7.48217546e-04 -9.72963037e-03 1.92692942e+00] [ 7.41946994e-04 9.99999515e-01 -6.48073554e-04 5.27018512e-02] [ 9.73011055e-03 6.40823827e-04 9.99952456e-01 1.05425325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032557844 meters Centerline goodness : 0.138288 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99951875e-01 -7.91180559e-04 -9.77863487e-03 1.92703462e+00] [ 7.84544547e-04 9.99999459e-01 -6.82440864e-04 5.27252553e-02] [ 9.77916952e-03 6.74736246e-04 9.99951955e-01 1.05429028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.092557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.122557844 meters Centerline goodness : 0.127326 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99950104e-01 -9.17336514e-04 -9.94721309e-03 1.92797432e+00] [ 9.06479798e-04 9.99998989e-01 -1.09588661e-03 5.50153646e-02] [ 9.94820833e-03 1.08681498e-03 9.99949925e-01 1.05332835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152557844 meters Centerline goodness : 0.142427 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99948641e-01 -9.27160314e-04 -1.00923788e-02 1.92817734e+00] [ 9.16258468e-04 9.99998992e-01 -1.08477584e-03 5.48570071e-02] [ 1.00933743e-02 1.07547290e-03 9.99948482e-01 1.05366853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182557844 meters Centerline goodness : 0.130331 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:1.05 [[ 9.99948184e-01 -9.07514641e-04 -1.01392882e-02 1.92808748e+00] [ 8.96812615e-04 9.99999036e-01 -1.05999752e-03 5.47544909e-02] [ 1.01402403e-02 1.05084955e-03 9.99948034e-01 1.05405827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.242557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.272557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.302557844 meters Centerline goodness : 0.360322 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99952207e-01 -7.19138479e-04 -9.75019084e-03 1.92728176e+00] [ 7.03736889e-04 9.99998499e-01 -1.58295817e-03 5.83437944e-02] [ 9.75131457e-03 1.57602095e-03 9.99951213e-01 1.05365839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332557844 meters Centerline goodness : 0.309946 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99947354e-01 -7.25611290e-04 -1.02353986e-02 1.92875142e+00] [ 7.03675772e-04 9.99997449e-01 -2.14654196e-03 6.03647735e-02] [ 1.02369301e-02 2.13922655e-03 9.99945313e-01 1.05357356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362557844 meters Centerline goodness : 0.326307 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:1.05 [[ 9.99944899e-01 -9.30057013e-04 -1.04562994e-02 1.92960103e+00] [ 8.95640316e-04 9.99994168e-01 -3.29568067e-03 6.47797130e-02] [ 1.04593036e-02 3.28613399e-03 9.99939900e-01 1.05355031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392557844 meters Centerline goodness : 0.149510 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99946044e-01 -1.05708795e-03 -1.03340430e-02 1.92899747e+00] [ 1.01922647e-03 9.99992752e-01 -3.66834258e-03 6.67404957e-02] [ 1.03378458e-02 3.65761192e-03 9.99939874e-01 1.05401198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422557844 meters Centerline goodness : 0.144964 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99947855e-01 -1.10546195e-03 -1.01521520e-02 1.92824259e+00] [ 1.06639862e-03 9.99992011e-01 -3.85239536e-03 6.79146271e-02] [ 1.01563295e-02 3.84136824e-03 9.99941045e-01 1.05442113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452557844 meters Centerline goodness : 0.149677 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99952329e-01 -1.32013604e-03 -9.67452987e-03 1.92679570e+00] [ 1.28104868e-03 9.99990997e-01 -4.04531776e-03 6.86817121e-02] [ 9.67978314e-03 4.03273137e-03 9.99945018e-01 1.05464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482557844 meters Centerline goodness : 0.180704 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99956006e-01 -1.60215180e-03 -9.24220437e-03 1.92559025e+00] [ 1.56270818e-03 9.99989648e-01 -4.27341598e-03 6.95132563e-02] [ 9.24895535e-03 4.25878511e-03 9.99948158e-01 1.05452895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512557844 meters Centerline goodness : 0.140641 Centerline is valid? [False, False] Translation: X:1.89, Y:0.07, Z:1.05 [[ 0.99993631 -0.00215844 -0.01107746 1.88848506] [ 0.00209929 0.9999835 -0.0053481 0.06899876] [ 0.01108882 0.00532451 0.99992434 1.05433885] [ 0. 0. 0. 1. ]] SLAMing on 144.54255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.57255784400002 meters Centerline goodness : 0.144205 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:1.05 [[ 9.99957453e-01 -1.31279561e-03 -9.13059875e-03 1.93314157e+00] [ 1.25172071e-03 9.99976828e-01 -6.69153614e-03 7.33471078e-02] [ 9.13917180e-03 6.67982248e-03 9.99935926e-01 1.05306874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60255784400002 meters Centerline goodness : 0.141416 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99957668e-01 -1.41192477e-03 -9.09223816e-03 1.93330158e+00] [ 1.34786379e-03 9.99974254e-01 -7.04795469e-03 7.50140288e-02] [ 9.10195525e-03 7.03540124e-03 9.99933827e-01 1.05261948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63255784400002 meters Centerline goodness : 0.139364 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956763e-01 -1.53714172e-03 -9.17109962e-03 1.93366099e+00] [ 1.46934632e-03 9.99971581e-01 -7.39445086e-03 7.66907166e-02] [ 9.18220530e-03 7.38065563e-03 9.99930604e-01 1.05230619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66255784400002 meters Centerline goodness : 0.199603 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956311e-01 -1.67919075e-03 -9.19543116e-03 1.93400289e+00] [ 1.60781797e-03 9.99968570e-01 -7.76366555e-03 7.84107289e-02] [ 9.20817882e-03 7.74854178e-03 9.99927582e-01 1.05179585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692557844 meters Centerline goodness : 0.189091 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956196e-01 -1.83626594e-03 -9.17797017e-03 1.93408411e+00] [ 1.76129383e-03 9.99965073e-01 -8.17012029e-03 8.03031073e-02] [ 9.19265213e-03 8.15359730e-03 9.99924504e-01 1.05156906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722557844 meters Centerline goodness : 0.116218 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 9.99956840e-01 -2.01033006e-03 -9.07065223e-03 1.93375483e+00] [ 1.93163818e-03 9.99960498e-01 -8.67587404e-03 8.21028080e-02] [ 9.08773529e-03 8.65797837e-03 9.99921223e-01 1.05184334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752557844 meters Centerline goodness : 0.395345 Centerline is valid? [False, False] Translation: X:1.93, Y:0.08, Z:1.05 [[ 0.99995933 -0.00214116 -0.00876142 1.93266282] [ 0.00206098 0.99995601 -0.00915065 0.08464337] [ 0.00878063 0.00913222 0.99991975 1.05237671] [ 0. 0. 0. 1. ]] SLAMing on 144.782557844 meters Centerline goodness : 0.174640 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:1.05 [[ 0.99992521 -0.00918868 -0.00807082 1.95146618] [ 0.00912238 0.99992465 -0.0082139 0.09148166] [ 0.00814569 0.00813966 0.99993369 1.05389981] [ 0. 0. 0. 1. ]] SLAMing on 144.812557844 meters Centerline goodness : 0.139403 Centerline is valid? [False, False] Translation: X:1.95, Y:0.09, Z:1.05 [[ 0.99994412 -0.0065326 -0.00831132 1.95138345] [ 0.00648338 0.99996137 -0.00593527 0.09487788] [ 0.00834977 0.00588106 0.99994785 1.05476828] [ 0. 0. 0. 1. ]] SLAMing on 144.842557844 meters Centerline goodness : 0.162637 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.05 [[ 0.99994452 -0.00663553 -0.00818134 1.95104064] [ 0.00658517 0.9999593 -0.00616691 0.09577142] [ 0.00822193 0.00611269 0.99994752 1.05482662] [ 0. 0. 0. 1. ]] SLAMing on 144.872557844 meters Centerline goodness : 0.141456 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99994436 -0.00672233 -0.00812905 1.95085124] [ 0.00667017 0.99995711 -0.00642583 0.09665446] [ 0.0081719 0.00637125 0.99994631 1.05504388] [ 0. 0. 0. 1. ]] SLAMing on 144.902557844 meters Centerline goodness : 0.137714 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995747 -0.00347272 -0.00854411 1.95145972] [ 0.00344002 0.99998671 -0.00383913 0.10014839] [ 0.00855733 0.00380958 0.99995613 1.0558975 ] [ 0. 0. 0. 1. ]] SLAMing on 144.932557844 meters Centerline goodness : 0.142356 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995216 -0.00334976 -0.0091899 1.9533066 ] [ 0.00331022 0.99998522 -0.00431362 0.10202899] [ 0.00920421 0.004283 0.99994847 1.0558649 ] [ 0. 0. 0. 1. ]] SLAMing on 144.962557844 meters Centerline goodness : 0.178065 Centerline is valid? [False, False] Translation: X:1.95, Y:0.10, Z:1.06 [[ 0.99995106 -0.00341481 -0.00928552 1.95379869] [ 0.00337086 0.99998306 -0.00474422 0.10434931] [ 0.00930156 0.00471269 0.99994563 1.05533865] [ 0. 0. 0. 1. ]] SLAMing on 144.992557844 meters Centerline goodness : 0.135087 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995146 -0.00350674 -0.00920774 1.95380508] [ 0.00345925 0.99998066 -0.00516845 0.10659987] [ 0.00922568 0.00513635 0.99994425 1.05494504] [ 0. 0. 0. 1. ]] SLAMing on 145.022557844 meters Centerline goodness : 0.134722 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995334 -0.00366004 -0.00894002 1.9532073 ] [ 0.00360802 0.99997651 -0.00582807 0.10981388] [ 0.00896114 0.00579555 0.99994305 1.05477357] [ 0. 0. 0. 1. ]] SLAMing on 145.052557844 meters Centerline goodness : 0.182570 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995375 -0.00374765 -0.00885694 1.9529724 ] [ 0.00369413 0.99997487 -0.00605096 0.11078247] [ 0.0088794 0.00601796 0.99994247 1.05478964] [ 0. 0. 0. 1. ]] SLAMing on 145.082557844 meters Centerline goodness : 0.175132 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.05 [[ 0.99995459 -0.00380699 -0.00873644 1.95263312] [ 0.00375269 0.99997359 -0.00622402 0.11163665] [ 0.00875991 0.00619095 0.99994247 1.05483231] [ 0. 0. 0. 1. ]] SLAMing on 145.112557844 meters Centerline goodness : 0.135242 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.06 [[ 0.99995663 -0.00383761 -0.00848561 1.95179356] [ 0.0037831 0.99997216 -0.00643121 0.1129189 ] [ 0.00851006 0.00639883 0.99994332 1.05514201] [ 0. 0. 0. 1. ]] SLAMing on 145.142557844 meters Centerline goodness : 0.134537 Centerline is valid? [False, False] Translation: X:1.95, Y:0.11, Z:1.06 [[ 0.99996013 -0.0038827 -0.00804191 1.95048174] [ 0.00382868 0.99997008 -0.00672139 0.11462895] [ 0.00806777 0.00669033 0.99994507 1.05545552] [ 0. 0. 0. 1. ]] SLAMing on 145.172557844 meters Centerline goodness : 0.133517 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.06 [[ 0.99996275 -0.00393522 -0.00768194 1.94938966] [ 0.00388069 0.99996725 -0.00710177 0.11676912] [ 0.00770964 0.0070717 0.99994527 1.0557552 ] [ 0. 0. 0. 1. ]] SLAMing on 145.202557844 meters Centerline goodness : 0.135394 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.06 [[ 9.99968341e-01 -2.11698793e-04 -7.95433758e-03 1.94991297e+00] [ 1.80528225e-04 9.99992304e-01 -3.91920175e-03 1.20269708e-01] [ 7.95510605e-03 3.91764169e-03 9.99960683e-01 1.05575708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232557844 meters Centerline goodness : 0.135980 Centerline is valid? [False, False] Translation: X:1.95, Y:0.12, Z:1.05 [[ 9.99968321e-01 -3.25336315e-04 -7.95307188e-03 1.95033266e+00] [ 2.89278960e-04 9.99989677e-01 -4.53449457e-03 1.23626144e-01] [ 7.95446502e-03 4.53205027e-03 9.99958093e-01 1.05489515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262557844 meters Centerline goodness : 0.170562 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 9.99939484e-01 -6.26928091e-04 -1.09834416e-02 1.90574749e+00] [ 5.92252000e-04 9.99994832e-01 -3.16009252e-03 1.22697906e-01] [ 1.09853660e-02 3.15339632e-03 9.99934687e-01 1.05595518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29255784400002 meters Centerline goodness : 0.142629 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99939245e-01 -8.20961982e-04 -1.09923587e-02 1.90590144e+00] [ 7.80601438e-04 9.99992941e-01 -3.67547809e-03 1.25038762e-01] [ 1.09952985e-02 3.66667413e-03 9.99932827e-01 1.05566769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32255784400002 meters Centerline goodness : 0.115037 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99928955e-01 -1.30195108e-03 -1.18486105e-02 1.90823762e+00] [ 1.24984138e-03 9.99989520e-01 -4.40430147e-03 1.27281601e-01] [ 1.18542206e-02 4.38917968e-03 9.99920103e-01 1.05521104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35255784400002 meters Centerline goodness : 0.147792 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99927736e-01 -1.35803345e-03 -1.19448426e-02 1.90834421e+00] [ 1.30444363e-03 9.99989055e-01 -4.49308727e-03 1.27690124e-01] [ 1.19508137e-02 4.47718120e-03 9.99918563e-01 1.05537486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38255784400002 meters Centerline goodness : 0.153506 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99930639e-01 -1.32545996e-03 -1.17030225e-02 1.90742700e+00] [ 1.27369182e-03 9.99989377e-01 -4.42983040e-03 1.27790311e-01] [ 1.17087697e-02 4.41461709e-03 9.99921705e-01 1.05586556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41255784400002 meters Centerline goodness : 0.146934 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934163e-01 -1.27137580e-03 -1.14040902e-02 1.90620783e+00] [ 1.22198325e-03 9.99989848e-01 -4.33704895e-03 1.27790430e-01] [ 1.14094885e-02 4.32282781e-03 9.99925566e-01 1.05658314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442557844 meters Centerline goodness : 0.140379 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99936154e-01 -1.31004419e-03 -1.12236812e-02 1.90567130e+00] [ 1.26117006e-03 9.99989698e-01 -4.36052584e-03 1.27842537e-01] [ 1.12292781e-02 4.34609246e-03 9.99927505e-01 1.05668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472557844 meters Centerline goodness : 0.143746 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99936047e-01 -1.35901446e-03 -1.12274432e-02 1.90565002e+00] [ 1.30984018e-03 9.99989524e-01 -4.38602191e-03 1.27742676e-01] [ 1.12332863e-02 4.37103525e-03 9.99927351e-01 1.05675200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502557844 meters Centerline goodness : 0.207191 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934551e-01 -1.49595841e-03 -1.13426183e-02 1.90578582e+00] [ 1.44469230e-03 9.99988711e-01 -4.52662465e-03 1.28226255e-01] [ 1.13492619e-02 4.50994179e-03 9.99925425e-01 1.05696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532557844 meters Centerline goodness : 0.207191 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934551e-01 -1.49595841e-03 -1.13426183e-02 1.90578582e+00] [ 1.44469230e-03 9.99988711e-01 -4.52662465e-03 1.28226255e-01] [ 1.13492619e-02 4.50994179e-03 9.99925425e-01 1.05696060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562557844 meters Centerline goodness : 0.262036 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99934303e-01 -1.48662842e-03 -1.13656798e-02 1.90568194e+00] [ 1.43490903e-03 9.99988586e-01 -4.55728933e-03 1.28687324e-01] [ 1.13723251e-02 4.54068121e-03 9.99925023e-01 1.05717645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592557844 meters Centerline goodness : 0.068118 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99932971e-01 -1.48779666e-03 -1.14821343e-02 1.90588459e+00] [ 1.43565181e-03 9.99988626e-01 -4.54829683e-03 1.28755565e-01] [ 1.14887706e-02 4.53150762e-03 9.99923734e-01 1.05731757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622557844 meters Centerline goodness : 0.395592 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 9.99929149e-01 -1.53780020e-03 -1.18038639e-02 1.90675687e+00] [ 1.48461438e-03 9.99988713e-01 -4.51323808e-03 1.28373077e-01] [ 1.18106712e-02 4.49539413e-03 9.99920147e-01 1.05721948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652557844 meters Centerline goodness : 0.210629 Centerline is valid? [False, False] Translation: X:1.91, Y:0.13, Z:1.06 [[ 0.99991643 -0.00200929 -0.01277124 1.90942209] [ 0.00195208 0.99998801 -0.00449074 0.12666338] [ 0.01278011 0.00446543 0.99990836 1.05685355] [ 0. 0. 0. 1. ]] SLAMing on 145.682557844 meters Centerline goodness : 0.143836 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992336 -0.00204115 -0.01221138 1.90794246] [ 0.00199393 0.99999049 -0.00387765 0.12448599] [ 0.01221917 0.00385301 0.99991792 1.0564817 ] [ 0. 0. 0. 1. ]] SLAMing on 145.712557844 meters Centerline goodness : 0.128500 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992997 -0.0021593 -0.01163602 1.90629083] [ 0.00212057 0.99999217 -0.00333984 0.12236348] [ 0.01164314 0.00331493 0.99992672 1.05627002] [ 0. 0. 0. 1. ]] SLAMing on 145.742557844 meters Centerline goodness : 0.182107 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99992989 -0.00219008 -0.01163724 1.90617376] [ 0.0021563 0.99999343 -0.00291512 0.12053301] [ 0.01164354 0.00288983 0.99992804 1.05611539] [ 0. 0. 0. 1. ]] SLAMing on 145.772557844 meters Centerline goodness : 0.133240 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99991273 -0.00548569 -0.012018 1.90765757] [ 0.00541532 0.99996805 -0.00588001 0.11761343] [ 0.01204987 0.00581441 0.99991049 1.05532363] [ 0. 0. 0. 1. ]] SLAMing on 145.802557844 meters Centerline goodness : 0.151694 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.06 [[ 0.99990783 -0.00526753 -0.01251348 1.90886895] [ 0.00520418 0.99997351 -0.00508924 0.11422952] [ 0.01253996 0.00502365 0.99990875 1.05509141] [ 0. 0. 0. 1. ]] SLAMing on 145.832557844 meters Centerline goodness : 0.182957 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990687 -0.00506087 -0.01267426 1.90936153] [ 0.00500104 0.99997622 -0.00474797 0.11317875] [ 0.01269798 0.00468415 0.99990841 1.05489683] [ 0. 0. 0. 1. ]] SLAMing on 145.862557844 meters Centerline goodness : 0.139936 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990615 -0.004868 -0.01280615 1.90984484] [ 0.00480987 0.99997801 -0.00456616 0.11273853] [ 0.0128281 0.00450414 0.99990757 1.05475451] [ 0. 0. 0. 1. ]] SLAMing on 145.892557844 meters Centerline goodness : 0.297929 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.99990447 -0.00467572 -0.01300762 1.91056757] [ 0.00461846 0.99997953 -0.00442815 0.11244028] [ 0.01302806 0.00436765 0.99990559 1.05455952] [ 0. 0. 0. 1. ]] SLAMing on 145.922557844 meters Centerline goodness : 0.173828 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.05 [[ 0.9999013 -0.00459603 -0.01327654 1.91135665] [ 0.00453575 0.99997928 -0.00456733 0.11278215] [ 0.01329726 0.00450666 0.99990143 1.05470086] [ 0. 0. 0. 1. ]] SLAMing on 145.952557844 meters Centerline goodness : 0.195782 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:1.06 [[ 0.99989666 -0.00459525 -0.01362143 1.91210283] [ 0.00452832 0.99997754 -0.00494023 0.11371478] [ 0.01364383 0.00487804 0.99989502 1.05535863] [ 0. 0. 0. 1. ]] SLAMing on 145.982557844 meters Centerline goodness : 0.185744 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.9998957 -0.0043284 -0.01377843 1.91238624] [ 0.00425388 0.99997619 -0.00543326 0.1156631 ] [ 0.01380162 0.00537408 0.99989031 1.05633628] [ 0. 0. 0. 1. ]] SLAMing on 146.012557844 meters Centerline goodness : 0.114066 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 0.99989225 -0.00419637 -0.01406687 1.91325899] [ 0.0041168 0.99997539 -0.00568072 0.11689151] [ 0.01409037 0.0056222 0.99988492 1.05634377] [ 0. 0. 0. 1. ]] SLAMing on 146.04255784400002 meters Centerline goodness : 0.153288 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:1.06 [[ 9.99904364e-01 -9.05779567e-04 -1.38001195e-02 1.91219362e+00] [ 8.69257790e-04 9.99996105e-01 -2.65225112e-03 1.19318090e-01] [ 1.38024681e-02 2.64000161e-03 9.99901256e-01 1.05704248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07255784400002 meters Centerline goodness : 0.189387 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99988963 0.0084673 -0.01220814 1.93175648] [-0.00850811 0.99995838 -0.0032945 0.11615934] [ 0.01217973 0.00339801 0.99992005 1.0574607 ] [ 0. 0. 0. 1. ]] SLAMing on 146.10255784400002 meters Centerline goodness : 0.184981 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99989755 0.00821944 -0.01171846 1.93003395] [-0.00826388 0.99995883 -0.00374874 0.11785463] [ 0.01168716 0.0038452 0.99992431 1.05826305] [ 0. 0. 0. 1. ]] SLAMing on 146.13255784400002 meters Centerline goodness : 0.142212 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990403 0.00791981 -0.0113666 1.92866625] [-0.00797114 0.9999582 -0.00447788 0.12063517] [ 0.01133066 0.00456806 0.99992537 1.05914625] [ 0. 0. 0. 1. ]] SLAMing on 146.16255784400002 meters Centerline goodness : 0.115908 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990158 0.00789896 -0.0115948 1.92950035] [-0.00795463 0.99995702 -0.00476274 0.12204551] [ 0.01155668 0.00485451 0.99992144 1.05875741] [ 0. 0. 0. 1. ]] SLAMing on 146.192557844 meters Centerline goodness : 0.115712 Centerline is valid? [False, False] Translation: X:1.93, Y:0.12, Z:1.06 [[ 0.99990151 0.007787 -0.01167595 1.93001618] [-0.00784825 0.99995563 -0.00520954 0.12412288] [ 0.01163486 0.00530066 0.99991826 1.05832175] [ 0. 0. 0. 1. ]] SLAMing on 146.222557844 meters Centerline goodness : 0.155622 Centerline is valid? [False, False] Translation: X:1.93, Y:0.13, Z:1.06 [[ 0.9999023 0.00760764 -0.01172686 1.93017818] [-0.00767533 0.99995408 -0.00573834 0.12634431] [ 0.01168267 0.00582779 0.99991477 1.05831728] [ 0. 0. 0. 1. ]] SLAMing on 146.252557844 meters Centerline goodness : 0.325926 Centerline is valid? [False, False] Translation: X:1.93, Y:0.13, Z:1.06 [[ 0.99989927 0.00752311 -0.0120356 1.93102027] [-0.00760254 0.99994953 -0.00656764 0.13028163] [ 0.01198558 0.00665848 0.999906 1.05832196] [ 0. 0. 0. 1. ]] SLAMing on 146.282557844 meters Centerline goodness : 0.140285 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99912383e-01 7.07581153e-04 -1.32184205e-02 1.95074640e+00] [-7.79136873e-04 9.99985068e-01 -5.40896851e-03 1.40359093e-01] [ 1.32143958e-02 5.41879355e-03 9.99898003e-01 1.05961684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312557844 meters Centerline goodness : 0.116363 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99911174e-01 5.80726511e-04 -1.33156954e-02 1.95103741e+00] [-6.57244281e-04 9.99983294e-01 -5.74277864e-03 1.41929799e-01] [ 1.33121380e-02 5.75102020e-03 9.99894851e-01 1.05949084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342557844 meters Centerline goodness : 0.118573 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99911722e-01 5.29499237e-04 -1.32765817e-02 1.95080460e+00] [-6.07327483e-04 9.99982653e-01 -5.85872322e-03 1.42476532e-01] [ 1.32732492e-02 5.86626926e-03 9.99894698e-01 1.05968317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372557844 meters Centerline goodness : 0.117029 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99913164e-01 5.05806994e-04 -1.31684547e-02 1.95028046e+00] [-5.83372509e-04 9.99982501e-01 -5.88707716e-03 1.42671731e-01] [ 1.31652465e-02 5.89424807e-03 9.99895962e-01 1.06013182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters Centerline goodness : 0.180283 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99916320e-01 5.17361470e-04 -1.29261143e-02 1.94943689e+00] [-5.92993704e-04 9.99982725e-01 -5.84797168e-03 1.42640877e-01] [ 1.29228655e-02 5.85514743e-03 9.99899353e-01 1.06051870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432557844 meters Centerline goodness : 0.179736 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:1.06 [[ 0.99990569 -0.0065926 -0.01204796 1.96765191] [ 0.00654052 0.99996912 -0.00435707 0.1485547 ] [ 0.01207631 0.00427786 0.99991793 1.06300401] [ 0. 0. 0. 1. ]] SLAMing on 146.462557844 meters Centerline goodness : 0.144427 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99917588e-01 1.43232106e-03 -1.27579411e-02 1.94677020e+00] [-1.49283589e-03 9.99987675e-01 -4.73504741e-03 1.42995034e-01] [ 1.27510017e-02 4.75370270e-03 9.99907403e-01 1.06262152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.492557844 meters Centerline goodness : 0.175370 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99916202e-01 1.44378565e-03 -1.28648635e-02 1.94725430e+00] [-1.50454550e-03 9.99987755e-01 -4.71450400e-03 1.42994755e-01] [ 1.28578993e-02 4.73346470e-03 9.99906130e-01 1.06224972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.522557844 meters Centerline goodness : 0.145316 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99910951e-01 1.44498319e-03 -1.32665583e-02 1.94882291e+00] [-1.50686528e-03 9.99988027e-01 -4.65570725e-03 1.42660869e-01] [ 1.32596720e-02 4.67528358e-03 9.99901157e-01 1.06123772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552557844 meters Centerline goodness : 0.174394 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99908381e-01 1.46102005e-03 -1.34571671e-02 1.94964982e+00] [-1.52359987e-03 9.99988069e-01 -4.64121903e-03 1.42623731e-01] [ 1.34502257e-02 4.66129715e-03 9.99898677e-01 1.06059735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582557844 meters Centerline goodness : 0.200870 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99906913e-01 1.44065133e-03 -1.35679958e-02 1.95012273e+00] [-1.50482460e-03 9.99987725e-01 -4.72073211e-03 1.43012746e-01] [ 1.35610283e-02 4.74071012e-03 9.99896807e-01 1.06025626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612557844 meters Centerline goodness : 0.144093 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99905987e-01 1.41826317e-03 -1.36383860e-02 1.95010973e+00] [-1.48360759e-03 9.99987464e-01 -4.78229086e-03 1.43296851e-01] [ 1.36314325e-02 4.80207527e-03 9.99895557e-01 1.06062028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642557844 meters Centerline goodness : 0.134118 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99908300e-01 1.45804264e-03 -1.34634755e-02 1.94920316e+00] [-1.52149431e-03 9.99987779e-01 -4.70383490e-03 1.42944839e-01] [ 1.34564526e-02 4.72388816e-03 9.99898299e-01 1.06142089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672557844 meters Centerline goodness : 0.176504 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99912586e-01 1.37703324e-03 -1.31500837e-02 1.94786853e+00] [-1.43973843e-03 9.99987634e-01 -4.76014967e-03 1.42934592e-01] [ 1.31433662e-02 4.77866624e-03 9.99902203e-01 1.06224865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702557844 meters Centerline goodness : 0.140334 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99918213e-01 1.55273660e-03 -1.26947138e-02 1.94641480e+00] [-1.60937307e-03 9.99988793e-01 -4.45242384e-03 1.41929842e-01] [ 1.26876580e-02 4.47249022e-03 9.99909506e-01 1.06276388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732557844 meters Centerline goodness : 0.182825 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99918614e-01 1.67913416e-03 -1.26469625e-02 1.94666761e+00] [-1.73138164e-03 9.99990008e-01 -4.12141233e-03 1.40656050e-01] [ 1.26399158e-02 4.14297362e-03 9.99911530e-01 1.06214319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762557844 meters Centerline goodness : 0.143890 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99914496e-01 1.72203586e-03 -1.29628436e-02 1.94768693e+00] [-1.77221494e-03 9.99990978e-01 -3.86050243e-03 1.39067028e-01] [ 1.29560787e-02 3.88314529e-03 9.99908526e-01 1.06174069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79255784400002 meters Centerline goodness : 0.204046 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99905688e-01 1.77651354e-03 -1.36183361e-02 1.94963421e+00] [-1.82537212e-03 9.99991940e-01 -3.57611586e-03 1.37300651e-01] [ 1.36118733e-02 3.60063712e-03 9.99900871e-01 1.06125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82255784400002 meters Centerline goodness : 0.178376 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99896065e-01 1.75191868e-03 -1.43104567e-02 1.95165401e+00] [-1.79957795e-03 9.99992876e-01 -3.31818286e-03 1.35568099e-01] [ 1.43045415e-02 3.34359077e-03 9.99892094e-01 1.06071485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85255784400002 meters Centerline goodness : 0.192160 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.9998906 0.00199137 -0.01465697 1.9527996 ] [-0.00203218 0.9999941 -0.00277 0.13342815] [ 0.01465137 0.00279948 0.99988874 1.06022542] [ 0. 0. 0. 1. ]] SLAMing on 146.88255784400002 meters Centerline goodness : 0.146364 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.99989853 0.00215088 -0.01408173 1.95079189] [-0.00217989 0.99999553 -0.00204471 0.12992864] [ 0.01407727 0.0020752 0.99989876 1.0613978 ] [ 0. 0. 0. 1. ]] SLAMing on 146.91255784400002 meters Centerline goodness : 0.113292 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99903692e-01 2.27985747e-03 -1.36897372e-02 1.94915946e+00] [-2.30263349e-03 9.99995991e-01 -1.64819812e-03 1.28044107e-01] [ 1.36859246e-02 1.67956183e-03 9.99904933e-01 1.06260973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters Centerline goodness : 0.159947 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99906669e-01 2.36102347e-03 -1.34565704e-02 1.94815060e+00] [-2.37986575e-03 9.99996210e-01 -1.38438753e-03 1.26701861e-01] [ 1.34532508e-02 1.41628315e-03 9.99908498e-01 1.06341938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972557844 meters Centerline goodness : 0.147444 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99906171e-01 2.38843204e-03 -1.34886817e-02 1.94813105e+00] [-2.40596114e-03 9.99996282e-01 -1.28346357e-03 1.26094085e-01] [ 1.34855661e-02 1.31579639e-03 9.99908200e-01 1.06361597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002557844 meters Centerline goodness : 0.179108 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99904582e-01 2.36112519e-03 -1.36107434e-02 1.94870345e+00] [-2.37926118e-03 9.99996303e-01 -1.31643769e-03 1.26077762e-01] [ 1.36075848e-02 1.34869559e-03 9.99906503e-01 1.06314643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032557844 meters Centerline goodness : 0.271176 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99902962e-01 2.35069054e-03 -1.37309948e-02 1.94925375e+00] [-2.36941042e-03 9.99996285e-01 -1.34722130e-03 1.26145834e-01] [ 1.37277769e-02 1.37962493e-03 9.99904818e-01 1.06272608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062557844 meters Centerline goodness : 0.147291 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99912946e-01 2.25328031e-03 -1.30008624e-02 1.94684214e+00] [-2.27685918e-03 9.99995790e-01 -1.79912310e-03 1.28290691e-01] [ 1.29967537e-02 1.82856761e-03 9.99913867e-01 1.06385144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092557844 meters Centerline goodness : 0.094414 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:1.06 [[ 9.99920425e-01 2.35408264e-03 -1.23936421e-02 1.94482875e+00] [-2.37744308e-03 9.99995425e-01 -1.87047713e-03 1.29225883e-01] [ 1.23891822e-02 1.89979346e-03 9.99921446e-01 1.06472365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters Centerline goodness : 0.137854 Centerline is valid? [False, False] Translation: X:1.94, Y:0.13, Z:1.06 [[ 0.99992478 0.00237169 -0.01203408 1.94379201] [-0.00239638 0.99999505 -0.002038 0.13039376] [ 0.01202919 0.00206669 0.99992551 1.06491153] [ 0. 0. 0. 1. ]] SLAMing on 147.152557844 meters Centerline goodness : 0.278513 Centerline is valid? [False, False] Translation: X:1.98, Y:0.13, Z:1.07 [[ 9.99915182e-01 3.24254475e-03 -1.26140539e-02 1.98406007e+00] [-3.26647636e-03 9.99992903e-01 -1.87707815e-03 1.33407863e-01] [ 1.26078778e-02 1.91812245e-03 9.99918678e-01 1.06576843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters Centerline goodness : 0.116900 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99857666e-01 -6.23860794e-03 -1.56756743e-02 1.96538554e+00] [ 6.21272869e-03 9.99979257e-01 -1.69907353e-03 1.38094434e-01] [ 1.56859490e-02 1.60144298e-03 9.99875685e-01 1.06529841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212557844 meters Centerline goodness : 0.146919 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 0.99985442 0.00227643 -0.01691019 1.94803587] [-0.00232875 0.99999256 -0.00307451 0.1308035 ] [ 0.01690306 0.00311344 0.99985229 1.06467699] [ 0. 0. 0. 1. ]] SLAMing on 147.242557844 meters Centerline goodness : 0.116978 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99848513e-01 -4.57496885e-03 -1.67934532e-02 1.96690265e+00] [ 4.54659700e-03 9.99988172e-01 -1.72725010e-03 1.37164713e-01] [ 1.68011567e-02 1.65063538e-03 9.99857488e-01 1.06652229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.272557844 meters Centerline goodness : 0.171254 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.07 [[ 9.99850362e-01 -4.54343338e-03 -1.66916411e-02 1.96672134e+00] [ 4.51315546e-03 9.99988102e-01 -1.85117838e-03 1.38311419e-01] [ 1.66998532e-02 1.77556940e-03 9.99858971e-01 1.06635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302557844 meters Centerline goodness : 0.143184 Centerline is valid? [False, False] Translation: X:1.95, Y:0.13, Z:1.06 [[ 9.99898219e-01 1.57908142e-03 -1.41795017e-02 1.94937814e+00] [-1.61780852e-03 9.99994992e-01 -2.72014837e-03 1.34780565e-01] [ 1.41751353e-02 2.74281123e-03 9.99895766e-01 1.06304240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332557844 meters Centerline goodness : 0.168771 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99895478e-01 1.49417458e-03 -1.43805360e-02 1.94995658e+00] [-1.53775771e-03 9.99994257e-01 -3.02012271e-03 1.35980439e-01] [ 1.43759408e-02 3.04192082e-03 9.99892034e-01 1.06300806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362557844 meters Centerline goodness : 0.144230 Centerline is valid? [False, False] Translation: X:1.95, Y:0.14, Z:1.06 [[ 9.99890544e-01 1.42559765e-03 -1.47264424e-02 1.95126470e+00] [-1.47460472e-03 9.99993410e-01 -3.31750571e-03 1.37451126e-01] [ 1.47216160e-02 3.33885827e-03 9.99886057e-01 1.06215947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392557844 meters Centerline goodness : 0.172550 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99874611e-01 -3.44834574e-03 -1.54554870e-02 1.97398625e+00] [ 3.44572166e-03 9.99994044e-01 -1.96409332e-04 1.40726926e-01] [ 1.54560723e-02 1.43129398e-04 9.99880538e-01 1.06212257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422557844 meters Centerline goodness : 0.143270 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99873528e-01 -3.45661560e-03 -1.55235327e-02 1.97445457e+00] [ 3.45307947e-03 9.99994006e-01 -2.54589207e-04 1.41029062e-01] [ 1.55243197e-02 2.00953016e-04 9.99879470e-01 1.06157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452557844 meters Centerline goodness : 0.143270 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99873528e-01 -3.45661560e-03 -1.55235327e-02 1.97445457e+00] [ 3.45307947e-03 9.99994006e-01 -2.54589207e-04 1.41029062e-01] [ 1.55243197e-02 2.00953016e-04 9.99879470e-01 1.06157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482557844 meters Centerline goodness : 0.200000 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:1.06 [[ 9.99875980e-01 -3.37341523e-03 -1.53832342e-02 1.97393769e+00] [ 3.37301760e-03 9.99994310e-01 -5.17936006e-05 1.40018936e-01] [ 1.53833214e-02 -1.00742717e-07 9.99881670e-01 1.06190600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512557844 meters Centerline goodness : 0.172040 Centerline is valid? [False, False] Translation: X:1.99, Y:0.14, Z:1.06 [[ 9.99899106e-01 5.32576336e-03 -1.31687103e-02 1.99230014e+00] [-5.34704683e-03 9.99984454e-01 -1.58153481e-03 1.37941690e-01] [ 1.31600827e-02 1.65178896e-03 9.99912038e-01 1.06332742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54255784400002 meters Centerline goodness : 0.116337 Centerline is valid? [False, False] Translation: X:1.99, Y:0.14, Z:1.06 [[ 9.99903340e-01 5.23865083e-03 -1.28789266e-02 1.99111202e+00] [-5.26237316e-03 9.99984518e-01 -1.80875178e-03 1.38904730e-01] [ 1.28692518e-02 1.87635067e-03 9.99915427e-01 1.06410976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57255784400002 meters Centerline goodness : 0.170207 Centerline is valid? [False, False] Translation: X:2.03, Y:0.14, Z:1.06 [[ 0.99991799 0.00678897 -0.01085892 2.03436353] [-0.00681235 0.99997455 -0.00211737 0.14398784] [ 0.01084427 0.00219117 0.9999388 1.06369403] [ 0. 0. 0. 1. ]] SLAMing on 147.60255784400002 meters Centerline goodness : 0.140636 Centerline is valid? [False, False] Translation: X:2.04, Y:0.15, Z:1.06 [[ 0.99991543 0.00677228 -0.01110243 2.03543683] [-0.00679917 0.99997404 -0.00238592 0.14538596] [ 0.01108598 0.00246121 0.99993552 1.06297336] [ 0. 0. 0. 1. ]] SLAMing on 147.63255784400002 meters Centerline goodness : 0.160647 Centerline is valid? [False, False] Translation: X:2.04, Y:0.15, Z:1.06 [[ 0.99991268 0.0067608 -0.01135453 2.03674686] [-0.00679106 0.99997349 -0.00262836 0.14681441] [ 0.01133646 0.00270524 0.99993208 1.061869 ] [ 0. 0. 0. 1. ]] SLAMing on 147.66255784400002 meters Centerline goodness : 0.182202 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99894955e-01 2.12592246e-03 -1.43373366e-02 2.05875733e+00] [-2.13943828e-03 9.99997281e-01 -9.27429169e-04 1.57180655e-01] [ 1.43353260e-02 9.58005594e-04 9.99896785e-01 1.06214033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692557844 meters Centerline goodness : 0.143733 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99893301e-01 2.05050466e-03 -1.44631245e-02 2.05917038e+00] [-2.06683359e-03 9.99997243e-01 -1.11414728e-03 1.58062902e-01] [ 1.44608000e-02 1.14392127e-03 9.99894783e-01 1.06193163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters Centerline goodness : 0.118701 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99891773e-01 1.96671126e-03 -1.45799347e-02 2.05960221e+00] [-1.98523944e-03 9.99997240e-01 -1.25643560e-03 1.58582997e-01] [ 1.45774234e-02 1.28524428e-03 9.99892918e-01 1.06167333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752557844 meters Centerline goodness : 0.139927 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99886874e-01 1.69636861e-03 -1.49453098e-02 2.06058184e+00] [-1.71854217e-03 9.99997441e-01 -1.47092898e-03 1.58958971e-01] [ 1.49427763e-02 1.49644672e-03 9.99887231e-01 1.06156254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782557844 meters Centerline goodness : 0.176646 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99889825e-01 1.64232155e-03 -1.47526216e-02 2.05977714e+00] [-1.66367557e-03 9.99997586e-01 -1.43531753e-03 1.58713659e-01] [ 1.47502287e-02 1.45970297e-03 9.99890144e-01 1.06213250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812557844 meters Centerline goodness : 0.173977 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99894720e-01 1.58491713e-03 -1.44234942e-02 2.05854882e+00] [-1.60484902e-03 9.99997773e-01 -1.37043506e-03 1.58234876e-01] [ 1.44212901e-02 1.39343831e-03 9.99895037e-01 1.06284557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters Centerline goodness : 0.144117 Centerline is valid? [False, False] Translation: X:2.04, Y:0.16, Z:1.06 [[ 9.99858441e-01 -8.10011111e-03 -1.47474439e-02 2.03622445e+00] [ 8.09187138e-03 9.99967069e-01 -6.18308795e-04 1.61030137e-01] [ 1.47519666e-02 4.98886849e-04 9.99891059e-01 1.06270741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872557844 meters Centerline goodness : 0.167454 Centerline is valid? [False, False] Translation: X:2.06, Y:0.16, Z:1.06 [[ 9.99919217e-01 -1.47436778e-03 -1.26247923e-02 2.05847333e+00] [ 1.43045795e-03 9.99992899e-01 -3.48638806e-03 1.61651072e-01] [ 1.26298429e-02 3.46804719e-03 9.99914226e-01 1.06160129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902557844 meters Centerline goodness : 0.136575 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.99987381 -0.00373646 -0.0154402 2.01341054] [ 0.00368466 0.99998749 -0.00338159 0.15677067] [ 0.01545264 0.00332428 0.99987507 1.06272716] [ 0. 0. 0. 1. ]] SLAMing on 147.932557844 meters Centerline goodness : 0.190329 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.99987442 -0.00367232 -0.01541611 2.01328969] [ 0.00362391 0.99998842 -0.0031673 0.1557454 ] [ 0.01542757 0.00311104 0.99987615 1.06281943] [ 0. 0. 0. 1. ]] SLAMing on 147.962557844 meters Centerline goodness : 0.137547 Centerline is valid? [False, False] Translation: X:2.01, Y:0.16, Z:1.06 [[ 0.9998758 -0.00361817 -0.01533926 2.01292775] [ 0.00357204 0.99998902 -0.003034 0.15518929] [ 0.01535007 0.00297883 0.99987774 1.06311065] [ 0. 0. 0. 1. ]] SLAMing on 147.992557844 meters Centerline goodness : 0.208431 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99988034 0.00544314 -0.01448002 2.031607 ] [-0.00549567 0.99997845 -0.00359051 0.15048523] [ 0.01446017 0.00366966 0.99988871 1.06421261] [ 0. 0. 0. 1. ]] SLAMing on 148.022557844 meters Centerline goodness : 0.187862 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99988174 0.00538878 -0.01440385 2.03135181] [-0.00544392 0.99997799 -0.00379195 0.15157779] [ 0.0143831 0.00386992 0.99988907 1.06431569] [ 0. 0. 0. 1. ]] SLAMing on 148.052557844 meters Centerline goodness : 0.184958 Centerline is valid? [False, False] Translation: X:2.03, Y:0.15, Z:1.06 [[ 0.99987586 0.00580945 -0.01464611 2.03252321] [-0.00586833 0.99997486 -0.00398038 0.1538236 ] [ 0.01462262 0.00406584 0.99988482 1.06359734] [ 0. 0. 0. 1. ]] SLAMing on 148.082557844 meters Centerline goodness : 0.139636 Centerline is valid? [False, False] Translation: X:2.05, Y:0.16, Z:1.07 [[ 9.99884307e-01 -5.18282156e-04 -1.52020974e-02 2.04934915e+00] [ 4.81569484e-04 9.99996959e-01 -2.41853534e-03 1.63907357e-01] [ 1.52033047e-02 2.41093466e-03 9.99881516e-01 1.06537674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112557844 meters Centerline goodness : 0.139290 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99890873e-01 -4.99370931e-04 -1.47645856e-02 2.04822646e+00] [ 4.58652963e-04 9.99996083e-01 -2.76107068e-03 1.66002255e-01] [ 1.47659065e-02 2.75399755e-03 9.99887185e-01 1.06538255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142557844 meters Centerline goodness : 0.139971 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99894461e-01 -5.99934729e-04 -1.45157584e-02 2.04754508e+00] [ 5.54090440e-04 9.99994847e-01 -3.16205839e-03 1.67969384e-01] [ 1.45175806e-02 3.15368163e-03 9.99889641e-01 1.06540887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172557844 meters Centerline goodness : 0.116701 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99895295e-01 -7.18572312e-04 -1.44528033e-02 2.04733944e+00] [ 6.68030202e-04 9.99993646e-01 -3.50156921e-03 1.69485920e-01] [ 1.44552276e-02 3.49154767e-03 9.99889422e-01 1.06545347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202557844 meters Centerline goodness : 0.125254 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.07 [[ 9.99894635e-01 -8.23170288e-04 -1.44927801e-02 2.04750583e+00] [ 7.68666008e-04 9.99992613e-01 -3.76595724e-03 1.70658060e-01] [ 1.44957731e-02 3.75442033e-03 9.99887882e-01 1.06527695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232557844 meters Centerline goodness : 0.135900 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.06 [[ 9.99890916e-01 -9.90921759e-04 -1.47368247e-02 2.04888117e+00] [ 9.30239207e-04 9.99991063e-01 -4.12403437e-03 1.72516271e-01] [ 1.47407796e-02 4.10987573e-03 9.99882902e-01 1.06387717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262557844 meters Centerline goodness : 0.145768 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.06 [[ 9.99889474e-01 -1.04471490e-03 -1.48306890e-02 2.04927215e+00] [ 9.83450686e-04 9.99990957e-01 -4.13760012e-03 1.72543539e-01] [ 1.48348775e-02 4.12255755e-03 9.99881458e-01 1.06354765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29255784400002 meters Centerline goodness : 0.140002 Centerline is valid? [False, False] Translation: X:2.00, Y:0.17, Z:1.06 [[ 0.99984377 -0.00326912 -0.01737098 2.00407142] [ 0.00319782 0.99998636 -0.00413073 0.16821515] [ 0.01738425 0.00407454 0.99984058 1.06437992] [ 0. 0. 0. 1. ]] SLAMing on 148.32255784400002 meters Centerline goodness : 0.125218 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982677 -0.00709472 -0.01720723 2.00333499] [ 0.00697544 0.99995129 -0.0069822 0.16361795] [ 0.01725593 0.00686097 0.99982757 1.06420633] [ 0. 0. 0. 1. ]] SLAMing on 148.35255784400002 meters Centerline goodness : 0.139229 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982576 -0.00729034 -0.01718425 2.00312633] [ 0.00717731 0.99995226 -0.00662998 0.16160791] [ 0.01723177 0.00650549 0.99983036 1.06412729] [ 0. 0. 0. 1. ]] SLAMing on 148.38255784400002 meters Centerline goodness : 0.190805 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99982762 -0.00730135 -0.01707105 2.0028197 ] [ 0.00719703 0.9999551 -0.00616413 0.15957059] [ 0.01711529 0.00604021 0.99983528 1.06389467] [ 0. 0. 0. 1. ]] SLAMing on 148.41255784400002 meters Centerline goodness : 0.118246 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99983068 -0.00729351 -0.01689456 2.00253349] [ 0.00719778 0.99995773 -0.00572022 0.15797598] [ 0.01693556 0.00559765 0.99984091 1.06334192] [ 0. 0. 0. 1. ]] SLAMing on 148.442557844 meters Centerline goodness : 0.298872 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.99983552 -0.00726551 -0.01661753 2.0018257 ] [ 0.00717548 0.99995929 -0.00547111 0.15706291] [ 0.0166566 0.00535097 0.99984695 1.06323263] [ 0. 0. 0. 1. ]] SLAMing on 148.472557844 meters Centerline goodness : 0.405885 Centerline is valid? [False, False] Translation: X:2.00, Y:0.16, Z:1.06 [[ 0.9998411 -0.00726409 -0.01627901 2.00084794] [ 0.00717864 0.99996018 -0.00530168 0.15646383] [ 0.01631687 0.00518397 0.99985343 1.06340125] [ 0. 0. 0. 1. ]] SLAMing on 148.502557844 meters Centerline goodness : 0.147422 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99894496e-01 1.79735977e-03 -1.44141241e-02 2.01955190e+00] [-1.88471313e-03 9.99979929e-01 -6.04896853e-03 1.51013892e-01] [ 1.44029626e-02 6.07549683e-03 9.99877814e-01 1.06513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532557844 meters Centerline goodness : 0.312478 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99894320e-01 1.85245977e-03 -1.44193351e-02 2.01934155e+00] [-1.93845331e-03 9.99980407e-01 -5.95207608e-03 1.50670354e-01] [ 1.44080266e-02 5.97939828e-03 9.99878320e-01 1.06553992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters Centerline goodness : 0.189806 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.07 [[ 9.99890392e-01 1.87720163e-03 -1.46860514e-02 2.02011255e+00] [-1.96444474e-03 9.99980497e-01 -5.92837354e-03 1.50540630e-01] [ 1.46746362e-02 5.95657368e-03 9.99874579e-01 1.06537299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592557844 meters Centerline goodness : 0.179190 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99879574e-01 1.77246354e-03 -1.54173650e-02 2.02296285e+00] [-1.86626080e-03 9.99979826e-01 -6.07161277e-03 1.50423525e-01] [ 1.54062923e-02 6.09965442e-03 9.99862711e-01 1.06365496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622557844 meters Centerline goodness : 0.181023 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99878768e-01 1.80005607e-03 -1.54664024e-02 2.02334834e+00] [-1.89329086e-03 9.99980113e-01 -6.01568835e-03 1.50095151e-01] [ 1.54552663e-02 6.04424145e-03 9.99862291e-01 1.06317659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652557844 meters Centerline goodness : 0.219189 Centerline is valid? [False, False] Translation: X:2.02, Y:0.15, Z:1.06 [[ 9.99881730e-01 1.87406790e-03 -1.52648006e-02 2.02282465e+00] [-1.96356614e-03 9.99980960e-01 -5.85017128e-03 1.49617858e-01] [ 1.52535463e-02 5.87945282e-03 9.99866372e-01 1.06318929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682557844 meters Centerline goodness : 0.179438 Centerline is valid? [False, False] Translation: X:2.06, Y:0.15, Z:1.06 [[ 0.99989401 0.00298596 -0.01424948 2.06112421] [-0.00305071 0.99998511 -0.004524 0.14982703] [ 0.01423576 0.00456699 0.99988824 1.06469944] [ 0. 0. 0. 1. ]] SLAMing on 148.712557844 meters Centerline goodness : 0.132736 Centerline is valid? [False, False] Translation: X:2.06, Y:0.15, Z:1.06 [[ 0.99989677 0.00309399 -0.01403122 2.06050277] [-0.00315638 0.99998522 -0.00442712 0.14970633] [ 0.01401732 0.00447095 0.99989176 1.06485549] [ 0. 0. 0. 1. ]] SLAMing on 148.742557844 meters Centerline goodness : 0.174552 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989392 -0.00413105 -0.01396743 2.07990304] [ 0.00408607 0.99998638 -0.00324777 0.15789665] [ 0.01398066 0.00319036 0.99989718 1.06568541] [ 0. 0. 0. 1. ]] SLAMing on 148.772557844 meters Centerline goodness : 0.178223 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989517 -0.00379501 -0.01397289 2.08001869] [ 0.00374928 0.99998753 -0.00329791 0.15893654] [ 0.01398523 0.00324517 0.99989694 1.06539712] [ 0. 0. 0. 1. ]] SLAMing on 148.802557844 meters Centerline goodness : 0.139820 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.07 [[ 0.99989597 -0.00364812 -0.01395462 2.08010791] [ 0.0036005 0.99998762 -0.00343597 0.16026655] [ 0.01396698 0.00338537 0.99989673 1.06507146] [ 0. 0. 0. 1. ]] SLAMing on 148.832557844 meters Centerline goodness : 0.112079 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.06 [[ 0.99990091 -0.0034669 -0.01364393 2.07940836] [ 0.00341833 0.99998774 -0.00358144 0.16178784] [ 0.01365618 0.00353445 0.9999005 1.06481313] [ 0. 0. 0. 1. ]] SLAMing on 148.862557844 meters Centerline goodness : 0.212516 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:1.06 [[ 0.99990595 -0.00341364 -0.01328266 2.07847272] [ 0.00336355 0.99998715 -0.00379172 0.16324344] [ 0.01329544 0.00374668 0.99990459 1.06480074] [ 0. 0. 0. 1. ]] SLAMing on 148.892557844 meters Centerline goodness : 0.200096 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991558 -0.00335775 -0.01255221 2.0761997 ] [ 0.00330676 0.99998621 -0.00408041 0.16504638] [ 0.01256574 0.00403856 0.99991289 1.06552645] [ 0. 0. 0. 1. ]] SLAMing on 148.922557844 meters Centerline goodness : 0.358210 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991758 -0.00339736 -0.01238084 2.07557969] [ 0.00334523 0.99998546 -0.0042291 0.16584798] [ 0.01239503 0.00418734 0.99991441 1.06578645] [ 0. 0. 0. 1. ]] SLAMing on 148.952557844 meters Centerline goodness : 0.210682 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99991728 -0.00346012 -0.01238802 2.07568082] [ 0.00340595 0.99998456 -0.00439147 0.16670093] [ 0.01240302 0.00434891 0.99991362 1.06560121] [ 0. 0. 0. 1. ]] SLAMing on 148.982557844 meters Centerline goodness : 0.153426 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990977 -0.00361782 -0.0129369 2.07781425] [ 0.00355687 0.99998248 -0.00473108 0.16828332] [ 0.01295379 0.00468464 0.99990512 1.06423262] [ 0. 0. 0. 1. ]] SLAMing on 149.012557844 meters Centerline goodness : 0.156941 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990593 -0.00372294 -0.01320097 2.07864566] [ 0.00365847 0.99998128 -0.00490443 0.16888348] [ 0.01321899 0.00485568 0.99990084 1.06392603] [ 0. 0. 0. 1. ]] SLAMing on 149.04255784400002 meters Centerline goodness : 0.174448 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990486 -0.00378417 -0.01326495 2.07872942] [ 0.00371782 0.99998047 -0.00502315 0.16936224] [ 0.01328369 0.00497336 0.9998994 1.06404104] [ 0. 0. 0. 1. ]] SLAMing on 149.07255784400002 meters Centerline goodness : 0.138580 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.06 [[ 0.99990474 -0.00385591 -0.01325275 2.07834581] [ 0.00378794 0.99997956 -0.00515013 0.16996637] [ 0.01327233 0.00509944 0.99989892 1.06460803] [ 0. 0. 0. 1. ]] SLAMing on 149.10255784400002 meters Centerline goodness : 0.168770 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:1.07 [[ 0.99990651 -0.00389093 -0.01310827 2.07763341] [ 0.00382229 0.99997887 -0.00525738 0.1706547 ] [ 0.01312845 0.00520678 0.99990026 1.06514052] [ 0. 0. 0. 1. ]] SLAMing on 149.13255784400002 meters Centerline goodness : 0.115835 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987477 -0.00424533 -0.01524523 2.03040873] [ 0.00418735 0.99998389 -0.00383322 0.16947646] [ 0.01526125 0.0037689 0.99987644 1.06662382] [ 0. 0. 0. 1. ]] SLAMing on 149.16255784400002 meters Centerline goodness : 0.139597 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987622 -0.00440661 -0.01510393 2.03009085] [ 0.00434208 0.99998132 -0.00430226 0.17175012] [ 0.01512261 0.00423615 0.99987667 1.0665199 ] [ 0. 0. 0. 1. ]] SLAMing on 149.192557844 meters Centerline goodness : 0.128697 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.07 [[ 0.99987742 -0.00459525 -0.01496781 2.02971416] [ 0.00452332 0.99997808 -0.00483614 0.17425071] [ 0.0149897 0.00476784 0.99987628 1.06652996] [ 0. 0. 0. 1. ]] SLAMing on 149.222557844 meters Centerline goodness : 0.139877 Centerline is valid? [False, False] Translation: X:2.03, Y:0.18, Z:1.07 [[ 0.99987763 -0.00483442 -0.01487784 2.02949334] [ 0.00475316 0.99997362 -0.00549267 0.17734146] [ 0.014904 0.00542128 0.99987423 1.06646594] [ 0. 0. 0. 1. ]] SLAMing on 149.252557844 meters Centerline goodness : 0.117889 Centerline is valid? [False, False] Translation: X:2.01, Y:0.18, Z:1.07 [[ 0.99984662 0.00389317 -0.01707599 2.00769335] [-0.00399647 0.9999739 -0.00601933 0.17903383] [ 0.01705211 0.00608665 0.99983608 1.06670333] [ 0. 0. 0. 1. ]] SLAMing on 149.282557844 meters Centerline goodness : 0.132595 Centerline is valid? [False, False] Translation: X:2.03, Y:0.19, Z:1.07 [[ 9.99827946e-01 -1.06336863e-03 -1.85188484e-02 2.03078512e+00] [ 9.96920569e-04 9.99993034e-01 -3.59699359e-03 1.85636000e-01] [ 1.85225443e-02 3.57791290e-03 9.99822041e-01 1.06684277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312557844 meters Centerline goodness : 0.119641 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976314 -0.0022835 -0.02164381 1.98648123] [ 0.00220634 0.99999113 -0.00358814 0.18500867] [ 0.02165181 0.00353954 0.99975931 1.06686197] [ 0. 0. 0. 1. ]] SLAMing on 149.342557844 meters Centerline goodness : 0.119641 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976314 -0.0022835 -0.02164381 1.98648123] [ 0.00220634 0.99999113 -0.00358814 0.18500867] [ 0.02165181 0.00353954 0.99975931 1.06686197] [ 0. 0. 0. 1. ]] SLAMing on 149.372557844 meters Centerline goodness : 0.118667 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99976008 -0.00252757 -0.02175755 1.98698862] [ 0.00243796 0.99998844 -0.00414429 0.18738476] [ 0.02176778 0.00409025 0.99975469 1.06640175] [ 0. 0. 0. 1. ]] SLAMing on 149.402557844 meters Centerline goodness : 0.117573 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99975198 -0.00294205 -0.02207519 1.98800279] [ 0.00282803 0.99998251 -0.00519457 0.19237597] [ 0.02209008 0.00513085 0.99974282 1.06592997] [ 0. 0. 0. 1. ]] SLAMing on 149.432557844 meters Centerline goodness : 0.132977 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.07 [[ 0.99974989 -0.00311787 -0.02214584 1.98819069] [ 0.00299296 0.99997944 -0.0056709 0.19475265] [ 0.02216306 0.0056032 0.99973867 1.06585334] [ 0. 0. 0. 1. ]] SLAMing on 149.462557844 meters Centerline goodness : 0.145570 Centerline is valid? [False, False] Translation: X:1.97, Y:0.19, Z:1.07 [[ 0.99972309 0.00527986 -0.02293163 1.9663213 ] [-0.00541981 0.99996704 -0.00604509 0.19162787] [ 0.02289895 0.0061677 0.99971876 1.06589481] [ 0. 0. 0. 1. ]] SLAMing on 149.492557844 meters Centerline goodness : 0.119355 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.07 [[ 9.99750520e-01 -2.06186421e-03 -2.22406557e-02 1.98514061e+00] [ 1.94949593e-03 9.99985233e-01 -5.07288052e-03 1.99595774e-01] [ 2.22507869e-02 5.02825687e-03 9.99739776e-01 1.06780463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.522557844 meters Centerline goodness : 0.120620 Centerline is valid? [False, False] Translation: X:1.96, Y:0.20, Z:1.07 [[ 0.99972543 0.00580144 -0.02270281 1.96444397] [-0.00593751 0.99996479 -0.00593052 0.19541758] [ 0.0226676 0.00606369 0.99972467 1.06690522] [ 0. 0. 0. 1. ]] SLAMing on 149.552557844 meters Centerline goodness : 0.159762 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976237 -0.00235905 -0.02167099 1.98440806] [ 0.00223635 0.99998134 -0.0056844 0.20241905] [ 0.02168399 0.00563458 0.999749 1.06829407] [ 0. 0. 0. 1. ]] SLAMing on 149.582557844 meters Centerline goodness : 0.121675 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976344 -0.00241215 -0.0216159 1.9841118 ] [ 0.00228725 0.99998056 -0.0058011 0.20301781] [ 0.02162947 0.00575029 0.99974952 1.06853881] [ 0. 0. 0. 1. ]] SLAMing on 149.612557844 meters Centerline goodness : 0.120648 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976217 -0.00245641 -0.0216697 1.98418556] [ 0.00232869 0.99997978 -0.00591715 0.20370487] [ 0.02168379 0.00586528 0.99974767 1.06861708] [ 0. 0. 0. 1. ]] SLAMing on 149.642557844 meters Centerline goodness : 0.119021 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99976345 -0.00248591 -0.02160693 1.98399156] [ 0.00235585 0.99997897 -0.00604276 0.20452465] [ 0.0216215 0.00599043 0.99974828 1.06864764] [ 0. 0. 0. 1. ]] SLAMing on 149.672557844 meters Centerline goodness : 0.118842 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99976684 -0.00253983 -0.02144337 1.98346324] [ 0.00240694 0.99997775 -0.00622082 0.20554118] [ 0.02145869 0.00616776 0.99975071 1.06881175] [ 0. 0. 0. 1. ]] SLAMing on 149.702557844 meters Centerline goodness : 0.118699 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.9997785 -0.0026486 -0.02087902 1.98158796] [ 0.00251153 0.99997514 -0.0065885 0.20749845] [ 0.02089595 0.0065346 0.9997603 1.06954846] [ 0. 0. 0. 1. ]] SLAMing on 149.732557844 meters Centerline goodness : 0.118494 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.9997798 -0.0027438 -0.02080445 1.98131301] [ 0.00260052 0.99997274 -0.00691081 0.20917472] [ 0.02082284 0.00685519 0.99975968 1.06965758] [ 0. 0. 0. 1. ]] SLAMing on 149.762557844 meters Centerline goodness : 0.140698 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99975719 0.00538396 -0.02136747 1.96034978] [-0.00555267 0.99995382 -0.00784419 0.20609531] [ 0.02132425 0.00796093 0.99974092 1.06860368] [ 0. 0. 0. 1. ]] SLAMing on 149.79255784400002 meters Centerline goodness : 0.120122 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99974964 0.00514323 -0.02177646 1.96151705] [-0.00533607 0.99994698 -0.00880672 0.21069994] [ 0.02173001 0.00892072 0.99972408 1.06823664] [ 0. 0. 0. 1. ]] SLAMing on 149.82255784400002 meters Centerline goodness : 0.142483 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99973134 -0.00360527 -0.02289637 1.94178374] [ 0.00342718 0.99996361 -0.00781273 0.21636678] [ 0.0229237 0.00773216 0.99970732 1.06688799] [ 0. 0. 0. 1. ]] SLAMing on 149.85255784400002 meters Centerline goodness : 0.120908 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99973094 -0.00368452 -0.02290137 1.94185919] [ 0.00349969 0.99996103 -0.00810533 0.21792743] [ 0.02293034 0.008023 0.99970487 1.06670079] [ 0. 0. 0. 1. ]] SLAMing on 149.88255784400002 meters Centerline goodness : 0.121044 Centerline is valid? [False, False] Translation: X:1.92, Y:0.21, Z:1.06 [[ 0.99974158 0.0039421 -0.02238829 1.92268282] [-0.00414534 0.99995056 -0.00903882 0.21356407] [ 0.02235155 0.00912929 0.99970849 1.06460815] [ 0. 0. 0. 1. ]] SLAMing on 149.91255784400002 meters Centerline goodness : 0.122318 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9997543 -0.00368589 -0.02185776 1.94189217] [ 0.00351317 0.99996235 -0.00793482 0.21934791] [ 0.02188619 0.00785608 0.9997296 1.06637242] [ 0. 0. 0. 1. ]] SLAMing on 149.942557844 meters Centerline goodness : 0.120631 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975726 -0.00395501 -0.02167445 1.94119373] [ 0.00378325 0.99996116 -0.00795967 0.2186827 ] [ 0.02170509 0.00787574 0.9997334 1.06683704] [ 0. 0. 0. 1. ]] SLAMing on 149.972557844 meters Centerline goodness : 0.122262 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975633 -0.00396178 -0.02171588 1.9412684 ] [ 0.00379082 0.99996155 -0.00790778 0.21830626] [ 0.02174637 0.00782353 0.99973291 1.06689697] [ 0. 0. 0. 1. ]] SLAMing on 150.002557844 meters Centerline goodness : 0.122077 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99975539 -0.00396636 -0.02175846 1.94133792] [ 0.00379464 0.99996137 -0.00792781 0.21847164] [ 0.02178907 0.0078433 0.99973182 1.06694858] [ 0. 0. 0. 1. ]] SLAMing on 150.032557844 meters Centerline goodness : 0.142911 Centerline is valid? [False, False] Translation: X:1.92, Y:0.21, Z:1.07 [[ 0.99975287 0.00425857 -0.02181888 1.9211488 ] [-0.004444 0.99995436 -0.00845755 0.21436628] [ 0.02178187 0.00855242 0.99972617 1.06554208] [ 0. 0. 0. 1. ]] SLAMing on 150.062557844 meters Centerline goodness : 0.122869 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99772236e-01 -1.13017213e-03 -2.13119398e-02 1.94285127e+00] [ 1.01469272e-03 9.99984750e-01 -5.42856665e-03 2.18182128e-01] [ 2.13177500e-02 5.40570515e-03 9.99758137e-01 1.06576024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092557844 meters Centerline goodness : 0.171175 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99776050e-01 -1.28796773e-03 -2.11232219e-02 1.94237341e+00] [ 1.16551559e-03 9.99982452e-01 -5.80832602e-03 2.19740909e-01] [ 2.11303322e-02 5.78240580e-03 9.99760008e-01 1.06572638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters Centerline goodness : 0.171862 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99776484e-01 -1.37342555e-03 -2.10973112e-02 1.94230532e+00] [ 1.24644367e-03 9.99981038e-01 -6.03083671e-03 2.20740730e-01] [ 2.11051940e-02 6.00319211e-03 9.99759237e-01 1.06568807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152557844 meters Centerline goodness : 0.119699 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99774587e-01 -1.45654370e-03 -2.11814359e-02 1.94272258e+00] [ 1.32390060e-03 9.99979436e-01 -6.27490847e-03 2.21982896e-01] [ 2.11901400e-02 6.24545191e-03 9.99755956e-01 1.06531379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters Centerline goodness : 0.125277 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99766312e-01 -1.45608016e-03 -2.15685324e-02 1.94425277e+00] [ 1.31875972e-03 9.99978781e-01 -6.37955924e-03 2.22861747e-01] [ 2.15773639e-02 6.34962470e-03 9.99747018e-01 1.06433104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212557844 meters Centerline goodness : 0.128080 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99763733e-01 -1.44648403e-03 -2.16883774e-02 1.94461722e+00] [ 1.31058572e-03 9.99979429e-01 -6.27885610e-03 2.22218663e-01] [ 2.16970135e-02 6.24894814e-03 9.99745063e-01 1.06424041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.242557844 meters Centerline goodness : 0.118883 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99761973e-01 -1.44720215e-03 -2.17692988e-02 1.94469841e+00] [ 1.31595501e-03 9.99980880e-01 -6.04211972e-03 2.20700249e-01] [ 2.17776267e-02 6.01203412e-03 9.99744763e-01 1.06450331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.272557844 meters Centerline goodness : 0.118172 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.06 [[ 9.99761930e-01 -1.41804135e-03 -2.17732196e-02 1.94446931e+00] [ 1.29486526e-03 9.99983085e-01 -5.67028529e-03 2.18520542e-01] [ 2.17808920e-02 5.64074198e-03 9.99746855e-01 1.06496957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302557844 meters Centerline goodness : 0.129283 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 9.99762253e-01 -1.34299800e-03 -2.17631373e-02 1.94426988e+00] [ 1.22946891e-03 9.99985572e-01 -5.22911836e-03 2.16224660e-01] [ 2.17698460e-02 5.20111806e-03 9.99749480e-01 1.06529763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332557844 meters Centerline goodness : 0.121577 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:1.07 [[ 9.99761104e-01 -1.20968489e-03 -2.18236448e-02 1.94443284e+00] [ 1.10525238e-03 9.99987885e-01 -4.79671897e-03 2.14211260e-01] [ 2.18291830e-02 4.77145242e-03 9.99750329e-01 1.06525982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362557844 meters Centerline goodness : 0.190037 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99742917e-01 -1.23478683e-03 -2.26401043e-02 1.94723814e+00] [ 1.13812169e-03 9.99990184e-01 -4.28203016e-03 2.11092251e-01] [ 2.26451695e-02 4.25516213e-03 9.99734510e-01 1.06391213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392557844 meters Centerline goodness : 0.117557 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99738473e-01 -1.15446953e-03 -2.28397244e-02 1.94792706e+00] [ 1.06337317e-03 9.99991434e-01 -4.00024870e-03 2.09538993e-01] [ 2.28441469e-02 3.97491537e-03 9.99731136e-01 1.06362171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422557844 meters Centerline goodness : 0.127120 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.06 [[ 9.99736654e-01 -1.10166313e-03 -2.29218201e-02 1.94794193e+00] [ 1.01372446e-03 9.99992084e-01 -3.84772739e-03 2.08721838e-01] [ 2.29258775e-02 3.82347769e-03 9.99729856e-01 1.06397968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452557844 meters Centerline goodness : 0.117344 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.07 [[ 9.99783498e-01 1.94246833e-04 -2.08067273e-02 1.98974579e+00] [-2.76260035e-04 9.99992204e-01 -3.93886572e-03 2.10971647e-01] [ 2.08058000e-02 3.94376101e-03 9.99775758e-01 1.06576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482557844 meters Centerline goodness : 0.119508 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.07 [[ 9.99810276e-01 9.94346079e-04 -1.94531052e-02 1.98552641e+00] [-1.06309231e-03 9.99993226e-01 -3.52392464e-03 2.11827063e-01] [ 1.94494694e-02 3.54393651e-03 9.99804560e-01 1.06690041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512557844 meters Centerline goodness : 0.120183 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99817613e-01 9.97831806e-04 -1.90721245e-02 1.98448641e+00] [-1.06933797e-03 9.99992437e-01 -3.73941947e-03 2.13103613e-01] [ 1.90682490e-02 3.75913199e-03 9.99811118e-01 1.06701983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54255784400002 meters Centerline goodness : 0.121140 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99821705e-01 9.90105396e-04 -1.88567768e-02 1.98391623e+00] [-1.06427392e-03 9.99991736e-01 -3.92362667e-03 2.14138318e-01] [ 1.88527362e-02 3.94299588e-03 9.99814496e-01 1.06699573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57255784400002 meters Centerline goodness : 0.160140 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99821401e-01 1.00918163e-03 -1.88718817e-02 1.98403453e+00] [-1.08410839e-03 9.99991570e-01 -3.96047706e-03 2.14416891e-01] [ 1.88677258e-02 3.98022889e-03 9.99814066e-01 1.06679400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60255784400002 meters Centerline goodness : 0.123248 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99819545e-01 1.06175956e-03 -1.89670614e-02 1.98433055e+00] [-1.13436598e-03 9.99992069e-01 -3.81767858e-03 2.13761164e-01] [ 1.89628575e-02 3.83850525e-03 9.99812820e-01 1.06667813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63255784400002 meters Centerline goodness : 0.163346 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99819652e-01 1.12236906e-03 -1.89579635e-02 1.98425407e+00] [-1.19115746e-03 9.99992747e-01 -3.61756766e-03 2.12830217e-01] [ 1.89537657e-02 3.63949716e-03 9.99813737e-01 1.06674875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66255784400002 meters Centerline goodness : 0.125644 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99823352e-01 1.08154590e-03 -1.87642191e-02 1.98340814e+00] [-1.14243811e-03 9.99994116e-01 -3.23470769e-03 2.10470990e-01] [ 1.87606102e-02 3.25557324e-03 9.99818704e-01 1.06749846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692557844 meters Centerline goodness : 0.124746 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 9.99826234e-01 1.16419093e-03 -1.86050202e-02 1.98270798e+00] [-1.21879545e-03 9.99994983e-01 -2.92386554e-03 2.08940413e-01] [ 1.86015229e-02 2.94603318e-03 9.99822636e-01 1.06803072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722557844 meters Centerline goodness : 0.123027 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99820862e-01 -6.52344397e-03 -1.77676464e-02 2.00244025e+00] [ 6.49344438e-03 9.99977394e-01 -1.74560823e-03 2.12608078e-01] [ 1.77786321e-02 1.62992230e-03 9.99840619e-01 1.06938472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752557844 meters Centerline goodness : 0.149348 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99821964e-01 -6.41970047e-03 -1.77433599e-02 2.00249162e+00] [ 6.39359356e-03 9.99978394e-01 -1.52769804e-03 2.11718970e-01] [ 1.77527839e-02 1.41398222e-03 9.99841407e-01 1.06917235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782557844 meters Centerline goodness : 0.121915 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.07 [[ 9.99816208e-01 -6.30136283e-03 -1.81064473e-02 2.00437843e+00] [ 6.28040712e-03 9.99979541e-01 -1.21399221e-03 2.09925394e-01] [ 1.81137267e-02 1.10005323e-03 9.99835328e-01 1.06763511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812557844 meters Centerline goodness : 0.121620 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99810426e-01 -6.26107497e-03 -1.84366749e-02 2.00568333e+00] [ 6.24257778e-03 9.99979952e-01 -1.06066314e-03 2.08890835e-01] [ 1.84429462e-02 9.45369691e-04 9.99829467e-01 1.06688296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842557844 meters Centerline goodness : 0.168615 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99806304e-01 -6.19799466e-03 -1.86798953e-02 2.00660667e+00] [ 6.18218098e-03 9.99980481e-01 -9.04189509e-04 2.07969171e-01] [ 1.86851349e-02 7.88531878e-04 9.99825107e-01 1.06635178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872557844 meters Centerline goodness : 0.129531 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99805811e-01 -6.12716624e-03 -1.87296007e-02 2.00688308e+00] [ 6.11383818e-03 9.99981015e-01 -7.68781591e-04 2.07397026e-01] [ 1.87339556e-02 6.54122554e-04 9.99824290e-01 1.06608286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902557844 meters Centerline goodness : 0.122460 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99808357e-01 -5.99367495e-03 -1.86366518e-02 2.00664302e+00] [ 5.98430908e-03 9.99981938e-01 -5.58279140e-04 2.06734525e-01] [ 1.86396613e-02 4.46644666e-04 9.99826167e-01 1.06605470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932557844 meters Centerline goodness : 0.118888 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:1.07 [[ 9.99814737e-01 -5.83668402e-03 -1.83418873e-02 2.00570195e+00] [ 5.83302976e-03 9.99982956e-01 -2.52723120e-04 2.05521631e-01] [ 1.83430497e-02 1.45687525e-04 9.99831741e-01 1.06639176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962557844 meters Centerline goodness : 0.121056 Centerline is valid? [False, False] Translation: X:2.01, Y:0.20, Z:1.07 [[ 9.99814912e-01 -5.77032174e-03 -1.83533511e-02 2.00582112e+00] [ 5.77029147e-03 9.99983350e-01 -5.46059387e-05 2.04476838e-01] [ 1.83533606e-02 -5.13083536e-05 9.99831562e-01 1.06621782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.992557844 meters Centerline goodness : 0.170709 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.06 [[ 9.99823380e-01 1.58243457e-03 -1.87271272e-02 1.98737988e+00] [-1.60619143e-03 9.99997924e-01 -1.25360694e-03 1.97494735e-01] [ 1.87251046e-02 1.28346488e-03 9.99823846e-01 1.06394424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.022557844 meters Centerline goodness : 0.118655 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:1.06 [[ 9.99819169e-01 1.65299971e-03 -1.89445546e-02 1.98805699e+00] [-1.67179112e-03 9.99998126e-01 -9.76122048e-04 1.96078639e-01] [ 1.89429056e-02 1.00761687e-03 9.99820059e-01 1.06370699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052557844 meters Centerline goodness : 0.120925 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.06 [[ 9.99818943e-01 1.71150182e-03 -1.89513113e-02 1.98789422e+00] [-1.71836998e-03 9.99998464e-01 -3.46132630e-04 1.92827261e-01] [ 1.89506897e-02 3.78635325e-04 9.99820348e-01 1.06408168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082557844 meters Centerline goodness : 0.121123 Centerline is valid? [False, False] Translation: X:1.99, Y:0.19, Z:1.06 [[ 9.99818607e-01 1.79991402e-03 -1.89608141e-02 1.98764969e+00] [-1.79689680e-03 9.99998370e-01 1.76165164e-04 1.90077039e-01] [ 1.89611002e-02 -1.42062583e-04 9.99820212e-01 1.06459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112557844 meters Centerline goodness : 0.128316 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99769857e-01 -2.74115227e-04 -2.14512721e-02 1.94246569e+00] [ 2.65490270e-04 9.99999883e-01 -4.04918925e-04 1.84256295e-01] [ 2.14513805e-02 3.99130632e-04 9.99769813e-01 1.06540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142557844 meters Centerline goodness : 0.125096 Centerline is valid? [False, False] Translation: X:1.99, Y:0.18, Z:1.06 [[ 9.99809849e-01 -7.70082891e-04 -1.94852029e-02 1.98954923e+00] [ 7.35530474e-04 9.99998145e-01 -1.78036893e-03 1.84548612e-01] [ 1.94865378e-02 1.76569843e-03 9.99808560e-01 1.06427293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172557844 meters Centerline goodness : 0.146314 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99728299e-01 -2.02189458e-03 -2.32215520e-02 1.94410269e+00] [ 1.99923362e-03 9.99997502e-01 -9.99033031e-04 1.77262296e-01] [ 2.32235139e-02 9.52336285e-04 9.99729844e-01 1.06505900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202557844 meters Centerline goodness : 0.121696 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99720423e-01 6.90597366e-03 -2.26137922e-02 1.96463313e+00] [-6.94484182e-03 9.99974538e-01 -1.64069672e-03 1.73185455e-01] [ 2.26018858e-02 1.79728723e-03 9.99742929e-01 1.06583458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232557844 meters Centerline goodness : 0.122939 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.06 [[ 9.99709106e-01 -2.08169496e-03 -2.40285400e-02 1.94495615e+00] [ 2.07150427e-03 9.99997754e-01 -4.48991332e-04 1.76272723e-01] [ 2.40294207e-02 3.99085500e-04 9.99711172e-01 1.06487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262557844 meters Centerline goodness : 0.122939 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.06 [[ 9.99709106e-01 -2.08169496e-03 -2.40285400e-02 1.94495615e+00] [ 2.07150427e-03 9.99997754e-01 -4.48991332e-04 1.76272723e-01] [ 2.40294207e-02 3.99085500e-04 9.99711172e-01 1.06487568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29255784400002 meters Centerline goodness : 0.121255 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99672884e-01 5.90979008e-03 -2.48837192e-02 1.96410992e+00] [-5.94190484e-03 9.99981606e-01 -1.21685064e-03 1.69433241e-01] [ 2.48760702e-02 1.36430928e-03 9.99689612e-01 1.06645124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32255784400002 meters Centerline goodness : 0.156061 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99668230e-01 5.97353750e-03 -2.50548735e-02 1.96446342e+00] [-6.00150420e-03 9.99981449e-01 -1.04117044e-03 1.68404664e-01] [ 2.50481893e-02 1.19119194e-03 9.99685535e-01 1.06660515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35255784400002 meters Centerline goodness : 0.127403 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99663411e-01 6.22702252e-03 -2.51851041e-02 1.96444254e+00] [-6.24354016e-03 9.99980342e-01 -5.77267651e-04 1.66204236e-01] [ 2.51810144e-02 7.34317558e-04 9.99682638e-01 1.06730464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38255784400002 meters Centerline goodness : 0.126015 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99663713e-01 6.33865882e-03 -2.51452279e-02 1.96431221e+00] [-6.34895075e-03 9.99979791e-01 -3.29484398e-04 1.65089758e-01] [ 2.51426313e-02 4.89019411e-04 9.99683754e-01 1.06735129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41255784400002 meters Centerline goodness : 0.118560 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:1.07 [[ 9.99661357e-01 6.44651536e-03 -2.52113865e-02 1.96433034e+00] [-6.45309613e-03 9.99979162e-01 -1.79672667e-04 1.64348989e-01] [ 2.52097029e-02 3.42303323e-04 9.99682126e-01 1.06773953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442557844 meters Centerline goodness : 0.121491 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99693111e-01 -2.15238645e-03 -2.46789505e-02 1.94505219e+00] [ 2.15945170e-03 9.99997635e-01 2.59639403e-04 1.69383578e-01] [ 2.46783333e-02 -3.12852724e-04 9.99695395e-01 1.06714165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472557844 meters Centerline goodness : 0.121960 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99733308e-01 7.65322350e-03 -2.17885683e-02 1.96206508e+00] [-7.66064591e-03 9.99970624e-01 -2.57208029e-04 1.65610674e-01] [ 2.17859597e-02 4.24053940e-04 9.99762568e-01 1.06915864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters Centerline goodness : 0.135287 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:1.07 [[ 9.99735520e-01 7.81385722e-03 -2.16294583e-02 1.96167977e+00] [-7.82206241e-03 9.99969364e-01 -2.94773924e-04 1.66364105e-01] [ 2.16264924e-02 4.63882935e-04 9.99766012e-01 1.06921292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532557844 meters Centerline goodness : 0.120761 Centerline is valid? [False, False] Translation: X:1.94, Y:0.17, Z:1.07 [[ 9.99738522e-01 -5.08872289e-04 -2.28610818e-02 1.94416361e+00] [ 5.31987947e-04 9.99999353e-01 1.00506545e-03 1.72268467e-01] [ 2.28605556e-02 -1.01696447e-03 9.99738146e-01 1.06747837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562557844 meters Centerline goodness : 0.118767 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99726395e-01 -3.27923925e-04 -2.33886406e-02 1.94580771e+00] [ 3.50694733e-04 9.99999469e-01 9.69489026e-04 1.72814591e-01] [ 2.33883103e-02 -9.77426041e-04 9.99725978e-01 1.06680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592557844 meters Centerline goodness : 0.131936 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99713064e-01 2.87377057e-04 -2.39521950e-02 1.94773114e+00] [-2.64621093e-04 9.99999511e-01 9.53221702e-04 1.74512206e-01] [ 2.39524572e-02 -9.46609932e-04 9.99712651e-01 1.06564879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622557844 meters Centerline goodness : 0.136081 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:1.07 [[ 9.99723075e-01 3.48839660e-04 -2.35298240e-02 1.94648055e+00] [-3.30691952e-04 9.99999645e-01 7.75150758e-04 1.75823155e-01] [ 2.35300861e-02 -7.67154976e-04 9.99722835e-01 1.06587588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652557844 meters Centerline goodness : 0.144226 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99736907e-01 3.97068596e-04 -2.29337966e-02 1.94443566e+00] [-3.82053415e-04 9.99999710e-01 6.59096342e-04 1.76926018e-01] [ 2.29340516e-02 -6.50161003e-04 9.99736769e-01 1.06669234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters Centerline goodness : 0.145921 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99751096e-01 4.48201043e-04 -2.23057306e-02 1.94227245e+00] [-4.34086020e-04 9.99999702e-01 6.37635939e-04 1.77509646e-01] [ 2.23060098e-02 -6.27794623e-04 9.99750993e-01 1.06757740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712557844 meters Centerline goodness : 0.118055 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99758868e-01 3.84046801e-04 -2.19558131e-02 1.94144981e+00] [-3.71785555e-04 9.99999773e-01 5.62530212e-04 1.77783885e-01] [ 2.19560241e-02 -5.54231714e-04 9.99758784e-01 1.06744622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.742557844 meters Centerline goodness : 0.159917 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99751558e-01 2.46763369e-04 -2.22881237e-02 1.94281646e+00] [-2.36915863e-04 9.99999873e-01 4.44466944e-04 1.77934645e-01] [ 2.22882306e-02 -4.39076110e-04 9.99751490e-01 1.06654842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.772557844 meters Centerline goodness : 0.143728 Centerline is valid? [False, False] Translation: X:1.94, Y:0.18, Z:1.07 [[ 9.99742344e-01 1.80881086e-04 -2.26982889e-02 1.94424042e+00] [-1.70783466e-04 9.99999886e-01 4.46800294e-04 1.77610301e-01] [ 2.26983671e-02 -4.42808681e-04 9.99742261e-01 1.06589723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802557844 meters Centerline goodness : 0.151094 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:1.07 [[ 9.99725290e-01 -2.58472333e-04 -2.34366757e-02 1.94601646e+00] [ 2.71047586e-04 9.99999821e-01 5.33387927e-04 1.75729125e-01] [ 2.34365337e-02 -5.39593854e-04 9.99725181e-01 1.06619538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832557844 meters Centerline goodness : 0.133313 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99720785e-01 -2.17029911e-04 -2.36284893e-02 1.94617735e+00] [ 2.40129720e-04 9.99999496e-01 9.74792345e-04 1.73359234e-01] [ 2.36282658e-02 -9.80194071e-04 9.99720333e-01 1.06683363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862557844 meters Centerline goodness : 0.120231 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99707884e-01 -1.80283546e-04 -2.41684334e-02 1.94739491e+00] [ 2.14707693e-04 9.99998966e-01 1.42175595e-03 1.70877125e-01] [ 2.41681521e-02 -1.42652978e-03 9.99706890e-01 1.06713623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892557844 meters Centerline goodness : 0.120861 Centerline is valid? [False, False] Translation: X:1.95, Y:0.17, Z:1.07 [[ 9.99700979e-01 -6.71732201e-05 -2.44529747e-02 1.94813908e+00] [ 1.13049169e-04 9.99998236e-01 1.87471110e-03 1.68550673e-01] [ 2.44528057e-02 -1.87691491e-03 9.99699224e-01 1.06711971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922557844 meters Centerline goodness : 0.136944 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:1.07 [[ 9.99722017e-01 6.29035683e-03 -2.27226820e-02 1.97050459e+00] [-6.31918670e-03 9.99979317e-01 -1.19718934e-03 1.64833937e-01] [ 2.27146813e-02 1.34044541e-03 9.99741090e-01 1.06634989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952557844 meters Centerline goodness : 0.121845 Centerline is valid? [False, False] Translation: X:1.97, Y:0.17, Z:1.07 [[ 9.99723839e-01 6.26541090e-03 -2.26492703e-02 1.97012827e+00] [-6.29571571e-03 9.99979379e-01 -1.26694494e-03 1.65045641e-01] [ 2.26408654e-02 1.40918842e-03 9.99742670e-01 1.06671009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982557844 meters Centerline goodness : 0.152749 Centerline is valid? [False, False] Translation: X:2.01, Y:0.17, Z:1.07 [[ 9.99762868e-01 7.78845954e-03 -2.03358637e-02 2.01438065e+00] [-7.81916069e-03 9.99968407e-01 -1.43062768e-03 1.70177315e-01] [ 2.03240788e-02 1.58929782e-03 9.99792181e-01 1.06604586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012557844 meters Centerline goodness : 0.060893 Centerline is valid? [False, False] Translation: X:2.02, Y:0.17, Z:1.07 [[ 9.99756315e-01 7.76126308e-03 -2.06657620e-02 2.01555348e+00] [-7.80187224e-03 9.99967788e-01 -1.88514541e-03 1.72586870e-01] [ 2.06504652e-02 2.04591766e-03 9.99784663e-01 1.06554901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04255784400002 meters Centerline goodness : 0.132715 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.06 [[ 9.99714799e-01 1.03368970e-02 -2.15283412e-02 2.01943964e+00] [-1.03472021e-02 9.99946399e-01 -3.67339116e-04 1.79814991e-01] [ 2.15233901e-02 5.89992448e-04 9.99768171e-01 1.06380657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07255784400002 meters Centerline goodness : 0.133345 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.06 [[ 9.99713011e-01 1.01284343e-02 -2.17096653e-02 2.02007287e+00] [-1.01532687e-02 9.99947920e-01 -1.03401309e-03 1.82945037e-01] [ 2.16980617e-02 1.25414040e-03 9.99763783e-01 1.06346075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10255784400002 meters Centerline goodness : 0.148250 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.06 [[ 9.99711841e-01 9.93159265e-03 -2.18540180e-02 2.02071724e+00] [-9.96894885e-03 9.99949027e-01 -1.60106935e-03 1.85703952e-01] [ 2.18370028e-02 1.81846957e-03 9.99759890e-01 1.06288894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13255784400002 meters Centerline goodness : 0.127359 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.06 [[ 0.99971276 0.00972677 -0.0219042 2.02115131] [-0.00977424 0.99995011 -0.00206089 0.18786336] [ 0.02188307 0.00227439 0.99975795 1.06229118] [ 0. 0. 0. 1. ]] SLAMing on 152.16255784400002 meters Centerline goodness : 0.124243 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99765361e-01 1.96205084e-03 -2.15724900e-02 2.04010783e+00] [-1.98833121e-03 9.99997307e-01 -1.19685391e-03 1.96175661e-01] [ 2.15700836e-02 1.23946633e-03 9.99766570e-01 1.06334656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19255784400002 meters Centerline goodness : 0.131289 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99779998e-01 1.75094650e-03 -2.09019236e-02 2.03759860e+00] [-1.77987493e-03 9.99997484e-01 -1.36548448e-03 1.96844542e-01] [ 2.08994801e-02 1.40238688e-03 9.99780598e-01 1.06474946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222557844 meters Centerline goodness : 0.124122 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99785092e-01 1.73616146e-03 -2.06580533e-02 2.03653307e+00] [-1.76415970e-03 9.99997550e-01 -1.33717150e-03 1.96932421e-01] [ 2.06556812e-02 1.37332824e-03 9.99785705e-01 1.06545931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252557844 meters Centerline goodness : 0.118064 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99788560e-01 1.74222872e-03 -2.04890267e-02 2.03598574e+00] [-1.76919200e-03 9.99997593e-01 -1.29793369e-03 1.96941959e-01] [ 2.04867161e-02 1.33390828e-03 9.99789235e-01 1.06559964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282557844 meters Centerline goodness : 0.118729 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.07 [[ 9.99784886e-01 1.70659458e-03 -2.06705028e-02 2.03650325e+00] [-1.73330526e-03 9.99997686e-01 -1.27436526e-03 1.96707510e-01] [ 2.06682801e-02 1.30991942e-03 9.99785530e-01 1.06549221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312557844 meters Centerline goodness : 0.118874 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99770289e-01 1.42052084e-03 -2.13857978e-02 2.03877399e+00] [-1.45298155e-03 9.99997816e-01 -1.50240100e-03 1.96809077e-01] [ 2.13836169e-02 1.53312905e-03 9.99770169e-01 1.06473615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters Centerline goodness : 0.118894 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99768604e-01 1.35046503e-03 -2.14689323e-02 2.03916481e+00] [-1.38784184e-03 9.99997547e-01 -1.72616805e-03 1.97993243e-01] [ 2.14665485e-02 1.75556410e-03 9.99768026e-01 1.06436716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372557844 meters Centerline goodness : 0.120086 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99775347e-01 1.27965456e-03 -2.11569762e-02 2.03870669e+00] [-1.32705673e-03 9.99996641e-01 -2.22661025e-03 2.01068030e-01] [ 2.11540558e-02 2.25418654e-03 9.99773687e-01 1.06374963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters Centerline goodness : 0.119256 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99776752e-01 1.17220497e-03 -2.10967322e-02 2.03860139e+00] [-1.22479152e-03 9.99996175e-01 -2.47989092e-03 2.02131029e-01] [ 2.10937445e-02 2.50517639e-03 9.99774364e-01 1.06364730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432557844 meters Centerline goodness : 0.128382 Centerline is valid? [False, False] Translation: X:2.08, Y:0.21, Z:1.06 [[ 9.99805901e-01 1.80696312e-03 -1.96187343e-02 2.08264308e+00] [-1.88158701e-03 9.99991063e-01 -3.78591307e-03 2.07080101e-01] [ 1.96117180e-02 3.82209259e-03 9.99800366e-01 1.06396124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters Centerline goodness : 0.119537 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99738872e-01 6.59086693e-04 -2.28419115e-02 2.03768295e+00] [-7.41148361e-04 9.99993302e-01 -3.58431251e-03 2.05054028e-01] [ 2.28393961e-02 3.60030580e-03 9.99732664e-01 1.06477299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.492557844 meters Centerline goodness : 0.151665 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99736834e-01 6.11287209e-04 -2.29322771e-02 2.03802191e+00] [-6.98038606e-04 9.99992631e-01 -3.77512451e-03 2.06260547e-01] [ 2.29298004e-02 3.79013864e-03 9.99729893e-01 1.06450309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.522557844 meters Centerline goodness : 0.123014 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99743440e-01 5.87309948e-04 -2.26430876e-02 2.03720850e+00] [-6.75230900e-04 9.99992262e-01 -3.87545466e-03 2.07114808e-01] [ 2.26406363e-02 3.88974969e-03 9.99736101e-01 1.06460973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552557844 meters Centerline goodness : 0.155602 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99748460e-01 5.34097986e-04 -2.24216561e-02 2.03624505e+00] [-6.21184564e-04 9.99992290e-01 -3.87725343e-03 2.06862510e-01] [ 2.24194124e-02 3.89020613e-03 9.99741085e-01 1.06534616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582557844 meters Centerline goodness : 0.128639 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99751389e-01 4.93171884e-04 -2.22916180e-02 2.03550254e+00] [-5.78471307e-04 9.99992536e-01 -3.82023814e-03 2.06315527e-01] [ 2.22895676e-02 3.83218345e-03 9.99744212e-01 1.06607801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612557844 meters Centerline goodness : 0.128419 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99748241e-01 4.86108333e-04 -2.24325180e-02 2.03573005e+00] [-5.71246326e-04 9.99992658e-01 -3.78904166e-03 2.06139361e-01] [ 2.24305114e-02 3.80090223e-03 9.99741179e-01 1.06629230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642557844 meters Centerline goodness : 0.156152 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99741517e-01 4.43419435e-04 -2.27310973e-02 2.03678835e+00] [-5.31304518e-04 9.99992407e-01 -3.86039947e-03 2.06452425e-01] [ 2.27292129e-02 3.87147876e-03 9.99734162e-01 1.06578355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672557844 meters Centerline goodness : 0.153344 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99728092e-01 2.18587187e-04 -2.33172600e-02 2.03904530e+00] [-3.18042415e-04 9.99990868e-01 -4.26168194e-03 2.07798463e-01] [ 2.33161155e-02 4.26793903e-03 9.99719032e-01 1.06445296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702557844 meters Centerline goodness : 0.157102 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99722760e-01 1.04101792e-04 -2.35455347e-02 2.03990620e+00] [-2.11214191e-04 9.99989641e-01 -4.54671861e-03 2.08918014e-01] [ 2.35448175e-02 4.55043123e-03 9.99712426e-01 1.06392548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732557844 meters Centerline goodness : 0.162189 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99724150e-01 2.26509704e-05 -2.34866840e-02 2.03988172e+00] [-1.36436211e-04 9.99988263e-01 -4.84307918e-03 2.10356169e-01] [ 2.34862987e-02 4.84494765e-03 9.99712419e-01 1.06365628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762557844 meters Centerline goodness : 0.165054 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99732994e-01 9.82283660e-06 -2.31071516e-02 2.03861447e+00] [-1.26505421e-04 9.99987250e-01 -5.04817445e-03 2.11625317e-01] [ 2.31068074e-02 5.04974974e-03 9.99720249e-01 1.06414784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79255784400002 meters Centerline goodness : 0.132644 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99744926e-01 2.89915947e-05 -2.25849840e-02 2.03666189e+00] [-1.49364178e-04 9.99985794e-01 -5.32809306e-03 2.13680784e-01] [ 2.25845087e-02 5.33010739e-03 9.99730729e-01 1.06516239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82255784400002 meters Centerline goodness : 0.168166 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99744559e-01 -4.64092023e-05 -2.26012140e-02 2.03681502e+00] [-7.78248840e-05 9.99984895e-01 -5.49587760e-03 2.14449794e-01] [ 2.26011276e-02 5.49623267e-03 9.99729454e-01 1.06492818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85255784400002 meters Centerline goodness : 0.133685 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99741579e-01 -1.00186799e-04 -2.27324547e-02 2.03735193e+00] [-2.65132961e-05 9.99984469e-01 -5.57316351e-03 2.14731585e-01] [ 2.27326601e-02 5.57232600e-03 9.99726050e-01 1.06458204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88255784400002 meters Centerline goodness : 0.165183 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99739928e-01 -1.02937492e-04 -2.28049592e-02 2.03768687e+00] [-2.33189485e-05 9.99984676e-01 -5.53602385e-03 2.14547899e-01] [ 2.28051796e-02 5.53511587e-03 9.99724605e-01 1.06427723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91255784400002 meters Centerline goodness : 0.156806 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.06 [[ 9.99751097e-01 -1.43952328e-04 -2.23096917e-02 2.03608441e+00] [ 2.37833834e-05 9.99985492e-01 -5.38657271e-03 2.13798042e-01] [ 2.23101434e-02 5.38470138e-03 9.99736597e-01 1.06495551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94255784400002 meters Centerline goodness : 0.140348 Centerline is valid? [False, False] Translation: X:2.04, Y:0.21, Z:1.07 [[ 9.99755428e-01 -1.30055766e-04 -2.21148475e-02 2.03513259e+00] [ 1.56725122e-05 9.99986623e-01 -5.17233259e-03 2.12567954e-01] [ 2.21152244e-02 5.17072099e-03 9.99742057e-01 1.06584473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972557844 meters Centerline goodness : 0.120996 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.07 [[ 9.99756989e-01 -8.43395940e-05 -2.20443909e-02 2.03457586e+00] [-2.38358427e-05 9.99987961e-01 -4.90685496e-03 2.11131920e-01] [ 2.20445394e-02 4.90618799e-03 9.99744951e-01 1.06655700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002557844 meters Centerline goodness : 0.128901 Centerline is valid? [False, False] Translation: X:2.05, Y:0.21, Z:1.07 [[ 0.99974714 -0.00799798 -0.0210165 2.05426906] [ 0.00791703 0.99996093 -0.00393239 0.21476823] [ 0.02104713 0.00376501 0.9997714 1.06824226] [ 0. 0. 0. 1. ]] SLAMing on 153.032557844 meters Centerline goodness : 0.126379 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.07 [[ 9.99808695e-01 -5.48868699e-04 -1.95517891e-02 2.03431573e+00] [ 4.61539159e-04 9.99989899e-01 -4.47080776e-03 2.08699356e-01] [ 1.95540456e-02 4.46092856e-03 9.99798849e-01 1.06645121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062557844 meters Centerline goodness : 0.128634 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99833055e-01 -5.61808614e-03 -1.73867332e-02 2.05525612e+00] [ 5.60612231e-03 9.99984014e-01 -7.36764713e-04 2.10109459e-01] [ 1.73905944e-02 6.39169562e-04 9.99848568e-01 1.06674531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092557844 meters Centerline goodness : 0.130445 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99834071e-01 -5.55245903e-03 -1.73493521e-02 2.05516228e+00] [ 5.54233635e-03 9.99984442e-01 -6.31488860e-04 2.09688161e-01] [ 1.73525885e-02 5.35228133e-04 9.99849289e-01 1.06674872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122557844 meters Centerline goodness : 0.122612 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99832629e-01 -5.49835722e-03 -1.74494043e-02 2.05546633e+00] [ 5.48979802e-03 9.99984786e-01 -5.38378044e-04 2.09200459e-01] [ 1.74520990e-02 4.42494230e-04 9.99847603e-01 1.06671240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152557844 meters Centerline goodness : 0.122612 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99832629e-01 -5.49835722e-03 -1.74494043e-02 2.05546633e+00] [ 5.48979802e-03 9.99984786e-01 -5.38378044e-04 2.09200459e-01] [ 1.74520990e-02 4.42494230e-04 9.99847603e-01 1.06671240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters Centerline goodness : 0.136676 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99830496e-01 -5.40546446e-03 -1.75999934e-02 2.05602191e+00] [ 5.40007238e-03 9.99985357e-01 -3.53878616e-04 2.08243984e-01] [ 1.76016485e-02 2.58777394e-04 9.99845045e-01 1.06642660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212557844 meters Centerline goodness : 0.120978 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99829852e-01 -5.13827714e-03 -1.77162474e-02 2.05672337e+00] [ 5.13826837e-03 9.99986798e-01 -4.60142571e-05 2.07100284e-01] [ 1.77162499e-02 -4.50244055e-05 9.99843054e-01 1.06567620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.242557844 meters Centerline goodness : 0.119166 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.07 [[ 9.99829697e-01 -5.05806959e-03 -1.77480445e-02 2.05693217e+00] [ 5.05935671e-03 9.99987201e-01 2.76218247e-05 2.06745567e-01] [ 1.77476776e-02 -1.17410809e-04 9.99842491e-01 1.06546913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.272557844 meters Centerline goodness : 0.159703 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99826380e-01 2.68305341e-03 -1.84394121e-02 2.03685450e+00] [-2.70325281e-03 9.99995773e-01 -1.07060910e-03 2.00258356e-01] [ 1.84364616e-02 1.12026961e-03 9.99829406e-01 1.06380464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302557844 meters Centerline goodness : 0.118265 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99823391e-01 2.67961469e-03 -1.86012717e-02 2.03756803e+00] [-2.70088457e-03 9.99995727e-01 -1.11843573e-03 2.00320234e-01] [ 1.85981952e-02 1.16847809e-03 9.99826356e-01 1.06323058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332557844 meters Centerline goodness : 0.162573 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99807535e-01 3.02594490e-03 -1.93839039e-02 2.04013830e+00] [-3.04853900e-03 9.99994708e-01 -1.13616834e-03 2.01536773e-01] [ 1.93803633e-02 1.19504226e-03 9.99811469e-01 1.06191859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362557844 meters Centerline goodness : 0.116659 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99808057e-01 3.07342456e-03 -1.93494813e-02 2.04024082e+00] [-3.09698936e-03 9.99994499e-01 -1.18800396e-03 2.02048375e-01] [ 1.93457236e-02 1.24770107e-03 9.99812075e-01 1.06150949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392557844 meters Centerline goodness : 0.118477 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99810926e-01 3.10999236e-03 -1.91948131e-02 2.03988940e+00] [-3.13363707e-03 9.99994368e-01 -1.20187349e-03 2.02302686e-01] [ 1.91909672e-02 1.26179582e-03 9.99815040e-01 1.06141517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422557844 meters Centerline goodness : 0.128366 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99813258e-01 3.13876912e-03 -1.90682003e-02 2.03958920e+00] [-3.16177090e-03 9.99994310e-01 -1.17626238e-03 2.02179681e-01] [ 1.90643998e-02 1.23633200e-03 9.99817493e-01 1.06136541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452557844 meters Centerline goodness : 0.119074 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99813273e-01 3.11275976e-03 -1.90716772e-02 2.03966065e+00] [-3.13577731e-03 9.99994391e-01 -1.17711062e-03 2.01924283e-01] [ 1.90679061e-02 1.23669535e-03 9.99817426e-01 1.06128861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482557844 meters Centerline goodness : 0.124806 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99817600e-01 3.12327730e-03 -1.88417646e-02 2.03873837e+00] [-3.14365703e-03 9.99994505e-01 -1.05210336e-03 2.01157534e-01] [ 1.88383751e-02 1.11114350e-03 9.99821925e-01 1.06189423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512557844 meters Centerline goodness : 0.120526 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 9.99821127e-01 3.10373619e-03 -1.86569330e-02 2.03815529e+00] [-3.12472716e-03 9.99994517e-01 -1.09605697e-03 2.01446734e-01] [ 1.86534288e-02 1.15415874e-03 9.99825344e-01 1.06206336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54255784400002 meters Centerline goodness : 0.120845 Centerline is valid? [False, False] Translation: X:2.06, Y:0.21, Z:1.06 [[ 9.99824192e-01 -4.37149775e-03 -1.82339053e-02 2.05743199e+00] [ 4.36856605e-03 9.99990438e-01 -2.00611084e-04 2.07827775e-01] [ 1.82346079e-02 1.20919795e-04 9.99833728e-01 1.06359384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57255784400002 meters Centerline goodness : 0.123447 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 0.99981534 0.00254335 -0.0190475 2.03986123] [-0.00258637 0.99999416 -0.00223464 0.20293524] [ 0.01904171 0.00228349 0.99981608 1.06094631] [ 0. 0. 0. 1. ]] SLAMing on 153.60255784400002 meters Centerline goodness : 0.119923 Centerline is valid? [False, False] Translation: X:2.04, Y:0.20, Z:1.06 [[ 0.99981322 0.00247437 -0.01916768 2.04036731] [-0.00252068 0.99999396 -0.00239222 0.20363568] [ 0.01916164 0.00244009 0.99981342 1.06057122] [ 0. 0. 0. 1. ]] SLAMing on 153.63255784400002 meters Centerline goodness : 0.119059 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99755009e-01 1.60883669e-03 -2.20756446e-02 1.99595601e+00] [-1.64937371e-03 9.99996987e-01 -1.81819276e-03 2.01406930e-01] [ 2.20726529e-02 1.85415831e-03 9.99754650e-01 1.06067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66255784400002 meters Centerline goodness : 0.122247 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99753307e-01 1.51059402e-03 -2.21595118e-02 1.99631654e+00] [-1.55708738e-03 9.99996622e-01 -2.08101767e-03 2.02703770e-01] [ 2.21562934e-02 2.11500859e-03 9.99752282e-01 1.06038661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69255784400002 meters Centerline goodness : 0.119110 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.06 [[ 9.99753320e-01 1.39397843e-03 -2.21665512e-02 1.99653520e+00] [-1.44721405e-03 9.99996107e-01 -2.38575903e-03 2.04188507e-01] [ 2.21631392e-02 2.41725025e-03 9.99751445e-01 1.05996377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters Centerline goodness : 0.150079 Centerline is valid? [False, False] Translation: X:1.95, Y:0.20, Z:1.06 [[ 9.99683217e-01 8.40971641e-04 -2.51546891e-02 1.95133703e+00] [-8.87750069e-04 9.99997897e-01 -1.84852103e-03 2.03857197e-01] [ 2.51530817e-02 1.87026653e-03 9.99681862e-01 1.06049140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752557844 meters Centerline goodness : 0.129664 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99660432e-01 -6.29932261e-03 -2.52851428e-02 1.97018781e+00] [ 6.27898033e-03 9.99979896e-01 -8.83830665e-04 2.11150920e-01] [ 2.52902020e-02 7.24765630e-04 9.99679889e-01 1.06236160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters Centerline goodness : 0.122180 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99659649e-01 -6.37858319e-03 -2.52962515e-02 1.97022945e+00] [ 6.35373476e-03 9.99979250e-01 -1.06255187e-03 2.11991437e-01] [ 2.53025042e-02 9.01464556e-04 9.99679434e-01 1.06229224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812557844 meters Centerline goodness : 0.120930 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99663501e-01 -6.39792811e-03 -2.51386530e-02 1.96960292e+00] [ 6.37234472e-03 9.99979094e-01 -1.09766932e-03 2.12272905e-01] [ 2.51451502e-02 9.37107790e-04 9.99683371e-01 1.06266156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters Centerline goodness : 0.126710 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:1.06 [[ 9.99671586e-01 -6.38235729e-03 -2.48190420e-02 1.96833893e+00] [ 6.35945721e-03 9.99979277e-01 -1.00150323e-03 2.11885818e-01] [ 2.48249196e-02 8.43338687e-04 9.99691458e-01 1.06345078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872557844 meters Centerline goodness : 0.119620 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99765936e-01 -9.38609118e-04 -2.16146233e-02 1.98892096e+00] [ 8.36006319e-04 9.99988343e-01 -4.75546279e-03 2.11965562e-01] [ 2.16188349e-02 4.73627975e-03 9.99755067e-01 1.06333195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902557844 meters Centerline goodness : 0.128384 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99765832e-01 -9.47804099e-04 -2.16190334e-02 1.98891184e+00] [ 8.47006019e-04 9.99988731e-01 -4.67114967e-03 2.11412960e-01] [ 2.16232172e-02 4.65174439e-03 9.99755369e-01 1.06336614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932557844 meters Centerline goodness : 0.131490 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99764721e-01 -9.09109604e-04 -2.16720287e-02 1.98910504e+00] [ 8.10114636e-04 9.99989201e-01 -4.57620994e-03 2.11029295e-01] [ 2.16759550e-02 4.55757642e-03 9.99754661e-01 1.06323414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962557844 meters Centerline goodness : 0.130087 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99762521e-01 -8.89784587e-04 -2.17740821e-02 1.98952517e+00] [ 7.90802192e-04 9.99989317e-01 -4.55406978e-03 2.11048806e-01] [ 2.17779016e-02 4.53576930e-03 9.99752544e-01 1.06294570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.992557844 meters Centerline goodness : 0.129897 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99766498e-01 -9.67877264e-04 -2.15873093e-02 1.98910033e+00] [ 8.64200154e-04 9.99988051e-01 -4.81149994e-03 2.12359089e-01] [ 2.15917083e-02 4.79172069e-03 9.99755389e-01 1.06286313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.022557844 meters Centerline goodness : 0.129408 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99772815e-01 -1.00619164e-03 -2.12909655e-02 1.98808517e+00] [ 9.00140445e-04 9.99987145e-01 -4.99003966e-03 2.13295637e-01] [ 2.12957127e-02 4.96974114e-03 9.99760869e-01 1.06328376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052557844 meters Centerline goodness : 0.129300 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.06 [[ 9.99776758e-01 -1.09695806e-03 -2.11004777e-02 1.98745480e+00] [ 9.85850817e-04 9.99985600e-01 -5.27530837e-03 2.14705205e-01] [ 2.11059607e-02 5.25332878e-03 9.99763443e-01 1.06351094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082557844 meters Centerline goodness : 0.130329 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99773864e-01 -1.19179251e-03 -2.12320513e-02 1.98793790e+00] [ 1.07325885e-03 9.99983781e-01 -5.59329071e-03 2.16325355e-01] [ 2.12383730e-02 5.56923838e-03 9.99758928e-01 1.06318811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112557844 meters Centerline goodness : 0.124787 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99739368e-01 1.35127055e-03 -2.27896743e-02 1.99433456e+00] [-1.43020441e-03 9.99993034e-01 -3.44763680e-03 2.20373607e-01] [ 2.27848568e-02 3.47933213e-03 9.99734337e-01 1.06011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142557844 meters Centerline goodness : 0.129820 Centerline is valid? [False, False] Translation: X:2.01, Y:0.23, Z:1.06 [[ 0.99968639 -0.0056477 -0.02439714 2.01422823] [ 0.00557718 0.99998007 -0.0029573 0.22740571] [ 0.02441336 0.0028203 0.99969797 1.06151692] [ 0. 0. 0. 1. ]] SLAMing on 154.172557844 meters Centerline goodness : 0.133452 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.06 [[ 0.99959455 -0.00761313 -0.02743679 1.96900186] [ 0.00751505 0.999965 -0.00367621 0.22383506] [ 0.02746382 0.00346853 0.99961678 1.06193189] [ 0. 0. 0. 1. ]] SLAMing on 154.202557844 meters Centerline goodness : 0.132423 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.06 [[ 9.99675630e-01 -2.98051431e-04 -2.54665682e-02 1.98681263e+00] [ 1.45743183e-04 9.99982095e-01 -5.98236025e-03 2.20222675e-01] [ 2.54678953e-02 5.97670817e-03 9.99657774e-01 1.06393655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232557844 meters Centerline goodness : 0.133091 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.07 [[ 9.99702162e-01 -7.60849355e-04 -2.43928060e-02 1.98350410e+00] [ 6.19475373e-04 9.99982972e-01 -5.80275718e-03 2.18288025e-01] [ 2.43968057e-02 5.78591815e-03 9.99685610e-01 1.06503567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262557844 meters Centerline goodness : 0.131792 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.06 [[ 9.99703276e-01 -7.43051404e-04 -2.43476335e-02 1.98344890e+00] [ 6.09422822e-04 9.99984715e-01 -5.49532071e-03 2.16895193e-01] [ 2.43513447e-02 5.47885211e-03 9.99688449e-01 1.06492712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29255784400002 meters Centerline goodness : 0.133336 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.06 [[ 9.99703886e-01 -7.75910259e-04 -2.43215396e-02 1.98349327e+00] [ 6.48691239e-04 9.99986070e-01 -5.23816750e-03 2.15392527e-01] [ 2.43252651e-02 5.22083923e-03 9.99690464e-01 1.06480547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32255784400002 meters Centerline goodness : 0.134359 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 9.99700350e-01 -9.46620213e-04 -2.44604467e-02 1.98380659e+00] [ 8.22977032e-04 9.99986837e-01 -5.06439342e-03 2.13669298e-01] [ 2.44649188e-02 5.04274549e-03 9.99687971e-01 1.06495275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35255784400002 meters Centerline goodness : 0.127974 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.06 [[ 0.99968858 0.00382523 -0.02465973 1.96072613] [-0.00403808 0.99995497 -0.00858735 0.2089936 ] [ 0.02462577 0.00868425 0.99965902 1.06499754] [ 0. 0. 0. 1. ]] SLAMing on 154.38255784400002 meters Centerline goodness : 0.129244 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99968824 0.00330651 -0.02474857 1.96080602] [-0.00351768 0.99995774 -0.00849403 0.20699019] [ 0.02471944 0.00857844 0.99965762 1.06533045] [ 0. 0. 0. 1. ]] SLAMing on 154.41255784400002 meters Centerline goodness : 0.132255 Centerline is valid? [False, False] Translation: X:1.96, Y:0.21, Z:1.07 [[ 0.99969108 0.00334976 -0.0246276 1.9605277 ] [-0.00355341 0.99995982 -0.00823016 0.20570278] [ 0.02459905 0.00831513 0.99966282 1.06524855] [ 0. 0. 0. 1. ]] SLAMing on 154.44255784400002 meters Centerline goodness : 0.138802 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99970062 -0.00472849 -0.02400668 1.98138144] [ 0.00455116 0.999962 -0.00743592 0.20920565] [ 0.02404093 0.00732444 0.99968414 1.06616334] [ 0. 0. 0. 1. ]] SLAMing on 154.472557844 meters Centerline goodness : 0.127522 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.07 [[ 0.99969856 -0.0047166 -0.02409445 1.98192713] [ 0.00454401 0.99996366 -0.00721297 0.20827372] [ 0.0241276 0.00710131 0.99968367 1.06550583] [ 0. 0. 0. 1. ]] SLAMing on 154.502557844 meters Centerline goodness : 0.129785 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99969115 -0.00459718 -0.02442257 1.98325786] [ 0.00442863 0.99996603 -0.00695106 0.20735291] [ 0.0244537 0.00684075 0.99967756 1.06462498] [ 0. 0. 0. 1. ]] SLAMing on 154.532557844 meters Centerline goodness : 0.135186 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99968561 -0.00445183 -0.02467502 1.98422224] [ 0.00428799 0.99996844 -0.00668877 0.20655246] [ 0.02470402 0.00658086 0.99967315 1.06397571] [ 0. 0. 0. 1. ]] SLAMing on 154.562557844 meters Centerline goodness : 0.134671 Centerline is valid? [False, False] Translation: X:1.98, Y:0.21, Z:1.06 [[ 0.99970044 -0.00445826 -0.02406551 1.98211265] [ 0.00430627 0.99997048 -0.00636387 0.20518812] [ 0.02409317 0.00625833 0.99969013 1.0646608 ] [ 0. 0. 0. 1. ]] SLAMing on 154.592557844 meters Centerline goodness : 0.130854 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.07 [[ 0.99971779 -0.00467021 -0.02329247 1.97957696] [ 0.00452491 0.99997 -0.00628692 0.20439914] [ 0.02332113 0.00617975 0.99970893 1.06540684] [ 0. 0. 0. 1. ]] SLAMing on 154.622557844 meters Centerline goodness : 0.145022 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.07 [[ 0.99973122 0.00268525 -0.02302781 1.99511773] [-0.00284429 0.99997231 -0.00687635 0.19619902] [ 0.02300871 0.00694 0.99971118 1.06677514] [ 0. 0. 0. 1. ]] SLAMing on 154.652557844 meters Centerline goodness : 0.157048 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.999712 0.00228675 -0.02388893 1.99773354] [-0.00244885 0.99997416 -0.00675851 0.19414622] [ 0.02387286 0.00681507 0.99969177 1.06601657] [ 0. 0. 0. 1. ]] SLAMing on 154.682557844 meters Centerline goodness : 0.160423 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99970659 0.00231056 -0.02411196 1.99844874] [-0.00246935 0.99997545 -0.00655776 0.19301024] [ 0.02409621 0.00661538 0.99968776 1.06575269] [ 0. 0. 0. 1. ]] SLAMing on 154.712557844 meters Centerline goodness : 0.158644 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99970557 0.00237634 -0.02414787 1.99848485] [-0.00253052 0.9999766 -0.00635629 0.19209206] [ 0.0241322 0.00641553 0.99968819 1.06578571] [ 0. 0. 0. 1. ]] SLAMing on 154.742557844 meters Centerline goodness : 0.158292 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971066 0.00242409 -0.0239317 1.99767254] [-0.00257479 0.99997704 -0.0062684 0.19183548] [ 0.02391595 0.00632821 0.99969394 1.06622651] [ 0. 0. 0. 1. ]] SLAMing on 154.772557844 meters Centerline goodness : 0.148084 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971231 0.00245104 -0.0238599 1.99734444] [-0.00260032 0.99997723 -0.0062276 0.19176263] [ 0.02384409 0.00628785 0.99969591 1.06644502] [ 0. 0. 0. 1. ]] SLAMing on 154.802557844 meters Centerline goodness : 0.154938 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:1.07 [[ 0.99971047 0.00245183 -0.02393664 1.99756825] [-0.0026005 0.99997751 -0.00618194 0.19149104] [ 0.02392094 0.0062424 0.99969436 1.06636603] [ 0. 0. 0. 1. ]] SLAMing on 154.832557844 meters Centerline goodness : 0.131860 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966327 -0.00500088 -0.02546259 2.01801693] [ 0.00486484 0.99997358 -0.0054018 0.19499898] [ 0.02548893 0.00527611 0.99966118 1.06814552] [ 0. 0. 0. 1. ]] SLAMing on 154.862557844 meters Centerline goodness : 0.159803 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99965638 -0.00500932 -0.02572987 2.01896994] [ 0.00487534 0.99997424 -0.00526733 0.19414026] [ 0.02575559 0.00514008 0.99965506 1.06763384] [ 0. 0. 0. 1. ]] SLAMing on 154.892557844 meters Centerline goodness : 0.157319 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99965746 -0.00499813 -0.02569017 2.0189135 ] [ 0.00486781 0.99997498 -0.00513277 0.19344429] [ 0.02571518 0.00500596 0.99965678 1.06751292] [ 0. 0. 0. 1. ]] SLAMing on 154.922557844 meters Centerline goodness : 0.139052 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967459 -0.00512162 -0.02498952 2.01670675] [ 0.00499912 0.99997519 -0.0049623 0.19246029] [ 0.02501432 0.00483576 0.9996754 1.06816651] [ 0. 0. 0. 1. ]] SLAMing on 154.952557844 meters Centerline goodness : 0.158320 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967597 -0.00515059 -0.02492824 2.01642599] [ 0.00503077 0.9999755 -0.00486714 0.19192049] [ 0.0249527 0.00474015 0.99967739 1.06833921] [ 0. 0. 0. 1. ]] SLAMing on 154.982557844 meters Centerline goodness : 0.167946 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967111 -0.00517378 -0.02511796 2.01681486] [ 0.00505533 0.99997581 -0.00477682 0.19148504] [ 0.02514207 0.00464827 0.99967308 1.06843697] [ 0. 0. 0. 1. ]] SLAMing on 155.012557844 meters Centerline goodness : 0.178635 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966841 -0.00519511 -0.0252208 2.01703789] [ 0.0050781 0.99997606 -0.00470094 0.19105469] [ 0.02524462 0.00457131 0.99967085 1.06840323] [ 0. 0. 0. 1. ]] SLAMing on 155.04255784400002 meters Centerline goodness : 0.156503 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967521 -0.00534258 -0.02491849 2.01601606] [ 0.00523182 0.99997615 -0.00450786 0.19006319] [ 0.02494198 0.00437602 0.99967932 1.06884236] [ 0. 0. 0. 1. ]] SLAMing on 155.07255784400002 meters Centerline goodness : 0.156503 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99967529 -0.00533824 -0.02491627 2.01599385] [ 0.00522795 0.99997626 -0.00448919 0.19009959] [ 0.02493964 0.00435747 0.99967946 1.06886125] [ 0. 0. 0. 1. ]] SLAMing on 155.10255784400002 meters Centerline goodness : 0.163035 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99968172 -0.00533409 -0.02465767 2.01502247] [ 0.00522838 0.99997687 -0.00434969 0.18955851] [ 0.0246803 0.00421938 0.99968649 1.06932602] [ 0. 0. 0. 1. ]] SLAMing on 155.13255784400002 meters Centerline goodness : 0.133303 Centerline is valid? [False, False] Translation: X:2.01, Y:0.19, Z:1.07 [[ 0.99968457 -0.00534118 -0.02454026 2.0145059 ] [ 0.00523725 0.99997705 -0.00429753 0.18948835] [ 0.02456265 0.00416765 0.99968961 1.06960424] [ 0. 0. 0. 1. ]] SLAMing on 155.16255784400002 meters Centerline goodness : 0.142619 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99968049 -0.00547179 -0.02467763 2.01522629] [ 0.00536692 0.99997629 -0.00431396 0.18972684] [ 0.02470065 0.00418014 0.99968615 1.06890088] [ 0. 0. 0. 1. ]] SLAMing on 155.19255784400002 meters Centerline goodness : 0.157070 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.07 [[ 0.99966899 -0.00556218 -0.0251191 2.01702584] [ 0.00545259 0.99997533 -0.00442895 0.19012669] [ 0.02514312 0.00429052 0.99967465 1.06778207] [ 0. 0. 0. 1. ]] SLAMing on 155.222557844 meters Centerline goodness : 0.151498 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:1.07 [[ 0.99955818 -0.00668935 -0.02896042 1.97539304] [ 0.00655262 0.99996695 -0.00481353 0.19208331] [ 0.02899166 0.00462164 0.99956897 1.06639387] [ 0. 0. 0. 1. ]] SLAMing on 155.252557844 meters Centerline goodness : 0.150501 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:1.07 [[ 0.99954979 -0.00684288 -0.02921296 1.97631256] [ 0.00669818 0.99996482 -0.00504852 0.19300696] [ 0.02924648 0.00485058 0.99956046 1.06595416] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters Centerline goodness : 0.140750 Centerline is valid? [False, False] Translation: X:1.93, Y:0.19, Z:1.07 [[ 0.99946196 -0.00730639 -0.03197514 1.92995645] [ 0.0071622 0.99996367 -0.00462162 0.1945896 ] [ 0.03200774 0.00439012 0.99947798 1.06675497] [ 0. 0. 0. 1. ]] SLAMing on 155.312557844 meters Centerline goodness : 0.144266 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:1.07 [[ 9.99542492e-01 1.50219755e-03 -3.02084555e-02 1.94986654e+00] [-1.66103310e-03 9.99984925e-01 -5.23357639e-03 1.93066081e-01] [ 3.02001382e-02 5.28135923e-03 9.99529919e-01 1.06767680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342557844 meters Centerline goodness : 0.159117 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99455507e-01 5.72253254e-04 -3.29903267e-02 1.90420682e+00] [-7.52011240e-04 9.99984938e-01 -5.43665851e-03 1.95471028e-01] [ 3.29867187e-02 5.45850739e-03 9.99440884e-01 1.06799989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372557844 meters Centerline goodness : 0.139192 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99456580e-01 4.38565150e-04 -3.29598596e-02 1.90428435e+00] [-6.25406222e-04 9.99983794e-01 -5.65865038e-03 1.96213483e-01] [ 3.29568438e-02 5.67618866e-03 9.99440657e-01 1.06773595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402557844 meters Centerline goodness : 0.163490 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99459514e-01 3.43097966e-04 -3.28719077e-02 1.90408505e+00] [-5.34811060e-04 9.99982900e-01 -5.82351060e-03 1.96862146e-01] [ 3.28693476e-02 5.83794333e-03 9.99442607e-01 1.06764618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432557844 meters Centerline goodness : 0.156442 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99465278e-01 3.68982985e-04 -3.26958877e-02 1.90342970e+00] [-5.59109538e-04 9.99982988e-01 -5.80604703e-03 1.97309351e-01] [ 3.26931892e-02 5.82122299e-03 9.99448482e-01 1.06784910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462557844 meters Centerline goodness : 0.136332 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99459802e-01 3.87311762e-04 -3.28626699e-02 1.90404861e+00] [-5.75718098e-04 9.99983453e-01 -5.72387281e-03 1.97074014e-01] [ 3.28599092e-02 5.73970042e-03 9.99443486e-01 1.06746346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.492557844 meters Centerline goodness : 0.161423 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99449923e-01 3.83425053e-04 -3.31618057e-02 1.90503553e+00] [-5.70776610e-04 9.99983930e-01 -5.64033663e-03 1.96589395e-01] [ 3.31591102e-02 5.65616199e-03 9.99434080e-01 1.06704893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.522557844 meters Centerline goodness : 0.160149 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99441568e-01 3.62910010e-04 -3.34128858e-02 1.90592888e+00] [-5.52281930e-04 9.99983838e-01 -5.65857658e-03 1.96560592e-01] [ 3.34102922e-02 5.67386998e-03 9.99425615e-01 1.06659983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552557844 meters Centerline goodness : 0.157765 Centerline is valid? [False, False] Translation: X:1.91, Y:0.20, Z:1.07 [[ 9.99442439e-01 1.95817896e-04 -3.33882024e-02 1.90580601e+00] [-4.01004922e-04 9.99981076e-01 -6.13890934e-03 1.98875771e-01] [ 3.33863684e-02 6.14887536e-03 9.99423605e-01 1.06680120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582557844 meters Centerline goodness : 0.155100 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99457322e-01 1.18897625e-04 -3.29400496e-02 1.90424046e+00] [-3.33416759e-04 9.99978774e-01 -6.50699446e-03 2.00849126e-01] [ 3.29385768e-02 6.51444602e-03 9.99436147e-01 1.06756558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612557844 meters Centerline goodness : 0.152787 Centerline is valid? [False, False] Translation: X:1.90, Y:0.20, Z:1.07 [[ 9.99469235e-01 -3.46016100e-06 -3.25768013e-02 1.90293831e+00] [-2.23016897e-04 9.99975834e-01 -6.94846014e-03 2.03088931e-01] [ 3.25760381e-02 6.95203732e-03 9.99445081e-01 1.06820997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642557844 meters Centerline goodness : 0.114291 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99474158e-01 -1.40952286e-04 -3.24251006e-02 1.90238638e+00] [-9.70257990e-05 9.99973075e-01 -7.33762625e-03 2.05007050e-01] [ 3.24252618e-02 7.33691389e-03 9.99447233e-01 1.06852010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672557844 meters Centerline goodness : 0.155410 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99468769e-01 -4.10552646e-04 -3.25885133e-02 1.90331566e+00] [ 1.49138073e-04 9.99967798e-01 -8.02370383e-03 2.08471379e-01] [ 3.25907580e-02 8.01458120e-03 9.99436646e-01 1.06772398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702557844 meters Centerline goodness : 0.123510 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:1.07 [[ 9.99470318e-01 -5.20580688e-04 -3.25393935e-02 1.90326666e+00] [ 2.51629412e-04 9.99965780e-01 -8.26895390e-03 2.09690792e-01] [ 3.25425847e-02 8.25638612e-03 9.99436247e-01 1.06757271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732557844 meters Centerline goodness : 0.142186 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99401718e-01 -8.90241789e-04 -3.45747654e-02 1.85560160e+00] [ 6.21022795e-04 9.99969414e-01 -7.79653335e-03 2.12127975e-01] [ 3.45806487e-02 7.77039710e-03 9.99371702e-01 1.06821333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762557844 meters Centerline goodness : 0.113681 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.9994071 -0.00900338 -0.03323244 1.87547374] [ 0.0087792 0.99993776 -0.00688558 0.21605743] [ 0.03329236 0.00658974 0.99942393 1.06995574] [ 0. 0. 0. 1. ]] SLAMing on 155.79255784400002 meters Centerline goodness : 0.136915 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.999406 -0.00908026 -0.03324447 1.87538315] [ 0.00885546 0.99993696 -0.00690306 0.21604989] [ 0.03330506 0.00660457 0.99942341 1.07005356] [ 0. 0. 0. 1. ]] SLAMing on 155.82255784400002 meters Centerline goodness : 0.163048 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99389993e-01 -1.08740401e-03 -3.49064392e-02 1.85623823e+00] [ 8.15735520e-04 9.99969278e-01 -7.79605971e-03 2.12176090e-01] [ 3.49138442e-02 7.76282964e-03 9.99360176e-01 1.06853359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85255784400002 meters Centerline goodness : 0.117227 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99353079e-01 -1.63204978e-03 -3.59271344e-02 1.85945610e+00] [ 1.33973343e-03 9.99965818e-01 -8.15893800e-03 2.12793380e-01] [ 3.59392222e-02 8.10552703e-03 9.99321106e-01 1.06725498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88255784400002 meters Centerline goodness : 0.120311 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:1.07 [[ 9.99353581e-01 -1.72697262e-03 -3.59087478e-02 1.85942442e+00] [ 1.43038979e-03 9.99964669e-01 -8.28339786e-03 2.13233602e-01] [ 3.59217844e-02 8.22667981e-03 9.99320743e-01 1.06719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91255784400002 meters Centerline goodness : 0.152551 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99362238e-01 -1.94886806e-03 -3.56555649e-02 1.85869067e+00] [ 1.63829304e-03 9.99960485e-01 -8.73756598e-03 2.15448320e-01] [ 3.56711843e-02 8.67357923e-03 9.99325941e-01 1.06731239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94255784400002 meters Centerline goodness : 0.140166 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99358930e-01 -2.09060011e-03 -3.57401390e-02 1.85895011e+00] [ 1.76597729e-03 9.99956925e-01 -9.11202037e-03 2.17374327e-01] [ 3.57576491e-02 9.04306266e-03 9.99319575e-01 1.06728982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972557844 meters Centerline goodness : 0.157231 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99368529e-01 6.00659844e-04 -3.55272003e-02 1.85818383e+00] [-8.33425111e-04 9.99978284e-01 -6.53730171e-03 2.19099717e-01] [ 3.55225021e-02 6.56278286e-03 9.99347328e-01 1.06756219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002557844 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99368576e-01 4.71021012e-04 -3.55278325e-02 1.85815534e+00] [-7.15458502e-04 9.99976161e-01 -6.86776943e-03 2.20589853e-01] [ 3.55237507e-02 6.88885165e-03 9.99345089e-01 1.06768364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032557844 meters Centerline goodness : 0.152366 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 9.99370998e-01 3.40693299e-04 -3.54611323e-02 1.85796942e+00] [-5.96005838e-04 9.99973978e-01 -7.18946350e-03 2.21953530e-01] [ 3.54577601e-02 7.20607636e-03 9.99345195e-01 1.06774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062557844 meters Centerline goodness : 0.129539 Centerline is valid? [False, False] Translation: X:1.88, Y:0.22, Z:1.07 [[ 0.99939223 -0.00523535 -0.03446388 1.88154552] [ 0.00508039 0.9999766 -0.00458232 0.22490957] [ 0.03448706 0.00440444 0.99939544 1.06716946] [ 0. 0. 0. 1. ]] SLAMing on 156.092557844 meters Centerline goodness : 0.143521 Centerline is valid? [False, False] Translation: X:1.86, Y:0.22, Z:1.07 [[ 0.99934672 0.00337444 -0.03598253 1.8604382 ] [-0.00356874 0.99997939 -0.00533703 0.22379155] [ 0.03596378 0.00546196 0.99933817 1.06564846] [ 0. 0. 0. 1. ]] SLAMing on 156.122557844 meters Centerline goodness : 0.117829 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99930773 -0.00242556 -0.03712373 1.88450934] [ 0.00232279 0.99999335 -0.00281129 0.22630799] [ 0.0371303 0.00272311 0.99930672 1.06594141] [ 0. 0. 0. 1. ]] SLAMing on 156.152557844 meters Centerline goodness : 0.118181 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929784 -0.00252328 -0.03738269 1.88541905] [ 0.00241011 0.99999238 -0.003072 0.22759 ] [ 0.03739015 0.00297974 0.9992963 1.06557013] [ 0. 0. 0. 1. ]] SLAMing on 156.182557844 meters Centerline goodness : 0.225443 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929239 -0.0026215 -0.0375214 1.88581742] [ 0.00249793 0.9999913 -0.00333994 0.22889347] [ 0.03752983 0.00324385 0.99929024 1.06553161] [ 0. 0. 0. 1. ]] SLAMing on 156.212557844 meters Centerline goodness : 0.137161 Centerline is valid? [False, False] Translation: X:1.89, Y:0.23, Z:1.07 [[ 0.99929799 -0.00274228 -0.03736312 1.88501215] [ 0.0026001 0.9999892 -0.00385342 0.23163448] [ 0.03737329 0.00375357 0.99929433 1.06624926] [ 0. 0. 0. 1. ]] SLAMing on 156.242557844 meters Centerline goodness : 0.133760 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.9993021 -0.00279912 -0.03724887 1.88452177] [ 0.00264966 0.99998824 -0.00406139 0.23269913] [ 0.0372598 0.00395986 0.99929777 1.06660869] [ 0. 0. 0. 1. ]] SLAMing on 156.272557844 meters Centerline goodness : 0.204948 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99930189 -0.00287706 -0.03724856 1.88442124] [ 0.00271947 0.99998714 -0.00428074 0.23371344] [ 0.0372604 0.00417646 0.99929686 1.06680563] [ 0. 0. 0. 1. ]] SLAMing on 156.302557844 meters Centerline goodness : 0.127562 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:1.07 [[ 0.99929783 -0.0029266 -0.03735358 1.88463782] [ 0.00276103 0.99998614 -0.00448337 0.23470338] [ 0.03736619 0.00437709 0.99929205 1.06693248] [ 0. 0. 0. 1. ]] SLAMing on 156.332557844 meters Centerline goodness : 0.110233 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99279658e-01 1.03365591e-03 -3.79354323e-02 1.88637757e+00] [-1.06159304e-03 9.99999180e-01 -7.16303051e-04 2.35147705e-01] [ 3.79346608e-02 7.56059058e-04 9.99279936e-01 1.06640537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362557844 meters Centerline goodness : 0.199531 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99272696e-01 9.91658361e-04 -3.81194910e-02 1.88715847e+00] [-1.02760048e-03 9.99999046e-01 -9.23298922e-04 2.36325005e-01] [ 3.81185390e-02 9.61799010e-04 9.99272762e-01 1.06591051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392557844 meters Centerline goodness : 0.203130 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99269150e-01 9.14679190e-04 -3.82142635e-02 1.88748038e+00] [-9.58108036e-04 9.99998916e-01 -1.11815852e-03 2.37183421e-01] [ 3.82131993e-02 1.15395471e-03 9.99268943e-01 1.06579025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422557844 meters Centerline goodness : 0.206697 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99272671e-01 9.06947748e-04 -3.81222621e-02 1.88708569e+00] [-9.51082855e-04 9.99998898e-01 -1.13960592e-03 2.37215320e-01] [ 3.81211866e-02 1.17503449e-03 9.99272433e-01 1.06606007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452557844 meters Centerline goodness : 0.115507 Centerline is valid? [False, False] Translation: X:1.89, Y:0.24, Z:1.07 [[ 9.99275099e-01 9.01429597e-04 -3.80587014e-02 1.88651839e+00] [-9.46708425e-04 9.99998865e-01 -1.17170525e-03 2.37456872e-01] [ 3.80576020e-02 1.20688637e-03 9.99274818e-01 1.06668075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482557844 meters Centerline goodness : 0.301446 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99174560e-01 1.18376515e-03 -4.06053963e-02 1.83959649e+00] [-1.20297781e-03 9.99999176e-01 -4.48724824e-04 2.38935087e-01] [ 4.06048316e-02 4.97201820e-04 9.99175160e-01 1.06744827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512557844 meters Centerline goodness : 0.309370 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99165946e-01 1.15184466e-03 -4.08177222e-02 1.84023095e+00] [-1.17640700e-03 9.99999141e-01 -5.77742638e-04 2.39578814e-01] [ 4.08170217e-02 6.25279023e-04 9.99166442e-01 1.06731202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54255784400002 meters Centerline goodness : 0.138066 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99165822e-01 1.13577565e-03 -4.08211907e-02 1.84038103e+00] [-1.15861958e-03 9.99999185e-01 -5.35955951e-04 2.39057734e-01] [ 4.08205487e-02 5.82805100e-04 9.99166324e-01 1.06704152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57255784400002 meters Centerline goodness : 0.112809 Centerline is valid? [False, False] Translation: X:1.86, Y:0.24, Z:1.07 [[ 9.99183270e-01 -6.94301606e-03 -3.98068715e-02 1.86053355e+00] [ 6.96024560e-03 9.99975734e-01 2.94255286e-04 2.41694674e-01] [ 3.98038625e-02 -5.71080561e-04 9.99207349e-01 1.06820833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60255784400002 meters Centerline goodness : 0.206905 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:1.07 [[ 9.99255990e-01 8.07485936e-04 -3.85592374e-02 1.84034188e+00] [-8.26289882e-04 9.99999547e-01 -4.71729857e-04 2.36547625e-01] [ 3.85588390e-02 5.03239993e-04 9.99256205e-01 1.06570580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63255784400002 meters Centerline goodness : 0.203846 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99262942e-01 9.17079680e-04 -3.83761845e-02 1.83983318e+00] [-9.19956253e-04 9.99999575e-01 -5.72986025e-05 2.34474356e-01] [ 3.83761157e-02 9.25607810e-05 9.99263361e-01 1.06570333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66255784400002 meters Centerline goodness : 0.301779 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99259665e-01 9.57514102e-04 -3.84604350e-02 1.84000397e+00] [-9.52652809e-04 9.99999536e-01 1.44723542e-04 2.33307344e-01] [ 3.84605558e-02 -1.07976956e-04 9.99260113e-01 1.06571857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69255784400002 meters Centerline goodness : 0.205949 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99259613e-01 9.88099791e-04 -3.84610237e-02 1.83980890e+00] [-9.77637355e-04 9.99999480e-01 2.90833449e-04 2.32521143e-01] [ 3.84612911e-02 -2.53017186e-04 9.99260059e-01 1.06602198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722557844 meters Centerline goodness : 0.150639 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99268884e-01 1.09681043e-03 -3.82164285e-02 1.83854850e+00] [-1.08105793e-03 9.99999322e-01 4.32854163e-04 2.32326477e-01] [ 3.82168774e-02 -3.91223523e-04 9.99269392e-01 1.06693458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752557844 meters Centerline goodness : 0.125030 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99270866e-01 1.13178139e-03 -3.81635316e-02 1.83842568e+00] [-1.11365159e-03 9.99999257e-01 4.96310675e-04 2.32131849e-01] [ 3.81640650e-02 -4.53447920e-04 9.99271384e-01 1.06690853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782557844 meters Centerline goodness : 0.198320 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99271612e-01 1.15202959e-03 -3.81433989e-02 1.83849155e+00] [-1.12982654e-03 9.99999180e-01 6.03644620e-04 2.31474597e-01] [ 3.81440631e-02 -5.60109508e-04 9.99272093e-01 1.06668424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812557844 meters Centerline goodness : 0.115060 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99272239e-01 1.18833322e-03 -3.81258398e-02 1.83851570e+00] [-1.15998799e-03 9.99999034e-01 7.65577266e-04 2.30525730e-01] [ 3.81267128e-02 -7.20794592e-04 9.99272653e-01 1.06653329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842557844 meters Centerline goodness : 0.095504 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99273175e-01 1.24803540e-03 -3.80994013e-02 1.83829812e+00] [-1.21319674e-03 9.99998825e-01 9.37520633e-04 2.29702850e-01] [ 3.81005265e-02 -8.90617150e-04 9.99273514e-01 1.06671185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872557844 meters Centerline goodness : 0.091734 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99277510e-01 1.29498841e-03 -3.79839698e-02 1.83744211e+00] [-1.24913423e-03 9.99998462e-01 1.23090551e-03 2.28193587e-01] [ 3.79855054e-02 -1.18256911e-03 9.99277591e-01 1.06751397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902557844 meters Centerline goodness : 0.164302 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280208e-01 1.35225401e-03 -3.79109049e-02 1.83698057e+00] [-1.29876396e-03 9.99998126e-01 1.43553287e-03 2.27155111e-01] [ 3.79127751e-02 -1.38526227e-03 9.99280092e-01 1.06789533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932557844 meters Centerline goodness : 0.086912 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280642e-01 1.34540871e-03 -3.78997268e-02 1.83684609e+00] [-1.28819570e-03 9.99997994e-01 1.53396863e-03 2.26481659e-01] [ 3.79017146e-02 -1.48404289e-03 9.99280370e-01 1.06802622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962557844 meters Centerline goodness : 0.086912 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99280642e-01 1.34540871e-03 -3.78997268e-02 1.83684609e+00] [-1.28819570e-03 9.99997994e-01 1.53396863e-03 2.26481659e-01] [ 3.79017146e-02 -1.48404289e-03 9.99280370e-01 1.06802622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.992557844 meters Centerline goodness : 0.199134 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99276687e-01 1.35846295e-03 -3.80033893e-02 1.83719152e+00] [-1.29656439e-03 9.99997793e-01 1.65336267e-03 2.25850899e-01] [ 3.80055515e-02 -1.60289293e-03 9.99276242e-01 1.06785365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.022557844 meters Centerline goodness : 0.127842 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99255037e-01 1.23647473e-03 -3.85725653e-02 1.83911763e+00] [-1.17100176e-03 9.99997835e-01 1.71994382e-03 2.25393663e-01] [ 3.85746085e-02 -1.67349399e-03 9.99254321e-01 1.06695437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052557844 meters Centerline goodness : 0.134918 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99250800e-01 1.24940555e-03 -3.86817511e-02 1.83955421e+00] [-1.17921323e-03 9.99997617e-01 1.83737312e-03 2.24766347e-01] [ 3.86839545e-02 -1.79038253e-03 9.99249892e-01 1.06662941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082557844 meters Centerline goodness : 0.152398 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99252994e-01 1.24326546e-03 -3.86252257e-02 1.83940866e+00] [-1.17005973e-03 9.99997476e-01 1.91783066e-03 2.24247014e-01] [ 3.86275126e-02 -1.87120421e-03 9.99251927e-01 1.06661617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112557844 meters Centerline goodness : 0.146190 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99255846e-01 1.24579457e-03 -3.85512999e-02 1.83913734e+00] [-1.17137871e-03 9.99997407e-01 1.95283465e-03 2.23941332e-01] [ 3.85536327e-02 -1.90622327e-03 9.99254714e-01 1.06675150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142557844 meters Centerline goodness : 0.137172 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:1.07 [[ 9.99255424e-01 1.18817622e-03 -3.85640539e-02 1.83933049e+00] [-1.11855483e-03 9.99997706e-01 1.82686994e-03 2.24484439e-01] [ 3.85661360e-02 -1.78237369e-03 9.99254460e-01 1.06649616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172557844 meters Centerline goodness : 0.108837 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99246772e-01 1.16591257e-03 -3.87882508e-02 1.84022205e+00] [-1.10046813e-03 9.99997935e-01 1.70853101e-03 2.25250560e-01] [ 3.87901627e-02 -1.66455886e-03 9.99245992e-01 1.06594663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202557844 meters Centerline goodness : 0.109765 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99234003e-01 1.13662460e-03 -3.91166885e-02 1.84135034e+00] [-1.07581203e-03 9.99998180e-01 1.57565917e-03 2.26110115e-01] [ 3.91184083e-02 -1.53237002e-03 9.99233407e-01 1.06548133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232557844 meters Centerline goodness : 0.117892 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99234185e-01 1.05605174e-03 -3.91143033e-02 1.84146564e+00] [-1.00257408e-03 9.99998536e-01 1.38680487e-03 2.26938824e-01] [ 3.91157106e-02 -1.34652784e-03 9.99233780e-01 1.06530508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262557844 meters Centerline goodness : 0.137173 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99237589e-01 9.72645437e-04 -3.90294182e-02 1.84114932e+00] [-9.25753887e-04 9.99998828e-01 1.21949589e-03 2.27527439e-01] [ 3.90305586e-02 -1.18243450e-03 9.99237318e-01 1.06551340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29255784400002 meters Centerline goodness : 0.107053 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99238614e-01 7.94735144e-04 -3.90071776e-02 1.84103808e+00] [-7.63070810e-04 9.99999367e-01 8.26638190e-04 2.29192096e-01] [ 3.90078099e-02 -7.96243561e-04 9.99238589e-01 1.06562838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32255784400002 meters Centerline goodness : 0.122906 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99233014e-01 7.52181407e-04 -3.91512116e-02 1.84153708e+00] [-7.26947848e-04 9.99999519e-01 6.58747329e-04 2.30193268e-01] [ 3.91516883e-02 -6.29781191e-04 9.99233080e-01 1.06540348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35255784400002 meters Centerline goodness : 0.104572 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99225334e-01 6.80203658e-04 -3.93480447e-02 1.84213728e+00] [-6.62609502e-04 9.99999675e-01 4.60181346e-04 2.31251710e-01] [ 3.93483449e-02 -4.33752471e-04 9.99225460e-01 1.06524518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38255784400002 meters Centerline goodness : 0.108995 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99224225e-01 5.95974440e-04 -3.93775635e-02 1.84214498e+00] [-5.86006911e-04 9.99999793e-01 2.64668877e-04 2.32118337e-01] [ 3.93777131e-02 -2.41388029e-04 9.99224368e-01 1.06536951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41255784400002 meters Centerline goodness : 0.130861 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99225383e-01 4.20518583e-04 -3.93504377e-02 1.84168811e+00] [-4.19013256e-04 9.99999911e-01 4.65017529e-05 2.32843325e-01] [ 3.93504538e-02 -2.99773769e-05 9.99225470e-01 1.06593259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44255784400002 meters Centerline goodness : 0.177657 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:1.07 [[ 9.99222876e-01 4.29088948e-04 -3.94139583e-02 1.84199593e+00] [-4.25685382e-04 9.99999905e-01 9.47465176e-05 2.32755370e-01] [ 3.94139952e-02 -7.78949419e-05 9.99222964e-01 1.06565400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472557844 meters Centerline goodness : 0.119571 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99110165e-01 1.00737812e-04 -4.21766182e-02 1.79784547e+00] [-9.01961586e-05 9.99999964e-01 2.51843550e-04 2.34939879e-01] [ 4.21766421e-02 -2.47815282e-04 9.99110139e-01 1.06467720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters Centerline goodness : 0.139587 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99102800e-01 7.50302961e-05 -4.23507967e-02 1.79858120e+00] [-6.15554135e-05 9.99999947e-01 3.19477016e-04 2.34408968e-01] [ 4.23508184e-02 -3.16583460e-04 9.99102751e-01 1.06415841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532557844 meters Centerline goodness : 0.143299 Centerline is valid? [False, False] Translation: X:1.80, Y:0.23, Z:1.06 [[ 9.99099213e-01 4.05893030e-05 -4.24353780e-02 1.79882611e+00] [-2.64310735e-05 9.99999944e-01 3.34203128e-04 2.34097260e-01] [ 4.24353892e-02 -3.32780469e-04 9.99099158e-01 1.06409459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562557844 meters Centerline goodness : 0.119411 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:1.06 [[ 9.99116353e-01 3.15408682e-05 -4.20298990e-02 1.79737095e+00] [-3.03579898e-05 9.99999999e-01 2.87819902e-05 2.36055591e-01] [ 4.20298999e-02 -2.74806138e-05 9.99116353e-01 1.06484471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592557844 meters Centerline goodness : 0.123904 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:1.07 [[ 9.99129316e-01 -3.51428722e-05 -4.17206044e-02 1.79637036e+00] [ 2.01534001e-05 9.99999935e-01 -3.59702771e-04 2.38204884e-01] [ 4.17206144e-02 3.58548772e-04 9.99129252e-01 1.06529948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622557844 meters Centerline goodness : 0.149399 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:1.07 [[ 9.99166201e-01 8.30637926e-03 -3.99738394e-02 1.81614122e+00] [-8.38362324e-03 9.99963299e-01 -1.76511856e-03 2.36653046e-01] [ 3.99577106e-02 2.09877241e-03 9.99199168e-01 1.06655954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652557844 meters Centerline goodness : 0.145763 Centerline is valid? [False, False] Translation: X:1.82, Y:0.24, Z:1.07 [[ 0.99917153 0.00803652 -0.03989582 1.81576886] [-0.00814188 0.99996378 -0.00247919 0.23996528] [ 0.03987445 0.00280196 0.99920077 1.06696132] [ 0. 0. 0. 1. ]] SLAMing on 157.682557844 meters Centerline goodness : 0.175981 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:1.06 [[ 9.99309294e-01 3.16751966e-03 -3.70256960e-02 1.79565489e+00] [-3.18793702e-03 9.99994797e-01 -4.92412312e-04 2.52019928e-01] [ 3.70239436e-02 6.10107786e-04 9.99314193e-01 1.06475887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712557844 meters Centerline goodness : 0.149490 Centerline is valid? [False, False] Translation: X:1.81, Y:0.26, Z:1.07 [[ 9.99322174e-01 -4.41291397e-03 -3.65474954e-02 1.81489471e+00] [ 4.43729519e-03 9.99989983e-01 5.86023743e-04 2.59158781e-01] [ 3.65445432e-02 -7.47798546e-04 9.99331745e-01 1.06713138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.742557844 meters Centerline goodness : 0.152756 Centerline is valid? [False, False] Translation: X:1.81, Y:0.26, Z:1.07 [[ 9.99326333e-01 -4.65233210e-03 -3.64037943e-02 1.81442364e+00] [ 4.65702851e-03 9.99989155e-01 4.42146284e-05 2.61711940e-01] [ 3.64031938e-02 -2.13718350e-04 9.99337161e-01 1.06728874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.772557844 meters Centerline goodness : 0.166980 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99332413e-01 -5.05837162e-03 -3.61820574e-02 1.81388522e+00] [ 5.03292741e-03 9.99987019e-01 -7.94274095e-04 2.65570258e-01] [ 3.61856055e-02 6.11642179e-04 9.99344899e-01 1.06721753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802557844 meters Centerline goodness : 0.167130 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99331019e-01 -5.19254709e-03 -3.62015595e-02 1.81396214e+00] [ 5.15939837e-03 9.99986181e-01 -1.00903113e-03 2.66524274e-01] [ 3.62062986e-02 8.21577841e-04 9.99343999e-01 1.06711853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832557844 meters Centerline goodness : 0.179135 Centerline is valid? [False, False] Translation: X:1.81, Y:0.27, Z:1.07 [[ 9.99318473e-01 -5.35669338e-03 -3.65225292e-02 1.81497787e+00] [ 5.31858591e-03 9.99985206e-01 -1.14047353e-03 2.66949256e-01] [ 3.65280980e-02 9.45448054e-04 9.99332179e-01 1.06671307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862557844 meters Centerline goodness : 0.116868 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99298653e-01 -5.50542226e-03 -3.70390675e-02 1.81666757e+00] [ 5.46319925e-03 9.99984306e-01 -1.24107369e-03 2.67227520e-01] [ 3.70453189e-02 1.03785146e-03 9.99313048e-01 1.06600441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892557844 meters Centerline goodness : 0.122356 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.06 [[ 9.99255188e-01 -5.94093747e-03 -3.81283893e-02 1.82007038e+00] [ 5.88840138e-03 9.99981553e-01 -1.49002479e-03 2.67574002e-01] [ 3.81365381e-02 1.26439974e-03 9.99271738e-01 1.06480499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922557844 meters Centerline goodness : 0.145513 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.06 [[ 9.99258603e-01 -5.99746098e-03 -3.80299186e-02 1.81973275e+00] [ 5.94349925e-03 9.99981164e-01 -1.53182700e-03 2.67629389e-01] [ 3.80383893e-02 1.30466051e-03 9.99275427e-01 1.06492310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952557844 meters Centerline goodness : 0.167123 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99262512e-01 -6.02925832e-03 -3.79220250e-02 1.81916764e+00] [ 5.97232977e-03 9.99980862e-01 -1.61430420e-03 2.68029053e-01] [ 3.79310324e-02 1.38663083e-03 9.99279397e-01 1.06541934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982557844 meters Centerline goodness : 0.168151 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:1.07 [[ 9.99265147e-01 -6.06248718e-03 -3.78472335e-02 1.81898235e+00] [ 6.00098432e-03 9.99980483e-01 -1.73841983e-03 2.68731500e-01] [ 3.78570340e-02 1.51002169e-03 9.99282025e-01 1.06542386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012557844 meters Centerline goodness : 0.139965 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.9992898 0.00212054 -0.03762187 1.83894717] [-0.00224425 0.99999221 -0.0032462 0.26604203] [ 0.03761469 0.00332833 0.99928677 1.06735772] [ 0. 0. 0. 1. ]] SLAMing on 158.04255784400002 meters Centerline goodness : 0.182591 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.99928575 0.00198023 -0.03773687 1.83910673] [-0.0021203 0.99999101 -0.00367212 0.26811657] [ 0.03772926 0.00374951 0.99928096 1.0676531 ] [ 0. 0. 0. 1. ]] SLAMing on 158.07255784400002 meters Centerline goodness : 0.118456 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 0.99928274 0.00186337 -0.03782245 1.8392588 ] [-0.00202058 0.99998948 -0.00411874 0.27047416] [ 0.03781438 0.00419221 0.99927599 1.06786002] [ 0. 0. 0. 1. ]] SLAMing on 158.10255784400002 meters Centerline goodness : 0.110940 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99279730e-01 1.78526746e-03 -3.79055902e-02 1.83951728e+00] [-1.95957619e-03 9.99987675e-01 -4.56184202e-03 2.72990677e-01] [ 3.78969789e-02 4.63283516e-03 9.99270912e-01 1.06787741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13255784400002 meters Centerline goodness : 0.161821 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99268429e-01 1.62684206e-03 -3.82094327e-02 1.84043179e+00] [-1.82635917e-03 9.99984878e-01 -5.18734723e-03 2.76207369e-01] [ 3.82004159e-02 5.25333646e-03 9.99256289e-01 1.06771030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16255784400002 meters Centerline goodness : 0.166533 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99267123e-01 1.53391389e-03 -3.82474071e-02 1.84054353e+00] [-1.73803602e-03 9.99984422e-01 -5.30420927e-03 2.76505920e-01] [ 3.82386751e-02 5.36679731e-03 9.99254223e-01 1.06766476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19255784400002 meters Centerline goodness : 0.110528 Centerline is valid? [False, False] Translation: X:1.82, Y:0.28, Z:1.07 [[ 0.99922718 -0.00723233 -0.03863584 1.81933721] [ 0.00705874 0.99996438 -0.00462759 0.28182088] [ 0.03866793 0.00435129 0.99924264 1.06669707] [ 0. 0. 0. 1. ]] SLAMing on 158.222557844 meters Centerline goodness : 0.107437 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:1.07 [[ 9.99306275e-01 3.46277978e-04 -3.72404239e-02 1.83648480e+00] [-5.66297866e-04 9.99982448e-01 -5.89770705e-03 2.75695475e-01] [ 3.72377280e-02 5.91470483e-03 9.99288931e-01 1.06874399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252557844 meters Centerline goodness : 0.164554 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99312888e-01 3.33268710e-04 -3.70626550e-02 1.83579140e+00] [-5.44609707e-04 9.99983650e-01 -5.69231314e-03 2.74468066e-01] [ 3.70601520e-02 5.70858657e-03 9.99296731e-01 1.06904998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282557844 meters Centerline goodness : 0.113435 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99306486e-01 3.59880619e-04 -3.72346178e-02 1.83632084e+00] [-5.61657708e-04 9.99985215e-01 -5.40875412e-03 2.72974479e-01] [ 3.72321208e-02 5.42591618e-03 9.99291914e-01 1.06880003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312557844 meters Centerline goodness : 0.107133 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99273623e-01 2.85561974e-04 -3.81070207e-02 1.83934936e+00] [-4.81623411e-04 9.99986695e-01 -5.13594064e-03 2.71477838e-01] [ 3.81050470e-02 5.15056324e-03 9.99260465e-01 1.06726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters Centerline goodness : 0.103440 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99267894e-01 2.77314477e-04 -3.82570264e-02 1.83992701e+00] [-4.74007766e-04 9.99986717e-01 -5.13238919e-03 2.71586408e-01] [ 3.82550949e-02 5.14676586e-03 9.99254752e-01 1.06688043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372557844 meters Centerline goodness : 0.109436 Centerline is valid? [False, False] Translation: X:1.84, Y:0.27, Z:1.07 [[ 9.99266408e-01 2.71664859e-04 -3.82958407e-02 1.83997179e+00] [-4.69901569e-04 9.99986538e-01 -5.16754949e-03 2.71819051e-01] [ 3.82939213e-02 5.18175390e-03 9.99253084e-01 1.06699477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters Centerline goodness : 0.275574 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 0.99927711 -0.00793432 -0.0371793 1.86025204] [ 0.00777896 0.99996041 -0.00432142 0.27477192] [ 0.03721212 0.00402908 0.99929927 1.06870672] [ 0. 0. 0. 1. ]] SLAMing on 158.432557844 meters Centerline goodness : 0.123433 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 0.9992863 -0.00811424 -0.0368925 1.85899912] [ 0.00793959 0.99995658 -0.00487793 0.27740152] [ 0.03693048 0.00458153 0.99930733 1.06965406] [ 0. 0. 0. 1. ]] SLAMing on 158.462557844 meters Centerline goodness : 0.126075 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99332693e-01 -4.62600606e-03 -3.62321486e-02 1.85697852e+00] [ 4.57633595e-03 9.99988472e-01 -1.45369810e-03 2.77844470e-01] [ 3.62384557e-02 1.28691756e-03 9.99342343e-01 1.06996738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.492557844 meters Centerline goodness : 0.113839 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99337990e-01 -4.76011138e-03 -3.60683222e-02 1.85661098e+00] [ 4.69459298e-03 9.99987173e-01 -1.90098158e-03 2.80234757e-01] [ 3.60769084e-02 1.73039701e-03 9.99347518e-01 1.06994231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.522557844 meters Centerline goodness : 0.114309 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 0.99934185 -0.0049475 -0.03593592 1.85622394] [ 0.00486359 0.99998524 -0.00242208 0.28271212] [ 0.03594737 0.00224571 0.99935116 1.07011648] [ 0. 0. 0. 1. ]] SLAMing on 158.552557844 meters Centerline goodness : 0.106918 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933298 -0.00528687 -0.03613361 1.85679243] [ 0.0051699 0.99998109 -0.00332982 0.28701879] [ 0.03615054 0.0031408 0.99934142 1.07007717] [ 0. 0. 0. 1. ]] SLAMing on 158.582557844 meters Centerline goodness : 0.135357 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933071 -0.00541183 -0.03617796 1.85693496] [ 0.00528385 0.99997944 -0.00363203 0.28852012] [ 0.03619687 0.00343844 0.99933876 1.07001204] [ 0. 0. 0. 1. ]] SLAMing on 158.612557844 meters Centerline goodness : 0.132186 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932931 -0.00548277 -0.03620599 1.85699224] [ 0.00535027 0.99997864 -0.0037554 0.28913479] [ 0.0362258 0.00355917 0.99933729 1.07001026] [ 0. 0. 0. 1. ]] SLAMing on 158.642557844 meters Centerline goodness : 0.112513 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933412 -0.00552891 -0.03606594 1.85665139] [ 0.00539564 0.99997826 -0.00379137 0.28924282] [ 0.03608612 0.00359424 0.99934222 1.06996219] [ 0. 0. 0. 1. ]] SLAMing on 158.672557844 meters Centerline goodness : 0.124895 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932475 -0.00582917 -0.03627765 1.85733159] [ 0.00569448 0.99997651 -0.00381506 0.28875361] [ 0.03629904 0.0036059 0.99933447 1.06957322] [ 0. 0. 0. 1. ]] SLAMing on 158.702557844 meters Centerline goodness : 0.112092 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932135 -0.00581973 -0.03637258 1.85772287] [ 0.00568574 0.99997667 -0.00378607 0.28875646] [ 0.03639377 0.0035767 0.99933113 1.06932115] [ 0. 0. 0. 1. ]] SLAMing on 158.732557844 meters Centerline goodness : 0.110647 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99932325 -0.00585846 -0.03631424 1.85736179] [ 0.00572099 0.99997607 -0.00388841 0.28932424] [ 0.03633615 0.00367803 0.99933286 1.069679 ] [ 0. 0. 0. 1. ]] SLAMing on 158.762557844 meters Centerline goodness : 0.105284 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.9993294 -0.00594676 -0.03613022 1.85643154] [ 0.00580176 0.99997469 -0.00411695 0.29032357] [ 0.03615379 0.00390457 0.99933861 1.07051549] [ 0. 0. 0. 1. ]] SLAMing on 158.79255784400002 meters Centerline goodness : 0.118568 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.99933612 -0.00606339 -0.03592425 1.85541382] [ 0.00590948 0.99997291 -0.00438875 0.29141565] [ 0.03594989 0.00417354 0.99934488 1.07134875] [ 0. 0. 0. 1. ]] SLAMing on 158.82255784400002 meters Centerline goodness : 0.116314 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 0.9993365 -0.00617087 -0.03589537 1.85523411] [ 0.0060063 0.99997096 -0.00469072 0.29282123] [ 0.03592327 0.00447201 0.99934455 1.07158284] [ 0. 0. 0. 1. ]] SLAMing on 158.85255784400002 meters Centerline goodness : 0.119234 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99347752e-01 -2.53135108e-03 -3.60230998e-02 1.85572459e+00] [ 2.49716484e-03 9.99996388e-01 -9.93969584e-04 2.92314345e-01] [ 3.60254857e-02 9.03365650e-04 9.99350463e-01 1.07121215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88255784400002 meters Centerline goodness : 0.119234 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99347752e-01 -2.53135108e-03 -3.60230998e-02 1.85572459e+00] [ 2.49716484e-03 9.99996388e-01 -9.93969584e-04 2.92314345e-01] [ 3.60254857e-02 9.03365650e-04 9.99350463e-01 1.07121215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91255784400002 meters Centerline goodness : 0.104157 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99342478e-01 -2.58278256e-03 -3.61654575e-02 1.85647212e+00] [ 2.53903280e-03 9.99995988e-01 -1.25558683e-03 2.93985331e-01] [ 3.61685553e-02 1.16293597e-03 9.99345027e-01 1.07065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94255784400002 meters Centerline goodness : 0.099840 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99339045e-01 -2.60454372e-03 -3.62586364e-02 1.85668264e+00] [ 2.56076834e-03 9.99995935e-01 -1.25369699e-03 2.93844466e-01] [ 3.62617544e-02 1.16001839e-03 9.99341653e-01 1.07068447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972557844 meters Centerline goodness : 0.115209 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99334688e-01 -2.56345179e-03 -3.63814543e-02 1.85698841e+00] [ 2.52564115e-03 9.99996222e-01 -1.08520380e-03 2.92895117e-01] [ 3.63840987e-02 9.92595305e-04 9.99337387e-01 1.07064553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002557844 meters Centerline goodness : 0.116841 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99296657e-01 -2.78962027e-03 -3.73953125e-02 1.85991881e+00] [ 2.76623110e-03 9.99995945e-01 -6.77182938e-04 2.89768448e-01] [ 3.73970499e-02 5.73262570e-04 9.99300321e-01 1.06977640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032557844 meters Centerline goodness : 0.159835 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:1.07 [[ 9.99293317e-01 -2.62749649e-03 -3.74961662e-02 1.86040163e+00] [ 2.62689148e-03 9.99996548e-01 -6.54019061e-05 2.86708226e-01] [ 3.74962086e-02 -3.31426716e-05 9.99296769e-01 1.06926995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters Centerline goodness : 0.159841 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99294455e-01 -2.46791636e-03 -3.74766768e-02 1.86036238e+00] [ 2.49054610e-03 9.99996743e-01 5.57162218e-04 2.83547989e-01] [ 3.74751798e-02 -6.50106506e-04 9.99297347e-01 1.06909762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092557844 meters Centerline goodness : 0.255429 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99300005e-01 -2.25164039e-03 -3.73420704e-02 1.85974699e+00] [ 2.29811508e-03 9.99996637e-01 1.20169004e-03 2.80379015e-01] [ 3.73392391e-02 -1.28666524e-03 9.99301819e-01 1.06941419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters Centerline goodness : 0.163892 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99308139e-01 -2.01355054e-03 -3.71374378e-02 1.85892198e+00] [ 2.08104691e-03 9.99996252e-01 1.77890913e-03 2.77695253e-01] [ 3.71337167e-02 -1.85496312e-03 9.99308584e-01 1.06986178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152557844 meters Centerline goodness : 0.101855 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99316876e-01 -1.72334843e-03 -3.69162846e-02 1.85795607e+00] [ 1.81388551e-03 9.99995429e-01 2.41914505e-03 2.74594182e-01] [ 3.69119469e-02 -2.48445439e-03 9.99315434e-01 1.07053706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182557844 meters Centerline goodness : 0.115276 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99311570e-01 -1.62665771e-03 -3.70640092e-02 1.85843254e+00] [ 1.72079986e-03 9.99995374e-01 2.50822905e-03 2.74261934e-01] [ 3.70597577e-02 -2.57028205e-03 9.99309746e-01 1.07043995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212557844 meters Centerline goodness : 0.124713 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99302359e-01 -1.50043736e-03 -3.73168074e-02 1.85908399e+00] [ 1.59301149e-03 9.99995727e-01 2.45115282e-03 2.74853296e-01] [ 3.73129701e-02 -2.50888889e-03 9.99300479e-01 1.07048869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.242557844 meters Centerline goodness : 0.114379 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99292352e-01 -1.37888208e-03 -3.75884938e-02 1.85976744e+00] [ 1.46657966e-03 9.99996267e-01 2.30562327e-03 2.76033371e-01] [ 3.75851743e-02 -2.35911822e-03 9.99290643e-01 1.07059260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.272557844 meters Centerline goodness : 0.139563 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99279017e-01 -5.96339020e-04 -3.79616905e-02 1.86073894e+00] [ 6.89074569e-04 9.99996811e-01 2.42983490e-03 2.77877443e-01] [ 3.79601204e-02 -2.45424147e-03 9.99276241e-01 1.07065534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302557844 meters Centerline goodness : 0.116499 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99282829e-01 -6.38586970e-04 -3.78605354e-02 1.86035012e+00] [ 7.19524634e-04 9.99997485e-01 2.12419731e-03 2.79514863e-01] [ 3.78590837e-02 -2.14991549e-03 9.99280775e-01 1.07092420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332557844 meters Centerline goodness : 0.118138 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99292310e-01 -6.92783655e-04 -3.76084998e-02 1.85949578e+00] [ 7.66009284e-04 9.99997839e-01 1.93267558e-03 2.80511443e-01] [ 3.76070796e-02 -1.96011630e-03 9.99290681e-01 1.07129175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362557844 meters Centerline goodness : 0.113000 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99304364e-01 -7.40403786e-04 -3.72859310e-02 1.85848916e+00] [ 8.10254454e-04 9.99997945e-01 1.85830274e-03 2.80766578e-01] [ 3.72844785e-02 -1.88722113e-03 9.99302910e-01 1.07158850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392557844 meters Centerline goodness : 0.169856 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99314742e-01 -7.66840592e-04 -3.70062034e-02 1.85754838e+00] [ 8.43904202e-04 9.99997508e-01 2.06687587e-03 2.79412460e-01] [ 3.70045262e-02 -2.09668922e-03 9.99312898e-01 1.07187599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422557844 meters Centerline goodness : 0.170914 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:1.07 [[ 9.99321243e-01 -8.07606945e-04 -3.68293513e-02 1.85704495e+00] [ 8.95529473e-04 9.99996789e-01 2.37086107e-03 2.77471572e-01] [ 3.68273183e-02 -2.40223360e-03 9.99318757e-01 1.07184072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452557844 meters Centerline goodness : 0.110431 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99309317e-01 -1.37926051e-03 -3.71347098e-02 1.85802880e+00] [ 1.47725182e-03 9.99995499e-01 2.61149773e-03 2.74465707e-01] [ 3.71309407e-02 -2.66455133e-03 9.99306856e-01 1.07120081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482557844 meters Centerline goodness : 0.165749 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99300989e-01 -1.29483006e-03 -3.73611712e-02 1.85885800e+00] [ 1.40683831e-03 9.99994594e-01 2.97185133e-03 2.72822390e-01] [ 3.73571212e-02 -3.02233510e-03 9.99297409e-01 1.07061458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512557844 meters Centerline goodness : 0.122259 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99291964e-01 -1.22838633e-03 -3.76040051e-02 1.85980453e+00] [ 1.35512260e-03 9.99993487e-01 3.34498375e-03 2.71015395e-01] [ 3.75996512e-02 -3.39357342e-03 9.99287121e-01 1.06997544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54255784400002 meters Centerline goodness : 0.302920 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:1.07 [[ 9.99290212e-01 -1.06194217e-03 -3.76555941e-02 1.86014814e+00] [ 1.20782083e-03 9.99991854e-01 3.85148651e-03 2.68551847e-01] [ 3.76511973e-02 -3.89423399e-03 9.99283354e-01 1.06952960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57255784400002 meters Centerline goodness : 0.151799 Centerline is valid? [False, False] Translation: X:1.86, Y:0.26, Z:1.07 [[ 9.99297413e-01 -1.11175111e-03 -3.74625672e-02 1.85960236e+00] [ 1.28030132e-03 9.99989165e-01 4.47547386e-03 2.63952130e-01] [ 3.74571857e-02 -4.52029283e-03 9.99288010e-01 1.06945921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60255784400002 meters Centerline goodness : 0.170177 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:1.07 [[ 0.99927551 0.00566033 -0.03763526 1.87540526] [-0.00555746 0.99998053 0.00283724 0.25592941] [ 0.03765059 -0.00262603 0.99928751 1.07261174] [ 0. 0. 0. 1. ]] SLAMing on 159.63255784400002 meters Centerline goodness : 0.168035 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928243 0.00580032 -0.0374298 1.87474715] [-0.00568433 0.99997871 0.00320456 0.2541318 ] [ 0.03744759 -0.0029895 0.99929412 1.07274552] [ 0. 0. 0. 1. ]] SLAMing on 159.66255784400002 meters Centerline goodness : 0.110773 Centerline is valid? [False, False] Translation: X:1.83, Y:0.25, Z:1.07 [[ 0.99921571 0.00603213 -0.03913529 1.82755086] [-0.00588305 0.999975 0.00392346 0.25480064] [ 0.03915798 -0.00369014 0.99922622 1.0723326 ] [ 0. 0. 0. 1. ]] SLAMing on 159.69255784400002 meters Centerline goodness : 0.091685 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99929408 0.00541713 -0.03717533 1.87215672] [-0.00528564 0.99997943 0.00363446 0.2494719 ] [ 0.03719425 -0.0034354 0.99930215 1.07309876] [ 0. 0. 0. 1. ]] SLAMing on 159.722557844 meters Centerline goodness : 0.101763 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99929237 0.00552021 -0.03720602 1.87235345] [-0.00538027 0.99997808 0.00386027 0.24838397] [ 0.03722652 -0.00365736 0.99930016 1.07288141] [ 0. 0. 0. 1. ]] SLAMing on 159.752557844 meters Centerline goodness : 0.140399 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928715 0.00562871 -0.03732977 1.87273422] [-0.00548039 0.99997668 0.00407422 0.24740899] [ 0.03735183 -0.00386673 0.9992947 1.07277379] [ 0. 0. 0. 1. ]] SLAMing on 159.782557844 meters Centerline goodness : 0.173350 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99928048 0.00573824 -0.03749126 1.87314824] [-0.00558285 0.99997539 0.00424812 0.24673415] [ 0.03751471 -0.00403576 0.99928793 1.07276828] [ 0. 0. 0. 1. ]] SLAMing on 159.812557844 meters Centerline goodness : 0.107045 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.99927764 0.00582687 -0.03755326 1.87332868] [-0.00566699 0.99997443 0.00436261 0.24631462] [ 0.03757772 -0.00414664 0.9992851 1.07274593] [ 0. 0. 0. 1. ]] SLAMing on 159.842557844 meters Centerline goodness : 0.165148 Centerline is valid? [False, False] Translation: X:1.87, Y:0.25, Z:1.07 [[ 0.9992731 0.00592484 -0.03765851 1.87339766] [-0.00576132 0.9999735 0.00444936 0.2458478 ] [ 0.03768388 -0.00422917 0.99928076 1.07313731] [ 0. 0. 0. 1. ]] SLAMing on 159.872557844 meters Centerline goodness : 0.272698 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99932489 -0.00245868 -0.03665684 1.89395528] [ 0.00264204 0.99998424 0.00495453 0.24727952] [ 0.03664408 -0.00504803 0.99931563 1.07417773] [ 0. 0. 0. 1. ]] SLAMing on 159.902557844 meters Centerline goodness : 0.168435 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99932229 -0.00243181 -0.03672934 1.89414681] [ 0.00261732 0.99998406 0.00500361 0.24693107] [ 0.03671659 -0.00509635 0.99931272 1.07418523] [ 0. 0. 0. 1. ]] SLAMing on 159.932557844 meters Centerline goodness : 0.171896 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:1.07 [[ 0.99930973 -0.00230275 -0.03707781 1.8951082 ] [ 0.00249427 0.99998378 0.0051199 0.24678667] [ 0.03706542 -0.00520885 0.99929927 1.0740535 ] [ 0. 0. 0. 1. ]] SLAMing on 159.962557844 meters Centerline goodness : 0.191905 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:1.07 [[ 0.99930734 -0.00223866 -0.03714617 1.895234 ] [ 0.00243402 0.99998344 0.00521479 0.2464868 ] [ 0.03713388 -0.00530159 0.99929624 1.07414413] [ 0. 0. 0. 1. ]] SLAMing on 159.992557844 meters Centerline goodness : 0.118642 Centerline is valid? [False, False] Translation: X:1.89, Y:0.25, Z:1.07 [[ 0.99930908 -0.00215845 -0.03710388 1.89498294] [ 0.0023605 0.99998262 0.00540243 0.24553334] [ 0.03709158 -0.00548628 0.99929681 1.07438078] [ 0. 0. 0. 1. ]] SLAMing on 160.022557844 meters Centerline goodness : 0.146243 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99939596 -0.00284452 -0.03463552 1.93838157] [ 0.0030125 0.99998395 0.00479881 0.24119846] [ 0.03462131 -0.00490025 0.99938849 1.07572324] [ 0. 0. 0. 1. ]] SLAMing on 160.052557844 meters Centerline goodness : 0.173219 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99940654 -0.0027373 -0.03433752 1.93720616] [ 0.0029127 0.99998296 0.00505922 0.23989619] [ 0.03432309 -0.00515623 0.99939749 1.0763421 ] [ 0. 0. 0. 1. ]] SLAMing on 160.082557844 meters Centerline goodness : 0.158993 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99941418 -0.00261941 -0.03412371 1.93634322] [ 0.00280227 0.99998196 0.00531222 0.23879451] [ 0.03410918 -0.00540473 0.9994035 1.07679406] [ 0. 0. 0. 1. ]] SLAMing on 160.112557844 meters Centerline goodness : 0.175649 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:1.08 [[ 0.99941334 -0.00240804 -0.03416387 1.93660751] [ 0.00261024 0.99997934 0.00587503 0.2361595 ] [ 0.03414901 -0.00596076 0.99939898 1.07641724] [ 0. 0. 0. 1. ]] SLAMing on 160.142557844 meters Centerline goodness : 0.163790 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940716 -0.00230428 -0.0343514 1.9373192 ] [ 0.00251919 0.99997752 0.00621421 0.23439485] [ 0.03433631 -0.00629706 0.9993905 1.07597339] [ 0. 0. 0. 1. ]] SLAMing on 160.172557844 meters Centerline goodness : 0.171135 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940191 -0.00217214 -0.03451236 1.93786081] [ 0.00239907 0.99997577 0.00653518 0.23284013] [ 0.03449732 -0.00661407 0.9993829 1.07575001] [ 0. 0. 0. 1. ]] SLAMing on 160.202557844 meters Centerline goodness : 0.111591 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99940262 -0.00209336 -0.03449673 1.93762465] [ 0.00232627 0.99997476 0.00671283 0.231987 ] [ 0.03448181 -0.00678907 0.99938227 1.07607534] [ 0. 0. 0. 1. ]] SLAMing on 160.232557844 meters Centerline goodness : 0.157799 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99432622e-01 -1.81545419e-03 -3.36323888e-02 1.93447013e+00] [ 2.05041343e-03 9.99973726e-01 6.95292807e-03 2.31556138e-01] [ 3.36188824e-02 -7.01794344e-03 9.99410086e-01 1.07771158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262557844 meters Centerline goodness : 0.165929 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99441781e-01 -1.74968816e-03 -3.33626399e-02 1.93328485e+00] [ 1.98543237e-03 9.99973288e-01 7.03429480e-03 2.31398804e-01] [ 3.33494409e-02 -7.09660738e-03 9.99418557e-01 1.07848338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29255784400002 meters Centerline goodness : 0.170560 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99449964e-01 -1.66264182e-03 -3.31210564e-02 1.93251661e+00] [ 1.90298348e-03 9.99972080e-01 7.22626021e-03 2.30604592e-01] [ 3.31081170e-02 -7.28531433e-03 9.99425223e-01 1.07868475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32255784400002 meters Centerline goodness : 0.167041 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99450244e-01 -1.55405611e-03 -3.31179022e-02 1.93257768e+00] [ 1.80405443e-03 9.99970096e-01 7.52019268e-03 2.29226556e-01] [ 3.31052250e-02 -7.57580491e-03 9.99423159e-01 1.07850917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35255784400002 meters Centerline goodness : 0.156988 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:1.08 [[ 9.99441684e-01 -1.50389286e-03 -3.33775169e-02 1.93360808e+00] [ 1.76729048e-03 9.99967522e-01 7.86336954e-03 2.27285065e-01] [ 3.33646072e-02 -7.91796706e-03 9.99411881e-01 1.07780388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38255784400002 meters Centerline goodness : 0.167771 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99938728 -0.00365272 -0.0348098 1.94033595] [ 0.00387465 0.99997258 0.00631021 0.22290313] [ 0.0347858 -0.00644122 0.99937403 1.07419787] [ 0. 0. 0. 1. ]] SLAMing on 160.41255784400002 meters Centerline goodness : 0.168943 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99938727 -0.00354253 -0.03482133 1.9402847 ] [ 0.00377443 0.99997112 0.00659622 0.22159278] [ 0.03479696 -0.00672361 0.99937179 1.0742616 ] [ 0. 0. 0. 1. ]] SLAMing on 160.44255784400002 meters Centerline goodness : 0.165671 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942008 0.00456147 -0.03374446 1.95812648] [-0.00437978 0.99997552 0.00545626 0.21529427] [ 0.03376853 -0.0053053 0.9994156 1.07647032] [ 0. 0. 0. 1. ]] SLAMing on 160.472557844 meters Centerline goodness : 0.166392 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942129 0.00456896 -0.03370777 1.95779298] [-0.00438779 0.99997554 0.00544671 0.21537796] [ 0.03373183 -0.00529566 0.99941689 1.07687349] [ 0. 0. 0. 1. ]] SLAMing on 160.502557844 meters Centerline goodness : 0.165909 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99940281 0.00453608 -0.03425549 1.95970385] [-0.00435691 0.99997645 0.0053033 0.21609542] [ 0.03427874 -0.00515089 0.99939904 1.07608684] [ 0. 0. 0. 1. ]] SLAMing on 160.532557844 meters Centerline goodness : 0.168999 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99939904 0.0045137 -0.03436829 1.96029462] [-0.00433778 0.99997712 0.00519156 0.21671574] [ 0.03439093 -0.00503936 0.99939575 1.07562586] [ 0. 0. 0. 1. ]] SLAMing on 160.562557844 meters Centerline goodness : 0.166268 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99940673 0.00449329 -0.0341466 1.9596084 ] [-0.0043247 0.9999781 0.00500948 0.21771734] [ 0.03416836 -0.00485883 0.99940428 1.07587469] [ 0. 0. 0. 1. ]] SLAMing on 160.592557844 meters Centerline goodness : 0.114097 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943798 0.00459262 -0.03320591 1.95642457] [-0.00443586 0.99997868 0.00479278 0.21886666] [ 0.03322721 -0.00464279 0.99943704 1.0774352 ] [ 0. 0. 0. 1. ]] SLAMing on 160.622557844 meters Centerline goodness : 0.171668 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943715 0.00456074 -0.03323526 1.95622757] [-0.00440641 0.99997917 0.00471526 0.21909354] [ 0.03325607 -0.00456616 0.99943643 1.07794391] [ 0. 0. 0. 1. ]] SLAMing on 160.652557844 meters Centerline goodness : 0.167917 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99943109 0.00453615 -0.03342022 1.95673725] [-0.00438213 0.99997945 0.00468043 0.21913033] [ 0.03344076 -0.00453131 0.99943043 1.07786874] [ 0. 0. 0. 1. ]] SLAMing on 160.682557844 meters Centerline goodness : 0.161595 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.08 [[ 0.99942133 0.00452174 -0.03371295 1.95792423] [-0.00436504 0.99997933 0.00472036 0.21880116] [ 0.03373359 -0.00457047 0.99942041 1.07711689] [ 0. 0. 0. 1. ]] SLAMing on 160.712557844 meters Centerline goodness : 0.160402 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.08 [[ 0.99934772 -0.00385182 -0.03590677 1.93881907] [ 0.00406656 0.99997427 0.00590929 0.22374736] [ 0.03588309 -0.00605145 0.99933767 1.07579191] [ 0. 0. 0. 1. ]] SLAMing on 160.742557844 meters Centerline goodness : 0.165707 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.99933174 -0.00375943 -0.0363584 1.94067357] [ 0.00398594 0.99997309 0.00615939 0.22269915] [ 0.03633427 -0.0063002 0.99931983 1.07454557] [ 0. 0. 0. 1. ]] SLAMing on 160.772557844 meters Centerline goodness : 0.177358 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9993306 -0.00374219 -0.03639164 1.94071755] [ 0.0039693 0.99997308 0.00617049 0.22274318] [ 0.03636757 -0.00631081 0.99931855 1.07462551] [ 0. 0. 0. 1. ]] SLAMing on 160.802557844 meters Centerline goodness : 0.177358 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.07 [[ 0.9993306 -0.00374219 -0.03639164 1.94071755] [ 0.0039693 0.99997308 0.00617049 0.22274318] [ 0.03636757 -0.00631081 0.99931855 1.07462551] [ 0. 0. 0. 1. ]] SLAMing on 160.832557844 meters Centerline goodness : 0.161298 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:1.08 [[ 0.99933072 -0.00381092 -0.03638119 1.94042454] [ 0.00402888 0.99997436 0.00591953 0.22403706] [ 0.0363577 -0.00606214 0.99932045 1.07512755] [ 0. 0. 0. 1. ]] SLAMing on 160.862557844 meters Centerline goodness : 0.156978 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99931245 -0.00388924 -0.03687142 1.94179491] [ 0.00408924 0.99997733 0.00535028 0.22730765] [ 0.03684977 -0.00549738 0.9993057 1.07500258] [ 0. 0. 0. 1. ]] SLAMing on 160.892557844 meters Centerline goodness : 0.160333 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99930697 -0.00399253 -0.03700877 1.94246862] [ 0.00418344 0.99997833 0.0050825 0.22854463] [ 0.03698767 -0.0052338 0.99930202 1.07450548] [ 0. 0. 0. 1. ]] SLAMing on 160.922557844 meters Centerline goodness : 0.161247 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99931055 -0.00406146 -0.03690429 1.94237349] [ 0.00424591 0.99997888 0.00492118 0.22922774] [ 0.03688352 -0.00507448 0.99930669 1.0742309 ] [ 0. 0. 0. 1. ]] SLAMing on 160.952557844 meters Centerline goodness : 0.160848 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.07 [[ 0.99932122 -0.00411782 -0.03660802 1.94144266] [ 0.0042968 0.99997919 0.00481169 0.22961946] [ 0.03658745 -0.00496572 0.99931812 1.0745007 ] [ 0. 0. 0. 1. ]] SLAMing on 160.982557844 meters Centerline goodness : 0.162476 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:1.08 [[ 0.99932876 -0.00420074 -0.03639214 1.94054474] [ 0.00437218 0.99997971 0.00463278 0.23042447] [ 0.03637194 -0.00478878 0.99932685 1.0750744 ] [ 0. 0. 0. 1. ]] SLAMing on 161.012557844 meters Centerline goodness : 0.166166 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940814 0.00403242 -0.03416298 1.95888498] [-0.0039191 0.9999866 0.00338329 0.22860924] [ 0.03417616 -0.0032474 0.99941055 1.07650325] [ 0. 0. 0. 1. ]] SLAMing on 161.04255784400002 meters Centerline goodness : 0.164301 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940881 0.00386659 -0.03416249 1.95890441] [-0.00376702 0.99998847 0.0029785 0.23064739] [ 0.03417361 -0.00284805 0.99941185 1.07652507] [ 0. 0. 0. 1. ]] SLAMing on 161.07255784400002 meters Centerline goodness : 0.168681 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:1.08 [[ 0.99940833 0.00367874 -0.03419742 1.95901206] [-0.00359519 0.9999904 0.00250442 0.23293815] [ 0.03420631 -0.00237999 0.99941196 1.07656366] [ 0. 0. 0. 1. ]] SLAMing on 161.10255784400002 meters Centerline goodness : 0.153765 Centerline is valid? [False, False] Translation: X:1.96, Y:0.24, Z:1.08 [[ 9.99405588e-01 3.47387541e-03 -3.42987393e-02 1.95918854e+00] [-3.40805099e-03 9.99992237e-01 1.97742670e-03 2.35472076e-01] [ 3.43053424e-02 -1.85935944e-03 9.99409669e-01 1.07681957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13255784400002 meters Centerline goodness : 0.114462 Centerline is valid? [False, False] Translation: X:1.95, Y:0.24, Z:1.08 [[ 0.99942408 0.00574028 -0.03344496 1.95492944] [-0.00562836 0.99997825 0.00343954 0.24185158] [ 0.03346398 -0.00324932 0.99943464 1.07917777] [ 0. 0. 0. 1. ]] SLAMing on 161.16255784400002 meters Centerline goodness : 0.159996 Centerline is valid? [False, False] Translation: X:1.95, Y:0.24, Z:1.08 [[ 0.99943351 0.00554799 -0.03319446 1.9541289 ] [-0.00545619 0.99998104 0.00285546 0.24476397] [ 0.03320967 -0.00267273 0.99944483 1.0795752 ] [ 0. 0. 0. 1. ]] SLAMing on 161.19255784400002 meters Centerline goodness : 0.161570 Centerline is valid? [False, False] Translation: X:1.95, Y:0.25, Z:1.08 [[ 0.99943914 0.00533421 -0.03305985 1.9536533 ] [-0.00526171 0.99998356 0.00227973 0.24752625] [ 0.03307146 -0.0021045 0.99945077 1.07988534] [ 0. 0. 0. 1. ]] SLAMing on 161.222557844 meters Centerline goodness : 0.157301 Centerline is valid? [False, False] Translation: X:1.95, Y:0.25, Z:1.08 [[ 9.99441229e-01 5.11984903e-03 -3.30305350e-02 1.95361321e+00] [-5.06385325e-03 9.99985597e-01 1.77870488e-03 2.49820322e-01] [ 3.30391660e-02 -1.61044921e-03 9.99452760e-01 1.07989264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252557844 meters Centerline goodness : 0.139733 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:1.08 [[ 9.99423959e-01 4.69794322e-03 -3.36107077e-02 1.95582608e+00] [-4.66978035e-03 9.99988677e-01 9.16364425e-04 2.53447553e-01] [ 3.36146322e-02 -7.58881938e-04 9.99434580e-01 1.07874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters Centerline goodness : 0.114976 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99415497e-01 4.55385725e-03 -3.38810636e-02 1.95686440e+00] [-4.53666059e-03 9.99989539e-01 5.84418079e-04 2.55027772e-01] [ 3.38833705e-02 -4.30369599e-04 9.99425701e-01 1.07820591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312557844 meters Centerline goodness : 0.132373 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99409206e-01 4.40979697e-03 -3.40850742e-02 1.95759731e+00] [-4.40438266e-03 9.99990273e-01 2.33929343e-04 2.56857397e-01] [ 3.40857742e-02 -8.36674295e-05 9.99418908e-01 1.07787389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters Centerline goodness : 0.155399 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:1.08 [[ 9.99409632e-01 4.17184018e-03 -3.41025387e-02 1.95785115e+00] [-4.19094154e-03 9.99991099e-01 -4.88652661e-04 2.60789748e-01] [ 3.41001966e-02 6.31285923e-04 9.99418220e-01 1.07771137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372557844 meters Centerline goodness : 0.117685 Centerline is valid? [False, False] Translation: X:1.98, Y:0.27, Z:1.08 [[ 9.99452030e-01 -3.96136373e-03 -3.28625497e-02 1.97726548e+00] [ 3.97546960e-03 9.99992032e-01 3.63909820e-04 2.65415622e-01] [ 3.28608463e-02 -4.94354476e-04 9.99459814e-01 1.07946715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402557844 meters Centerline goodness : 0.166223 Centerline is valid? [False, False] Translation: X:1.98, Y:0.27, Z:1.08 [[ 9.99458236e-01 -4.11263397e-03 -3.26545755e-02 1.97664166e+00] [ 4.11542142e-03 9.99991531e-01 1.81502644e-05 2.66959217e-01] [ 3.26542243e-02 -1.52527771e-04 9.99466697e-01 1.07964174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432557844 meters Centerline goodness : 0.159831 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:1.08 [[ 9.99500079e-01 3.87563488e-03 -3.13778778e-02 1.99591542e+00] [-3.91758652e-03 9.99991513e-01 -1.27561362e-03 2.63303374e-01] [ 3.13726676e-02 1.39790146e-03 9.99506779e-01 1.08084679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462557844 meters Centerline goodness : 0.116051 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 9.99499642e-01 3.71992166e-03 -3.14106225e-02 1.99604219e+00] [-3.77357573e-03 9.99991520e-01 -1.64904329e-03 2.65181572e-01] [ 3.14042218e-02 1.76674854e-03 9.99505204e-01 1.08081329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.492557844 meters Centerline goodness : 0.159756 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99949589 0.00357427 -0.03154663 1.99658157] [-0.0036407 0.99999127 -0.00204849 0.26725688] [ 0.03153903 0.00216231 0.99950018 1.08056599] [ 0. 0. 0. 1. ]] SLAMing on 161.522557844 meters Centerline goodness : 0.108725 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99948311 0.00321556 -0.03198704 1.99784083] [-0.00331357 0.99998998 -0.00301158 0.27180795] [ 0.03197703 0.00311601 0.99948375 1.08051379] [ 0. 0. 0. 1. ]] SLAMing on 161.552557844 meters Centerline goodness : 0.162399 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:1.08 [[ 0.99948185 0.00302531 -0.03204486 1.99792895] [-0.0031428 0.99998852 -0.00361683 0.27490971] [ 0.03203355 0.00371567 0.99947989 1.08075641] [ 0. 0. 0. 1. ]] SLAMing on 161.582557844 meters Centerline goodness : 0.106905 Centerline is valid? [False, False] Translation: X:2.00, Y:0.28, Z:1.08 [[ 0.99948488 0.0028835 -0.03196353 1.99753551] [-0.00301953 0.99998659 -0.00420812 0.27822001] [ 0.03195097 0.00430247 0.99948018 1.08115028] [ 0. 0. 0. 1. ]] SLAMing on 161.612557844 meters Centerline goodness : 0.112419 Centerline is valid? [False, False] Translation: X:2.00, Y:0.28, Z:1.08 [[ 0.9994846 0.00276408 -0.03198282 1.99777332] [-0.00292885 0.99998267 -0.0051062 0.28348432] [ 0.03196816 0.00519724 0.99947538 1.08115542] [ 0. 0. 0. 1. ]] SLAMing on 161.642557844 meters Centerline goodness : 0.114406 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.9994781 0.0025559 -0.03220237 1.99862057] [-0.00273999 0.99998015 -0.00567364 0.28610131] [ 0.03218723 0.00575892 0.99946527 1.08078977] [ 0. 0. 0. 1. ]] SLAMing on 161.672557844 meters Centerline goodness : 0.164001 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99947124 0.0023754 -0.0324284 1.99939155] [-0.00257894 0.99997723 -0.00623598 0.28878747] [ 0.03241285 0.00631632 0.99945461 1.08057615] [ 0. 0. 0. 1. ]] SLAMing on 161.702557844 meters Centerline goodness : 0.132107 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99946802 0.00225191 -0.03253608 1.9997142 ] [-0.00247441 0.99997382 -0.00679991 0.29182613] [ 0.03251991 0.00687681 0.99944743 1.08064169] [ 0. 0. 0. 1. ]] SLAMing on 161.732557844 meters Centerline goodness : 0.112678 Centerline is valid? [False, False] Translation: X:2.00, Y:0.29, Z:1.08 [[ 0.99947185 0.00225627 -0.03241807 1.99920475] [-0.0024938 0.99997033 -0.00728859 0.29488732] [ 0.03240066 0.00736558 0.99944782 1.08114393] [ 0. 0. 0. 1. ]] SLAMing on 161.762557844 meters Centerline goodness : 0.174463 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.08 [[ 0.99949731 0.00424874 -0.03141777 1.99489046] [-0.00444184 0.99997166 -0.00607906 0.30039569] [ 0.03139105 0.00621556 0.99948785 1.08329373] [ 0. 0. 0. 1. ]] SLAMing on 161.79255784400002 meters Centerline goodness : 0.108950 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.08 [[ 0.99949985 0.00412963 -0.03135289 1.99469147] [-0.00433507 0.99996956 -0.00648762 0.30238992] [ 0.03132515 0.00662029 0.99948732 1.08340956] [ 0. 0. 0. 1. ]] SLAMing on 161.82255784400002 meters Centerline goodness : 0.172909 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99949486 -0.00229913 -0.03169757 2.01028316] [ 0.0021571 0.99998748 -0.0045144 0.30773626] [ 0.03170755 0.00444375 0.99948731 1.08717413] [ 0. 0. 0. 1. ]] SLAMing on 161.85255784400002 meters Centerline goodness : 0.119062 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.9995019 -0.00238288 -0.0314686 2.0096323 ] [ 0.00223007 0.99998556 -0.00489022 0.3097756 ] [ 0.0314798 0.00481761 0.99949278 1.08736152] [ 0. 0. 0. 1. ]] SLAMing on 161.88255784400002 meters Centerline goodness : 0.177258 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99950694 -0.00244095 -0.03130354 2.00910917] [ 0.0022789 0.99998382 -0.00521137 0.31154319] [ 0.03131575 0.00513746 0.99949634 1.08758924] [ 0. 0. 0. 1. ]] SLAMing on 161.91255784400002 meters Centerline goodness : 0.169838 Centerline is valid? [False, False] Translation: X:2.01, Y:0.31, Z:1.09 [[ 0.99950802 -0.0025352 -0.03126157 2.00917201] [ 0.00235543 0.99998049 -0.00578604 0.31449455] [ 0.03127563 0.00570956 0.99949449 1.087356 ] [ 0. 0. 0. 1. ]] SLAMing on 161.94255784400002 meters Centerline goodness : 0.300104 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99950576 -0.00261077 -0.03132758 2.00934017] [ 0.00242262 0.99997881 -0.00604261 0.31576318] [ 0.03134269 0.00596373 0.99949091 1.08739874] [ 0. 0. 0. 1. ]] SLAMing on 161.972557844 meters Centerline goodness : 0.176298 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99949782 -0.00262873 -0.03157837 2.01014657] [ 0.00243292 0.99997759 -0.00623779 0.31695008] [ 0.03159406 0.00615783 0.99948181 1.08715173] [ 0. 0. 0. 1. ]] SLAMing on 162.002557844 meters Centerline goodness : 0.179979 Centerline is valid? [False, False] Translation: X:2.01, Y:0.32, Z:1.09 [[ 0.99949284 -0.00265313 -0.03173376 2.01055333] [ 0.0024478 0.99997583 -0.00650751 0.31855012] [ 0.03175026 0.00642653 0.99947517 1.0871592 ] [ 0. 0. 0. 1. ]] SLAMing on 162.032557844 meters Centerline goodness : 0.277286 Centerline is valid? [False, False] Translation: X:2.03, Y:0.32, Z:1.09 [[ 0.9995247 0.00704166 -0.03001303 2.0312192 ] [-0.00724492 0.99995152 -0.00666893 0.31830113] [ 0.02996461 0.0068832 0.99952726 1.08794204] [ 0. 0. 0. 1. ]] SLAMing on 162.062557844 meters Centerline goodness : 0.170324 Centerline is valid? [False, False] Translation: X:2.03, Y:0.32, Z:1.09 [[ 0.99954167 0.00703735 -0.02944368 2.02958886] [-0.00725033 0.99994828 -0.00713292 0.32089896] [ 0.02939196 0.00734313 0.99954099 1.08835709] [ 0. 0. 0. 1. ]] SLAMing on 162.092557844 meters Centerline goodness : 0.115140 Centerline is valid? [False, False] Translation: X:1.98, Y:0.33, Z:1.09 [[ 0.99944867 0.00961451 -0.03177917 1.98325674] [-0.00982316 0.99993117 -0.00641595 0.32784281] [ 0.0317153 0.00672459 0.99947432 1.08923652] [ 0. 0. 0. 1. ]] SLAMing on 162.122557844 meters Centerline goodness : 0.169827 Centerline is valid? [False, False] Translation: X:1.98, Y:0.33, Z:1.09 [[ 0.99943246 0.00958847 -0.03229262 1.98468271] [-0.00981541 0.99992819 -0.0068762 0.33051705] [ 0.03222437 0.00718927 0.9994548 1.08899456] [ 0. 0. 0. 1. ]] SLAMing on 162.152557844 meters Centerline goodness : 0.103530 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.09 [[ 0.99942178 0.00950872 -0.03264503 1.98591338] [-0.00975393 0.99992534 -0.00736017 0.33320924] [ 0.0325726 0.00767434 0.99943991 1.08845439] [ 0. 0. 0. 1. ]] SLAMing on 162.182557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 162.212557844 meters Centerline goodness : 0.245245 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.09 [[ 0.99940574 0.00945276 -0.03314831 1.98765111] [-0.00972041 0.99992137 -0.0079225 0.33651334] [ 0.03307082 0.00824001 0.99941904 1.08768169] [ 0. 0. 0. 1. ]] SLAMing on 162.242557844 meters Centerline goodness : 0.170126 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.09 [[ 0.99941352 0.00927519 -0.0329634 1.98701523] [-0.00954916 0.99992108 -0.00816363 0.33716755] [ 0.03288508 0.00847361 0.99942322 1.08789304] [ 0. 0. 0. 1. ]] SLAMing on 162.272557844 meters Centerline goodness : 0.240764 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99938897 0.0026349 -0.0348532 2.00321558] [-0.0028664 0.99997415 -0.00659362 0.34013542] [ 0.03483492 0.00668949 0.99937069 1.09216441] [ 0. 0. 0. 1. ]] SLAMing on 162.302557844 meters Centerline goodness : 0.169684 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99938377 0.00264643 -0.03500102 2.00333656] [-0.00287698 0.99997449 -0.00653815 0.33997943] [ 0.03498283 0.00663482 0.99936589 1.09260562] [ 0. 0. 0. 1. ]] SLAMing on 162.332557844 meters Centerline goodness : 0.132154 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.99937722 0.00264242 -0.0351879 2.00370949] [-0.00287612 0.99997413 -0.00659231 0.34055504] [ 0.03516957 0.00668941 0.99935897 1.092748 ] [ 0. 0. 0. 1. ]] SLAMing on 162.362557844 meters Centerline goodness : 0.175681 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.9993746 0.00254195 -0.03526968 2.0038239 ] [-0.00278861 0.99997199 -0.00694602 0.34266002] [ 0.03525104 0.00704003 0.99935369 1.09298376] [ 0. 0. 0. 1. ]] SLAMing on 162.392557844 meters Centerline goodness : 0.260053 Centerline is valid? [False, False] Translation: X:2.00, Y:0.34, Z:1.09 [[ 0.9993836 0.00245921 -0.03501956 2.00294515] [-0.00271221 0.99997055 -0.00717886 0.34368029] [ 0.03500087 0.00726942 0.99936084 1.09338509] [ 0. 0. 0. 1. ]] SLAMing on 162.422557844 meters Centerline goodness : 0.138464 Centerline is valid? [False, False] Translation: X:2.02, Y:0.35, Z:1.10 [[ 0.99940785 -0.00531264 -0.03399608 2.01949202] [ 0.00510875 0.99996846 -0.0060816 0.34940056] [ 0.03402731 0.00590432 0.99940346 1.09586953] [ 0. 0. 0. 1. ]] SLAMing on 162.452557844 meters Centerline goodness : 0.155324 Centerline is valid? [False, False] Translation: X:2.04, Y:0.35, Z:1.10 [[ 0.99947163 0.00290058 -0.03237346 2.03902735] [-0.00313597 0.999969 -0.00722259 0.34684876] [ 0.03235151 0.0073203 0.99944975 1.09756171] [ 0. 0. 0. 1. ]] SLAMing on 162.482557844 meters Centerline goodness : 0.262887 Centerline is valid? [False, False] Translation: X:1.99, Y:0.35, Z:1.10 [[ 0.99937137 0.00431306 -0.03518905 1.99248443] [-0.00455387 0.99996674 -0.00676579 0.34823412] [ 0.0351587 0.00692179 0.99935777 1.09840062] [ 0. 0. 0. 1. ]] SLAMing on 162.512557844 meters Centerline goodness : 0.122010 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.99935743 -0.00347065 -0.0356747 2.01183083] [ 0.00325926 0.9999768 -0.00598182 0.35260127] [ 0.03569463 0.00586171 0.99934555 1.09987756] [ 0. 0. 0. 1. ]] SLAMing on 162.54255784400002 meters Centerline goodness : 0.375025 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.99935511 -0.00338242 -0.03574801 2.01201857] [ 0.00317482 0.99997777 -0.0058626 0.35212279] [ 0.03576705 0.00574533 0.99934364 1.09984955] [ 0. 0. 0. 1. ]] SLAMing on 162.57255784400002 meters Centerline goodness : 0.171317 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.9993543 -0.00323039 -0.03578481 2.01180691] [ 0.00302786 0.9999791 -0.00571261 0.35177492] [ 0.03580251 0.00560057 0.99934319 1.10030747] [ 0. 0. 0. 1. ]] SLAMing on 162.60255784400002 meters Centerline goodness : 0.399892 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 0.9993576 -0.00307389 -0.03570627 2.0113531 ] [ 0.00287733 0.99998043 -0.00555514 0.35120588] [ 0.03572265 0.00544884 0.99934689 1.10068792] [ 0. 0. 0. 1. ]] SLAMing on 162.63255784400002 meters Centerline goodness : 0.159140 Centerline is valid? [False, False] Translation: X:1.99, Y:0.34, Z:1.10 [[ 0.9993909 0.00586829 -0.03440053 1.98846696] [-0.0060698 0.99996501 -0.00575618 0.34362021] [ 0.03436555 0.00596147 0.99939155 1.09942521] [ 0. 0. 0. 1. ]] SLAMing on 162.66255784400002 meters Centerline goodness : 0.111402 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99456504e-01 -1.98944702e-03 -3.29049981e-02 2.00664219e+00] [ 1.83638530e-03 9.99987357e-01 -4.68119276e-03 3.46589007e-01] [ 3.29138950e-02 4.61822230e-03 9.99447521e-01 1.10059783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69255784400002 meters Centerline goodness : 0.111402 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99456504e-01 -1.98944702e-03 -3.29049981e-02 2.00664219e+00] [ 1.83638530e-03 9.99987357e-01 -4.68119276e-03 3.46589007e-01] [ 3.29138950e-02 4.61822230e-03 9.99447521e-01 1.10059783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722557844 meters Centerline goodness : 0.167637 Centerline is valid? [False, False] Translation: X:2.01, Y:0.35, Z:1.10 [[ 9.99464189e-01 -1.80204640e-03 -3.26815959e-02 2.00600040e+00] [ 1.66044056e-03 9.99989119e-01 -4.35951534e-03 3.45190643e-01] [ 3.26890963e-02 4.30291362e-03 9.99456306e-01 1.10067217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752557844 meters Centerline goodness : 0.388325 Centerline is valid? [False, False] Translation: X:2.01, Y:0.34, Z:1.10 [[ 9.99451529e-01 -1.36131688e-03 -3.30875912e-02 2.00756054e+00] [ 1.24381982e-03 9.99992849e-01 -3.57141512e-03 3.41794038e-01] [ 3.30922164e-02 3.52830130e-03 9.99446075e-01 1.09972101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782557844 meters Centerline goodness : 0.260712 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99936693 0.00693659 -0.0348946 1.98846344] [-0.00709968 0.99996444 -0.0045521 0.33485606] [ 0.03486178 0.00479696 0.99938063 1.09791268] [ 0. 0. 0. 1. ]] SLAMing on 162.812557844 meters Centerline goodness : 0.184843 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99935829 0.0070962 -0.03510928 1.98927912] [-0.00724634 0.99996513 -0.00415104 0.33288487] [ 0.0350786 0.00440279 0.99937486 1.09743312] [ 0. 0. 0. 1. ]] SLAMing on 162.842557844 meters Centerline goodness : 0.197496 Centerline is valid? [False, False] Translation: X:1.99, Y:0.33, Z:1.10 [[ 0.99934745 0.0074541 -0.03534278 1.98977914] [-0.00757146 0.99996625 -0.0031881 0.32825046] [ 0.03531783 0.00345362 0.99937016 1.09750865] [ 0. 0. 0. 1. ]] SLAMing on 162.872557844 meters Centerline goodness : 0.174561 Centerline is valid? [False, False] Translation: X:1.97, Y:0.33, Z:1.10 [[ 9.99343149e-01 -1.25000383e-03 -3.62175223e-02 1.96807357e+00] [ 1.17623572e-03 9.99997190e-01 -2.05804272e-03 3.28873421e-01] [ 3.62199931e-02 2.01409055e-03 9.99341811e-01 1.09655399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters Centerline goodness : 0.115901 Centerline is valid? [False, False] Translation: X:1.97, Y:0.33, Z:1.10 [[ 9.99342538e-01 -9.91511498e-04 -3.62423510e-02 1.96823901e+00] [ 9.43114445e-04 9.99998641e-01 -1.35244445e-03 3.25478597e-01] [ 3.62436427e-02 1.31737459e-03 9.99342115e-01 1.09641537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932557844 meters Centerline goodness : 0.227101 Centerline is valid? [False, False] Translation: X:1.97, Y:0.32, Z:1.10 [[ 9.99340437e-01 -7.41681796e-04 -3.63062002e-02 1.96860173e+00] [ 7.20595854e-04 9.99999564e-01 -5.93862654e-04 3.21680793e-01] [ 3.63066248e-02 5.67308867e-04 9.99340536e-01 1.09610287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters Centerline goodness : 0.158994 Centerline is valid? [False, False] Translation: X:1.97, Y:0.32, Z:1.10 [[ 9.99335369e-01 -5.53717044e-04 -3.64487704e-02 1.96916313e+00] [ 5.57529929e-04 9.99999840e-01 9.44454821e-05 3.17979152e-01] [ 3.64487123e-02 -1.14703991e-04 9.99335518e-01 1.09576530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.992557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 163.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 163.052557844 meters Centerline goodness : 0.128534 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.10 [[ 9.99326094e-01 7.07950362e-06 -3.67063678e-02 1.96999415e+00] [ 4.92568089e-05 9.99998822e-01 1.53387854e-03 3.06776562e-01] [ 3.67063354e-02 -1.53465289e-03 9.99324917e-01 1.09562934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082557844 meters Centerline goodness : 0.243888 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99289802e-01 8.40113795e-03 -3.67330011e-02 1.94968286e+00] [-8.37991447e-03 9.99964620e-01 7.31703149e-04 3.00922244e-01] [ 3.67378487e-02 -4.23364086e-04 9.99324848e-01 1.09380034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112557844 meters Centerline goodness : 0.109148 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99292152e-01 8.49998007e-03 -3.66462284e-02 1.94944138e+00] [-8.47378036e-03 9.99963718e-01 8.70197602e-04 3.00395508e-01] [ 3.66522955e-02 -5.59049543e-04 9.99327923e-01 1.09380551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142557844 meters Centerline goodness : 0.156785 Centerline is valid? [False, False] Translation: X:1.95, Y:0.30, Z:1.09 [[ 9.99294676e-01 8.73270337e-03 -3.65224717e-02 1.94902128e+00] [-8.69674461e-03 9.99961529e-01 1.14331881e-03 2.99354622e-01] [ 3.65310509e-02 -8.24885787e-04 9.99332178e-01 1.09396243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172557844 meters Centerline goodness : 0.156137 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 9.99335307e-01 9.88252990e-04 -3.64412849e-02 1.96739978e+00] [-9.07064083e-04 9.99997070e-01 2.24440304e-03 3.02204316e-01] [ 3.64433962e-02 -2.20985662e-03 9.99333275e-01 1.09600400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202557844 meters Centerline goodness : 0.160978 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 9.99334158e-01 1.10139326e-03 -3.64695348e-02 1.96746140e+00] [-1.01152175e-03 9.99996407e-01 2.48264906e-03 3.01066096e-01] [ 3.64721382e-02 -2.44410628e-03 9.99331681e-01 1.09601920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232557844 meters Centerline goodness : 0.151676 Centerline is valid? [False, False] Translation: X:1.93, Y:0.30, Z:1.09 [[ 9.99181917e-01 1.51366131e-03 -4.04129263e-02 1.92579568e+00] [-1.38553235e-03 9.99993926e-01 3.19831429e-03 2.95822090e-01] [ 4.04175220e-02 -3.13970438e-03 9.99177945e-01 1.09473028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262557844 meters Centerline goodness : 0.111464 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99923069 0.00225122 -0.03915312 1.97152319] [-0.00211235 0.99999133 0.00358776 0.29549489] [ 0.03916085 -0.00350229 0.99922678 1.09533801] [ 0. 0. 0. 1. ]] SLAMing on 163.29255784400002 meters Centerline goodness : 0.149076 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99922669 0.00238742 -0.03924682 1.97181971] [-0.00223745 0.99999003 0.0038645 0.29420781] [ 0.03925565 -0.0037737 0.99922207 1.095258 ] [ 0. 0. 0. 1. ]] SLAMing on 163.32255784400002 meters Centerline goodness : 0.148132 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99922805 0.00252094 -0.03920392 1.97171201] [-0.00236046 0.99998865 0.0041391 0.29290809] [ 0.03921391 -0.00404336 0.99922266 1.09526859] [ 0. 0. 0. 1. ]] SLAMing on 163.35255784400002 meters Centerline goodness : 0.171352 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99923174 0.00260666 -0.03910415 1.97134984] [-0.00244101 0.99998785 0.00428331 0.29225391] [ 0.03911484 -0.00418457 0.99922596 1.09544342] [ 0. 0. 0. 1. ]] SLAMing on 163.38255784400002 meters Centerline goodness : 0.120946 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99923835 0.00266572 -0.03893079 1.97079157] [-0.0024993 0.99998753 0.00432279 0.29212716] [ 0.03894183 -0.00422219 0.99923256 1.09561466] [ 0. 0. 0. 1. ]] SLAMing on 163.41255784400002 meters Centerline goodness : 0.158855 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.10 [[ 0.99924662 0.00286543 -0.03870389 1.97045527] [-0.00270045 0.99998705 0.00431419 0.29251241] [ 0.03871575 -0.00420642 0.99924141 1.09514941] [ 0. 0. 0. 1. ]] SLAMing on 163.44255784400002 meters Centerline goodness : 0.121071 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.9992467 0.00287244 -0.03870116 1.97061344] [-0.00271128 0.99998744 0.00421606 0.29309488] [ 0.03871279 -0.00410795 0.99924194 1.09483131] [ 0. 0. 0. 1. ]] SLAMing on 163.472557844 meters Centerline goodness : 0.160783 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.99925106 0.00293003 -0.03858411 1.97030129] [-0.0027691 0.99998725 0.00422367 0.29332686] [ 0.03859599 -0.00411366 0.99924643 1.0948223 ] [ 0. 0. 0. 1. ]] SLAMing on 163.502557844 meters Centerline goodness : 0.157938 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:1.09 [[ 0.99926234 0.00299146 -0.03828617 1.96941367] [-0.00283151 0.99998704 0.00423139 0.29359812] [ 0.03829833 -0.00411986 0.99925786 1.09497837] [ 0. 0. 0. 1. ]] SLAMing on 163.532557844 meters Centerline goodness : 0.160187 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.10 [[ 0.99917806 0.00315681 -0.04041335 1.92204462] [-0.00296519 0.99998408 0.00480068 0.29069068] [ 0.04042786 -0.0046769 0.99917151 1.09525343] [ 0. 0. 0. 1. ]] SLAMing on 163.562557844 meters Centerline goodness : 0.112486 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.9991778 0.00307027 -0.0404264 1.92239485] [-0.00288137 0.99998466 0.00473004 0.29038691] [ 0.0404403 -0.00460967 0.99917132 1.09476433] [ 0. 0. 0. 1. ]] SLAMing on 163.592557844 meters Centerline goodness : 0.151857 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.99917066 0.00304211 -0.04060459 1.92311269] [-0.00285441 0.99998498 0.00467969 0.29053838] [ 0.04061822 -0.00455991 0.99916433 1.09429379] [ 0. 0. 0. 1. ]] SLAMing on 163.622557844 meters Centerline goodness : 0.163729 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:1.09 [[ 0.99915478 0.00308887 -0.04099015 1.92415304] [-0.00291312 0.99998631 0.00434656 0.2934929 ] [ 0.04100302 -0.00422348 0.9991501 1.09403231] [ 0. 0. 0. 1. ]] SLAMing on 163.652557844 meters Centerline goodness : 0.153300 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915713 0.00298164 -0.04094064 1.92389263] [-0.00281925 0.99998793 0.00402379 0.29521201] [ 0.04095214 -0.00390498 0.99915348 1.09422496] [ 0. 0. 0. 1. ]] SLAMing on 163.682557844 meters Centerline goodness : 0.377954 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99916003 0.00285808 -0.04087876 1.92356777] [-0.00270705 0.99998931 0.00374932 0.29641737] [ 0.04088904 -0.00363551 0.99915708 1.09445565] [ 0. 0. 0. 1. ]] SLAMing on 163.712557844 meters Centerline goodness : 0.148928 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915691 0.00275363 -0.04096212 1.92366947] [-0.00261104 0.99999035 0.00353431 0.29732751] [ 0.04097146 -0.00342438 0.99915445 1.09460661] [ 0. 0. 0. 1. ]] SLAMing on 163.742557844 meters Centerline goodness : 0.118490 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915329 0.00268911 -0.04105455 1.92397716] [-0.0025492 0.99999076 0.00346007 0.2976536 ] [ 0.04106347 -0.00335248 0.99915092 1.09446054] [ 0. 0. 0. 1. ]] SLAMing on 163.772557844 meters Centerline goodness : 0.162050 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.09 [[ 0.99915743 0.00270624 -0.04095253 1.92362124] [-0.00256127 0.99999027 0.00359205 0.29694021] [ 0.04096185 -0.00348414 0.99915464 1.09463441] [ 0. 0. 0. 1. ]] SLAMing on 163.802557844 meters Centerline goodness : 0.153099 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:1.10 [[ 0.99916323 0.00273578 -0.04080878 1.92304885] [-0.00258182 0.99998935 0.00382487 0.29561082] [ 0.04081881 -0.00371631 0.99915965 1.09504132] [ 0. 0. 0. 1. ]] SLAMing on 163.832557844 meters Centerline goodness : 0.161750 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99926709 0.00217411 -0.03821719 1.96621454] [-0.00205732 0.99999309 0.00309506 0.29700188] [ 0.03822365 -0.00301417 0.99926466 1.0965195 ] [ 0. 0. 0. 1. ]] SLAMing on 163.862557844 meters Centerline goodness : 0.154045 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99926514 0.00229921 -0.03826091 1.96633388] [-0.00217239 0.99999201 0.00335566 0.29606609] [ 0.03826832 -0.00327008 0.99926215 1.09655897] [ 0. 0. 0. 1. ]] SLAMing on 163.892557844 meters Centerline goodness : 0.158332 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99925578 0.00228883 -0.03850516 1.96725678] [-0.00216705 0.99999252 0.00320402 0.2968815 ] [ 0.0385122 -0.00311819 0.99925326 1.09603591] [ 0. 0. 0. 1. ]] SLAMing on 163.922557844 meters Centerline goodness : 0.150124 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.10 [[ 0.99924259 0.00222385 -0.03884984 1.96844813] [-0.00211484 0.99999371 0.00284679 0.29857649] [ 0.03885592 -0.00276247 0.999241 1.09546736] [ 0. 0. 0. 1. ]] SLAMing on 163.952557844 meters Centerline goodness : 0.118322 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.09 [[ 0.99921714 0.00291931 -0.03945368 1.97061816] [-0.00282095 0.99999277 0.00254866 0.30239616] [ 0.03946084 -0.00243537 0.99921815 1.09412428] [ 0. 0. 0. 1. ]] SLAMing on 163.982557844 meters Centerline goodness : 0.145073 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:1.09 [[ 0.99921939 0.003243 -0.03937111 1.97045602] [-0.00315549 0.99999241 0.00228457 0.30490795] [ 0.03937822 -0.00215855 0.99922205 1.0938334 ] [ 0. 0. 0. 1. ]] SLAMing on 164.012557844 meters Centerline goodness : 0.126020 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99227980e-01 3.38299432e-03 -3.91407716e-02 1.96982286e+00] [-3.31047292e-03 9.99992682e-01 1.91749921e-03 3.07473467e-01] [ 3.91469721e-02 -1.78644440e-03 9.99231867e-01 1.09371745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04255784400002 meters Centerline goodness : 0.143277 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99237852e-01 3.32677749e-03 -3.88927798e-02 1.96899147e+00] [-3.27030317e-03 9.99993504e-01 1.51558120e-03 3.09667893e-01] [ 3.88975692e-02 -1.38723492e-03 9.99242240e-01 1.09393907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07255784400002 meters Centerline goodness : 0.156414 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99246109e-01 3.21194072e-03 -3.86897508e-02 1.96828103e+00] [-3.16889799e-03 9.99994290e-01 1.17378367e-03 3.11287875e-01] [ 3.86933000e-02 -1.05029489e-03 9.99250582e-01 1.09419076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10255784400002 meters Centerline goodness : 0.203592 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99258401e-01 3.04739072e-03 -3.83843838e-02 1.96730875e+00] [-3.01954250e-03 9.99995134e-01 7.83461325e-04 3.13126537e-01] [ 3.83865845e-02 -6.66977033e-04 9.99262741e-01 1.09443135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13255784400002 meters Centerline goodness : 0.153608 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99258277e-01 3.02121129e-03 -3.83896773e-02 1.96733231e+00] [-2.99417279e-03 9.99995227e-01 7.61791322e-04 3.13194618e-01] [ 3.83917956e-02 -6.46280957e-04 9.99262554e-01 1.09440717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16255784400002 meters Centerline goodness : 0.111726 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99253323e-01 2.96819934e-03 -3.85225366e-02 1.96763621e+00] [-2.94090912e-03 9.99995383e-01 7.65069816e-04 3.13032936e-01] [ 3.85246296e-02 -6.51207277e-04 9.99257439e-01 1.09448479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19255784400002 meters Centerline goodness : 0.170632 Centerline is valid? [False, False] Translation: X:1.97, Y:0.31, Z:1.09 [[ 9.99247723e-01 2.91966736e-03 -3.86712122e-02 1.96796422e+00] [-2.89036795e-03 9.99995492e-01 8.13540538e-04 3.12548049e-01] [ 3.86734131e-02 -7.01154498e-04 9.99251658e-01 1.09460649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters Centerline goodness : 0.115843 Centerline is valid? [False, False] Translation: X:1.99, Y:0.32, Z:1.10 [[ 9.99241316e-01 -5.88858618e-03 -3.84982702e-02 1.98961741e+00] [ 5.95541950e-03 9.99980952e-01 1.62155876e-03 3.15056891e-01] [ 3.84879882e-02 -1.84960185e-03 9.99257351e-01 1.09643612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252557844 meters Centerline goodness : 0.160927 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.99924222 -0.00580096 -0.03848798 1.9894874 ] [ 0.00588427 0.99998058 0.0020517 0.31298854] [ 0.03847533 -0.00227662 0.99925696 1.09670063] [ 0. 0. 0. 1. ]] SLAMing on 164.282557844 meters Centerline goodness : 0.150689 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.9992455 -0.00576484 -0.0384083 1.98918308] [ 0.00586355 0.99997979 0.00245796 0.31077495] [ 0.03839335 -0.00268132 0.99925911 1.09700067] [ 0. 0. 0. 1. ]] SLAMing on 164.312557844 meters Centerline goodness : 0.162133 Centerline is valid? [False, False] Translation: X:1.99, Y:0.31, Z:1.10 [[ 0.99924206 -0.00578964 -0.03849384 1.98928741] [ 0.00590366 0.99997851 0.00284909 0.30825467] [ 0.03847652 -0.00307418 0.99925478 1.09729018] [ 0. 0. 0. 1. ]] SLAMing on 164.342557844 meters Centerline goodness : 0.159850 Centerline is valid? [False, False] Translation: X:1.99, Y:0.30, Z:1.10 [[ 9.99212416e-01 -9.64019713e-03 -3.84917307e-02 1.98895153e+00] [ 9.63585767e-03 9.99953530e-01 -2.98259289e-04 3.04400344e-01] [ 3.84928172e-02 -7.28764534e-05 9.99258874e-01 1.09790153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372557844 meters Centerline goodness : 0.162088 Centerline is valid? [False, False] Translation: X:2.01, Y:0.30, Z:1.10 [[ 9.99305798e-01 -1.79875953e-03 -3.72113812e-02 2.00688443e+00] [ 1.75261584e-03 9.99997654e-01 -1.27262518e-03 2.98613667e-01] [ 3.72135830e-02 1.20652447e-03 9.99306606e-01 1.09992448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402557844 meters Centerline goodness : 0.153287 Centerline is valid? [False, False] Translation: X:2.01, Y:0.30, Z:1.10 [[ 9.99314576e-01 -1.63166495e-03 -3.69826545e-02 2.00595968e+00] [ 1.60400314e-03 9.99998411e-01 -7.77625215e-04 2.96290700e-01] [ 3.69838646e-02 7.17771918e-04 9.99315605e-01 1.10054479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432557844 meters Centerline goodness : 0.152757 Centerline is valid? [False, False] Translation: X:2.01, Y:0.29, Z:1.10 [[ 9.99321871e-01 -1.50849407e-03 -3.67902487e-02 2.00518856e+00] [ 1.49541422e-03 9.99998809e-01 -3.83039892e-04 2.94321076e-01] [ 3.67907827e-02 3.27763481e-04 9.99322936e-01 1.10108748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462557844 meters Centerline goodness : 0.164637 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.9993982 0.00443111 -0.03440355 2.02580902] [-0.00455367 0.99998356 -0.00348479 0.29100325] [ 0.03438754 0.00363936 0.99940195 1.10165315] [ 0. 0. 0. 1. ]] SLAMing on 164.492557844 meters Centerline goodness : 0.154700 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939475 0.00449011 -0.03449585 2.02628595] [-0.00460971 0.99998364 -0.00338822 0.29069056] [ 0.03448007 0.00354518 0.9993991 1.10121921] [ 0. 0. 0. 1. ]] SLAMing on 164.522557844 meters Centerline goodness : 0.156542 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939061 0.00451849 -0.03461211 2.02690801] [-0.00463837 0.99998352 -0.00338404 0.2908585 ] [ 0.03459625 0.00354252 0.99939509 1.10064205] [ 0. 0. 0. 1. ]] SLAMing on 164.552557844 meters Centerline goodness : 0.162264 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99938375 0.00451487 -0.03481014 2.02768799] [-0.00463744 0.99998333 -0.00344117 0.29119067] [ 0.03479403 0.00360048 0.99938802 1.10016359] [ 0. 0. 0. 1. ]] SLAMing on 164.582557844 meters Centerline goodness : 0.150277 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99937239 0.00442713 -0.0351459 2.02878932] [-0.00455538 0.99998325 -0.00356971 0.29125372] [ 0.03512951 0.00372757 0.99937582 1.09971883] [ 0. 0. 0. 1. ]] SLAMing on 164.612557844 meters Centerline goodness : 0.150277 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99937239 0.00442713 -0.0351459 2.02878932] [-0.00455538 0.99998325 -0.00356971 0.29125372] [ 0.03512951 0.00372757 0.99937582 1.09971883] [ 0. 0. 0. 1. ]] SLAMing on 164.642557844 meters Centerline goodness : 0.119269 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936777 0.00438647 -0.03528189 2.02904412] [-0.00451645 0.9999833 -0.0036052 0.29122015] [ 0.03526549 0.00376227 0.9993709 1.09985142] [ 0. 0. 0. 1. ]] SLAMing on 164.672557844 meters Centerline goodness : 0.159974 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936215 0.00434581 -0.03544595 2.02963112] [-0.00447959 0.99998314 -0.0036956 0.29169402] [ 0.03542929 0.00385203 0.99936476 1.09954864] [ 0. 0. 0. 1. ]] SLAMing on 164.702557844 meters Centerline goodness : 0.165127 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99935872 0.00434454 -0.03554253 2.0302712 ] [-0.00448044 0.99998295 -0.00374489 0.29215687] [ 0.03552565 0.00390174 0.99936115 1.09890194] [ 0. 0. 0. 1. ]] SLAMing on 164.732557844 meters Centerline goodness : 0.315279 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99936936 0.00428274 -0.0352496 2.02949397] [-0.00441244 0.99998378 -0.00360236 0.29124887] [ 0.0352336 0.00375563 0.99937205 1.09902028] [ 0. 0. 0. 1. ]] SLAMing on 164.762557844 meters Centerline goodness : 0.160937 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99938203 0.0041714 -0.03490207 2.02817416] [-0.00429534 0.99998473 -0.00347663 0.29012685] [ 0.03488703 0.0036244 0.99938469 1.09979711] [ 0. 0. 0. 1. ]] SLAMing on 164.79255784400002 meters Centerline goodness : 0.157479 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:1.10 [[ 0.99939178 0.00412212 -0.03462758 2.0270319 ] [-0.0042384 0.99998562 -0.00328542 0.28891698] [ 0.03461354 0.00343019 0.99939489 1.1006214 ] [ 0. 0. 0. 1. ]] SLAMing on 164.82255784400002 meters Centerline goodness : 0.135276 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99420967e-01 -3.90379816e-03 -3.38007487e-02 2.04689599e+00] [ 3.83767215e-03 9.99990594e-01 -2.02100332e-03 2.92639245e-01] [ 3.38083204e-02 1.89011690e-03 9.99426548e-01 1.10257984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85255784400002 meters Centerline goodness : 0.172074 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99429793e-01 -3.95174230e-03 -3.35331436e-02 2.04646564e+00] [ 3.89339747e-03 9.99990792e-01 -1.80503443e-03 2.91433379e-01] [ 3.35399678e-02 1.67344733e-03 9.99435976e-01 1.10226003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88255784400002 meters Centerline goodness : 0.160073 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:1.10 [[ 9.99437137e-01 -3.99257576e-03 -3.33086886e-02 2.04571993e+00] [ 3.93496172e-03 9.99990647e-01 -1.79507347e-03 2.91139525e-01] [ 3.33155440e-02 1.66299468e-03 9.99443500e-01 1.10252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91255784400002 meters Centerline goodness : 0.172477 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:1.10 [[ 0.99948434 0.0038655 -0.03187646 2.06369492] [-0.00397843 0.99998603 -0.00348019 0.28797777] [ 0.03186256 0.00360521 0.99948576 1.10485274] [ 0. 0. 0. 1. ]] SLAMing on 164.94255784400002 meters Centerline goodness : 0.153738 Centerline is valid? [False, False] Translation: X:2.06, Y:0.29, Z:1.11 [[ 0.99948735 0.00379844 -0.03178998 2.06317151] [-0.00391655 0.99998565 -0.00365398 0.28889565] [ 0.03177565 0.00377661 0.99948789 1.10532612] [ 0. 0. 0. 1. ]] SLAMing on 164.972557844 meters Centerline goodness : 0.170006 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 9.99413864e-01 -4.20328007e-03 -3.39744027e-02 2.04542527e+00] [ 4.13144288e-03 9.99989080e-01 -2.18437592e-03 2.95442758e-01] [ 3.39832133e-02 2.04273228e-03 9.99420316e-01 1.10319324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002557844 meters Centerline goodness : 0.121488 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99940605 -0.00423843 -0.03419928 2.04612724] [ 0.00416257 0.99998872 -0.00228908 0.29592531] [ 0.0342086 0.00214537 0.99941241 1.10292438] [ 0. 0. 0. 1. ]] SLAMing on 165.032557844 meters Centerline goodness : 0.174895 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99940936 -0.00425419 -0.03410045 2.04570334] [ 0.00417794 0.99998861 -0.00230682 0.29596789] [ 0.03410987 0.00216299 0.99941575 1.1031898 ] [ 0. 0. 0. 1. ]] SLAMing on 165.062557844 meters Centerline goodness : 0.165540 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99942033 -0.00432565 -0.03376815 2.04456133] [ 0.00424875 0.99998822 -0.0023488 0.29610974] [ 0.03377791 0.00220397 0.99942693 1.1036797 ] [ 0. 0. 0. 1. ]] SLAMing on 165.092557844 meters Centerline goodness : 0.165246 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99942301 -0.00439821 -0.03367939 2.04445139] [ 0.00431668 0.99998758 -0.00249299 0.29680828] [ 0.03368994 0.00234617 0.99942958 1.10345686] [ 0. 0. 0. 1. ]] SLAMing on 165.122557844 meters Centerline goodness : 0.166663 Centerline is valid? [False, False] Translation: X:2.04, Y:0.30, Z:1.10 [[ 0.99941971 -0.00450129 -0.03376348 2.04484718] [ 0.00441296 0.99998664 -0.00269029 0.29768032] [ 0.03377514 0.00253973 0.99942623 1.10312716] [ 0. 0. 0. 1. ]] SLAMing on 165.152557844 meters Centerline goodness : 0.115551 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941487 -0.00461683 -0.03389118 2.04550845] [ 0.00452098 0.99998556 -0.00290436 0.29862376] [ 0.0339041 0.00274944 0.99942131 1.10252692] [ 0. 0. 0. 1. ]] SLAMing on 165.182557844 meters Centerline goodness : 0.166487 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941387 -0.00469826 -0.03390927 2.04578342] [ 0.00459716 0.99998475 -0.00305875 0.29937307] [ 0.03392312 0.00290107 0.99942023 1.10210287] [ 0. 0. 0. 1. ]] SLAMing on 165.212557844 meters Centerline goodness : 0.106969 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99941991 -0.00495504 -0.03369395 2.0454198 ] [ 0.00484954 0.99998308 -0.0032119 0.29977724] [ 0.03370929 0.00304664 0.99942704 1.10180189] [ 0. 0. 0. 1. ]] SLAMing on 165.242557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.272557844 meters Centerline goodness : 0.175193 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99939551 -0.00549555 -0.03432804 2.04706054] [ 0.00538122 0.99997967 -0.0034222 0.29918439] [ 0.03434615 0.0032354 0.99940476 1.10166262] [ 0. 0. 0. 1. ]] SLAMing on 165.302557844 meters Centerline goodness : 0.170019 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99937319 -0.00569902 -0.03493925 2.04899275] [ 0.00557896 0.9999782 -0.00353257 0.29943016] [ 0.03495862 0.00333543 0.99938319 1.10094514] [ 0. 0. 0. 1. ]] SLAMing on 165.332557844 meters Centerline goodness : 0.094660 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.10 [[ 0.99936688 -0.00581078 -0.035101 2.0495102 ] [ 0.00568198 0.99997676 -0.00376799 0.300555 ] [ 0.03512208 0.00356617 0.99937667 1.10074185] [ 0. 0. 0. 1. ]] SLAMing on 165.362557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.392557844 meters Centerline goodness : 0.094421 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.9993724 -0.00625037 -0.03486746 2.04851332] [ 0.00608732 0.99997005 -0.00478042 0.30517067] [ 0.0348963 0.00456517 0.99938051 1.1013716 ] [ 0. 0. 0. 1. ]] SLAMing on 165.422557844 meters Centerline goodness : 0.182313 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.99938972 -0.0066547 -0.03429136 2.04659315] [ 0.00645203 0.99996108 -0.00601749 0.31156492] [ 0.03433007 0.00579257 0.99939376 1.10210453] [ 0. 0. 0. 1. ]] SLAMing on 165.452557844 meters Centerline goodness : 0.162509 Centerline is valid? [False, False] Translation: X:2.05, Y:0.31, Z:1.10 [[ 0.99938674 -0.00693724 -0.03432221 2.04674069] [ 0.00671063 0.99995495 -0.00671328 0.31483069] [ 0.03436724 0.00647884 0.99938827 1.10191804] [ 0. 0. 0. 1. ]] SLAMing on 165.482557844 meters Centerline goodness : 0.204861 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938382 -0.00723052 -0.03434682 2.04690022] [ 0.00698162 0.99994853 -0.00736109 0.317825 ] [ 0.03439827 0.00711676 0.99938286 1.10169659] [ 0. 0. 0. 1. ]] SLAMing on 165.512557844 meters Centerline goodness : 0.272199 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938446 -0.00747512 -0.03427581 2.04675443] [ 0.00720875 0.9999429 -0.00788843 0.32026549] [ 0.03433282 0.00763649 0.99938128 1.10162721] [ 0. 0. 0. 1. ]] SLAMing on 165.54255784400002 meters Centerline goodness : 0.110481 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99938554 -0.0076511 -0.03420518 2.04654327] [ 0.00737405 0.99993904 -0.00821852 0.32171673] [ 0.03426598 0.00796124 0.99938104 1.10166311] [ 0. 0. 0. 1. ]] SLAMing on 165.57255784400002 meters Centerline goodness : 0.184626 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:1.10 [[ 0.99939321 -0.0083831 -0.03380722 2.04500329] [ 0.00809223 0.99992914 -0.00873131 0.32259045] [ 0.03387802 0.00845244 0.99939023 1.10254361] [ 0. 0. 0. 1. ]] SLAMing on 165.60255784400002 meters Centerline goodness : 0.348538 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99939244 -0.0084563 -0.03381197 2.04497032] [ 0.00816948 0.99992954 -0.00861193 0.32176285] [ 0.03388241 0.00833047 0.99939111 1.10259176] [ 0. 0. 0. 1. ]] SLAMing on 165.63255784400002 meters Centerline goodness : 0.127896 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99939614 -0.00839627 -0.0337174 2.04461171] [ 0.00811773 0.99993186 -0.0083894 0.32076225] [ 0.03378555 0.00811062 0.9993962 1.10274502] [ 0. 0. 0. 1. ]] SLAMing on 165.66255784400002 meters Centerline goodness : 0.176706 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99940424 -0.00835502 -0.03348657 2.04386852] [ 0.00808345 0.9999334 -0.00823695 0.32003934] [ 0.03355316 0.00796135 0.99940522 1.10301879] [ 0. 0. 0. 1. ]] SLAMing on 165.69255784400002 meters Centerline goodness : 0.151904 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99941311 -0.00836648 -0.03321789 2.04296826] [ 0.00809448 0.99993267 -0.0083146 0.32043125] [ 0.03328522 0.00804084 0.99941355 1.1034505 ] [ 0. 0. 0. 1. ]] SLAMing on 165.722557844 meters Centerline goodness : 0.312554 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99941097 -0.00841017 -0.03327142 2.04311771] [ 0.00812969 0.99993035 -0.00855635 0.32157337] [ 0.03334106 0.00828083 0.99940973 1.1034932 ] [ 0. 0. 0. 1. ]] SLAMing on 165.752557844 meters Centerline goodness : 0.169821 Centerline is valid? [False, False] Translation: X:2.04, Y:0.32, Z:1.10 [[ 0.99940769 -0.00836569 -0.03338092 2.04339897] [ 0.00807576 0.99992857 -0.00881071 0.32305179] [ 0.03345225 0.00853591 0.99940387 1.10347721] [ 0. 0. 0. 1. ]] SLAMing on 165.782557844 meters Centerline goodness : 0.124612 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99941376 -0.00389415 -0.03401435 2.0451721 ] [ 0.00372713 0.99998069 -0.0049725 0.32502116] [ 0.03403306 0.00484281 0.99940897 1.10303812] [ 0. 0. 0. 1. ]] SLAMing on 165.812557844 meters Centerline goodness : 0.177954 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99939794 -0.00326097 -0.03454153 2.04668262] [ 0.00309139 0.99998291 -0.00496169 0.32650538] [ 0.03455712 0.00485192 0.99939095 1.10277408] [ 0. 0. 0. 1. ]] SLAMing on 165.842557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.872557844 meters Centerline goodness : 0.106657 Centerline is valid? [False, False] Translation: X:2.05, Y:0.33, Z:1.10 [[ 0.99941587 -0.00226116 -0.03410002 2.04536808] [ 0.00208823 0.99998478 -0.00510591 0.33010908] [ 0.03411105 0.00503172 0.99940538 1.10288679] [ 0. 0. 0. 1. ]] SLAMing on 165.902557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.932557844 meters Centerline goodness : 0.112702 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99937977 0.00965544 -0.03386525 2.01993781] [-0.00979168 0.99994461 -0.00385934 0.33186437] [ 0.03382611 0.00418854 0.99941896 1.10362274] [ 0. 0. 0. 1. ]] SLAMing on 165.962557844 meters Centerline goodness : 0.239255 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99937559 0.00966059 -0.03398683 2.02059186] [-0.00980368 0.99994376 -0.00404604 0.33292181] [ 0.03394583 0.00437671 0.99941409 1.1029321 ] [ 0. 0. 0. 1. ]] SLAMing on 165.992557844 meters Centerline goodness : 0.173979 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99936644 0.00966163 -0.03425463 2.02199256] [-0.00980713 0.99994358 -0.00408218 0.33302011] [ 0.03421326 0.00441554 0.9994048 1.10165188] [ 0. 0. 0. 1. ]] SLAMing on 166.022557844 meters Centerline goodness : 0.177260 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99935794 0.00967661 -0.03449745 2.02324426] [-0.00982072 0.99994373 -0.00401036 0.33248947] [ 0.0344567 0.00434658 0.99939674 1.10053309] [ 0. 0. 0. 1. ]] SLAMing on 166.052557844 meters Centerline goodness : 0.178585 Centerline is valid? [False, False] Translation: X:2.02, Y:0.33, Z:1.10 [[ 0.99933974 0.00969998 -0.03501431 2.02494075] [-0.0098409 0.99994415 -0.00385459 0.33159558] [ 0.03497497 0.00419662 0.99937938 1.09988544] [ 0. 0. 0. 1. ]] SLAMing on 166.082557844 meters Centerline goodness : 0.098710 Centerline is valid? [False, False] Translation: X:2.03, Y:0.33, Z:1.10 [[ 0.99933605 0.00970625 -0.03511777 2.02516729] [-0.00984802 0.99994403 -0.00386636 0.33173999] [ 0.03507828 0.00420963 0.9993757 1.09992209] [ 0. 0. 0. 1. ]] SLAMing on 166.112557844 meters Centerline goodness : 0.174756 Centerline is valid? [False, False] Translation: X:2.04, Y:0.34, Z:1.10 [[ 9.99392151e-01 1.97614502e-03 -3.48055169e-02 2.04349987e+00] [-2.06291174e-03 9.99994853e-01 -2.45716667e-03 3.36415575e-01] [ 3.48004821e-02 2.52747379e-03 9.99391084e-01 1.10235453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142557844 meters Centerline goodness : 0.247542 Centerline is valid? [False, False] Translation: X:2.04, Y:0.34, Z:1.10 [[ 9.99401227e-01 1.95268450e-03 -3.45452418e-02 2.04266873e+00] [-2.04128327e-03 9.99994717e-01 -2.52963394e-03 3.36753145e-01] [ 3.45401197e-02 2.59863588e-03 9.99399934e-01 1.10263237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172557844 meters Centerline goodness : 0.174026 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99475082e-01 -6.08387132e-03 -3.18205317e-02 2.06107322e+00] [ 6.03806084e-03 9.99980592e-01 -1.53554608e-03 3.42380891e-01] [ 3.18292561e-02 1.34260573e-03 9.99492419e-01 1.10361314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202557844 meters Centerline goodness : 0.174543 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99475349e-01 -6.11432822e-03 -3.18063302e-02 2.06112981e+00] [ 6.06669669e-03 9.99980327e-01 -1.59383827e-03 3.42658020e-01] [ 3.18154498e-02 1.40004270e-03 9.99492780e-01 1.10343976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232557844 meters Centerline goodness : 0.105192 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99472060e-01 -6.09504587e-03 -3.19131977e-02 2.06165731e+00] [ 6.04959474e-03 9.99980545e-01 -1.52057418e-03 3.42266972e-01] [ 3.19218448e-02 1.32670949e-03 9.99489488e-01 1.10300954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.29255784400002 meters Centerline goodness : 0.309922 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99455208e-01 -6.23805036e-03 -3.24094651e-02 2.06321553e+00] [ 6.19301484e-03 9.99979713e-01 -1.48977710e-03 3.41347080e-01] [ 3.24181009e-02 1.28825318e-03 9.99473565e-01 1.10253245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32255784400002 meters Centerline goodness : 0.107151 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99452327e-01 -6.27643109e-03 -3.24908193e-02 2.06358924e+00] [ 6.22847604e-03 9.99979359e-01 -1.57695842e-03 3.41696575e-01] [ 3.25000463e-02 1.37372647e-03 9.99470790e-01 1.10221930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35255784400002 meters Centerline goodness : 0.278013 Centerline is valid? [False, False] Translation: X:2.06, Y:0.34, Z:1.10 [[ 9.99454185e-01 -6.38839692e-03 -3.24117396e-02 2.06324815e+00] [ 6.33169534e-03 9.99978240e-01 -1.85175195e-03 3.42977369e-01] [ 3.24228640e-02 1.64551998e-03 9.99472886e-01 1.10241457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38255784400002 meters Centerline goodness : 0.177159 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.10 [[ 9.99508951e-01 1.80742330e-03 -3.12824373e-02 2.08210978e+00] [-1.90368283e-03 9.99993544e-01 -3.04760146e-03 3.41026243e-01] [ 3.12767270e-02 3.10565677e-03 9.99505939e-01 1.10456425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41255784400002 meters Centerline goodness : 0.093199 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99512528e-01 1.78031364e-03 -3.11694986e-02 2.08151583e+00] [-1.87937656e-03 9.99993275e-01 -3.14919219e-03 3.41647472e-01] [ 3.11636825e-02 3.20623627e-03 9.99509152e-01 1.10508999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44255784400002 meters Centerline goodness : 0.137514 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99517787e-01 1.75368593e-03 -3.10018884e-02 2.08081753e+00] [-1.85589781e-03 9.99992936e-01 -3.26848914e-03 3.42328564e-01] [ 3.09959375e-02 3.32444937e-03 9.99513982e-01 1.10552702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47255784400002 meters Centerline goodness : 0.166095 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99520566e-01 1.74224671e-03 -3.09128089e-02 2.08041036e+00] [-1.84569868e-03 9.99992791e-01 -3.31835380e-03 3.42544618e-01] [ 3.09068047e-02 3.37381860e-03 9.99516577e-01 1.10582245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters Centerline goodness : 0.166095 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99520566e-01 1.74224671e-03 -3.09128089e-02 2.08041036e+00] [-1.84569868e-03 9.99992791e-01 -3.31835380e-03 3.42544618e-01] [ 3.09068047e-02 3.37381860e-03 9.99516577e-01 1.10582245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532557844 meters Centerline goodness : 0.104803 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99542635e-01 1.86975423e-03 -3.01831880e-02 2.07820830e+00] [-1.97081703e-03 9.99992550e-01 -3.31891201e-03 3.42973204e-01] [ 3.01767576e-02 3.37687960e-03 9.99538874e-01 1.10642171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.592557844 meters Centerline goodness : 0.281906 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.11 [[ 9.99546281e-01 1.93073872e-03 -3.00583660e-02 2.07779085e+00] [-2.03361499e-03 9.99992178e-01 -3.39235592e-03 3.43807194e-01] [ 3.00515812e-02 3.45194388e-03 9.99542389e-01 1.10652755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622557844 meters Centerline goodness : 0.117430 Centerline is valid? [False, False] Translation: X:2.08, Y:0.34, Z:1.10 [[ 9.99531792e-01 1.76511312e-03 -3.05463867e-02 2.08018834e+00] [-1.87696919e-03 9.99991637e-01 -3.63355663e-03 3.43893979e-01] [ 3.05397176e-02 3.68919000e-03 9.99526746e-01 1.10466811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652557844 meters Centerline goodness : 0.289000 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948807 -0.00592221 -0.03144091 2.10028365] [ 0.00583195 0.99997861 -0.00296191 0.34942637] [ 0.03145777 0.00277703 0.99950122 1.10591795] [ 0. 0. 0. 1. ]] SLAMing on 166.682557844 meters Centerline goodness : 0.163169 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948606 -0.0059098 -0.03150688 2.10031192] [ 0.00581601 0.99997838 -0.00306779 0.35009424] [ 0.03152433 0.00288297 0.99949883 1.10609102] [ 0. 0. 0. 1. ]] SLAMing on 166.712557844 meters Centerline goodness : 0.167086 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.11 [[ 0.99948982 -0.00588089 -0.03139288 2.09970603] [ 0.00578171 0.99997801 -0.00324923 0.351322 ] [ 0.0314113 0.00306607 0.99950184 1.10656222] [ 0. 0. 0. 1. ]] SLAMing on 166.742557844 meters Centerline goodness : 0.113874 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99465947e-01 -3.70051978e-03 -3.24673253e-02 2.10471903e+00] [ 3.65383491e-03 9.99992204e-01 -1.49711654e-03 3.52617146e-01] [ 3.24726123e-02 1.37768675e-03 9.99471676e-01 1.10402073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.772557844 meters Centerline goodness : 0.169064 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99456651e-01 -3.72921112e-03 -3.27489923e-02 2.10610171e+00] [ 3.67297441e-03 9.99991675e-01 -1.77719604e-03 3.53959413e-01] [ 3.27553472e-02 1.65594419e-03 9.99462028e-01 1.10281789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802557844 meters Centerline goodness : 0.262446 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99453168e-01 -3.73898697e-03 -3.28540046e-02 2.10675361e+00] [ 3.67639080e-03 9.99991310e-01 -1.96548480e-03 3.54822773e-01] [ 3.28610680e-02 1.84362585e-03 9.99458229e-01 1.10206952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832557844 meters Centerline goodness : 0.163112 Centerline is valid? [False, False] Translation: X:2.11, Y:0.36, Z:1.10 [[ 9.99456993e-01 -3.75101327e-03 -3.27360456e-02 2.10655604e+00] [ 3.68520303e-03 9.99991066e-01 -2.07043371e-03 3.55369229e-01] [ 3.27435194e-02 1.94867048e-03 9.99461888e-01 1.10182360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862557844 meters Centerline goodness : 0.275148 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99468970e-01 -3.64119907e-03 -3.23808474e-02 2.10492931e+00] [ 3.58132719e-03 9.99991769e-01 -1.90679695e-03 3.54872806e-01] [ 3.23875239e-02 1.78981798e-03 9.99473784e-01 1.10298651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892557844 meters Centerline goodness : 0.266372 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99467183e-01 -3.58419983e-03 -3.24423265e-02 2.10474890e+00] [ 3.52858358e-03 9.99992206e-01 -1.77140208e-03 3.54300336e-01] [ 3.24484227e-02 1.65598278e-03 9.99472039e-01 1.10354091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922557844 meters Centerline goodness : 0.158678 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99465141e-01 -3.52807489e-03 -3.25112850e-02 2.10491075e+00] [ 3.47725323e-03 9.99992643e-01 -1.61960824e-03 3.53626282e-01] [ 3.25167599e-02 1.50569201e-03 9.99470056e-01 1.10359474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952557844 meters Centerline goodness : 0.173664 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99466483e-01 -3.47205726e-03 -3.24760500e-02 2.10493625e+00] [ 3.42692239e-03 9.99993084e-01 -1.44534750e-03 3.52812858e-01] [ 3.24808437e-02 1.33328349e-03 9.99471469e-01 1.10343493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982557844 meters Centerline goodness : 0.163256 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99468826e-01 -3.41870629e-03 -3.24095383e-02 2.10482800e+00] [ 3.37988571e-03 9.99993504e-01 -1.25252242e-03 3.51826247e-01] [ 3.24136098e-02 1.14231658e-03 9.99473888e-01 1.10336443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012557844 meters Centerline goodness : 0.162406 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99486468e-01 -3.51997415e-03 -3.18498007e-02 2.10335071e+00] [ 3.49202523e-03 9.99993468e-01 -9.33104517e-04 3.49556048e-01] [ 3.18528771e-02 8.21405031e-04 9.99492231e-01 1.10362114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04255784400002 meters Centerline goodness : 0.160957 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:1.10 [[ 9.99491112e-01 -3.46971102e-03 -3.17092865e-02 2.10265323e+00] [ 3.44840939e-03 9.99993790e-01 -7.26441552e-04 3.48485370e-01] [ 3.17116101e-02 6.16725273e-04 9.99496870e-01 1.10424785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07255784400002 meters Centerline goodness : 0.249594 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99520869e-01 4.61378425e-03 -3.06063134e-02 2.12174239e+00] [-4.67288801e-03 9.99987352e-01 -1.85985108e-03 3.45071124e-01] [ 3.05973454e-02 2.00197984e-03 9.99529787e-01 1.10618966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10255784400002 meters Centerline goodness : 0.203889 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99522530e-01 4.57330591e-03 -3.05580809e-02 2.12157620e+00] [-4.63583465e-03 9.99987303e-01 -1.97569127e-03 3.45643134e-01] [ 3.05486574e-02 2.11641015e-03 9.99531040e-01 1.10628196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13255784400002 meters Centerline goodness : 0.149032 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 9.99525981e-01 4.52626862e-03 -3.04520152e-02 2.12130809e+00] [-4.59233992e-03 9.99987250e-01 -2.10009599e-03 3.46260554e-01] [ 3.04421213e-02 2.23894651e-03 9.99534024e-01 1.10623767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16255784400002 meters Centerline goodness : 0.154535 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 0.99953075 0.00448409 -0.03030129 2.12089086] [-0.0045538 0.99998714 -0.00223186 0.34688881] [ 0.03029089 0.0023688 0.99953832 1.10628821] [ 0. 0. 0. 1. ]] SLAMing on 167.19255784400002 meters Centerline goodness : 0.158965 Centerline is valid? [False, False] Translation: X:2.12, Y:0.35, Z:1.11 [[ 0.99953473 0.00442012 -0.03017934 2.12060019] [-0.00449418 0.99998705 -0.00238665 0.34755717] [ 0.0301684 0.00252118 0.99954165 1.10622557] [ 0. 0. 0. 1. ]] SLAMing on 167.22255784400002 meters Centerline goodness : 0.158278 Centerline is valid? [False, False] Translation: X:2.14, Y:0.35, Z:1.11 [[ 9.99552887e-01 -3.62745921e-03 -2.96794023e-02 2.13971135e+00] [ 3.57604879e-03 9.99992013e-01 -1.78508785e-03 3.54104689e-01] [ 2.96856406e-02 1.67815473e-03 9.99557876e-01 1.10757753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252557844 meters Centerline goodness : 0.166652 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99578134e-01 -3.80031382e-04 -2.90415172e-02 2.10518891e+00] [ 2.85131456e-04 9.99994607e-01 -3.27180438e-03 3.51686639e-01] [ 2.90426040e-02 3.26214346e-03 9.99572852e-01 1.10539910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282557844 meters Centerline goodness : 0.272524 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99572453e-01 -3.85385806e-04 -2.92363225e-02 2.10575839e+00] [ 2.89499511e-04 9.99994566e-01 -3.28385948e-03 3.51737612e-01] [ 2.92374292e-02 3.27399158e-03 9.99567133e-01 1.10524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312557844 meters Centerline goodness : 0.142673 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99568889e-01 -3.60061354e-04 -2.93582340e-02 2.10610462e+00] [ 2.64514851e-04 9.99994657e-01 -3.25832317e-03 3.51748042e-01] [ 2.93592503e-02 3.24915278e-03 9.99563644e-01 1.10514449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342557844 meters Centerline goodness : 0.166363 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.11 [[ 9.99562519e-01 -2.63660774e-04 -2.95753474e-02 2.10672271e+00] [ 1.74565653e-04 9.99995440e-01 -3.01502081e-03 3.50706321e-01] [ 2.95760074e-02 3.00853895e-03 9.99558007e-01 1.10505232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372557844 meters Centerline goodness : 0.124681 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 9.99555397e-01 -1.35100837e-04 -2.98159277e-02 2.10743937e+00] [ 5.70482902e-05 9.99996570e-01 -2.61864893e-03 3.48789346e-01] [ 2.98161792e-02 2.61578373e-03 9.99551976e-01 1.10492922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402557844 meters Centerline goodness : 0.166758 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.10 [[ 0.99955191 -0.00411228 -0.02964901 2.1072015 ] [ 0.00393678 0.9999744 -0.00597526 0.34508408] [ 0.02967282 0.00585586 0.99954251 1.1047676 ] [ 0. 0. 0. 1. ]] SLAMing on 167.432557844 meters Centerline goodness : 0.163542 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:1.11 [[ 0.99955763 -0.00399503 -0.02947175 2.1065755 ] [ 0.00384122 0.99997872 -0.00527387 0.34117236] [ 0.02949219 0.00515833 0.9995517 1.10514987] [ 0. 0. 0. 1. ]] SLAMing on 167.462557844 meters Centerline goodness : 0.165562 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:1.11 [[ 0.99957134 -0.00382247 -0.0290263 2.10519148] [ 0.00369178 0.99998281 -0.00455475 0.33752646] [ 0.02904321 0.00444564 0.99956827 1.10574769] [ 0. 0. 0. 1. ]] SLAMing on 167.492557844 meters Centerline goodness : 0.164503 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.11 [[ 0.99957382 -0.00351147 -0.02898014 2.10486744] [ 0.00340328 0.99998706 -0.00378153 0.33405779] [ 0.02899305 0.00368129 0.99957283 1.10615361] [ 0. 0. 0. 1. ]] SLAMing on 167.522557844 meters Centerline goodness : 0.163375 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.11 [[ 0.99956989 -0.0030213 -0.02917047 2.10563344] [ 0.00294381 0.99999203 -0.00269881 0.32933567] [ 0.02917839 0.00261177 0.99957081 1.10578713] [ 0. 0. 0. 1. ]] SLAMing on 167.552557844 meters Centerline goodness : 0.141193 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.11 [[ 0.99956417 -0.00282216 -0.02938534 2.10661161] [ 0.00275519 0.99999351 -0.00231931 0.32755792] [ 0.0293917 0.00223734 0.99956547 1.10506632] [ 0. 0. 0. 1. ]] SLAMing on 167.582557844 meters Centerline goodness : 0.157947 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:1.10 [[ 9.99562786e-01 -2.63565523e-03 -2.94498051e-02 2.10707799e+00] [ 2.58040493e-03 9.99994839e-01 -1.91393072e-03 3.25585245e-01] [ 2.94546975e-02 1.83710150e-03 9.99564428e-01 1.10456377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612557844 meters Centerline goodness : 0.149039 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:1.10 [[ 9.99570732e-01 -2.20657794e-03 -2.92144223e-02 2.10631230e+00] [ 2.17687451e-03 9.99997081e-01 -1.04850441e-03 3.21521043e-01] [ 2.92166506e-02 9.84458185e-04 9.99572618e-01 1.10489886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642557844 meters Centerline goodness : 0.149235 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:1.11 [[ 9.99574731e-01 -1.97190807e-03 -2.90941520e-02 2.10579720e+00] [ 1.95672356e-03 9.99997934e-01 -5.50370888e-04 3.19275937e-01] [ 2.90951771e-02 4.93207619e-04 9.99576524e-01 1.10528286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672557844 meters Centerline goodness : 0.154861 Centerline is valid? [False, False] Translation: X:2.13, Y:0.31, Z:1.11 [[ 9.99566300e-01 6.39637101e-03 -2.87454095e-02 2.12587675e+00] [-6.43944956e-03 9.99978278e-01 -1.40630136e-03 3.13379262e-01] [ 2.87357899e-02 1.59079606e-03 9.99585776e-01 1.10727850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702557844 meters Centerline goodness : 0.163060 Centerline is valid? [False, False] Translation: X:2.13, Y:0.31, Z:1.11 [[ 9.99550367e-01 6.68456409e-03 -2.92297973e-02 2.12788666e+00] [-6.70797480e-03 9.99977254e-01 -7.02934321e-04 3.09479522e-01] [ 2.92244336e-02 8.98691002e-04 9.99572471e-01 1.10603860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732557844 meters Centerline goodness : 0.119532 Centerline is valid? [False, False] Translation: X:2.15, Y:0.31, Z:1.11 [[ 9.99572893e-01 -1.15097572e-03 -2.92011549e-02 2.14774907e+00] [ 1.16114534e-03 9.99999271e-01 3.31306294e-04 3.12292117e-01] [ 2.92007523e-02 -3.65071576e-04 9.99573500e-01 1.10693607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762557844 meters Centerline goodness : 0.161863 Centerline is valid? [False, False] Translation: X:2.13, Y:0.30, Z:1.10 [[ 9.99570064e-01 6.48876628e-03 -2.85934099e-02 2.12922809e+00] [-6.50852507e-03 9.99978641e-01 -5.98009492e-04 3.04270521e-01] [ 2.85889188e-02 7.83853311e-04 9.99590946e-01 1.10416715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79255784400002 meters Centerline goodness : 0.162762 Centerline is valid? [False, False] Translation: X:2.15, Y:0.31, Z:1.11 [[ 9.99611365e-01 -1.42033138e-03 -2.78406377e-02 2.14833393e+00] [ 1.44486859e-03 9.99998585e-01 8.61248007e-04 3.06396017e-01] [ 2.78393751e-02 -9.01139359e-04 9.99612003e-01 1.10581422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82255784400002 meters Centerline goodness : 0.135981 Centerline is valid? [False, False] Translation: X:2.15, Y:0.30, Z:1.11 [[ 9.99609234e-01 -1.14957352e-03 -2.79295236e-02 2.14811030e+00] [ 1.20295600e-03 9.99997482e-01 1.89460095e-03 3.00748763e-01] [ 2.79272753e-02 -1.92745859e-03 9.99608099e-01 1.10666381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85255784400002 meters Centerline goodness : 0.158671 Centerline is valid? [False, False] Translation: X:2.15, Y:0.30, Z:1.11 [[ 9.99602577e-01 -9.09290510e-04 -2.81755495e-02 2.14860020e+00] [ 9.81298570e-04 9.99996288e-01 2.54197153e-03 2.97522604e-01] [ 2.81731335e-02 -2.56860992e-03 9.99599758e-01 1.10697714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88255784400002 meters Centerline goodness : 0.188419 Centerline is valid? [False, False] Translation: X:2.13, Y:0.29, Z:1.10 [[ 9.99567115e-01 6.48819226e-03 -2.86964555e-02 2.13098754e+00] [-6.45291053e-03 9.99978306e-01 1.32191746e-03 2.88216414e-01] [ 2.87044099e-02 -1.13616957e-03 9.99587298e-01 1.10454795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91255784400002 meters Centerline goodness : 0.236932 Centerline is valid? [False, False] Translation: X:2.15, Y:0.29, Z:1.11 [[ 9.99591363e-01 -1.65060514e-03 -2.85373792e-02 2.15117387e+00] [ 1.72221391e-03 9.99995430e-01 2.48490062e-03 2.89158451e-01] [ 2.85331472e-02 -2.53303267e-03 9.99589637e-01 1.10577806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94255784400002 meters Centerline goodness : 0.128459 Centerline is valid? [False, False] Translation: X:2.15, Y:0.28, Z:1.11 [[ 0.99963905 -0.0022875 -0.02676805 2.14563701] [ 0.00235894 0.99999374 0.00263775 0.28260613] [ 0.02676184 -0.00269994 0.99963819 1.10736872] [ 0. 0. 0. 1. ]] SLAMing on 167.97255784400002 meters Centerline goodness : 0.138786 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 0.99965382 -0.00216062 -0.02622158 2.14366439] [ 0.0022421 0.99999275 0.00307821 0.28042756] [ 0.02621474 -0.00313594 0.99965142 1.10838221] [ 0. 0. 0. 1. ]] SLAMing on 168.002557844 meters Centerline goodness : 0.141846 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99659228e-01 -2.00675603e-03 -2.60269066e-02 2.14271893e+00] [ 2.09779718e-03 9.99991775e-01 3.47113046e-03 2.78587919e-01] [ 2.60197268e-02 -3.52454677e-03 9.99655216e-01 1.10916973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032557844 meters Centerline goodness : 0.128143 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99649138e-01 -1.76257045e-03 -2.64290445e-02 2.14405115e+00] [ 1.86967967e-03 9.99990138e-01 4.02854553e-03 2.75950773e-01] [ 2.64216833e-02 -4.07654591e-03 9.99642574e-01 1.10876050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062557844 meters Centerline goodness : 0.373956 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99545516e-01 -1.89404553e-03 -3.00860939e-02 2.10098966e+00] [ 2.03114089e-03 9.99987691e-01 4.52686083e-03 2.71255336e-01] [ 3.00771495e-02 -4.58591254e-03 9.99537060e-01 1.10810987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092557844 meters Centerline goodness : 0.127439 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99536472e-01 -1.74502254e-03 -3.03940292e-02 2.10215794e+00] [ 1.89152968e-03 9.99986728e-01 4.79217548e-03 2.70117880e-01] [ 3.03852634e-02 -4.84744538e-03 9.99526507e-01 1.10742270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122557844 meters Centerline goodness : 0.240216 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99528199e-01 -1.59305820e-03 -3.06731418e-02 2.10318573e+00] [ 1.74914574e-03 9.99985655e-01 5.06257714e-03 2.68902216e-01] [ 3.06646368e-02 -5.11384041e-03 9.99516648e-01 1.10689910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152557844 meters Centerline goodness : 0.152519 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99521399e-01 -1.45742693e-03 -3.09006329e-02 2.10419622e+00] [ 1.62139927e-03 9.99984735e-01 5.28204658e-03 2.67751216e-01] [ 3.08924631e-02 -5.32962085e-03 9.99508505e-01 1.10617773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters Centerline goodness : 0.244028 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99521862e-01 -1.40025778e-03 -3.08882866e-02 2.10423505e+00] [ 1.56651836e-03 9.99984413e-01 5.35909938e-03 2.67406628e-01] [ 3.08803010e-02 -5.40492406e-03 9.99508476e-01 1.10604183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212557844 meters Centerline goodness : 0.124823 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99520011e-01 -1.36798848e-03 -3.09495750e-02 2.10445820e+00] [ 1.53483571e-03 9.99984415e-01 5.36782323e-03 2.67418239e-01] [ 3.09417495e-02 -5.41274925e-03 9.99506533e-01 1.10592382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.242557844 meters Centerline goodness : 0.261270 Centerline is valid? [False, False] Translation: X:2.10, Y:0.27, Z:1.11 [[ 9.99518955e-01 -1.35530194e-03 -3.09842144e-02 2.10485667e+00] [ 1.52111047e-03 9.99984647e-01 5.32844282e-03 2.67568185e-01] [ 3.09765170e-02 -5.37301002e-03 9.99505671e-01 1.10535848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.272557844 meters Centerline goodness : 0.354685 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:1.11 [[ 9.99517276e-01 -1.36008223e-03 -3.10381321e-02 2.10513445e+00] [ 1.52172620e-03 9.99985401e-01 5.18488850e-03 2.68255302e-01] [ 3.10306271e-02 -5.22961717e-03 9.99504753e-01 1.10503325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302557844 meters Centerline goodness : 0.251844 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952606 0.00844723 -0.02960236 2.12663688] [-0.00830295 0.99995306 0.00499364 0.2675139 ] [ 0.02964316 -0.00474548 0.99954928 1.10557948] [ 0. 0. 0. 1. ]] SLAMing on 168.332557844 meters Centerline goodness : 0.125473 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952802 0.00845118 -0.02953493 2.12652248] [-0.0083107 0.99995358 0.00487591 0.26835748] [ 0.02957476 -0.00462816 0.99955186 1.10541615] [ 0. 0. 0. 1. ]] SLAMing on 168.362557844 meters Centerline goodness : 0.125182 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99952755 0.00841496 -0.02956127 2.12671645] [-0.00827836 0.9999545 0.00474028 0.26910971] [ 0.02959982 -0.00449332 0.99955173 1.10515584] [ 0. 0. 0. 1. ]] SLAMing on 168.392557844 meters Centerline goodness : 0.250049 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952789 0.00832413 -0.02957543 2.12688901] [-0.00819276 0.99995604 0.0045602 0.26978764] [ 0.02961209 -0.00431574 0.99955215 1.10488826] [ 0. 0. 0. 1. ]] SLAMing on 168.422557844 meters Centerline goodness : 0.250049 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952789 0.00832413 -0.02957543 2.12688901] [-0.00819276 0.99995604 0.0045602 0.26978764] [ 0.02961209 -0.00431574 0.99955215 1.10488826] [ 0. 0. 0. 1. ]] SLAMing on 168.452557844 meters Centerline goodness : 0.124549 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952752 0.00815901 -0.02963383 2.12719045] [-0.00803728 0.99995878 0.00422454 0.27102004] [ 0.02966708 -0.00398437 0.99955189 1.10459009] [ 0. 0. 0. 1. ]] SLAMing on 168.482557844 meters Centerline goodness : 0.123531 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952875 0.0080729 -0.02961612 2.12726339] [-0.0079576 0.9999603 0.00400906 0.27207738] [ 0.02964731 -0.0037715 0.99955331 1.10434224] [ 0. 0. 0. 1. ]] SLAMing on 168.512557844 meters Centerline goodness : 0.236657 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99952989 0.00802168 -0.02959141 2.12729347] [-0.00791101 0.99996128 0.0038553 0.27294304] [ 0.02962119 -0.00361939 0.99955464 1.10414572] [ 0. 0. 0. 1. ]] SLAMing on 168.54255784400002 meters Centerline goodness : 0.124234 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.10 [[ 0.99953244 0.00796169 -0.02952142 2.12710316] [-0.0078562 0.99996234 0.00368743 0.2738032 ] [ 0.02954966 -0.00345378 0.99955735 1.10410674] [ 0. 0. 0. 1. ]] SLAMing on 168.57255784400002 meters Centerline goodness : 0.262286 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:1.11 [[ 0.99954318 0.00783977 -0.02918858 2.12557948] [-0.00773961 0.99996377 0.00354273 0.27410208] [ 0.02921529 -0.00331521 0.99956764 1.10529566] [ 0. 0. 0. 1. ]] SLAMing on 168.60255784400002 meters Centerline goodness : 0.191459 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99618435e-01 -1.48127572e-04 -2.76217763e-02 2.14460182e+00] [ 2.68176955e-04 9.99990535e-01 4.34253237e-03 2.79686691e-01] [ 2.76208716e-02 -4.34828294e-03 9.99609014e-01 1.10671054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63255784400002 meters Centerline goodness : 0.332365 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99622800e-01 -1.50668514e-04 -2.74633281e-02 2.14406605e+00] [ 2.69001269e-04 9.99990697e-01 4.30511146e-03 2.80040866e-01] [ 2.74624239e-02 -4.31087525e-03 9.99613541e-01 1.10690352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66255784400002 meters Centerline goodness : 0.210174 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:1.11 [[ 9.99621345e-01 -2.14552063e-04 -2.75158136e-02 2.14448307e+00] [ 3.27840369e-04 9.99991489e-01 4.11276205e-03 2.81032913e-01] [ 2.75146970e-02 -4.12022552e-03 9.99612908e-01 1.10639177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69255784400002 meters Centerline goodness : 0.380328 Centerline is valid? [False, False] Translation: X:2.15, Y:0.28, Z:1.11 [[ 9.99611649e-01 -4.76217541e-04 -2.78625894e-02 2.14574449e+00] [ 5.72309379e-04 9.99993916e-01 3.44090338e-03 2.83888433e-01] [ 2.78607813e-02 -3.45551313e-03 9.99605840e-01 1.10561697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72255784400002 meters Centerline goodness : 0.338575 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:1.11 [[ 9.99610553e-01 7.80791265e-03 -2.67914054e-02 2.16604030e+00] [-7.76644957e-03 9.99968477e-01 1.65133467e-03 2.83846724e-01] [ 2.68034543e-02 -1.44261747e-03 9.99639682e-01 1.10716195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752557844 meters Centerline goodness : 0.151503 Centerline is valid? [False, False] Translation: X:2.17, Y:0.29, Z:1.11 [[ 9.99614072e-01 7.68076622e-03 -2.66966688e-02 2.16572618e+00] [-7.65290244e-03 9.99970060e-01 1.14573423e-03 2.86397851e-01] [ 2.67046696e-02 -9.40985057e-04 9.99642924e-01 1.10716907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782557844 meters Centerline goodness : 0.137980 Centerline is valid? [False, False] Translation: X:2.16, Y:0.29, Z:1.11 [[ 9.99628412e-01 8.17456172e-03 -2.60041353e-02 2.16359019e+00] [-8.15365168e-03 9.99966344e-01 9.10036790e-04 2.90497569e-01] [ 2.60106992e-02 -6.97669970e-04 9.99661421e-01 1.10745598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812557844 meters Centerline goodness : 0.143781 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99672591e-01 7.31428105e-04 -2.55768695e-02 2.18125020e+00] [-6.83329485e-04 9.99997982e-01 1.88924109e-03 2.98775635e-01] [ 2.55781997e-02 -1.87114510e-03 9.99671073e-01 1.10950498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842557844 meters Centerline goodness : 0.140702 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99676270e-01 6.38352839e-04 -2.54351675e-02 2.18064412e+00] [-5.95085393e-04 9.99998363e-01 1.70862048e-03 2.99589380e-01] [ 2.54362166e-02 -1.69293125e-03 9.99675014e-01 1.10988808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872557844 meters Centerline goodness : 0.138300 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99678548e-01 6.12015725e-04 -2.53461197e-02 2.18015496e+00] [-5.67065051e-04 9.99998254e-01 1.78062321e-03 2.99091102e-01] [ 2.53471652e-02 -1.76567792e-03 9.99677150e-01 1.11036632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902557844 meters Centerline goodness : 0.260822 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.11 [[ 9.99683427e-01 5.94476464e-04 -2.51533846e-02 2.17936607e+00] [-5.43162341e-04 9.99997758e-01 2.04683153e-03 2.97587275e-01] [ 2.51545450e-02 -2.03252119e-03 9.99681508e-01 1.11096186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932557844 meters Centerline goodness : 0.122542 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99695173e-01 -2.76889945e-04 -2.46877221e-02 2.17781919e+00] [ 3.27656288e-04 9.99997840e-01 2.05231826e-03 2.94220039e-01] [ 2.46871005e-02 -2.05978175e-03 9.99693105e-01 1.11184676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.962557844 meters Centerline goodness : 0.295884 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99687721e-01 -2.86235882e-04 -2.49875766e-02 2.17869755e+00] [ 3.48558375e-04 9.99996840e-01 2.48981930e-03 2.91620855e-01] [ 2.49867850e-02 -2.49775142e-03 9.99684661e-01 1.11175879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.992557844 meters Centerline goodness : 0.139796 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.11 [[ 9.99679082e-01 -1.68821164e-04 -2.53318707e-02 2.17969382e+00] [ 2.44052062e-04 9.99995569e-01 2.96674994e-03 2.89211575e-01] [ 2.53312576e-02 -2.97198015e-03 9.99674694e-01 1.11163504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.022557844 meters Centerline goodness : 0.119408 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99639977e-01 8.00672279e-03 -2.56087462e-02 2.19990991e+00] [-7.95225531e-03 9.99965898e-01 2.22804467e-03 2.83671461e-01] [ 2.56257123e-02 -2.02359524e-03 9.99669559e-01 1.11333963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052557844 meters Centerline goodness : 0.109921 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99963442 0.00829438 -0.0257339 2.20037749] [-0.00822489 0.99996224 0.00280506 0.28141381] [ 0.02575619 -0.00259238 0.99966489 1.11313851] [ 0. 0. 0. 1. ]] SLAMing on 169.082557844 meters Centerline goodness : 0.109764 Centerline is valid? [False, False] Translation: X:2.16, Y:0.28, Z:1.11 [[ 0.99955807 0.00807926 -0.02860764 2.15519923] [-0.00798477 0.99996229 0.00341557 0.27736556] [ 0.02863415 -0.00318564 0.99958488 1.11323813] [ 0. 0. 0. 1. ]] SLAMing on 169.112557844 meters Centerline goodness : 0.144086 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:1.11 [[ 9.99588851e-01 3.91369414e-04 -2.86701166e-02 2.17497041e+00] [-2.70875132e-04 9.99991116e-01 4.20654638e-03 2.82371168e-01] [ 2.86715082e-02 -4.19705084e-03 9.99580077e-01 1.11418746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142557844 meters Centerline goodness : 0.321264 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.11 [[ 9.99583672e-01 4.09525573e-04 -2.88498747e-02 2.17578328e+00] [-2.88253604e-04 9.99991107e-01 4.20758621e-03 2.82313675e-01] [ 2.88513412e-02 -4.19751840e-03 9.99574900e-01 1.11356867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172557844 meters Centerline goodness : 0.151769 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.11 [[ 9.99571043e-01 5.12182421e-04 -2.92825520e-02 2.17768414e+00] [-3.87895571e-04 9.99990894e-01 4.24992249e-03 2.82027392e-01] [ 2.92844621e-02 -4.23674088e-03 9.99562139e-01 1.11216275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202557844 meters Centerline goodness : 0.155463 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99559198e-01 7.67089564e-03 -2.86804377e-02 2.19979406e+00] [-7.62364008e-03 9.99969397e-01 1.75664427e-03 2.80152980e-01] [ 2.86930351e-02 -1.53722060e-03 9.99587088e-01 1.11226063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232557844 meters Centerline goodness : 0.154114 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99556801e-01 7.73656717e-03 -2.87462490e-02 2.19999072e+00] [-7.68296726e-03 9.99968536e-01 1.97457315e-03 2.78893582e-01] [ 2.87606209e-02 -1.75284153e-03 9.99584791e-01 1.11221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262557844 meters Centerline goodness : 0.216628 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99554406e-01 7.86431527e-03 -2.87948374e-02 2.19980471e+00] [-7.80102844e-03 9.99966904e-01 2.30953400e-03 2.77322351e-01] [ 2.88120473e-02 -2.08387554e-03 9.99582675e-01 1.11273700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29255784400002 meters Centerline goodness : 0.223503 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99955681 0.00793953 -0.02869048 2.19927239] [-0.00787137 0.99996593 0.00248787 0.27672849] [ 0.02870926 -0.00226093 0.99958525 1.11314506] [ 0. 0. 0. 1. ]] SLAMing on 169.32255784400002 meters Centerline goodness : 0.136892 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 0.99955859 0.00800439 -0.02861049 2.19894349] [-0.00793133 0.99996499 0.00266612 0.2759992 ] [ 0.02863083 -0.00243803 0.99958708 1.11340308] [ 0. 0. 0. 1. ]] SLAMing on 169.35255784400002 meters Centerline goodness : 0.141433 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99600422e-01 5.16046434e-03 -2.77914646e-02 2.19605154e+00] [-5.16559766e-03 9.99986652e-01 -1.12917468e-04 2.75156187e-01] [ 2.77905109e-02 2.56431873e-04 9.99613736e-01 1.11423781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38255784400002 meters Centerline goodness : 0.363139 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99616571e-01 9.16559499e-04 -2.76743665e-02 2.19581613e+00] [-1.03076710e-03 9.99991011e-01 -4.11285356e-03 2.74205190e-01] [ 2.76703481e-02 4.13980240e-03 9.99608530e-01 1.11407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41255784400002 meters Centerline goodness : 0.125587 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99616306e-01 9.92577588e-04 -2.76813104e-02 2.19574428e+00] [-1.09979678e-03 9.99991952e-01 -3.85838669e-03 2.73001255e-01] [ 2.76772579e-02 3.88735007e-03 9.99609353e-01 1.11424649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44255784400002 meters Centerline goodness : 0.262425 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99618376e-01 1.08907559e-03 -2.76028186e-02 2.19545595e+00] [-1.18876255e-03 9.99992830e-01 -3.59532513e-03 2.71873975e-01] [ 2.75987052e-02 3.62676626e-03 9.99612504e-01 1.11441614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47255784400002 meters Centerline goodness : 0.127209 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.11 [[ 0.99962631 -0.00878488 -0.02588559 2.21690658] [ 0.00868115 0.99995384 -0.00411691 0.27287138] [ 0.02592056 0.00389065 0.99965643 1.11442487] [ 0. 0. 0. 1. ]] SLAMing on 169.502557844 meters Centerline goodness : 0.150698 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.11 [[ 0.99963285 -0.0087462 -0.02564519 2.21606549] [ 0.00865508 0.99995584 -0.00366174 0.27028309] [ 0.02567608 0.00343843 0.9996644 1.11492196] [ 0. 0. 0. 1. ]] SLAMing on 169.532557844 meters Centerline goodness : 0.129402 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.9996421 -0.00854699 -0.02534988 2.21499353] [ 0.0084704 0.99995923 -0.00312746 0.26796393] [ 0.02537558 0.00291162 0.99967375 1.11549894] [ 0. 0. 0. 1. ]] SLAMing on 169.562557844 meters Centerline goodness : 0.128201 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.99964534 -0.00833354 -0.02529315 2.21470803] [ 0.0082683 0.99996222 -0.0026829 0.26624558] [ 0.02531455 0.00247281 0.99967648 1.11575521] [ 0. 0. 0. 1. ]] SLAMing on 169.592557844 meters Centerline goodness : 0.251529 Centerline is valid? [False, False] Translation: X:2.19, Y:0.26, Z:1.11 [[ 9.99662820e-01 1.16445844e-05 -2.59662441e-02 2.19480174e+00] [-9.07269760e-05 9.99995362e-01 -3.04440849e-03 2.59381069e-01] [ 2.59660883e-02 3.04573782e-03 9.99658184e-01 1.11433660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622557844 meters Centerline goodness : 0.124688 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99653087e-01 1.58186167e-05 -2.63382925e-02 2.19624585e+00] [-9.06181114e-05 9.99995967e-01 -2.83876117e-03 2.57583153e-01] [ 2.63381413e-02 2.84016309e-03 9.99649056e-01 1.11361874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652557844 meters Centerline goodness : 0.152752 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99655634e-01 9.29237220e-05 -2.62412963e-02 2.19583788e+00] [-1.61703616e-04 9.99996557e-01 -2.61894563e-03 2.56350922e-01] [ 2.62409626e-02 2.62228707e-03 9.99652207e-01 1.11388598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682557844 meters Centerline goodness : 0.128004 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.12 [[ 9.99686278e-01 -7.20895537e-03 -2.39870061e-02 2.21409557e+00] [ 7.18710899e-03 9.99973676e-01 -9.96846318e-04 2.59941516e-01] [ 2.39935608e-02 8.24136359e-04 9.99711773e-01 1.11564756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.712557844 meters Centerline goodness : 0.124488 Centerline is valid? [False, False] Translation: X:2.19, Y:0.25, Z:1.11 [[ 9.99707513e-01 8.66837650e-04 -2.41689250e-02 2.19437662e+00] [-9.08939657e-04 9.99998089e-01 -1.73105800e-03 2.54028818e-01] [ 2.41673782e-02 1.75251979e-03 9.99706390e-01 1.11392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.742557844 meters Centerline goodness : 0.129895 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:1.11 [[ 9.99700882e-01 8.81786458e-04 -2.44411263e-02 2.19537129e+00] [-9.23913107e-04 9.99998107e-01 -1.71235801e-03 2.53945260e-01] [ 2.44395701e-02 1.73442729e-03 9.99699805e-01 1.11335337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.772557844 meters Centerline goodness : 0.127704 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:1.11 [[ 9.99693209e-01 8.64030481e-04 -2.47536091e-02 2.19658704e+00] [-9.08553870e-04 9.99997990e-01 -1.78747226e-03 2.54247276e-01] [ 2.47520149e-02 1.80941387e-03 9.99691984e-01 1.11262613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802557844 meters Centerline goodness : 0.128635 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99684266e-01 8.64652015e-04 -2.51121629e-02 2.19764564e+00] [-9.16016415e-04 9.99997512e-01 -2.03396794e-03 2.55583067e-01] [ 2.51103418e-02 2.05632890e-03 9.99682571e-01 1.11230553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832557844 meters Centerline goodness : 0.126752 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99687788e-01 8.30259453e-04 -2.49727451e-02 2.19715178e+00] [-8.85221164e-04 9.99997210e-01 -2.18989341e-03 2.56396628e-01] [ 2.49708573e-02 2.21131610e-03 9.99685734e-01 1.11254559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862557844 meters Centerline goodness : 0.123752 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99689989e-01 7.92568244e-04 -2.48857049e-02 2.19683677e+00] [-8.51937589e-04 9.99996816e-01 -2.37516912e-03 2.57338235e-01] [ 2.48837432e-02 2.39563386e-03 9.99687481e-01 1.11267486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892557844 meters Centerline goodness : 0.121807 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99690793e-01 7.25716741e-04 -2.48554288e-02 2.19692647e+00] [-7.90787021e-04 9.99996286e-01 -2.60822131e-03 2.58498471e-01] [ 2.48534436e-02 2.62707018e-03 9.99687654e-01 1.11232416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922557844 meters Centerline goodness : 0.129619 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99689779e-01 7.83063332e-04 -2.48944384e-02 2.19753820e+00] [-8.57415662e-04 9.99995204e-01 -2.97617069e-03 2.61242721e-01] [ 2.48919884e-02 2.99659230e-03 9.99685655e-01 1.11136381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952557844 meters Centerline goodness : 0.122935 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99690879e-01 6.90876511e-04 -2.48529632e-02 2.19752419e+00] [-7.73147613e-04 9.99994253e-01 -3.30085694e-03 2.62955434e-01] [ 2.48505399e-02 3.31905158e-03 9.99685668e-01 1.11114844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982557844 meters Centerline goodness : 0.158939 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.11 [[ 9.99692998e-01 5.38574705e-04 -2.47713592e-02 2.19726145e+00] [-6.30778469e-04 9.99992902e-01 -3.71452915e-03 2.64967162e-01] [ 2.47691828e-02 3.72901402e-03 9.99686242e-01 1.11120308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012557844 meters Centerline goodness : 0.169647 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99695263e-01 3.71039264e-04 -2.46828680e-02 2.19685146e+00] [-4.73471203e-04 9.99991301e-01 -4.14420571e-03 2.66978531e-01] [ 2.46811157e-02 4.15462944e-03 9.99686742e-01 1.11148554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04255784400002 meters Centerline goodness : 0.123649 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99702667e-01 7.51309352e-05 -2.43838480e-02 2.19575821e+00] [-1.95262403e-04 9.99987856e-01 -4.92433855e-03 2.70867574e-01] [ 2.43831819e-02 4.92763563e-03 9.99690542e-01 1.11200756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07255784400002 meters Centerline goodness : 0.165021 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99704068e-01 -1.05186930e-04 -2.43262347e-02 2.19560465e+00] [-2.52745602e-05 9.99985621e-01 -5.36262599e-03 2.72887397e-01] [ 2.43264489e-02 5.36165386e-03 9.99689690e-01 1.11198394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10255784400002 meters Centerline goodness : 0.278208 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99703642e-01 -2.52101290e-04 -2.43426324e-02 2.19559011e+00] [ 1.14258082e-04 9.99983954e-01 -5.66385023e-03 2.74190808e-01] [ 2.43436697e-02 5.65939036e-03 9.99687630e-01 1.11206754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13255784400002 meters Centerline goodness : 0.128115 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99702447e-01 -3.84663181e-04 -2.43899392e-02 2.19555682e+00] [ 2.40688287e-04 9.99982532e-01 -5.90570523e-03 2.75198012e-01] [ 2.43917849e-02 5.89807760e-03 9.99685077e-01 1.11229583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16255784400002 meters Centerline goodness : 0.150360 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.11 [[ 9.99702499e-01 -4.19792648e-04 -2.43872424e-02 2.19540072e+00] [ 2.75164715e-04 9.99982359e-01 -5.93352816e-03 2.75395072e-01] [ 2.43893030e-02 5.92505242e-03 9.99684978e-01 1.11255847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19255784400002 meters Centerline goodness : 0.142222 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710838e-01 -4.36191086e-04 -2.40426742e-02 2.19396912e+00] [ 2.99486532e-04 9.99983771e-01 -5.68922050e-03 2.74395462e-01] [ 2.40447656e-02 5.68037494e-03 9.99694745e-01 1.11355845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22255784400002 meters Centerline goodness : 0.158512 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710807e-01 -4.17155818e-04 -2.40443202e-02 2.19374702e+00] [ 2.84440819e-04 9.99984709e-01 -5.52275455e-03 2.73481352e-01] [ 2.40462564e-02 5.51431821e-03 9.99695639e-01 1.11401354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252557844 meters Centerline goodness : 0.163737 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705972e-01 -4.49061453e-04 -2.42439218e-02 2.19419653e+00] [ 3.18761563e-04 9.99985487e-01 -5.37813555e-03 2.72404757e-01] [ 2.42459850e-02 5.36882620e-03 9.99691606e-01 1.11415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282557844 meters Centerline goodness : 0.163737 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705972e-01 -4.49061453e-04 -2.42439218e-02 2.19419653e+00] [ 3.18761563e-04 9.99985487e-01 -5.37813555e-03 2.72404757e-01] [ 2.42459850e-02 5.36882620e-03 9.99691606e-01 1.11415180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312557844 meters Centerline goodness : 0.160496 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99690290e-01 -7.15233435e-04 -2.48759547e-02 2.19576286e+00] [ 5.84395826e-04 9.99985961e-01 -5.26647370e-03 2.70511258e-01] [ 2.48793722e-02 5.25030522e-03 9.99676673e-01 1.11425573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342557844 meters Centerline goodness : 0.129830 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99693196e-01 -6.37203581e-04 -2.47609990e-02 2.19523135e+00] [ 5.12190248e-04 9.99987093e-01 -5.05481426e-03 2.69550763e-01] [ 2.47639004e-02 5.04058108e-03 9.99680620e-01 1.11467436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372557844 meters Centerline goodness : 0.126094 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.9996916 -0.00822897 -0.02343031 2.21383925] [ 0.00814585 0.99996019 -0.00364083 0.27432312] [ 0.02345934 0.00344884 0.99971884 1.11634375] [ 0. 0. 0. 1. ]] SLAMing on 170.402557844 meters Centerline goodness : 0.127678 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.12 [[ 0.99969822 -0.00814483 -0.02317611 2.21298409] [ 0.00806633 0.99996142 -0.00347835 0.2736828 ] [ 0.02320354 0.00329035 0.99972535 1.11671074] [ 0. 0. 0. 1. ]] SLAMing on 170.432557844 meters Centerline goodness : 0.268863 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.12 [[ 9.99729076e-01 3.33907462e-04 -2.32736755e-02 2.19151657e+00] [-4.28913303e-04 9.99991596e-01 -4.07724360e-03 2.68400336e-01] [ 2.32721185e-02 4.08612137e-03 9.99720817e-01 1.11564507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.462557844 meters Centerline goodness : 0.148328 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.12 [[ 9.99724317e-01 3.43613427e-04 -2.34770502e-02 2.19230177e+00] [-4.42785420e-04 9.99991001e-01 -4.21914231e-03 2.69317810e-01] [ 2.34753892e-02 4.22837446e-03 9.99715473e-01 1.11514268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.492557844 meters Centerline goodness : 0.246344 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99718912e-01 3.34437004e-04 -2.37062222e-02 2.19307420e+00] [-4.38985579e-04 9.99990201e-01 -4.40510757e-03 2.70390827e-01] [ 2.37045167e-02 4.41427604e-03 9.99709263e-01 1.11475126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.522557844 meters Centerline goodness : 0.250087 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99713981e-01 3.49164523e-04 -2.39130646e-02 2.19383938e+00] [-4.59214775e-04 9.99989329e-01 -4.59676060e-03 2.71444416e-01] [ 2.39112044e-02 4.60642707e-03 9.99703474e-01 1.11424571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552557844 meters Centerline goodness : 0.125997 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99712576e-01 4.86177595e-04 -2.39693413e-02 2.19399473e+00] [-6.01257476e-04 9.99988327e-01 -4.79415514e-03 2.72625462e-01] [ 2.39667307e-02 4.80718893e-03 9.99701199e-01 1.11409709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582557844 meters Centerline goodness : 0.126361 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99715010e-01 4.40513119e-04 -2.38684742e-02 2.19374572e+00] [-5.60555805e-04 9.99987228e-01 -5.02288328e-03 2.73801469e-01] [ 2.38659567e-02 5.03483142e-03 9.99702489e-01 1.11402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612557844 meters Centerline goodness : 0.126463 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:1.11 [[ 9.99715311e-01 4.63565040e-04 -2.38554418e-02 2.19394732e+00] [-5.88569923e-04 9.99986133e-01 -5.23334480e-03 2.75265028e-01] [ 2.38526850e-02 5.24589552e-03 9.99701721e-01 1.11349609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642557844 meters Centerline goodness : 0.153662 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:1.11 [[ 9.99715617e-01 5.01279983e-04 -2.38418322e-02 2.19390416e+00] [-6.24548579e-04 9.99986476e-01 -5.16310001e-03 2.75018094e-01] [ 2.38389216e-02 5.17652210e-03 9.99702410e-01 1.11348733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672557844 meters Centerline goodness : 0.122652 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99713067e-01 5.62572447e-04 -2.39471616e-02 2.19407929e+00] [-6.81377639e-04 9.99987500e-01 -4.95326821e-03 2.73982639e-01] [ 2.39440757e-02 4.96816402e-03 9.99700955e-01 1.11369323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702557844 meters Centerline goodness : 0.154959 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99710848e-01 6.30806984e-04 -2.40379502e-02 2.19410161e+00] [-7.43964439e-04 9.99988684e-01 -4.69879808e-03 2.72665778e-01] [ 2.40347141e-02 4.71532279e-03 9.99700004e-01 1.11406903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732557844 meters Centerline goodness : 0.124856 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:1.11 [[ 9.99705374e-01 6.59690284e-04 -2.42637785e-02 2.19468365e+00] [-7.61027307e-04 9.99991026e-01 -4.16747637e-03 2.69531941e-01] [ 2.42608115e-02 4.18471392e-03 9.99696905e-01 1.11413318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762557844 meters Centerline goodness : 0.128140 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.11 [[ 9.99701894e-01 7.28990184e-04 -2.44047609e-02 2.19527346e+00] [-8.24120772e-04 9.99992101e-01 -3.88820327e-03 2.68072697e-01] [ 2.44017336e-02 3.90715664e-03 9.99694598e-01 1.11376232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79255784400002 meters Centerline goodness : 0.129606 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99623373e-01 -1.61421686e-04 -2.74424192e-02 2.15094041e+00] [ 6.48410659e-05 9.99993802e-01 -3.52024505e-03 2.62929580e-01] [ 2.74428173e-02 3.51713984e-03 9.99617187e-01 1.11380390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82255784400002 meters Centerline goodness : 0.128756 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99618292e-01 -4.80297711e-05 -2.76273042e-02 2.15143755e+00] [-4.01164186e-05 9.99994911e-01 -3.18998306e-03 2.61286665e-01] [ 2.76273169e-02 3.18987373e-03 9.99613203e-01 1.11378534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85255784400002 meters Centerline goodness : 0.129335 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:1.11 [[ 9.99609533e-01 1.05103794e-04 -2.79422857e-02 2.15214924e+00] [-1.72741483e-04 9.99997061e-01 -2.41821836e-03 2.57040933e-01] [ 2.79419494e-02 2.42210092e-03 9.99606613e-01 1.11400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88255784400002 meters Centerline goodness : 0.128899 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99611659e-01 2.87431520e-04 -2.78648159e-02 2.15180646e+00] [-3.40796258e-04 9.99998117e-01 -1.91039962e-03 2.54598867e-01] [ 2.78642143e-02 1.91915396e-03 9.99609875e-01 1.11431922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91255784400002 meters Centerline goodness : 0.132997 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99615962e-01 4.87743494e-04 -2.77072219e-02 2.15124799e+00] [-5.25501145e-04 9.99998943e-01 -1.35547168e-03 2.51923939e-01] [ 2.77065315e-02 1.36951131e-03 9.99615162e-01 1.11460599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94255784400002 meters Centerline goodness : 0.128965 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.11 [[ 9.99620601e-01 6.98431654e-04 -2.75348026e-02 2.15068983e+00] [-7.20742356e-04 9.99999420e-01 -8.00356521e-04 2.49361253e-01] [ 2.75342276e-02 8.19898365e-04 9.99620525e-01 1.11486753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97255784400002 meters Centerline goodness : 0.126545 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:1.12 [[ 9.99618556e-01 9.84671051e-04 -2.76002380e-02 2.15068191e+00] [-9.84636554e-04 9.99999515e-01 1.48405834e-05 2.45326469e-01] [ 2.76002392e-02 1.23412807e-05 9.99619041e-01 1.11525278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters Centerline goodness : 0.131245 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99614835e-01 1.11912001e-03 -2.77295584e-02 2.15111561e+00] [-1.10958164e-03 9.99999320e-01 3.59363361e-04 2.43624615e-01] [ 2.77299418e-02 -3.28456738e-04 9.99615397e-01 1.11508959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032557844 meters Centerline goodness : 0.145874 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99611445e-01 1.24794889e-03 -2.78460281e-02 2.15146691e+00] [-1.23045480e-03 9.99999035e-01 6.45369802e-04 2.42241091e-01] [ 2.78468066e-02 -6.10855761e-04 9.99612016e-01 1.11501601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062557844 meters Centerline goodness : 0.130126 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99612738e-01 1.33898038e-03 -2.77953447e-02 2.15128934e+00] [-1.31721545e-03 9.99998811e-01 8.01337291e-04 2.41583657e-01] [ 2.77963846e-02 -7.64414506e-04 9.99613314e-01 1.11508808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092557844 meters Centerline goodness : 0.161634 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99621674e-01 1.60075577e-03 -2.74580994e-02 2.15059843e+00] [-1.57647333e-03 9.99998347e-01 9.05970091e-04 2.41807011e-01] [ 2.74595043e-02 -8.62340377e-04 9.99622545e-01 1.11481636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters Centerline goodness : 0.125324 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99624194e-01 1.63069321e-03 -2.73644344e-02 2.15038319e+00] [-1.60659660e-03 9.99998302e-01 9.02544090e-04 2.41941003e-01] [ 2.73658597e-02 -8.58241301e-04 9.99625116e-01 1.11473062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152557844 meters Centerline goodness : 0.125975 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.11 [[ 9.99625815e-01 1.69409081e-03 -2.73012741e-02 2.15017548e+00] [-1.66624875e-03 9.99998068e-01 1.04252519e-03 2.41280209e-01] [ 2.73029875e-02 -9.96644381e-04 9.99626707e-01 1.11479399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182557844 meters Centerline goodness : 0.149698 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99629040e-01 1.80348177e-03 -2.71759201e-02 2.14947213e+00] [-1.75900014e-03 9.99997074e-01 1.66061982e-03 2.37663890e-01] [ 2.71788355e-02 -1.61220135e-03 9.99629287e-01 1.11546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.212557844 meters Centerline goodness : 0.128762 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:1.12 [[ 9.99627766e-01 1.94755990e-03 -2.72127830e-02 2.14941846e+00] [-1.88937893e-03 9.99995875e-01 2.16355046e-03 2.35149830e-01] [ 2.72168844e-02 -2.11132986e-03 9.99627322e-01 1.11576424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.242557844 meters Centerline goodness : 0.129113 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.12 [[ 9.99621014e-01 2.04941492e-03 -2.74523024e-02 2.14998449e+00] [-1.97630015e-03 9.99994428e-01 2.69020579e-03 2.32430558e-01] [ 2.74576628e-02 -2.63493225e-03 9.99619495e-01 1.11586091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.272557844 meters Centerline goodness : 0.133634 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.11 [[ 9.99620806e-01 -6.89701601e-04 -2.75276101e-02 2.15141246e+00] [ 7.13274683e-04 9.99999387e-01 8.46533150e-04 2.26473451e-01] [ 2.75270094e-02 -8.65846897e-04 9.99620685e-01 1.11476664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302557844 meters Centerline goodness : 0.130923 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99611386e-01 -6.04970731e-04 -2.78695423e-02 2.15237929e+00] [ 6.41733429e-04 9.99998936e-01 1.31017419e-03 2.24020149e-01] [ 2.78687200e-02 -1.32754985e-03 9.99610710e-01 1.11464582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332557844 meters Centerline goodness : 0.132366 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99606930e-01 -4.81753212e-04 -2.80313015e-02 2.15285844e+00] [ 5.29448869e-04 9.99998425e-01 1.69411702e-03 2.22190207e-01] [ 2.80304412e-02 -1.70829225e-03 9.99605610e-01 1.11454582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362557844 meters Centerline goodness : 0.134398 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99603957e-01 -3.97882628e-04 -2.81384108e-02 2.15310735e+00] [ 4.52089215e-04 9.99998054e-01 1.92009119e-03 2.21170683e-01] [ 2.81375921e-02 -1.93205182e-03 9.99602192e-01 1.11461116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392557844 meters Centerline goodness : 0.134959 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.11 [[ 9.99604890e-01 -3.24617255e-04 -2.81062074e-02 2.15293024e+00] [ 3.83965673e-04 9.99997708e-01 2.10620564e-03 2.20297700e-01] [ 2.81054593e-02 -2.11616527e-03 9.99602724e-01 1.11476720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422557844 meters Centerline goodness : 0.129792 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99694671e-01 -9.70745637e-04 -2.46905199e-02 2.19362985e+00] [ 9.86012446e-04 9.99999330e-01 6.06159809e-04 2.22009617e-01] [ 2.46899149e-02 -6.30319891e-04 9.99694959e-01 1.11634527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452557844 meters Centerline goodness : 0.131198 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99694497e-01 -9.64481036e-04 -2.46978414e-02 2.19366554e+00] [ 9.82587406e-04 9.99999257e-01 7.20990231e-04 2.21281529e-01] [ 2.46971277e-02 -7.45037754e-04 9.99694702e-01 1.11631004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482557844 meters Centerline goodness : 0.132953 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.12 [[ 9.99687102e-01 -9.87678833e-04 -2.49944470e-02 2.19457585e+00] [ 1.00828377e-03 9.99999162e-01 8.11791119e-04 2.20543928e-01] [ 2.49936242e-02 -8.36738606e-04 9.99687260e-01 1.11601075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512557844 meters Centerline goodness : 0.131853 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99672138e-01 -1.27066438e-03 -2.55734477e-02 2.19623740e+00] [ 1.29518442e-03 9.99998717e-01 9.42267283e-04 2.19016524e-01] [ 2.55722176e-02 -9.75080681e-04 9.99672502e-01 1.11562241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54255784400002 meters Centerline goodness : 0.135200 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99671282e-01 -1.21029467e-03 -2.56098379e-02 2.19616890e+00] [ 1.24324956e-03 9.99998420e-01 1.27092255e-03 2.17458760e-01] [ 2.56082592e-02 -1.30234419e-03 9.99671206e-01 1.11588657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57255784400002 meters Centerline goodness : 0.133310 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.12 [[ 9.99670355e-01 -1.21155233e-03 -2.56459195e-02 2.19599097e+00] [ 1.25246336e-03 9.99997969e-01 1.57922282e-03 2.15763395e-01] [ 2.56439541e-02 -1.61082281e-03 9.99669842e-01 1.11635010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60255784400002 meters Centerline goodness : 0.147460 Centerline is valid? [False, False] Translation: X:2.20, Y:0.21, Z:1.12 [[ 9.99676167e-01 -1.34031601e-03 -2.54119000e-02 2.19514359e+00] [ 1.38702850e-03 9.99997381e-01 1.82067602e-03 2.14038663e-01] [ 2.54093932e-02 -1.85533345e-03 9.99675408e-01 1.11687041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63255784400002 meters Centerline goodness : 0.136296 Centerline is valid? [False, False] Translation: X:2.19, Y:0.21, Z:1.12 [[ 9.99694879e-01 -4.03996370e-03 -2.43685732e-02 2.19132580e+00] [ 4.03537346e-03 9.99991830e-01 -2.37539719e-04 2.09632767e-01] [ 2.43693338e-02 1.39130947e-04 9.99703014e-01 1.11787510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66255784400002 meters Centerline goodness : 0.161172 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99701238e-01 -6.91163291e-03 -2.34449044e-02 2.18789161e+00] [ 6.86919412e-03 9.99974620e-01 -1.89020306e-03 2.03338018e-01] [ 2.34573738e-02 1.72859074e-03 9.99723344e-01 1.11841575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69255784400002 meters Centerline goodness : 0.132155 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99707452e-01 -6.90717377e-03 -2.31797807e-02 2.18722539e+00] [ 6.87755183e-03 9.99975428e-01 -1.35740004e-03 2.01097795e-01] [ 2.31885869e-02 1.19758279e-03 9.99730391e-01 1.11804731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72255784400002 meters Centerline goodness : 0.132718 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99709397e-01 -6.93084123e-03 -2.30886304e-02 2.18693547e+00] [ 6.91094207e-03 9.99975676e-01 -9.41541919e-04 1.99128214e-01] [ 2.30945945e-02 7.81704116e-04 9.99732979e-01 1.11785441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752557844 meters Centerline goodness : 0.137381 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99703508e-01 -7.03828751e-03 -2.33100357e-02 2.18742282e+00] [ 7.02564368e-03 9.99975125e-01 -6.24271791e-04 1.97593432e-01] [ 2.33138497e-02 4.60318695e-04 9.99728089e-01 1.11757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782557844 meters Centerline goodness : 0.139775 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99690784e-01 -7.04254872e-03 -2.38482623e-02 2.18906928e+00] [ 7.03721988e-03 9.99975191e-01 -3.07366174e-04 1.96280750e-01] [ 2.38498353e-02 1.39445666e-04 9.99715542e-01 1.11674032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812557844 meters Centerline goodness : 0.167875 Centerline is valid? [False, False] Translation: X:2.19, Y:0.20, Z:1.12 [[ 9.99695706e-01 -7.02400311e-03 -2.36465293e-02 2.18867429e+00] [ 7.02553258e-03 9.99975320e-01 -1.83959884e-05 1.95337518e-01] [ 2.36460750e-02 -1.47739072e-04 9.99720382e-01 1.11626401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842557844 meters Centerline goodness : 0.141427 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99702002e-01 -7.10071843e-03 -2.33556445e-02 2.18795442e+00] [ 7.10926751e-03 9.99974689e-01 2.83026157e-04 1.94178106e-01] [ 2.33530436e-02 -4.48983340e-04 9.99727180e-01 1.11579113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872557844 meters Centerline goodness : 0.147165 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99701921e-01 -7.18615558e-03 -2.33329788e-02 2.18795320e+00] [ 7.20228981e-03 9.99973879e-01 6.07513197e-04 1.92813852e-01] [ 2.33280036e-02 -7.75382985e-04 9.99727564e-01 1.11520213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902557844 meters Centerline goodness : 0.164274 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.11 [[ 9.99675585e-01 -7.90256203e-03 -2.42131029e-02 2.19056773e+00] [ 7.92054226e-03 9.99968423e-01 6.46766623e-04 1.89989885e-01] [ 2.42072272e-02 -8.38337707e-04 9.99706611e-01 1.11454734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932557844 meters Centerline goodness : 0.120880 Centerline is valid? [False, False] Translation: X:2.21, Y:0.18, Z:1.12 [[ 9.99716649e-01 -2.73683593e-04 -2.38022603e-02 2.20872361e+00] [ 2.60030426e-04 9.99999800e-01 -5.76701189e-04 1.83373067e-01] [ 2.38024133e-02 5.70348468e-04 9.99716520e-01 1.11629435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.962557844 meters Centerline goodness : 0.140176 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:1.12 [[ 9.99668447e-01 -9.58682346e-03 -2.38974818e-02 2.18648173e+00] [ 9.59785671e-03 9.99953879e-01 3.47032513e-04 1.85624564e-01] [ 2.38930527e-02 -5.76282060e-04 9.99714354e-01 1.11616005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.992557844 meters Centerline goodness : 0.142357 Centerline is valid? [False, False] Translation: X:2.21, Y:0.18, Z:1.12 [[ 0.99980197 -0.00552037 -0.01911937 2.20564133] [ 0.00545939 0.99997985 -0.00323975 0.17950308] [ 0.01913687 0.00313473 0.99981196 1.11591313] [ 0. 0. 0. 1. ]] SLAMing on 172.022557844 meters Centerline goodness : 0.148704 Centerline is valid? [False, False] Translation: X:2.20, Y:0.18, Z:1.12 [[ 0.99981179 -0.00542736 -0.01862603 2.20398752] [ 0.00537553 0.99998154 -0.00283155 0.17723408] [ 0.01864105 0.00273089 0.99982251 1.11651947] [ 0. 0. 0. 1. ]] SLAMing on 172.052557844 meters Centerline goodness : 0.138692 Centerline is valid? [False, False] Translation: X:2.20, Y:0.18, Z:1.12 [[ 0.99981692 -0.00530678 -0.01838389 2.203383 ] [ 0.00526112 0.99998296 -0.00253065 0.17590142] [ 0.018397 0.00243347 0.9998278 1.11642166] [ 0. 0. 0. 1. ]] SLAMing on 172.082557844 meters Centerline goodness : 0.119158 Centerline is valid? [False, False] Translation: X:2.21, Y:0.17, Z:1.11 [[ 9.99812197e-01 -5.04885086e-03 -1.87104037e-02 2.20517208e+00] [ 5.01128068e-03 9.99985333e-01 -2.05432541e-03 1.74695548e-01] [ 1.87205012e-02 1.96017652e-03 9.99822835e-01 1.11489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112557844 meters Centerline goodness : 0.136511 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99745359e-01 -5.36608045e-03 -2.19185580e-02 2.16107201e+00] [ 5.34131321e-03 9.99985029e-01 -1.18835472e-03 1.73515405e-01] [ 2.19246067e-02 1.07097823e-03 9.99759053e-01 1.11508483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142557844 meters Centerline goodness : 0.107847 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99741816e-01 -5.32440224e-03 -2.20896328e-02 2.16132686e+00] [ 5.30471791e-03 9.99985479e-01 -9.49613072e-04 1.72234266e-01] [ 2.20943682e-02 8.32188627e-04 9.99755543e-01 1.11533447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172557844 meters Centerline goodness : 0.135429 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99739500e-01 -5.27517636e-03 -2.22059392e-02 2.16137686e+00] [ 5.26003604e-03 9.99985892e-01 -7.40168646e-04 1.70968445e-01] [ 2.22095305e-02 6.23171792e-04 9.99753144e-01 1.11569846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202557844 meters Centerline goodness : 0.135719 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99742737e-01 -5.15356981e-03 -2.20884523e-02 2.16078923e+00] [ 5.14494183e-03 9.99986665e-01 -4.47421988e-04 1.69649460e-01] [ 2.20904636e-02 3.33663081e-04 9.99755920e-01 1.11608230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232557844 meters Centerline goodness : 0.135719 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99742737e-01 -5.15356981e-03 -2.20884523e-02 2.16078923e+00] [ 5.14494183e-03 9.99986665e-01 -4.47421988e-04 1.69649460e-01] [ 2.20904636e-02 3.33663081e-04 9.99755920e-01 1.11608230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262557844 meters Centerline goodness : 0.134753 Centerline is valid? [False, False] Translation: X:2.16, Y:0.17, Z:1.12 [[ 9.99746418e-01 -5.03420152e-03 -2.19489467e-02 2.16032359e+00] [ 5.03049983e-03 9.99987322e-01 -2.23860812e-04 1.68836655e-01] [ 2.19497954e-02 1.13389872e-04 9.99759068e-01 1.11622144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29255784400002 meters Centerline goodness : 0.136133 Centerline is valid? [False, False] Translation: X:2.11, Y:0.17, Z:1.12 [[ 9.99685321e-01 -5.67493949e-03 -2.44346882e-02 2.11423287e+00] [ 5.68839768e-03 9.99983705e-01 4.81309215e-04 1.67834141e-01] [ 2.44315586e-02 -6.20151981e-04 9.99701313e-01 1.11686860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32255784400002 meters Centerline goodness : 0.150650 Centerline is valid? [False, False] Translation: X:2.11, Y:0.17, Z:1.12 [[ 9.99683023e-01 -5.64148887e-03 -2.45362276e-02 2.11454942e+00] [ 5.66066509e-03 9.99983725e-01 7.12160650e-04 1.66455599e-01] [ 2.45318106e-02 -8.50826279e-04 9.99698688e-01 1.11668431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35255784400002 meters Centerline goodness : 0.141992 Centerline is valid? [False, False] Translation: X:2.12, Y:0.16, Z:1.12 [[ 9.99679576e-01 -5.52173670e-03 -2.47033738e-02 2.11529727e+00] [ 5.55266728e-03 9.99983883e-01 1.18365883e-03 1.64258994e-01] [ 2.46964398e-02 -1.32044917e-03 9.99694124e-01 1.11601294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38255784400002 meters Centerline goodness : 0.138362 Centerline is valid? [False, False] Translation: X:2.07, Y:0.16, Z:1.12 [[ 0.99960791 -0.00515267 -0.02752244 2.07047783] [ 0.00522593 0.99998299 0.00259043 0.16443137] [ 0.02750862 -0.00273324 0.99961783 1.11595069] [ 0. 0. 0. 1. ]] SLAMing on 172.41255784400002 meters Centerline goodness : 0.138230 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99626133e-01 4.09786960e-03 -2.70333349e-02 2.09073935e+00] [-4.05393479e-03 9.99990372e-01 1.67981431e-03 1.61778457e-01] [ 2.70399583e-02 -1.56959491e-03 9.99633121e-01 1.11681734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44255784400002 meters Centerline goodness : 0.136855 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99621039e-01 4.03292499e-03 -2.72307373e-02 2.09132672e+00] [-3.99668224e-03 9.99991054e-01 1.38524564e-03 1.63198988e-01] [ 2.72360803e-02 -1.27588809e-03 9.99628215e-01 1.11668004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47255784400002 meters Centerline goodness : 0.160561 Centerline is valid? [False, False] Translation: X:2.09, Y:0.16, Z:1.12 [[ 9.99612345e-01 3.98045477e-03 -2.75556959e-02 2.09229657e+00] [-3.95032534e-03 9.99991539e-01 1.14775236e-03 1.64467830e-01] [ 2.75600313e-02 -1.03845347e-03 9.99619611e-01 1.11640731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters Centerline goodness : 0.135219 Centerline is valid? [False, False] Translation: X:2.09, Y:0.17, Z:1.12 [[ 9.99600432e-01 3.94609795e-03 -2.79893824e-02 2.09367834e+00] [-3.91859192e-03 9.99991784e-01 1.03751321e-03 1.65357947e-01] [ 2.79932466e-02 -9.27419687e-04 9.99607682e-01 1.11596382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532557844 meters Centerline goodness : 0.134399 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99500941e-01 3.49926703e-03 -3.13946649e-02 2.05028973e+00] [-3.44902792e-03 9.99992684e-01 1.65425498e-03 1.66678653e-01] [ 3.14002239e-02 -1.54514833e-03 9.99505697e-01 1.11564985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters Centerline goodness : 0.144728 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99499533e-01 3.44832149e-03 -3.14450706e-02 2.05031187e+00] [-3.39908251e-03 9.99992912e-01 1.61919393e-03 1.66588626e-01] [ 3.14504312e-02 -1.51149919e-03 9.99504170e-01 1.11579896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592557844 meters Centerline goodness : 0.130958 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99506428e-01 3.40446466e-03 -3.12299495e-02 2.04953418e+00] [-3.35869747e-03 9.99993208e-01 1.51783234e-03 1.67083336e-01] [ 3.12349048e-02 -1.41219123e-03 9.99511074e-01 1.11618752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters Centerline goodness : 0.166489 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99514480e-01 3.45017877e-03 -3.09661324e-02 2.04859347e+00] [-3.40615362e-03 9.99993112e-01 1.47435742e-03 1.67657259e-01] [ 3.09710059e-02 -1.36816619e-03 9.99519347e-01 1.11661231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652557844 meters Centerline goodness : 0.134017 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99512630e-01 3.40284442e-03 -3.10309991e-02 2.04894360e+00] [-3.36377848e-03 9.99993483e-01 1.31104917e-03 1.68704954e-01] [ 3.10352582e-02 -1.20602880e-03 9.99517563e-01 1.11630463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682557844 meters Centerline goodness : 0.131187 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99510395e-01 3.42927828e-03 -3.10999937e-02 2.04921685e+00] [-3.38545928e-03 9.99993201e-01 1.46151870e-03 1.67898147e-01] [ 3.11047942e-02 -1.35551537e-03 9.99515210e-01 1.11608338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.712557844 meters Centerline goodness : 0.132886 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99509774e-01 3.43425205e-03 -3.11193954e-02 2.04918821e+00] [-3.38399596e-03 9.99992884e-01 1.66746727e-03 1.66752691e-01] [ 3.11249005e-02 -1.56134192e-03 9.99514283e-01 1.11614146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.742557844 meters Centerline goodness : 0.133117 Centerline is valid? [False, False] Translation: X:2.05, Y:0.17, Z:1.12 [[ 9.99532142e-01 3.51281859e-03 -3.03834922e-02 2.04684662e+00] [-3.45339268e-03 9.99992021e-01 2.00811616e-03 1.65190415e-01] [ 3.03903039e-02 -1.90225051e-03 9.99536298e-01 1.11682971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.772557844 meters Centerline goodness : 0.166131 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953905 -0.00497924 -0.02994809 2.02730927] [ 0.00508151 0.99998151 0.00333964 0.17058896] [ 0.0299309 -0.00349028 0.99954588 1.11487399] [ 0. 0. 0. 1. ]] SLAMing on 172.802557844 meters Centerline goodness : 0.136758 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953857 -0.00500413 -0.02995999 2.02743627] [ 0.00510507 0.99998155 0.00329339 0.17083371] [ 0.02994296 -0.00344482 0.99954567 1.11466224] [ 0. 0. 0. 1. ]] SLAMing on 172.832557844 meters Centerline goodness : 0.167088 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99953303 -0.00508521 -0.0301309 2.02814633] [ 0.00518328 0.99998152 0.00317765 0.17129308] [ 0.03011418 -0.00333235 0.99954091 1.11417873] [ 0. 0. 0. 1. ]] SLAMing on 172.862557844 meters Centerline goodness : 0.134302 Centerline is valid? [False, False] Translation: X:2.03, Y:0.17, Z:1.11 [[ 0.99952823 -0.0051515 -0.03027838 2.02866032] [ 0.00524462 0.99998176 0.00299688 0.17226199] [ 0.03026239 -0.00315426 0.99953701 1.11392222] [ 0. 0. 0. 1. ]] SLAMing on 172.892557844 meters Centerline goodness : 0.129716 Centerline is valid? [False, False] Translation: X:2.03, Y:0.18, Z:1.12 [[ 0.99956117 -0.00244451 -0.02952103 2.02560905] [ 0.00260112 0.99998274 0.00526792 0.17704484] [ 0.02950765 -0.00534239 0.99955028 1.11517069] [ 0. 0. 0. 1. ]] SLAMing on 172.922557844 meters Centerline goodness : 0.128985 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.12 [[ 0.99956712 -0.00264667 -0.02930143 2.02490978] [ 0.00278258 0.99998556 0.00459842 0.18049262] [ 0.02928883 -0.00467797 0.99956004 1.11544247] [ 0. 0. 0. 1. ]] SLAMing on 172.952557844 meters Centerline goodness : 0.153931 Centerline is valid? [False, False] Translation: X:2.02, Y:0.18, Z:1.12 [[ 0.99957512 -0.0028849 -0.02900458 2.02403022] [ 0.00299812 0.99998805 0.00386102 0.18416616] [ 0.02899309 -0.00394634 0.99957182 1.11572797] [ 0. 0. 0. 1. ]] SLAMing on 172.982557844 meters Centerline goodness : 0.150281 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 0.99958914 -0.00343492 -0.02845612 2.0226081 ] [ 0.00350835 0.99999064 0.00253103 0.19083689] [ 0.02844716 -0.00262983 0.99959184 1.11580984] [ 0. 0. 0. 1. ]] SLAMing on 173.012557844 meters Centerline goodness : 0.148332 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 9.99594093e-01 -3.68760802e-03 -2.82497924e-02 2.02216762e+00] [ 3.74619564e-03 9.99990940e-01 2.02126856e-03 1.93069344e-01] [ 2.82420829e-02 -2.12627736e-03 9.99598851e-01 1.11564531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04255784400002 meters Centerline goodness : 0.122832 Centerline is valid? [False, False] Translation: X:2.02, Y:0.19, Z:1.12 [[ 9.99598387e-01 -3.92211410e-03 -2.80656853e-02 2.02179059e+00] [ 3.97028431e-03 9.99990739e-01 1.66081880e-03 1.94534915e-01] [ 2.80589115e-02 -1.77158054e-03 9.99604701e-01 1.11543687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07255784400002 meters Centerline goodness : 0.113166 Centerline is valid? [False, False] Translation: X:2.02, Y:0.20, Z:1.12 [[ 9.99599545e-01 -4.15198704e-03 -2.79912519e-02 2.02165434e+00] [ 4.19339416e-03 9.99990198e-01 1.42074928e-03 1.95470024e-01] [ 2.79850786e-02 -1.53755868e-03 9.99607158e-01 1.11526643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10255784400002 meters Centerline goodness : 0.144631 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99566652e-01 -4.97519138e-03 -2.90130217e-02 2.02514777e+00] [ 4.99831733e-03 9.99987246e-01 7.24619310e-04 1.97546590e-01] [ 2.90090465e-02 -8.69321587e-04 9.99578771e-01 1.11371469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13255784400002 meters Centerline goodness : 0.145155 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99546476e-01 -5.22160211e-03 -2.96576537e-02 2.02735138e+00] [ 5.23883528e-03 9.99986151e-01 5.03396109e-04 1.98158125e-01] [ 2.96546144e-02 -6.58539369e-04 9.99559988e-01 1.11269834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16255784400002 meters Centerline goodness : 0.116020 Centerline is valid? [False, False] Translation: X:2.03, Y:0.20, Z:1.11 [[ 9.99532563e-01 -5.39851931e-03 -3.00917140e-02 2.02894555e+00] [ 5.41105400e-03 9.99985304e-01 3.35132142e-04 1.98693308e-01] [ 3.00894626e-02 -4.97803378e-04 9.99547086e-01 1.11180566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19255784400002 meters Centerline goodness : 0.121239 Centerline is valid? [False, False] Translation: X:1.98, Y:0.20, Z:1.11 [[ 9.99438555e-01 -6.01900808e-03 -3.29597637e-02 1.98448546e+00] [ 6.04285922e-03 9.99981547e-01 6.24078437e-04 2.00848261e-01] [ 3.29553992e-02 -8.22899263e-04 9.99456485e-01 1.11118466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22255784400002 meters Centerline goodness : 0.137759 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99530129e-01 1.90352674e-03 -3.05924500e-02 2.00226870e+00] [-1.92666111e-03 9.99997880e-01 -7.26751921e-04 1.97439866e-01] [ 3.05910018e-02 7.85351725e-04 9.99531677e-01 1.11175054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252557844 meters Centerline goodness : 0.179422 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99537895e-01 1.81117842e-03 -3.03432938e-02 2.00147034e+00] [-1.83881761e-03 9.99997920e-01 -8.83003576e-04 1.97989941e-01] [ 3.03416314e-02 9.38391319e-04 9.99539146e-01 1.11201366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282557844 meters Centerline goodness : 0.114468 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:1.11 [[ 9.99543138e-01 1.70875546e-03 -3.01760714e-02 2.00099560e+00] [-1.74273359e-03 9.99997877e-01 -1.09973140e-03 1.98880519e-01] [ 3.01741282e-02 1.15181783e-03 9.99543994e-01 1.11209751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312557844 meters Centerline goodness : 0.139712 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99482120e-01 1.85036718e-03 -3.21258008e-02 1.95356491e+00] [-1.88509504e-03 9.99997671e-01 -1.05074190e-03 2.06845427e-01] [ 3.21237817e-02 1.11075793e-03 9.99483281e-01 1.11256282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342557844 meters Centerline goodness : 0.116031 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99483845e-01 1.70788611e-03 -3.20800085e-02 1.95356448e+00] [-1.76044132e-03 9.99997154e-01 -1.61008102e-03 2.09814528e-01] [ 3.20771673e-02 1.66572494e-03 9.99484007e-01 1.11252713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372557844 meters Centerline goodness : 0.196302 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:1.11 [[ 9.99482852e-01 1.54571917e-03 -3.21191562e-02 1.95386050e+00] [-1.61713491e-03 9.99996278e-01 -2.19760439e-03 2.12817665e-01] [ 3.21156397e-02 2.24840891e-03 9.99481631e-01 1.11230183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402557844 meters Centerline goodness : 0.182719 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:1.11 [[ 9.99476620e-01 1.38691387e-03 -3.23197073e-02 1.95454675e+00] [-1.47650387e-03 9.99995133e-01 -2.74829147e-03 2.15589424e-01] [ 3.23157384e-02 2.79457324e-03 9.99473803e-01 1.11210009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432557844 meters Centerline goodness : 0.120355 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99461748e-01 1.14533743e-03 -3.27857072e-02 1.95606487e+00] [-1.26624741e-03 9.99992474e-01 -3.66736150e-03 2.20404177e-01] [ 3.27812600e-02 3.70690235e-03 9.99455676e-01 1.11163133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.462557844 meters Centerline goodness : 0.133384 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99457486e-01 9.75781396e-04 -3.29208247e-02 1.95662047e+00] [-1.10997630e-03 9.99991149e-01 -4.05826280e-03 2.22226907e-01] [ 3.29165734e-02 4.09260248e-03 9.99449723e-01 1.11130894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.492557844 meters Centerline goodness : 0.101954 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99454775e-01 8.58616503e-04 -3.30063093e-02 1.95691738e+00] [-1.00083744e-03 9.99990286e-01 -4.29262167e-03 2.23267739e-01] [ 3.30023030e-02 4.32331517e-03 9.99445925e-01 1.11116203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.522557844 meters Centerline goodness : 0.184155 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99454619e-01 7.83126637e-04 -3.30129047e-02 1.95672933e+00] [-9.25515403e-04 9.99990335e-01 -4.29806396e-03 2.23288851e-01] [ 3.30092197e-02 4.32627382e-03 9.99445684e-01 1.11134517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552557844 meters Centerline goodness : 0.126254 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99450948e-01 8.21173678e-04 -3.31229160e-02 1.95682598e+00] [-9.54400956e-04 9.99991518e-01 -4.00659854e-03 2.21906989e-01] [ 3.31193449e-02 4.03601126e-03 9.99443255e-01 1.11149818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582557844 meters Centerline goodness : 0.106283 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99444459e-01 8.36820486e-04 -3.33177466e-02 1.95730625e+00] [-9.59349360e-04 9.99992836e-01 -3.66176960e-03 2.20018227e-01] [ 3.33144437e-02 3.69169870e-03 9.99438102e-01 1.11137971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612557844 meters Centerline goodness : 0.118699 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99449573e-01 3.50948252e-04 -3.31727124e-02 1.95717901e+00] [-4.70106163e-04 9.99993466e-01 -3.58431482e-03 2.17717534e-01] [ 3.31712377e-02 3.59793661e-03 9.99443207e-01 1.11087956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642557844 meters Centerline goodness : 0.177750 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:1.11 [[ 9.99457239e-01 4.03692912e-04 -3.29403057e-02 1.95644804e+00] [-5.17514637e-04 9.99993925e-01 -3.44694101e-03 2.17024896e-01] [ 3.29387141e-02 3.46211723e-03 9.99451377e-01 1.11109240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672557844 meters Centerline goodness : 0.171194 Centerline is valid? [False, False] Translation: X:1.98, Y:0.22, Z:1.11 [[ 0.99949624 -0.00732004 -0.0308817 1.97550661] [ 0.00725499 0.99997122 -0.00221784 0.22008938] [ 0.03089705 0.00199267 0.99952059 1.11275988] [ 0. 0. 0. 1. ]] SLAMing on 173.702557844 meters Centerline goodness : 0.113063 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.11 [[ 9.99540584e-01 -4.97997826e-03 -2.98968300e-02 1.97099968e+00] [ 4.97133119e-03 9.99987577e-01 -3.63553952e-04 2.23843680e-01] [ 2.98982691e-02 2.14759886e-04 9.99552924e-01 1.11494384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732557844 meters Centerline goodness : 0.174779 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99547162e-01 3.54082581e-03 -2.98820068e-02 1.99069040e+00] [-3.59007185e-03 9.99992284e-01 -1.59452590e-03 2.20596070e-01] [ 2.98761303e-02 1.70108239e-03 9.99552161e-01 1.11678126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762557844 meters Centerline goodness : 0.174249 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99547829e-01 3.46356540e-03 -2.98687298e-02 1.99063475e+00] [-3.51941845e-03 9.99992155e-01 -1.81758097e-03 2.21684547e-01] [ 2.98622002e-02 1.92187967e-03 9.99552177e-01 1.11683031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79255784400002 meters Centerline goodness : 0.142045 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99551533e-01 3.44000631e-03 -2.97472588e-02 1.99017665e+00] [-3.49961704e-03 9.99991971e-01 -1.95207539e-03 2.22503491e-01] [ 2.97403048e-02 2.05530396e-03 9.99555546e-01 1.11710888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82255784400002 meters Centerline goodness : 0.171266 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 0.9995635 0.00338795 -0.02934852 1.98888425] [-0.00344919 0.99999198 -0.00203656 0.22275363] [ 0.02934138 0.0021369 0.99956716 1.11753283] [ 0. 0. 0. 1. ]] SLAMing on 173.85255784400002 meters Centerline goodness : 0.241250 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99565073e-01 3.37477502e-03 -2.92963385e-02 1.98877927e+00] [-3.43375514e-03 9.99992178e-01 -1.96314918e-03 2.22114562e-01] [ 2.92894841e-02 2.06289181e-03 9.99568842e-01 1.11740111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88255784400002 meters Centerline goodness : 0.171771 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99563584e-01 3.42051411e-03 -2.93417939e-02 1.98901684e+00] [-3.47403696e-03 9.99992393e-01 -1.77333208e-03 2.21081475e-01] [ 2.93355050e-02 1.87449265e-03 9.99567864e-01 1.11713127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91255784400002 meters Centerline goodness : 0.308757 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99518225e-01 -5.14204037e-03 -3.06084552e-02 1.96923573e+00] [ 5.12758004e-03 9.99986702e-01 -5.50903201e-04 2.25960701e-01] [ 3.06108810e-02 3.93690486e-04 9.99531300e-01 1.11584580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94255784400002 meters Centerline goodness : 0.206447 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99521078e-01 -5.01829532e-03 -3.05357336e-02 1.96885245e+00] [ 5.01043375e-03 9.99987392e-01 -3.33966347e-04 2.25481113e-01] [ 3.05370245e-02 1.80809133e-04 9.99533620e-01 1.11607309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97255784400002 meters Centerline goodness : 0.118031 Centerline is valid? [False, False] Translation: X:1.97, Y:0.23, Z:1.12 [[ 9.99520638e-01 -5.02042416e-03 -3.05497848e-02 1.96880890e+00] [ 5.01438963e-03 9.99987390e-01 -2.74140432e-04 2.25097262e-01] [ 3.05507759e-02 1.20820496e-04 9.99533209e-01 1.11614669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002557844 meters Centerline goodness : 0.326360 Centerline is valid? [False, False] Translation: X:1.97, Y:0.22, Z:1.12 [[ 9.99516687e-01 -5.06286062e-03 -3.06718030e-02 1.96930195e+00] [ 5.05668712e-03 9.99987176e-01 -2.78840416e-04 2.24854073e-01] [ 3.06728214e-02 1.23607938e-04 9.99529471e-01 1.11582995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032557844 meters Centerline goodness : 0.168925 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99513894e-01 1.10442811e-03 -3.11569505e-02 1.99155019e+00] [-1.20660225e-03 9.99993956e-01 -3.26072627e-03 2.21235530e-01] [ 3.11531609e-02 3.29673525e-03 9.99509186e-01 1.11574785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062557844 meters Centerline goodness : 0.156552 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99516981e-01 1.06046749e-03 -3.10593125e-02 1.99133618e+00] [-1.16513381e-03 9.99993703e-01 -3.35198080e-03 2.21657866e-01] [ 3.10555623e-02 3.38654998e-03 9.99511923e-01 1.11565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092557844 meters Centerline goodness : 0.156552 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99516981e-01 1.06046749e-03 -3.10593125e-02 1.99133618e+00] [-1.16513381e-03 9.99993703e-01 -3.35198080e-03 2.21657866e-01] [ 3.10555623e-02 3.38654998e-03 9.99511923e-01 1.11565156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122557844 meters Centerline goodness : 0.108172 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99520603e-01 1.04025302e-03 -3.09432129e-02 1.99094078e+00] [-1.14671452e-03 9.99993484e-01 -3.42299772e-03 2.22161817e-01] [ 3.09394505e-02 3.45683978e-03 9.99515283e-01 1.11576856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152557844 meters Centerline goodness : 0.315522 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99522509e-01 1.07585620e-03 -3.08803694e-02 1.99075997e+00] [-1.17770282e-03 9.99993927e-01 -3.28010372e-03 2.21562564e-01] [ 3.08766530e-02 3.31490539e-03 9.99517706e-01 1.11570696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters Centerline goodness : 0.169633 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.12 [[ 9.99503389e-01 5.19685047e-04 -3.15072191e-02 1.99257672e+00] [-6.19711154e-04 9.99994799e-01 -3.16502240e-03 2.19069976e-01] [ 3.15054105e-02 3.18297599e-03 9.99498513e-01 1.11505637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.212557844 meters Centerline goodness : 0.171660 Centerline is valid? [False, False] Translation: X:1.99, Y:0.22, Z:1.11 [[ 9.99486984e-01 3.69711340e-04 -3.20254847e-02 1.99415039e+00] [-4.60800735e-04 9.99995870e-01 -2.83694454e-03 2.16618887e-01] [ 3.20243036e-02 2.85024651e-03 9.99483026e-01 1.11442269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.242557844 meters Centerline goodness : 0.171167 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99478403e-01 4.36453205e-04 -3.22913390e-02 1.99512484e+00] [-5.13509716e-04 9.99997041e-01 -2.37803571e-03 2.14085385e-01] [ 3.22902055e-02 2.39337725e-03 9.99475670e-01 1.11379184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.272557844 meters Centerline goodness : 0.167141 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99475266e-01 5.71099261e-04 -3.23862213e-02 1.99556061e+00] [-6.35936726e-04 9.99997814e-01 -1.99174256e-03 2.12217271e-01] [ 3.23850130e-02 2.01129301e-03 9.99473444e-01 1.11336607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302557844 meters Centerline goodness : 0.168180 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99474804e-01 7.26918138e-04 -3.23973388e-02 1.99555534e+00] [-7.83250834e-04 9.99998203e-01 -1.72614926e-03 2.11293712e-01] [ 3.23960258e-02 1.75061794e-03 9.99473578e-01 1.11341636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332557844 meters Centerline goodness : 0.169696 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:1.11 [[ 9.99479096e-01 7.63899754e-04 -3.22638038e-02 1.99490183e+00] [-8.22996475e-04 9.99998008e-01 -1.81843224e-03 2.11976167e-01] [ 3.22623505e-02 1.84403801e-03 9.99477734e-01 1.11404597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362557844 meters Centerline goodness : 0.174616 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:1.11 [[ 9.99473785e-01 1.29609683e-03 -3.24110134e-02 1.99530216e+00] [-1.35614931e-03 9.99997404e-01 -1.83092750e-03 2.13801319e-01] [ 3.24085562e-02 1.87391821e-03 9.99472948e-01 1.11413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392557844 meters Centerline goodness : 0.171172 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99467864e-01 1.21120362e-03 -3.25963553e-02 1.99603158e+00] [-1.28358602e-03 9.99996757e-01 -2.19973323e-03 2.15644730e-01] [ 3.25935853e-02 2.24040290e-03 9.99466177e-01 1.11379820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422557844 meters Centerline goodness : 0.172364 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99467496e-01 1.12705127e-03 -3.26106305e-02 1.99621955e+00] [-1.21046297e-03 9.99996046e-01 -2.53817800e-03 2.17348266e-01] [ 3.26076409e-02 2.57630037e-03 9.99464909e-01 1.11364876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452557844 meters Centerline goodness : 0.128790 Centerline is valid? [False, False] Translation: X:2.00, Y:0.22, Z:1.11 [[ 9.99477851e-01 1.07416304e-03 -3.22935309e-02 1.99512768e+00] [-1.16436552e-03 9.99995473e-01 -2.77453003e-03 2.18541776e-01] [ 3.22904044e-02 2.81068279e-03 9.99474577e-01 1.11416142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482557844 meters Centerline goodness : 0.172719 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99519411e-01 -6.73686576e-03 -3.02582352e-02 2.01404085e+00] [ 6.69085539e-03 9.99976301e-01 -1.62158409e-03 2.21786799e-01] [ 3.02684425e-02 1.41835129e-03 9.99540799e-01 1.11638381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512557844 meters Centerline goodness : 0.105617 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99527412e-01 -6.80116997e-03 -2.99782563e-02 2.01314388e+00] [ 6.75206711e-03 9.99975693e-01 -1.73887647e-03 2.22334390e-01] [ 2.99893540e-02 1.53563950e-03 9.99549039e-01 1.11661992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54255784400002 meters Centerline goodness : 0.129333 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99523893e-01 -6.83276443e-03 -3.00882254e-02 2.01383524e+00] [ 6.78621786e-03 9.99975614e-01 -1.64884794e-03 2.21708708e-01] [ 3.00987579e-02 1.44387766e-03 9.99545887e-01 1.11585858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57255784400002 meters Centerline goodness : 0.168345 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99517422e-01 -6.86472888e-03 -3.02951918e-02 2.01469441e+00] [ 6.82209760e-03 9.99975589e-01 -1.51033528e-03 2.20828212e-01] [ 3.03048203e-02 1.30292967e-03 9.99539854e-01 1.11517177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60255784400002 meters Centerline goodness : 0.107468 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:1.11 [[ 9.99511517e-01 -6.95463970e-03 -3.04689941e-02 2.01527487e+00] [ 6.91739136e-03 9.99975193e-01 -1.32773805e-03 2.19908486e-01] [ 3.04774722e-02 1.11632352e-03 9.99534831e-01 1.11474386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63255784400002 meters Centerline goodness : 0.171536 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.11 [[ 9.99514460e-01 -6.93114877e-03 -3.03776826e-02 2.01492417e+00] [ 6.89652123e-03 9.99975444e-01 -1.24452783e-03 2.19642304e-01] [ 3.03855626e-02 1.03442323e-03 9.99537717e-01 1.11487556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66255784400002 meters Centerline goodness : 0.167248 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:1.12 [[ 9.99516387e-01 -6.93563773e-03 -3.03131763e-02 2.01464970e+00] [ 6.90136532e-03 9.99975423e-01 -1.23509134e-03 2.19590898e-01] [ 3.03209975e-02 1.02529173e-03 9.99539687e-01 1.11503275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69255784400002 meters Centerline goodness : 0.169343 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99565502e-01 9.64052750e-04 -2.94597682e-02 2.03262769e+00] [-1.04324815e-03 9.99995883e-01 -2.67300405e-03 2.13814554e-01] [ 2.94570701e-02 2.70257648e-03 9.99562393e-01 1.11659630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72255784400002 meters Centerline goodness : 0.163739 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99566863e-01 8.63961899e-04 -2.94166713e-02 2.03290937e+00] [-9.46399111e-04 9.99995664e-01 -2.78859006e-03 2.13866639e-01] [ 2.94141345e-02 2.81522213e-03 9.99563346e-01 1.11592526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752557844 meters Centerline goodness : 0.115492 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99565201e-01 8.46417411e-04 -2.94735892e-02 2.03332044e+00] [-9.30786254e-04 9.99995509e-01 -2.84892141e-03 2.14217769e-01] [ 2.94710454e-02 2.87511631e-03 9.99561499e-01 1.11549028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters Centerline goodness : 0.268404 Centerline is valid? [False, False] Translation: X:2.03, Y:0.21, Z:1.12 [[ 9.99564680e-01 8.38325326e-04 -2.94914848e-02 2.03343012e+00] [-9.24438832e-04 9.99995349e-01 -2.90643142e-03 2.14600090e-01] [ 2.94889111e-02 2.93242927e-03 9.99560806e-01 1.11538166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812557844 meters Centerline goodness : 0.169977 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99565214e-01 7.86583743e-04 -2.94747972e-02 2.03313211e+00] [-8.76891184e-04 9.99994961e-01 -3.05108613e-03 2.15221497e-01] [ 2.94722487e-02 3.07560575e-03 9.99560867e-01 1.11586831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters Centerline goodness : 0.168459 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99564252e-01 7.26652291e-04 -2.95089399e-02 2.03313510e+00] [-8.20647804e-04 9.99994628e-01 -3.17333734e-03 2.15631639e-01] [ 2.95064755e-02 3.19617101e-03 9.99559479e-01 1.11601569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872557844 meters Centerline goodness : 0.167068 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99560056e-01 6.74133139e-04 -2.96519670e-02 2.03365620e+00] [-7.72935974e-04 9.99994188e-01 -3.32074785e-03 2.16346733e-01] [ 2.96495560e-02 3.34220598e-03 9.99554768e-01 1.11578750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters Centerline goodness : 0.139241 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:1.12 [[ 9.99551246e-01 6.00460336e-04 -2.99490507e-02 2.03474259e+00] [-7.06157511e-04 9.99993560e-01 -3.51878102e-03 2.17336519e-01] [ 2.99467449e-02 3.53835070e-03 9.99545233e-01 1.11526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932557844 meters Centerline goodness : 0.171638 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99496550e-01 -4.96814065e-03 -3.13362934e-02 2.05971859e+00] [ 4.93540528e-03 9.99987191e-01 -1.12190871e-03 2.20366867e-01] [ 3.13414658e-02 9.66686577e-04 9.99508268e-01 1.11504432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.962557844 meters Centerline goodness : 0.170056 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99497900e-01 -5.07264898e-03 -3.12764415e-02 2.05958959e+00] [ 5.03034537e-03 9.99986324e-01 -1.43110827e-03 2.21905282e-01] [ 3.12832732e-02 1.27305841e-03 9.99509748e-01 1.11507124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.992557844 meters Centerline goodness : 0.102809 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:1.12 [[ 9.99496730e-01 -5.16011555e-03 -3.12995215e-02 2.05970439e+00] [ 5.10715906e-03 9.99985389e-01 -1.77163644e-03 2.23718857e-01] [ 3.13082061e-02 1.61089319e-03 9.99508480e-01 1.11505459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.022557844 meters Centerline goodness : 0.173638 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:1.12 [[ 0.9995049 0.00363289 -0.03125321 2.08016216] [-0.00371533 0.99998977 -0.00257997 0.2204533 ] [ 0.03124352 0.00269481 0.99950817 1.11613226] [ 0. 0. 0. 1. ]] SLAMing on 175.052557844 meters Centerline goodness : 0.292421 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:1.12 [[ 0.99949221 0.00388029 -0.03162682 2.08109475] [-0.00397908 0.9999874 -0.00306115 0.2240984 ] [ 0.03161454 0.00318544 0.99949506 1.11638521] [ 0. 0. 0. 1. ]] SLAMing on 175.082557844 meters Centerline goodness : 0.125642 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:1.12 [[ 9.99500734e-01 -2.49905083e-03 -3.14966414e-02 2.05761302e+00] [ 2.48041986e-03 9.99996725e-01 -6.30580778e-04 2.30861583e-01] [ 3.14981141e-02 5.52141055e-04 9.99503659e-01 1.11684297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112557844 meters Centerline goodness : 0.290604 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:1.12 [[ 9.99505501e-01 -2.61671778e-03 -3.13353771e-02 2.05694493e+00] [ 2.58365973e-03 9.99996062e-01 -1.09541874e-03 2.33240474e-01] [ 3.13381201e-02 1.01391710e-03 9.99508326e-01 1.11740340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142557844 meters Centerline goodness : 0.107822 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99519341e-01 -2.80234049e-03 -3.08744998e-02 2.05534270e+00] [ 2.74976860e-03 9.99994697e-01 -1.74508864e-03 2.36687519e-01] [ 3.08792264e-02 1.65935211e-03 9.99521746e-01 1.11817297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172557844 meters Centerline goodness : 0.105669 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99523544e-01 -2.87985697e-03 -3.07309385e-02 2.05500130e+00] [ 2.82242866e-03 9.99994189e-01 -1.91196025e-03 2.37453894e-01] [ 3.07362661e-02 1.82431341e-03 9.99525865e-01 1.11810518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202557844 meters Centerline goodness : 0.116328 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99521713e-01 -2.94759891e-03 -3.07840291e-02 2.05523760e+00] [ 2.88625724e-03 9.99993760e-01 -2.03689194e-03 2.37999668e-01] [ 3.07898410e-02 1.94706710e-03 9.99523984e-01 1.11790904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232557844 meters Centerline goodness : 0.102805 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 9.99517980e-01 -3.00309948e-03 -3.08996453e-02 2.05566301e+00] [ 2.93917428e-03 9.99993446e-01 -2.11401330e-03 2.38428363e-01] [ 3.09057913e-02 2.02217486e-03 9.99520256e-01 1.11764531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262557844 meters Centerline goodness : 0.221084 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.9995133 -0.00315653 -0.03103544 2.05614701] [ 0.00308382 0.99999239 -0.0023903 0.23983703] [ 0.03104275 0.00229343 0.99951543 1.11742038] [ 0. 0. 0. 1. ]] SLAMing on 175.29255784400002 meters Centerline goodness : 0.176800 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.99951389 -0.00325951 -0.03100593 2.0559992 ] [ 0.00317923 0.99999147 -0.0026381 0.24103687] [ 0.03101427 0.00253824 0.99951572 1.11757603] [ 0. 0. 0. 1. ]] SLAMing on 175.32255784400002 meters Centerline goodness : 0.131485 Centerline is valid? [False, False] Translation: X:2.06, Y:0.24, Z:1.12 [[ 0.9995177 -0.00331847 -0.03087642 2.0554893 ] [ 0.00323166 0.99999069 -0.00286091 0.24224129] [ 0.03088563 0.00275975 0.99951912 1.11790206] [ 0. 0. 0. 1. ]] SLAMing on 175.35255784400002 meters Centerline goodness : 0.291675 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:1.12 [[ 0.99952456 -0.00346452 -0.03063756 2.05462434] [ 0.00335999 0.99998836 -0.0034626 0.24530269] [ 0.0306492 0.00335802 0.99952456 1.11847386] [ 0. 0. 0. 1. ]] SLAMing on 175.38255784400002 meters Centerline goodness : 0.111027 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:1.12 [[ 0.99952257 -0.00360754 -0.03068566 2.05492238] [ 0.00348973 0.99998634 -0.00389222 0.24737271] [ 0.03069928 0.00378328 0.99952151 1.1182768 ] [ 0. 0. 0. 1. ]] SLAMing on 175.41255784400002 meters Centerline goodness : 0.110869 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99951434 -0.00375001 -0.03093574 2.05576171] [ 0.00361741 0.99998403 -0.00434126 0.2495802 ] [ 0.03095153 0.00422725 0.99951195 1.11800447] [ 0. 0. 0. 1. ]] SLAMing on 175.44255784400002 meters Centerline goodness : 0.115052 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949632 -0.00382448 -0.03150353 2.05736735] [ 0.00367327 0.99998146 -0.0048563 0.25235948] [ 0.03152152 0.00473814 0.99949184 1.11779283] [ 0. 0. 0. 1. ]] SLAMing on 175.47255784400002 meters Centerline goodness : 0.109113 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949434 -0.00386736 -0.03156128 2.05766279] [ 0.00371138 0.99998062 -0.00499927 0.25314554] [ 0.03158 0.0048796 0.99948932 1.11755779] [ 0. 0. 0. 1. ]] SLAMing on 175.502557844 meters Centerline goodness : 0.109500 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:1.12 [[ 0.99949665 -0.00390987 -0.03148265 2.05754639] [ 0.00374935 0.99997968 -0.00515612 0.2540183 ] [ 0.03150217 0.00503549 0.999491 1.11744674] [ 0. 0. 0. 1. ]] SLAMing on 175.532557844 meters Centerline goodness : 0.132599 Centerline is valid? [False, False] Translation: X:2.06, Y:0.26, Z:1.12 [[ 0.99949815 -0.00396981 -0.03142745 2.05744119] [ 0.00380325 0.99997841 -0.00535769 0.255093 ] [ 0.03144804 0.00523547 0.99949168 1.11744172] [ 0. 0. 0. 1. ]] SLAMing on 175.562557844 meters Centerline goodness : 0.128446 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:1.12 [[ 0.99953439 0.00422045 -0.03021902 2.07724973] [-0.00441989 0.99996887 -0.00653595 0.25150258] [ 0.0301905 0.00666647 0.99952193 1.11838174] [ 0. 0. 0. 1. ]] SLAMing on 175.592557844 meters Centerline goodness : 0.110073 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:1.12 [[ 0.99954454 0.00404737 -0.02990554 2.07621631] [-0.0042693 0.9999638 -0.00736081 0.25587795] [ 0.02987466 0.00748513 0.99952563 1.11898124] [ 0. 0. 0. 1. ]] SLAMing on 175.622557844 meters Centerline goodness : 0.170181 Centerline is valid? [False, False] Translation: X:2.08, Y:0.26, Z:1.12 [[ 0.99954486 0.00386282 -0.02991903 2.0762291 ] [-0.00410286 0.99995986 -0.00796585 0.25900991] [ 0.02988706 0.00808497 0.99952058 1.1191432 ] [ 0. 0. 0. 1. ]] SLAMing on 175.652557844 meters Centerline goodness : 0.170052 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956113 0.00570217 -0.02906936 2.07409598] [-0.00590727 0.99995823 -0.00697453 0.26623655] [ 0.02902837 0.00714319 0.99955306 1.11938383] [ 0. 0. 0. 1. ]] SLAMing on 175.682557844 meters Centerline goodness : 0.117792 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956286 0.00552703 -0.02904392 2.07425451] [-0.005745 0.99995592 -0.0074268 0.26833657] [ 0.0290016 0.00759041 0.99955055 1.11904586] [ 0. 0. 0. 1. ]] SLAMing on 175.712557844 meters Centerline goodness : 0.134148 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.99956615 0.00536281 -0.02896105 2.07423579] [-0.00559091 0.99995394 -0.00780094 0.27001028] [ 0.02891789 0.00795947 0.9995501 1.11875672] [ 0. 0. 0. 1. ]] SLAMing on 175.742557844 meters Centerline goodness : 0.113003 Centerline is valid? [False, False] Translation: X:2.07, Y:0.27, Z:1.12 [[ 0.9995701 0.00522723 -0.02884958 2.0740749 ] [-0.00546138 0.99995274 -0.00804325 0.27097906] [ 0.02880617 0.00819735 0.9995514 1.1185378 ] [ 0. 0. 0. 1. ]] SLAMing on 175.772557844 meters Centerline goodness : 0.171915 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:1.12 [[ 0.99956182 0.00492892 -0.02918689 2.07527996] [-0.00517748 0.99995092 -0.00844674 0.27254965] [ 0.02914383 0.00859415 0.99953828 1.11788306] [ 0. 0. 0. 1. ]] SLAMing on 175.802557844 meters Centerline goodness : 0.115871 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:1.12 [[ 0.99955021 0.00481392 -0.02960068 2.07660641] [-0.00507 0.99995032 -0.00858217 0.27310089] [ 0.02955789 0.00872838 0.99952496 1.1173549 ] [ 0. 0. 0. 1. ]] SLAMing on 175.832557844 meters Centerline goodness : 0.144551 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99951263 -0.00322816 -0.0310496 2.09778279] [ 0.00299485 0.99996696 -0.00755773 0.27649669] [ 0.03107298 0.00746106 0.99948927 1.11975762] [ 0. 0. 0. 1. ]] SLAMing on 175.862557844 meters Centerline goodness : 0.167729 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99950746 -0.003289 -0.03120929 2.09830929] [ 0.00305281 0.99996636 -0.00761259 0.27676489] [ 0.03123328 0.00751356 0.99948388 1.11948718] [ 0. 0. 0. 1. ]] SLAMing on 175.892557844 meters Centerline goodness : 0.171494 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:1.12 [[ 0.99946368 -0.01167712 -0.03059391 2.11919691] [ 0.01148145 0.99991254 -0.00656359 0.28005753] [ 0.03066788 0.00620881 0.99951035 1.12110234] [ 0. 0. 0. 1. ]] SLAMing on 175.922557844 meters Centerline goodness : 0.109995 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:1.12 [[ 0.99946769 -0.01182429 -0.03040581 2.118855 ] [ 0.01162236 0.99990927 -0.00680951 0.28129299] [ 0.03048357 0.0064525 0.99951444 1.12087762] [ 0. 0. 0. 1. ]] SLAMing on 175.952557844 meters Centerline goodness : 0.177827 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953652 -0.00328773 -0.03026458 2.09772543] [ 0.00305002 0.99996416 -0.00789724 0.27978022] [ 0.03028946 0.00780127 0.99951072 1.11901067] [ 0. 0. 0. 1. ]] SLAMing on 175.982557844 meters Centerline goodness : 0.147634 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.999536 -0.00344237 -0.03026449 2.09765506] [ 0.00319357 0.99996074 -0.00826552 0.28145005] [ 0.03029176 0.00816503 0.99950775 1.11916486] [ 0. 0. 0. 1. ]] SLAMing on 176.012557844 meters Centerline goodness : 0.106258 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953507 -0.00359325 -0.03027775 2.09755475] [ 0.00333195 0.99995681 -0.00867641 0.28348393] [ 0.03030762 0.00857149 0.99950387 1.1194481 ] [ 0. 0. 0. 1. ]] SLAMing on 176.04255784400002 meters Centerline goodness : 0.106258 Centerline is valid? [False, False] Translation: X:2.10, Y:0.28, Z:1.12 [[ 0.99953507 -0.00359325 -0.03027775 2.09755475] [ 0.00333195 0.99995681 -0.00867641 0.28348393] [ 0.03030762 0.00857149 0.99950387 1.1194481 ] [ 0. 0. 0. 1. ]] SLAMing on 176.07255784400002 meters Centerline goodness : 0.113412 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952698 -0.00386038 -0.03051104 2.09817946] [ 0.00357205 0.9999485 -0.00949894 0.28780122] [ 0.03054613 0.00938546 0.99948929 1.11952141] [ 0. 0. 0. 1. ]] SLAMing on 176.10255784400002 meters Centerline goodness : 0.173721 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952348 -0.00401006 -0.03060622 2.09857928] [ 0.00370978 0.99994449 -0.00986169 0.2896131 ] [ 0.03064407 0.00974344 0.99948287 1.11931561] [ 0. 0. 0. 1. ]] SLAMing on 176.13255784400002 meters Centerline goodness : 0.164093 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952481 -0.00413571 -0.03054589 2.09845641] [ 0.00382606 0.99994078 -0.01018856 0.29119733] [ 0.03058622 0.01006685 0.99948144 1.1193082 ] [ 0. 0. 0. 1. ]] SLAMing on 176.16255784400002 meters Centerline goodness : 0.169288 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99952811 -0.00426638 -0.03041959 2.09807693] [ 0.0039486 0.99993709 -0.01049898 0.2926448 ] [ 0.03046247 0.01037391 0.99948208 1.11944047] [ 0. 0. 0. 1. ]] SLAMing on 176.19255784400002 meters Centerline goodness : 0.165585 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.9995321 -0.00447751 -0.03025778 2.097477 ] [ 0.00414635 0.99993092 -0.01099852 0.29494689] [ 0.03030494 0.01086791 0.99948162 1.11984339] [ 0. 0. 0. 1. ]] SLAMing on 176.22255784400002 meters Centerline goodness : 0.162599 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:1.12 [[ 0.99953209 -0.00455283 -0.03024677 2.09741557] [ 0.00421749 0.99992904 -0.01114121 0.29550388] [ 0.03029535 0.01100844 0.99948037 1.11991184] [ 0. 0. 0. 1. ]] SLAMing on 176.252557844 meters Centerline goodness : 0.121278 Centerline is valid? [False, False] Translation: X:2.10, Y:0.30, Z:1.12 [[ 0.99953661 -0.00458036 -0.03009296 2.09684989] [ 0.00424669 0.9999289 -0.01114258 0.29534068] [ 0.03014186 0.01100962 0.999485 1.12014586] [ 0. 0. 0. 1. ]] SLAMing on 176.282557844 meters Centerline goodness : 0.182490 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99954882 -0.00459556 -0.02968235 2.09529931] [ 0.00426863 0.99992963 -0.01106849 0.29498898] [ 0.02973112 0.01093679 0.9994981 1.12091358] [ 0. 0. 0. 1. ]] SLAMing on 176.312557844 meters Centerline goodness : 0.168933 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99955021 -0.00456659 -0.02963975 2.09526389] [ 0.00424315 0.99993087 -0.01096603 0.29456247] [ 0.02968778 0.01083533 0.99950049 1.12074404] [ 0. 0. 0. 1. ]] SLAMing on 176.342557844 meters Centerline goodness : 0.160819 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:1.12 [[ 0.99954949 -0.00454972 -0.02966666 2.09554975] [ 0.00423073 0.99993266 -0.01080621 0.29360951] [ 0.02971383 0.01067583 0.99950143 1.12032574] [ 0. 0. 0. 1. ]] SLAMing on 176.372557844 meters Centerline goodness : 0.161995 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 0.99945661 -0.00477604 -0.03261409 2.05102895] [ 0.00440717 0.99992562 -0.01137258 0.29662303] [ 0.03266598 0.01122267 0.99940331 1.11972576] [ 0. 0. 0. 1. ]] SLAMing on 176.402557844 meters Centerline goodness : 0.167002 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 0.99944632 -0.00478286 -0.03292676 2.05205444] [ 0.00440728 0.99992451 -0.01146947 0.29710979] [ 0.03297913 0.011318 0.99939195 1.11937721] [ 0. 0. 0. 1. ]] SLAMing on 176.432557844 meters Centerline goodness : 0.165984 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99463078e-01 -9.33377886e-04 -3.27518485e-02 2.05151470e+00] [ 6.86954955e-04 9.99971380e-01 -7.53438569e-03 2.95838617e-01] [ 3.27579436e-02 7.50784128e-03 9.99435115e-01 1.11929788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.462557844 meters Centerline goodness : 0.130908 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99460031e-01 -9.37678348e-04 -3.28445785e-02 2.05161122e+00] [ 6.83904191e-04 9.99969836e-01 -7.73689819e-03 2.97132756e-01] [ 3.28508425e-02 7.71025797e-03 9.99430525e-01 1.11959380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.492557844 meters Centerline goodness : 0.108922 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99461266e-01 -9.68608833e-04 -3.28061051e-02 2.05142326e+00] [ 7.09208388e-04 9.99968402e-01 -7.91779193e-03 2.98138094e-01] [ 3.28127378e-02 7.89025998e-03 9.99430372e-01 1.11982427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.522557844 meters Centerline goodness : 0.159152 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99468990e-01 -9.76761977e-04 -3.25696674e-02 2.05045226e+00] [ 7.14893547e-04 9.99967335e-01 -8.05093083e-03 2.98715303e-01] [ 3.25764674e-02 8.02337186e-03 9.99437041e-01 1.12041581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552557844 meters Centerline goodness : 0.101583 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99467452e-01 -9.78027422e-04 -3.26167986e-02 2.05061077e+00] [ 7.14417386e-04 9.99966998e-01 -8.09270780e-03 2.99014623e-01] [ 3.26236371e-02 8.06509604e-03 9.99435167e-01 1.12039395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582557844 meters Centerline goodness : 0.153886 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99451993e-01 -8.90172954e-04 -3.30895872e-02 2.05241314e+00] [ 6.25259770e-04 9.99967680e-01 -8.01542368e-03 2.98900629e-01] [ 3.30956529e-02 7.99034158e-03 9.99420248e-01 1.11942373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612557844 meters Centerline goodness : 0.107564 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:1.12 [[ 9.99442153e-01 -9.03865398e-04 -3.33851004e-02 2.05340290e+00] [ 6.33881433e-04 9.99967021e-01 -8.09665874e-03 2.99345152e-01] [ 3.33913176e-02 8.07097985e-03 9.99409765e-01 1.11905046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642557844 meters Centerline goodness : 0.108500 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 0.99941525 -0.00647417 -0.03357457 2.07625743] [ 0.00631493 0.99996832 -0.00484669 0.30058134] [ 0.03360489 0.00463184 0.99942446 1.11963645] [ 0. 0. 0. 1. ]] SLAMing on 176.672557844 meters Centerline goodness : 0.130521 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 9.99432499e-01 -2.50944740e-03 -3.35914030e-02 2.07615793e+00] [ 2.47586281e-03 9.99996393e-01 -1.04135558e-03 3.00364211e-01] [ 3.35938951e-02 9.57596907e-04 9.99435107e-01 1.11972159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702557844 meters Centerline goodness : 0.170193 Centerline is valid? [False, False] Translation: X:2.08, Y:0.30, Z:1.12 [[ 9.99434817e-01 1.54357438e-03 -3.35806953e-02 2.07603345e+00] [-1.45377867e-03 9.99995303e-01 2.69827976e-03 3.01392766e-01] [ 3.35847026e-02 -2.64793584e-03 9.99432367e-01 1.11985727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732557844 meters Centerline goodness : 0.210871 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:1.12 [[ 0.99944157 0.00507055 -0.03302788 2.07394447] [-0.00490754 0.99997538 0.00501486 0.30856143] [ 0.0330525 -0.00484997 0.99944185 1.12093956] [ 0. 0. 0. 1. ]] SLAMing on 176.762557844 meters Centerline goodness : 0.113378 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:1.12 [[ 0.99944626 0.004952 -0.03290363 2.07331259] [-0.00481533 0.99997945 0.00423178 0.31271425] [ 0.03292391 -0.00407099 0.99944957 1.12152311] [ 0. 0. 0. 1. ]] SLAMing on 176.79255784400002 meters Centerline goodness : 0.130981 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:1.12 [[ 0.99944722 0.00470585 -0.03291066 2.07327505] [-0.00459447 0.99998346 0.00345899 0.31651309] [ 0.03292639 -0.00330587 0.99945231 1.12166366] [ 0. 0. 0. 1. ]] SLAMing on 176.82255784400002 meters Centerline goodness : 0.146575 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99333908e-01 -1.41868233e-03 -3.64654320e-02 2.09620701e+00] [ 1.58466495e-03 9.99988514e-01 4.52328060e-03 3.26862302e-01] [ 3.64585961e-02 -4.57805317e-03 9.99324678e-01 1.12364365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85255784400002 meters Centerline goodness : 0.148476 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99332003e-01 -1.67267280e-03 -3.65068456e-02 2.09640373e+00] [ 1.81833037e-03 9.99990518e-01 3.95703296e-03 3.29554852e-01] [ 3.64998807e-02 -4.02077118e-03 9.99325569e-01 1.12350052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88255784400002 meters Centerline goodness : 0.132014 Centerline is valid? [False, False] Translation: X:2.10, Y:0.33, Z:1.12 [[ 9.99335739e-01 -1.94524952e-03 -3.63909007e-02 2.09580935e+00] [ 2.06994542e-03 9.99992114e-01 3.38920603e-03 3.32218698e-01] [ 3.63840209e-02 -3.46228189e-03 9.99331885e-01 1.12400759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91255784400002 meters Centerline goodness : 0.130374 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945035 -0.00235202 -0.03306758 2.13499441] [ 0.00247154 0.99999056 0.00357401 0.33753745] [ 0.03305886 -0.00365378 0.99944673 1.12661089] [ 0. 0. 0. 1. ]] SLAMing on 176.94255784400002 meters Centerline goodness : 0.132461 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945223 -0.00259605 -0.03299249 2.13484348] [ 0.0026968 0.99999183 0.00300955 0.34024623] [ 0.03298441 -0.00309687 0.99945107 1.12656071] [ 0. 0. 0. 1. ]] SLAMing on 176.97255784400002 meters Centerline goodness : 0.126186 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:1.13 [[ 0.99945405 -0.00284742 -0.03291653 2.13485539] [ 0.00292935 0.99999273 0.00244104 0.34291044] [ 0.03290934 -0.00253613 0.99945512 1.12626429] [ 0. 0. 0. 1. ]] SLAMing on 177.002557844 meters Centerline goodness : 0.131502 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.13 [[ 9.99457243e-01 -3.12607873e-03 -3.27940212e-02 2.13463152e+00] [ 3.18905314e-03 9.99993170e-01 1.86817238e-03 3.45425965e-01] [ 3.27879571e-02 -1.97174029e-03 9.99460385e-01 1.12612753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032557844 meters Centerline goodness : 0.122306 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.13 [[ 9.99461950e-01 -3.41313870e-03 -3.26214913e-02 2.13409384e+00] [ 3.45596212e-03 9.99993239e-01 1.25644202e-03 3.48150648e-01] [ 3.26169823e-02 -1.36850463e-03 9.99466988e-01 1.12630195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters Centerline goodness : 0.126192 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99521390e-01 3.88827298e-03 -3.06899361e-02 2.15252555e+00] [-3.90233257e-03 9.99992307e-01 -3.98234852e-04 3.49877412e-01] [ 3.06881516e-02 5.17806590e-04 9.99528874e-01 1.12738081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092557844 meters Centerline goodness : 0.155606 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99517409e-01 3.73412812e-03 -3.08383620e-02 2.15303171e+00] [-3.75728639e-03 9.99992701e-01 -6.93042499e-04 3.51241722e-01] [ 3.08355490e-02 8.08576601e-04 9.99524144e-01 1.12718857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122557844 meters Centerline goodness : 0.127088 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99517297e-01 3.51892231e-03 -3.08672972e-02 2.15327358e+00] [-3.55041114e-03 9.99993231e-01 -9.65386069e-04 3.52087946e-01] [ 3.08636912e-02 1.07451167e-03 9.99523025e-01 1.12689498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152557844 meters Centerline goodness : 0.151858 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99525986e-01 3.05217753e-03 -3.06347513e-02 2.15278053e+00] [-3.09583399e-03 9.99994259e-01 -1.37773319e-03 3.52893303e-01] [ 3.06303703e-02 1.47192023e-03 9.99529696e-01 1.12669566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182557844 meters Centerline goodness : 0.124270 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99525717e-01 2.99674501e-03 -3.06489899e-02 2.15284133e+00] [-3.04334536e-03 9.99994283e-01 -1.47391745e-03 3.53473022e-01] [ 3.06443977e-02 1.56649386e-03 9.99529123e-01 1.12664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.212557844 meters Centerline goodness : 0.142650 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.13 [[ 9.99523477e-01 2.94354998e-03 -3.07270984e-02 2.15307449e+00] [-2.99574411e-03 9.99994147e-01 -1.65273739e-03 3.54580865e-01] [ 3.07220536e-02 1.74400034e-03 9.99526445e-01 1.12663289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.242557844 meters Centerline goodness : 0.154993 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99951345 0.00271126 -0.03107277 2.1540929 ] [-0.00278393 0.99999349 -0.00229576 0.35767072] [ 0.03106635 0.00238114 0.99951449 1.12656312] [ 0. 0. 0. 1. ]] SLAMing on 177.272557844 meters Centerline goodness : 0.147338 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99951087 0.00254347 -0.0311696 2.15435499] [-0.00263292 0.99999253 -0.00282904 0.36027765] [ 0.03116217 0.00290972 0.99951011 1.12661971] [ 0. 0. 0. 1. ]] SLAMing on 177.302557844 meters Centerline goodness : 0.169687 Centerline is valid? [False, False] Translation: X:2.15, Y:0.36, Z:1.13 [[ 0.99950818 0.00240994 -0.03126629 2.1546091 ] [-0.00251796 0.999991 -0.00341588 0.36336316] [ 0.03125778 0.00349293 0.99950525 1.12672298] [ 0. 0. 0. 1. ]] SLAMing on 177.332557844 meters Centerline goodness : 0.155693 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 0.99950361 0.00226526 -0.03142292 2.15501455] [-0.00239337 0.99998898 -0.00403997 0.36661978] [ 0.03141343 0.00411317 0.99949801 1.12680971] [ 0. 0. 0. 1. ]] SLAMing on 177.362557844 meters Centerline goodness : 0.119481 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99494090e-01 2.10664137e-03 -3.17352624e-02 2.15587715e+00] [-2.25441667e-03 9.99986780e-01 -4.62144024e-03 3.69567904e-01] [ 3.17251071e-02 4.69064671e-03 9.99485625e-01 1.12675555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392557844 meters Centerline goodness : 0.126046 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99483967e-01 1.81677369e-03 -3.20702278e-02 2.15685609e+00] [-1.99306441e-03 9.99983076e-01 -5.46590993e-03 3.73742660e-01] [ 3.20597547e-02 5.52700737e-03 9.99470672e-01 1.12660888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422557844 meters Centerline goodness : 0.125803 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99481492e-01 1.75110673e-03 -3.21508912e-02 2.15716145e+00] [-1.93379951e-03 9.99982157e-01 -5.65213980e-03 3.74831515e-01] [ 3.21404200e-02 5.71138250e-03 9.99467045e-01 1.12643407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452557844 meters Centerline goodness : 0.163685 Centerline is valid? [False, False] Translation: X:2.16, Y:0.38, Z:1.13 [[ 9.99478607e-01 1.72504086e-03 -3.22418707e-02 2.15755110e+00] [-1.90965022e-03 9.99981955e-01 -5.69584847e-03 3.75150933e-01] [ 3.22314633e-02 5.75444939e-03 9.99463866e-01 1.12615133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482557844 meters Centerline goodness : 0.122600 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99473181e-01 1.34349562e-03 -3.24276847e-02 2.15848101e+00] [-1.53122980e-03 9.99982209e-01 -5.76517899e-03 3.74399932e-01] [ 3.24193623e-02 5.81179603e-03 9.99457457e-01 1.12525784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512557844 meters Centerline goodness : 0.126857 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.13 [[ 0.99948751 -0.00786921 -0.03102902 2.17961837] [ 0.00771589 0.99995744 -0.0050576 0.37502507] [ 0.0310675 0.0048156 0.99950569 1.12631068] [ 0. 0. 0. 1. ]] SLAMing on 177.54255784400002 meters Centerline goodness : 0.121192 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.13 [[ 9.99550182e-01 5.89958848e-04 -2.99847614e-02 2.15713024e+00] [-7.66777397e-04 9.99982385e-01 -5.88579070e-03 3.70449610e-01] [ 2.99807609e-02 5.90613481e-03 9.99533027e-01 1.12517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57255784400002 meters Centerline goodness : 0.170411 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99955664 -0.0079527 -0.02869289 2.17695496] [ 0.00783022 0.99995976 -0.00437879 0.37182236] [ 0.02872656 0.00415218 0.99957868 1.12715136] [ 0. 0. 0. 1. ]] SLAMing on 177.60255784400002 meters Centerline goodness : 0.132293 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99956128 -0.00786743 -0.02855436 2.17662524] [ 0.00775442 0.99996167 -0.0040664 0.3702837 ] [ 0.02858525 0.0038432 0.99958397 1.12709606] [ 0. 0. 0. 1. ]] SLAMing on 177.63255784400002 meters Centerline goodness : 0.136878 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.99956388 -0.00785895 -0.02846547 2.17649763] [ 0.00774915 0.99996211 -0.00396576 0.36956744] [ 0.02849556 0.00374345 0.99958691 1.12688974] [ 0. 0. 0. 1. ]] SLAMing on 177.66255784400002 meters Centerline goodness : 0.139064 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.999566 -0.00787642 -0.02838631 2.17631643] [ 0.00776704 0.99996199 -0.00396172 0.3693936 ] [ 0.02841643 0.00373952 0.99958918 1.12684863] [ 0. 0. 0. 1. ]] SLAMing on 177.69255784400002 meters Centerline goodness : 0.137082 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 0.9995643 -0.00785742 -0.02845123 2.17645876] [ 0.00774798 0.99996216 -0.00395461 0.3694791 ] [ 0.02848123 0.00373245 0.99958736 1.1268547 ] [ 0. 0. 0. 1. ]] SLAMing on 177.72255784400002 meters Centerline goodness : 0.160241 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99592495e-01 -4.11954617e-03 -2.82466403e-02 2.17590823e+00] [ 4.11809205e-03 9.99991515e-01 -1.09651978e-04 3.68598947e-01] [ 2.82468523e-02 -6.71497026e-06 9.99600978e-01 1.12676680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752557844 meters Centerline goodness : 0.157476 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99590372e-01 -4.15096654e-03 -2.83170935e-02 2.17621877e+00] [ 4.14577590e-03 9.99991377e-01 -2.42012013e-04 3.69276144e-01] [ 2.83178539e-02 1.24516555e-04 9.99598961e-01 1.12658494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782557844 meters Centerline goodness : 0.160734 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99586844e-01 -4.17647253e-03 -2.84376272e-02 2.17675251e+00] [ 4.16808565e-03 9.99991251e-01 -3.54193144e-04 3.69828286e-01] [ 2.84388576e-02 2.35516341e-04 9.99595506e-01 1.12620751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812557844 meters Centerline goodness : 0.132286 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.13 [[ 9.99584962e-01 -4.19424018e-03 -2.85010844e-02 2.17699220e+00] [ 4.18266141e-03 9.99991144e-01 -4.65862568e-04 3.70453737e-01] [ 2.85027859e-02 3.46458832e-04 9.99593653e-01 1.12609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842557844 meters Centerline goodness : 0.126390 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99615676e-01 -1.89767933e-03 -2.76568202e-02 2.17230100e+00] [ 1.94105451e-03 9.99996928e-01 1.54157311e-03 3.72774151e-01] [ 2.76538098e-02 -1.59466405e-03 9.99616288e-01 1.12871966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872557844 meters Centerline goodness : 0.138856 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99608328e-01 -1.96440559e-03 -2.79165143e-02 2.17295129e+00] [ 2.00152950e-03 9.99997149e-01 1.30193754e-03 3.74018845e-01] [ 2.79138772e-02 -1.35730333e-03 9.99609410e-01 1.12877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters Centerline goodness : 0.138856 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.13 [[ 9.99608328e-01 -1.96440559e-03 -2.79165143e-02 2.17295129e+00] [ 2.00152950e-03 9.99997149e-01 1.30193754e-03 3.74018845e-01] [ 2.79138772e-02 -1.35730333e-03 9.99609410e-01 1.12877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932557844 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99601931e-01 -2.05764089e-03 -2.81379894e-02 2.17381552e+00] [ 2.08801913e-03 9.99997269e-01 1.05027698e-03 3.75245477e-01] [ 2.81357514e-02 -1.10861155e-03 9.99603497e-01 1.12822656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.962557844 meters Centerline goodness : 0.159129 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99597917e-01 -2.13916705e-03 -2.82741605e-02 2.17458740e+00] [ 2.16263782e-03 9.99997342e-01 7.99559984e-04 3.76504579e-01] [ 2.82723749e-02 -8.60385263e-04 9.99599886e-01 1.12752733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.992557844 meters Centerline goodness : 0.121225 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99606952e-01 -2.23219965e-03 -2.79456421e-02 2.17391496e+00] [ 2.24534143e-03 9.99997383e-01 4.38891144e-04 3.78563148e-01] [ 2.79445892e-02 -5.01466147e-04 9.99609348e-01 1.12729408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.022557844 meters Centerline goodness : 0.125482 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99609910e-01 -2.26110342e-03 -2.78372913e-02 2.17342914e+00] [ 2.27282622e-03 9.99997341e-01 3.89485180e-04 3.78747637e-01] [ 2.78363366e-02 -4.52602572e-04 9.99612392e-01 1.12767916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052557844 meters Centerline goodness : 0.129284 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99628418e-01 4.96223369e-03 -2.68030203e-02 2.19181275e+00] [-4.99164131e-03 9.99987011e-01 -1.03037915e-03 3.72276796e-01] [ 2.67975591e-02 1.16378734e-03 9.99640203e-01 1.12947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082557844 meters Centerline goodness : 0.126847 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99623768e-01 5.01399834e-03 -2.69663142e-02 2.19208146e+00] [-5.03301340e-03 9.99987131e-01 -6.37313525e-04 3.69845374e-01] [ 2.69627717e-02 7.72795568e-04 9.99636140e-01 1.12954829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.112557844 meters Centerline goodness : 0.156829 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99619343e-01 5.09530424e-03 -2.71147024e-02 2.19267455e+00] [-5.10809416e-03 9.99986873e-01 -4.02452172e-04 3.68697300e-01] [ 2.71122958e-02 5.40803429e-04 9.99632248e-01 1.12915761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142557844 meters Centerline goodness : 0.133559 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99615637e-01 5.18903390e-03 -2.72332876e-02 2.19316448e+00] [-5.19614567e-03 9.99986482e-01 -1.90381418e-04 3.67708366e-01] [ 2.72319316e-02 3.31816372e-04 9.99629087e-01 1.12882580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172557844 meters Centerline goodness : 0.126548 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605957e-01 5.45252830e-03 -2.75354553e-02 2.19418255e+00] [-5.45189198e-03 9.99985134e-01 9.81838582e-05 3.66928476e-01] [ 2.75355813e-02 5.19751584e-05 9.99620823e-01 1.12842320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202557844 meters Centerline goodness : 0.125453 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605381e-01 5.57271590e-03 -2.75323060e-02 2.19401655e+00] [-5.57002921e-03 9.99984472e-01 1.74275312e-04 3.66927698e-01] [ 2.75328496e-02 -2.08507916e-05 9.99620899e-01 1.12870627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232557844 meters Centerline goodness : 0.143003 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99607627e-01 5.66846545e-03 -2.74310150e-02 2.19357050e+00] [-5.66293783e-03 9.99983926e-01 2.79191061e-04 3.66576598e-01] [ 2.74321567e-02 -1.23741381e-04 9.99623660e-01 1.12902282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262557844 meters Centerline goodness : 0.133028 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99614108e-01 5.73068871e-03 -2.71807523e-02 2.19267499e+00] [-5.72226074e-03 9.99983553e-01 3.87843773e-04 3.65707551e-01] [ 2.71825279e-02 -2.32158756e-04 9.99630460e-01 1.12939635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29255784400002 meters Centerline goodness : 0.127799 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99618044e-01 5.78244347e-03 -2.70246051e-02 2.19216031e+00] [-5.77091033e-03 9.99983221e-01 5.04738171e-04 3.65083579e-01] [ 2.70270703e-02 -3.48588810e-04 9.99634641e-01 1.12953187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32255784400002 meters Centerline goodness : 0.127111 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99621848e-01 5.79826626e-03 -2.68801216e-02 2.19158479e+00] [-5.78728464e-03 9.99983135e-01 4.86318810e-04 3.65228859e-01] [ 2.68824881e-02 -3.30571993e-04 9.99638546e-01 1.12987610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35255784400002 meters Centerline goodness : 0.126638 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99623895e-01 5.82781810e-03 -2.67974730e-02 2.19120494e+00] [-5.81715360e-03 9.99982967e-01 4.75906542e-04 3.65433524e-01] [ 2.67997901e-02 -3.19842535e-04 9.99640770e-01 1.13015796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38255784400002 meters Centerline goodness : 0.150321 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99614336e-01 5.87920652e-03 -2.71406419e-02 2.19227015e+00] [-5.87000441e-03 9.99982684e-01 4.18713450e-04 3.66158007e-01] [ 2.71426336e-02 -2.59236279e-04 9.99631537e-01 1.12983095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41255784400002 meters Centerline goodness : 0.150425 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99605834e-01 5.87085296e-03 -2.74537759e-02 2.19324380e+00] [-5.86402881e-03 9.99982752e-01 3.29072770e-04 3.66794534e-01] [ 2.74552343e-02 -1.67953328e-04 9.99623020e-01 1.12955389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44255784400002 meters Centerline goodness : 0.165962 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99603647e-01 5.79213259e-03 -2.75499536e-02 2.19360101e+00] [-5.79139219e-03 9.99983224e-01 1.06667017e-04 3.67882610e-01] [ 2.75501092e-02 5.29278465e-05 9.99620422e-01 1.12938576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47255784400002 meters Centerline goodness : 0.123359 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.13 [[ 9.99666973e-01 -2.17577957e-03 -2.57140009e-02 2.17126006e+00] [ 2.17411877e-03 9.99997632e-01 -9.25446367e-05 3.75832286e-01] [ 2.57141413e-02 3.66085248e-05 9.99669336e-01 1.12901905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters Centerline goodness : 0.155666 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99696193e-01 5.50647621e-03 -2.40249877e-02 2.18943686e+00] [-5.54577919e-03 9.99983390e-01 -1.56959860e-03 3.72425289e-01] [ 2.40159456e-02 1.70235902e-03 9.99710126e-01 1.13123091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532557844 meters Centerline goodness : 0.126537 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:1.13 [[ 9.99696846e-01 5.40222746e-03 -2.40215031e-02 2.18923463e+00] [-5.44980510e-03 9.99983315e-01 -1.91560234e-03 3.74222098e-01] [ 2.40107538e-02 2.04593413e-03 9.99709607e-01 1.13158627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters Centerline goodness : 0.124449 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99969262 0.005309 -0.02421755 2.18990895] [-0.00536586 0.999983 -0.0022834 0.37623998] [ 0.02420501 0.00241265 0.9997041 1.13132341] [ 0. 0. 0. 1. ]] SLAMing on 178.592557844 meters Centerline goodness : 0.121727 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99968822 0.00521225 -0.02441898 2.1906986 ] [-0.00527831 0.99998258 -0.00264166 0.37820624] [ 0.02440479 0.00276972 0.99969832 1.13088994] [ 0. 0. 0. 1. ]] SLAMing on 178.622557844 meters Centerline goodness : 0.126101 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 0.99969648 0.00489578 -0.02414476 2.18997393] [-0.00498758 0.99998056 -0.00374304 0.38357566] [ 0.02412596 0.00386232 0.99970147 1.13112458] [ 0. 0. 0. 1. ]] SLAMing on 178.652557844 meters Centerline goodness : 0.126796 Centerline is valid? [False, False] Translation: X:2.19, Y:0.39, Z:1.13 [[ 0.99970191 0.00459963 -0.02397782 2.18935703] [-0.00471063 0.99997844 -0.00457505 0.38738238] [ 0.02395626 0.00468663 0.99970202 1.13157174] [ 0. 0. 0. 1. ]] SLAMing on 178.682557844 meters Centerline goodness : 0.110060 Centerline is valid? [False, False] Translation: X:2.19, Y:0.39, Z:1.13 [[ 0.99970257 0.00436043 -0.02399511 2.18927657] [-0.00449135 0.99997531 -0.00540484 0.39164756] [ 0.02397095 0.005511 0.99969747 1.131856 ] [ 0. 0. 0. 1. ]] SLAMing on 178.712557844 meters Centerline goodness : 0.125289 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.9996774 0.00806132 -0.02408554 2.189889 ] [-0.0081263 0.9999636 -0.00260118 0.39805735] [ 0.0240637 0.00279607 0.99970652 1.13141258] [ 0. 0. 0. 1. ]] SLAMing on 178.742557844 meters Centerline goodness : 0.125120 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99967905 0.00778424 -0.02410804 2.19008849] [-0.00786461 0.99996382 -0.00324083 0.40090452] [ 0.02408194 0.00342939 0.99970411 1.13121484] [ 0. 0. 0. 1. ]] SLAMing on 178.772557844 meters Centerline goodness : 0.122032 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99968456 0.00753695 -0.02395793 2.18968844] [-0.00762808 0.99996401 -0.00371477 0.40281229] [ 0.02392907 0.00389635 0.99970607 1.13125542] [ 0. 0. 0. 1. ]] SLAMing on 178.802557844 meters Centerline goodness : 0.128007 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 0.99969725 0.00728472 -0.02350194 2.18826177] [-0.00738216 0.9999645 -0.00406206 0.4040363 ] [ 0.02347151 0.00423433 0.99971554 1.13170669] [ 0. 0. 0. 1. ]] SLAMing on 178.832557844 meters Centerline goodness : 0.123641 Centerline is valid? [False, False] Translation: X:2.17, Y:0.41, Z:1.13 [[ 9.99738604e-01 -1.04199732e-03 -2.28393934e-02 2.16572387e+00] [ 9.57609556e-04 9.99992676e-01 -3.70545953e-03 4.11399360e-01] [ 2.28430872e-02 3.68261972e-03 9.99732280e-01 1.13088492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862557844 meters Centerline goodness : 0.153652 Centerline is valid? [False, False] Translation: X:2.19, Y:0.42, Z:1.13 [[ 0.99969315 -0.01064852 -0.02236545 2.18702076] [ 0.01058088 0.99993909 -0.00314024 0.41566098] [ 0.02239753 0.00290263 0.99974493 1.13189499] [ 0. 0. 0. 1. ]] SLAMing on 178.892557844 meters Centerline goodness : 0.141298 Centerline is valid? [False, False] Translation: X:2.19, Y:0.42, Z:1.13 [[ 0.9996771 -0.01082495 -0.02298942 2.18929723] [ 0.01075625 0.99993731 -0.00310982 0.41511264] [ 0.02302165 0.00286153 0.99973087 1.1308132 ] [ 0. 0. 0. 1. ]] SLAMing on 178.922557844 meters Centerline goodness : 0.123499 Centerline is valid? [False, False] Translation: X:2.19, Y:0.41, Z:1.13 [[ 0.99965879 -0.01094572 -0.02371709 2.1920164 ] [ 0.01087663 0.99993623 -0.00304008 0.4144979 ] [ 0.02374885 0.00278108 0.99971409 1.12944257] [ 0. 0. 0. 1. ]] SLAMing on 178.952557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.982557844 meters Centerline goodness : 0.035734 Centerline is valid? [False, False] Translation: X:2.20, Y:0.41, Z:1.13 [[ 9.99644924e-01 -9.75909396e-03 -2.47948595e-02 2.19700065e+00] [ 9.72232451e-03 9.99951452e-01 -1.60306707e-03 4.12770870e-01] [ 2.48093002e-02 1.36143419e-03 9.99691275e-01 1.12696827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012557844 meters Centerline goodness : 0.066895 Centerline is valid? [False, False] Translation: X:2.20, Y:0.41, Z:1.13 [[ 9.99648410e-01 -9.87740650e-03 -2.46067603e-02 2.19608564e+00] [ 9.83365808e-03 9.99949847e-01 -1.89827708e-03 4.14061325e-01] [ 2.46242763e-02 1.65563520e-03 9.99695406e-01 1.12771489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04255784400002 meters Centerline goodness : 0.118350 Centerline is valid? [False, False] Translation: X:2.20, Y:0.42, Z:1.13 [[ 9.99651524e-01 -1.00868396e-02 -2.43943866e-02 2.19516077e+00] [ 1.00324938e-02 9.99946914e-01 -2.34916304e-03 4.15827019e-01] [ 2.44167872e-02 2.10360788e-03 9.99699653e-01 1.12836071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07255784400002 meters Centerline goodness : 0.140983 Centerline is valid? [False, False] Translation: X:2.20, Y:0.42, Z:1.13 [[ 0.99964438 -0.01032677 -0.02458618 2.19582235] [ 0.01025511 0.9999428 -0.00303877 0.41905038] [ 0.02461616 0.00278556 0.9996931 1.12813348] [ 0. 0. 0. 1. ]] SLAMing on 179.10255784400002 meters Centerline goodness : 0.147028 Centerline is valid? [False, False] Translation: X:2.18, Y:0.42, Z:1.13 [[ 9.99635275e-01 -9.47871178e-04 -2.69892475e-02 2.17591045e+00] [ 8.50497313e-04 9.99993089e-01 -3.61912690e-03 4.18070024e-01] [ 2.69924915e-02 3.59485263e-03 9.99629172e-01 1.12719376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 179.16255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 179.19255784400002 meters Centerline goodness : 0.124595 Centerline is valid? [False, False] Translation: X:2.17, Y:0.42, Z:1.13 [[ 9.99648189e-01 -1.04469069e-03 -2.65029525e-02 2.17381202e+00] [ 9.47962631e-04 9.99992845e-01 -3.66201047e-03 4.17780432e-01] [ 2.65065886e-02 3.63559833e-03 9.99642028e-01 1.12860244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22255784400002 meters Centerline goodness : 0.127773 Centerline is valid? [False, False] Translation: X:2.17, Y:0.42, Z:1.13 [[ 9.99658126e-01 -1.02419419e-03 -2.61262678e-02 2.17226618e+00] [ 9.31581593e-04 9.99993241e-01 -3.55673279e-03 4.17244053e-01] [ 2.61297340e-02 3.53117809e-03 9.99652323e-01 1.12955828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252557844 meters Centerline goodness : 0.216314 Centerline is valid? [False, False] Translation: X:2.12, Y:0.42, Z:1.13 [[ 9.99615673e-01 -2.57790837e-04 -2.77207588e-02 2.12378984e+00] [ 1.52739021e-04 9.99992800e-01 -3.79169500e-03 4.20152993e-01] [ 2.77215366e-02 3.78600370e-03 9.99608515e-01 1.13083881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters Centerline goodness : 0.147703 Centerline is valid? [False, False] Translation: X:2.14, Y:0.42, Z:1.13 [[ 0.99958407 -0.00927548 -0.02730663 2.1449421 ] [ 0.00919465 0.99995297 -0.00308405 0.42259511] [ 0.02733395 0.00283169 0.99962235 1.13161499] [ 0. 0. 0. 1. ]] SLAMing on 179.312557844 meters Centerline goodness : 0.082720 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 0.9995794 -0.00927441 -0.02747743 2.14570949] [ 0.00919352 0.99995303 -0.00306886 0.42247559] [ 0.0275046 0.00281496 0.99961771 1.13103488] [ 0. 0. 0. 1. ]] SLAMing on 179.342557844 meters Centerline goodness : 0.142994 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 0.99957466 -0.00927177 -0.02765008 2.14637449] [ 0.00918945 0.99995296 -0.00310287 0.42268674] [ 0.02767755 0.00284746 0.99961285 1.13062902] [ 0. 0. 0. 1. ]] SLAMing on 179.372557844 meters Centerline goodness : 0.128221 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99614132e-01 -5.50798286e-03 -2.72258770e-02 2.14547141e+00] [ 5.52988182e-03 9.99984444e-01 7.29116903e-04 4.22669568e-01] [ 2.72214375e-02 -8.79391443e-04 9.99629041e-01 1.13019944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402557844 meters Centerline goodness : 0.131495 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99614285e-01 -5.53409063e-03 -2.72149718e-02 2.14521451e+00] [ 5.55230757e-03 9.99984409e-01 5.93850209e-04 4.23424350e-01] [ 2.72112611e-02 -7.44727047e-04 9.99629428e-01 1.13062158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432557844 meters Centerline goodness : 0.151712 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99613813e-01 -5.58886521e-03 -2.72211369e-02 2.14501643e+00] [ 5.60319319e-03 9.99984201e-01 4.50105840e-04 4.24052807e-01] [ 2.72181913e-02 -6.02457304e-04 9.99629335e-01 1.13098652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.462557844 meters Centerline goodness : 0.130115 Centerline is valid? [False, False] Translation: X:2.15, Y:0.42, Z:1.13 [[ 9.99611994e-01 -5.62792640e-03 -2.72797930e-02 2.14503685e+00] [ 5.63892532e-03 9.99984048e-01 3.26276772e-04 4.24545877e-01] [ 2.72775216e-02 -4.79978891e-04 9.99627784e-01 1.13121683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.492557844 meters Centerline goodness : 0.061184 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99582468e-01 -5.31469809e-03 -2.84014569e-02 2.14832843e+00] [ 5.32867075e-03 9.99985716e-01 4.16305815e-04 4.25034416e-01] [ 2.83988387e-02 -5.67474007e-04 9.99596511e-01 1.13048833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.522557844 meters Centerline goodness : 0.143730 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99567244e-01 -5.18972494e-03 -2.89549943e-02 2.15014150e+00] [ 5.20278499e-03 9.99986395e-01 3.75725168e-04 4.25671077e-01] [ 2.89526505e-02 -5.26209181e-04 9.99580646e-01 1.12979818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552557844 meters Centerline goodness : 0.061649 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99559024e-01 -5.14292299e-03 -2.92456553e-02 2.15109948e+00] [ 5.15116500e-03 9.99986711e-01 2.06485773e-04 4.26660284e-01] [ 2.92442047e-02 -3.57043913e-04 9.99572233e-01 1.12939656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582557844 meters Centerline goodness : 0.164481 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99593748e-01 -2.30115825e-03 -2.84085085e-02 2.14767597e+00] [ 2.36184463e-03 9.99995000e-01 2.10283424e-03 4.31432641e-01] [ 2.84035275e-02 -2.16907644e-03 9.99594185e-01 1.13023578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612557844 meters Centerline goodness : 0.177444 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:1.13 [[ 9.99594742e-01 -2.10614280e-03 -2.83886673e-02 2.14721466e+00] [ 2.16200911e-03 9.99995786e-01 1.93735773e-03 4.32842869e-01] [ 2.83844674e-02 -1.99794915e-03 9.99595083e-01 1.13098089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642557844 meters Centerline goodness : 0.124134 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:1.13 [[ 9.99603497e-01 6.91188707e-03 -2.72960416e-02 2.16704775e+00] [-6.87820036e-03 9.99975463e-01 1.32782426e-03 4.29222438e-01] [ 2.73045496e-02 -1.13955013e-03 9.99626512e-01 1.13204905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672557844 meters Centerline goodness : 0.177442 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99606337e-01 1.13359051e-02 -2.56645458e-02 2.12406936e+00] [-1.13015708e-02 9.99935036e-01 1.48247002e-03 4.37639142e-01] [ 2.56796837e-02 -1.19183674e-03 9.99669512e-01 1.12969648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702557844 meters Centerline goodness : 0.125565 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99615043e-01 1.16079792e-02 -2.51996261e-02 2.12265173e+00] [-1.15801944e-02 9.99932168e-01 1.24824332e-03 4.38903515e-01] [ 2.52124063e-02 -9.55946226e-04 9.99681660e-01 1.12965013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732557844 meters Centerline goodness : 0.082420 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99621656e-01 1.18034966e-02 -2.48439727e-02 2.12142383e+00] [-1.17807818e-02 9.99930042e-01 1.06046624e-03 4.39918378e-01] [ 2.48547519e-02 -7.67383593e-04 9.99690778e-01 1.12975862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762557844 meters Centerline goodness : 0.183235 Centerline is valid? [False, False] Translation: X:2.12, Y:0.44, Z:1.13 [[ 9.99614973e-01 1.19007649e-02 -2.50654719e-02 2.12223241e+00] [-1.18862086e-02 9.99929090e-01 7.29645512e-04 4.41041353e-01] [ 2.50723779e-02 -4.31431151e-04 9.99685545e-01 1.12872995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79255784400002 meters Centerline goodness : 0.128892 Centerline is valid? [False, False] Translation: X:2.10, Y:0.45, Z:1.13 [[ 9.99634821e-01 2.95082632e-03 -2.68610697e-02 2.10366244e+00] [-2.90719114e-03 9.99994391e-01 1.66338416e-03 4.46489068e-01] [ 2.68658274e-02 -1.58468646e-03 9.99637792e-01 1.12754484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82255784400002 meters Centerline goodness : 0.082532 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.99968825 0.00245047 -0.02484752 2.14917331] [-0.00238972 0.99999408 0.00247429 0.44400502] [ 0.02485344 -0.00241414 0.99968819 1.12686214] [ 0. 0. 0. 1. ]] SLAMing on 179.85255784400002 meters Centerline goodness : 0.082532 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.99968825 0.00245047 -0.02484752 2.14917331] [-0.00238972 0.99999408 0.00247429 0.44400502] [ 0.02485344 -0.00241414 0.99968819 1.12686214] [ 0. 0. 0. 1. ]] SLAMing on 179.88255784400002 meters Centerline goodness : 0.124657 Centerline is valid? [False, False] Translation: X:2.15, Y:0.44, Z:1.13 [[ 0.9996979 0.0026932 -0.0244307 2.14787711] [-0.00262091 0.99999209 0.0029903 0.44175408] [ 0.02443856 -0.00292537 0.99969705 1.12724679] [ 0. 0. 0. 1. ]] SLAMing on 179.91255784400002 meters Centerline goodness : 0.154650 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:1.13 [[ 0.99972962 -0.00612031 -0.02243282 2.16744264] [ 0.00621171 0.99997268 0.00400693 0.44313276] [ 0.02240768 -0.00414519 0.99974032 1.12816975] [ 0. 0. 0. 1. ]] SLAMing on 179.94255784400002 meters Centerline goodness : 0.148350 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:1.13 [[ 0.99973387 -0.00600781 -0.02227333 2.16678268] [ 0.00610515 0.9999721 0.00430471 0.44164146] [ 0.02224685 -0.00443955 0.99974265 1.12861475] [ 0. 0. 0. 1. ]] SLAMing on 179.97255784400002 meters Centerline goodness : 0.168601 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976647 0.00237602 -0.02147952 2.18773881] [-0.00228782 0.99998885 0.00412995 0.4352692 ] [ 0.02148909 -0.00407984 0.99976076 1.12950682] [ 0. 0. 0. 1. ]] SLAMing on 180.002557844 meters Centerline goodness : 0.157772 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976746 0.00239942 -0.02143041 2.1877102 ] [-0.00231084 0.99998869 0.00415755 0.43511533] [ 0.02144014 -0.00410706 0.9997617 1.12929904] [ 0. 0. 0. 1. ]] SLAMing on 180.032557844 meters Centerline goodness : 0.125085 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976715 0.00241077 -0.02144367 2.18771989] [-0.00232228 0.99998869 0.00415052 0.43504109] [ 0.02145343 -0.00409975 0.99976144 1.12929795] [ 0. 0. 0. 1. ]] SLAMing on 180.062557844 meters Centerline goodness : 0.155059 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99976493 0.00240353 -0.02154792 2.18802539] [-0.00231701 0.99998916 0.00403924 0.43559167] [ 0.0215574 -0.00398836 0.99975966 1.12915788] [ 0. 0. 0. 1. ]] SLAMing on 180.092557844 meters Centerline goodness : 0.168304 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:1.13 [[ 0.99974244 0.00653978 -0.021732 2.18913182] [-0.00636924 0.99994845 0.00790705 0.43662043] [ 0.02178259 -0.0077666 0.99973256 1.12812406] [ 0. 0. 0. 1. ]] SLAMing on 180.122557844 meters Centerline goodness : 0.142965 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99748708e-01 2.46042920e-04 -2.24156468e-02 2.21137359e+00] [-1.54800176e-05 9.99947104e-01 1.02853948e-02 4.42197826e-01] [ 2.24169917e-02 -1.02824632e-02 9.99695828e-01 1.12834664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152557844 meters Centerline goodness : 0.126259 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99743783e-01 2.57813394e-04 -2.26341032e-02 2.21189498e+00] [-3.70983466e-05 9.99952454e-01 9.75131610e-03 4.45106791e-01] [ 2.26355410e-02 -9.74797795e-03 9.99696258e-01 1.12828731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182557844 meters Centerline goodness : 0.151770 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99745758e-01 5.78979418e-04 -2.25407304e-02 2.21155303e+00] [-3.80733881e-04 9.99961222e-01 8.79829005e-03 4.50929385e-01] [ 2.25449504e-02 -8.78747113e-03 9.99707210e-01 1.12833457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.212557844 meters Centerline goodness : 0.124110 Centerline is valid? [False, False] Translation: X:2.23, Y:0.45, Z:1.13 [[ 0.99971808 0.00867507 -0.02210217 2.23191367] [-0.00850947 0.9999351 0.00757573 0.45125074] [ 0.02216646 -0.00738551 0.99972701 1.12960916] [ 0. 0. 0. 1. ]] SLAMing on 180.242557844 meters Centerline goodness : 0.088700 Centerline is valid? [False, False] Translation: X:2.23, Y:0.45, Z:1.13 [[ 0.99971679 0.00848819 -0.02223282 2.2321822 ] [-0.0083359 0.99994122 0.00693348 0.45420382] [ 0.02229037 -0.00674618 0.99972878 1.12955606] [ 0. 0. 0. 1. ]] SLAMing on 180.272557844 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:2.21, Y:0.46, Z:1.13 [[ 9.99751477e-01 5.40768039e-04 -2.22865831e-02 2.21133547e+00] [-3.82165080e-04 9.99974578e-01 7.12016681e-03 4.61869098e-01] [ 2.22898669e-02 -7.10988013e-03 9.99726268e-01 1.12858625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302557844 meters Centerline goodness : 0.180316 Centerline is valid? [False, False] Translation: X:2.21, Y:0.47, Z:1.13 [[ 9.99761590e-01 1.83076932e-04 -2.18341294e-02 2.20946577e+00] [-4.44226126e-05 9.99979833e-01 6.35066395e-03 4.65180339e-01] [ 2.18348517e-02 -6.34817996e-03 9.99741437e-01 1.12981903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332557844 meters Centerline goodness : 0.125560 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99975398 0.00734751 -0.02092838 2.22773544] [-0.00724943 0.9999624 0.00475861 0.46219212] [ 0.02096256 -0.00460572 0.99976965 1.1318585 ] [ 0. 0. 0. 1. ]] SLAMing on 180.362557844 meters Centerline goodness : 0.126600 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974967 0.00727575 -0.02115794 2.22847153] [-0.00717905 0.99996345 0.00464316 0.46269654] [ 0.02119094 -0.00449011 0.99976536 1.13159869] [ 0. 0. 0. 1. ]] SLAMing on 180.392557844 meters Centerline goodness : 0.150996 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974156 0.00723853 -0.02155017 2.22979048] [-0.00714228 0.99996419 0.00454014 0.46321017] [ 0.02158226 -0.00438504 0.99975746 1.13104959] [ 0. 0. 0. 1. ]] SLAMing on 180.422557844 meters Centerline goodness : 0.165941 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99973662 0.00719649 -0.02179204 2.23073736] [-0.00710211 0.99996508 0.00440538 0.46384947] [ 0.02182298 -0.00424945 0.99975282 1.13049926] [ 0. 0. 0. 1. ]] SLAMing on 180.452557844 meters Centerline goodness : 0.128184 Centerline is valid? [False, False] Translation: X:2.23, Y:0.46, Z:1.13 [[ 0.99974019 0.00716281 -0.0216392 2.22999262] [-0.00706993 0.99996548 0.0043655 0.46377855] [ 0.02166972 -0.00421137 0.99975631 1.13106665] [ 0. 0. 0. 1. ]] SLAMing on 180.482557844 meters Centerline goodness : 0.154552 Centerline is valid? [False, False] Translation: X:2.25, Y:0.47, Z:1.13 [[ 9.99799831e-01 -1.45323175e-03 -1.99545817e-02 2.24813945e+00] [ 1.56018339e-03 9.99984497e-01 5.34523180e-03 4.67229221e-01] [ 1.99465045e-02 -5.37529466e-03 9.99786599e-01 1.13278390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512557844 meters Centerline goodness : 0.157126 Centerline is valid? [False, False] Translation: X:2.25, Y:0.47, Z:1.13 [[ 9.99803541e-01 -1.33053249e-03 -1.97764943e-02 2.24710564e+00] [ 1.43932823e-03 9.99983905e-01 5.48804983e-03 4.66743898e-01] [ 1.97688740e-02 -5.51543652e-03 9.99789364e-01 1.13373667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54255784400002 meters Centerline goodness : 0.088900 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99795194e-01 -8.76571827e-04 -2.02188298e-02 2.24821171e+00] [ 9.99303062e-04 9.99981134e-01 6.06084084e-03 4.64931776e-01] [ 2.02131356e-02 -6.07980428e-03 9.99777208e-01 1.13369684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57255784400002 meters Centerline goodness : 0.124861 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99792559e-01 -7.34166733e-04 -2.03543678e-02 2.24896275e+00] [ 8.63810514e-04 9.99979394e-01 6.36127440e-03 4.63501253e-01] [ 2.03492782e-02 -6.37753713e-03 9.99772591e-01 1.13294776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60255784400002 meters Centerline goodness : 0.126794 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99792792e-01 -5.91948006e-04 -2.03475542e-02 2.24906750e+00] [ 7.27724110e-04 9.99977517e-01 6.66608975e-03 4.62009236e-01] [ 2.03431507e-02 -6.67951589e-03 9.99770744e-01 1.13268623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63255784400002 meters Centerline goodness : 0.127263 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99801193e-01 -9.16279410e-05 -1.99390712e-02 2.24763759e+00] [ 2.42788867e-04 9.99971251e-01 7.57885313e-03 4.58220141e-01] [ 1.99378036e-02 -7.58218738e-03 9.99772471e-01 1.13339449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66255784400002 meters Centerline goodness : 0.150171 Centerline is valid? [False, False] Translation: X:2.25, Y:0.46, Z:1.13 [[ 9.99802243e-01 1.49746626e-04 -1.98859905e-02 2.24731030e+00] [ 1.06254415e-05 9.99967484e-01 8.06422473e-03 4.56168784e-01] [ 1.98865515e-02 -8.06284127e-03 9.99769731e-01 1.13374183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69255784400002 meters Centerline goodness : 0.157028 Centerline is valid? [False, False] Translation: X:2.25, Y:0.45, Z:1.13 [[ 9.99800514e-01 3.46146843e-04 -1.99702631e-02 2.24762817e+00] [-1.76981003e-04 9.99964096e-01 8.47203244e-03 4.54263347e-01] [ 1.99724786e-02 -8.46680803e-03 9.99764679e-01 1.13357966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72255784400002 meters Centerline goodness : 0.090000 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99699922e-01 1.00628841e-03 -2.44755623e-02 2.20758229e+00] [-8.20924110e-04 9.99970917e-01 7.58231290e-03 4.48304716e-01] [ 2.44824805e-02 -7.55994503e-03 9.99671674e-01 1.13298811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75255784400002 meters Centerline goodness : 0.188673 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99693768e-01 1.23352877e-03 -2.47153416e-02 2.20830884e+00] [-1.03929231e-03 9.99968489e-01 7.87024748e-03 4.47324266e-01] [ 2.47242709e-02 -7.84215090e-03 9.99663549e-01 1.13272805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782557844 meters Centerline goodness : 0.174212 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99695351e-01 1.40807022e-03 -2.46418786e-02 2.20814883e+00] [-1.20914719e-03 9.99966580e-01 8.08559843e-03 4.46686186e-01] [ 2.46524401e-02 -8.05333950e-03 9.99663644e-01 1.13263072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812557844 meters Centerline goodness : 0.091984 Centerline is valid? [False, False] Translation: X:2.21, Y:0.45, Z:1.13 [[ 9.99698544e-01 1.52291094e-03 -2.45051196e-02 2.20773052e+00] [-1.31968695e-03 9.99964624e-01 8.30715954e-03 4.45698734e-01] [ 2.45169038e-02 -8.27231622e-03 9.99665189e-01 1.13272105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842557844 meters Centerline goodness : 0.094398 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99698068e-01 -2.03243773e-03 -2.44875835e-02 2.20776234e+00] [ 2.15165869e-03 9.99985956e-01 4.84326486e-03 4.43510141e-01] [ 2.44773960e-02 -4.89449144e-03 9.99688402e-01 1.13250137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872557844 meters Centerline goodness : 0.164073 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99696161e-01 -1.86826451e-03 -2.45783570e-02 2.20819463e+00] [ 1.99833574e-03 9.99984124e-01 5.26860785e-03 4.41513197e-01] [ 2.45681236e-02 -5.31612284e-03 9.99684023e-01 1.13218579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902557844 meters Centerline goodness : 0.094320 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:1.13 [[ 9.99695525e-01 -1.68391101e-03 -2.46175008e-02 2.20852745e+00] [ 1.82684508e-03 9.99981599e-01 5.78486138e-03 4.39150070e-01] [ 2.46073066e-02 -5.82807239e-03 9.99680206e-01 1.13186472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932557844 meters Centerline goodness : 0.158628 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99968436 -0.00546077 -0.0245227 2.20800127] [ 0.00552997 0.99998091 0.00275518 0.43448381] [ 0.02450719 -0.00288992 0.99969548 1.13250841] [ 0. 0. 0. 1. ]] SLAMing on 180.962557844 meters Centerline goodness : 0.153904 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99968308 -0.00539528 -0.02458936 2.20813361] [ 0.00548114 0.99997911 0.00342562 0.43075295] [ 0.02457036 -0.00355931 0.99969177 1.13271715] [ 0. 0. 0. 1. ]] SLAMing on 180.992557844 meters Centerline goodness : 0.158259 Centerline is valid? [False, False] Translation: X:2.21, Y:0.43, Z:1.13 [[ 0.99967732 -0.00520628 -0.02486263 2.20892831] [ 0.00531116 0.99997727 0.00415388 0.42718167] [ 0.02484044 -0.00428459 0.99968225 1.13268976] [ 0. 0. 0. 1. ]] SLAMing on 181.022557844 meters Centerline goodness : 0.147776 Centerline is valid? [False, False] Translation: X:2.21, Y:0.42, Z:1.13 [[ 0.99966655 -0.0050768 -0.0253182 2.2103787 ] [ 0.00521108 0.99997269 0.00524077 0.42123281] [ 0.0252909 -0.00537096 0.99966571 1.13244356] [ 0. 0. 0. 1. ]] SLAMing on 181.052557844 meters Centerline goodness : 0.147953 Centerline is valid? [False, False] Translation: X:2.21, Y:0.42, Z:1.13 [[ 0.99967031 -0.00489026 -0.02520636 2.21014477] [ 0.00503972 0.99997008 0.00586928 0.41806931] [ 0.0251769 -0.00599438 0.99966504 1.13247168] [ 0. 0. 0. 1. ]] SLAMing on 181.082557844 meters Centerline goodness : 0.148042 Centerline is valid? [False, False] Translation: X:2.21, Y:0.41, Z:1.13 [[ 0.99967064 -0.00747874 -0.02454938 2.20650195] [ 0.00758235 0.99996272 0.00413025 0.41100089] [ 0.02451758 -0.00431503 0.99969009 1.13485327] [ 0. 0. 0. 1. ]] SLAMing on 181.112557844 meters Centerline goodness : 0.133882 Centerline is valid? [False, False] Translation: X:2.21, Y:0.41, Z:1.14 [[ 0.99967341 -0.00718899 -0.02452337 2.20639819] [ 0.00731137 0.99996125 0.00490406 0.40752244] [ 0.02448717 -0.00508175 0.99968723 1.13505951] [ 0. 0. 0. 1. ]] SLAMing on 181.142557844 meters Centerline goodness : 0.160943 Centerline is valid? [False, False] Translation: X:2.19, Y:0.40, Z:1.13 [[ 9.99699645e-01 1.19928106e-03 -2.44781933e-02 2.18710970e+00] [-1.09315003e-03 9.99989947e-01 4.34865850e-03 3.98171214e-01] [ 2.44831625e-02 -4.32059402e-03 9.99690906e-01 1.13342993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172557844 meters Centerline goodness : 0.092292 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99700471e-01 6.94153083e-03 -2.34687684e-02 2.20953415e+00] [-6.90816121e-03 9.99975009e-01 1.50265008e-03 3.93748725e-01] [ 2.34786126e-02 -1.34007396e-03 9.99723441e-01 1.13353375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202557844 meters Centerline goodness : 0.286692 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99719570e-01 3.28051637e-03 -2.34525056e-02 2.20935757e+00] [-3.32191774e-03 9.99992992e-01 -1.72658682e-03 3.89821905e-01] [ 2.34466772e-02 1.80400993e-03 9.99723461e-01 1.13363295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232557844 meters Centerline goodness : 0.155206 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99717086e-01 3.47783589e-03 -2.35298259e-02 2.20949522e+00] [-3.51018351e-03 9.99992950e-01 -1.33358662e-03 3.88147645e-01] [ 2.35250220e-02 1.41580333e-03 9.99722246e-01 1.13370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262557844 meters Centerline goodness : 0.381327 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99717722e-01 3.69227369e-03 -2.34700390e-02 2.20931817e+00] [-3.71785462e-03 9.99992541e-01 -1.04639783e-03 3.87333112e-01] [ 2.34660004e-02 1.13336065e-03 9.99723993e-01 1.13373841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29255784400002 meters Centerline goodness : 0.395451 Centerline is valid? [False, False] Translation: X:2.21, Y:0.39, Z:1.13 [[ 9.99718605e-01 4.42477998e-03 -2.33052141e-02 2.20897190e+00] [-4.43440616e-03 9.99990103e-01 -3.61384704e-04 3.85539149e-01] [ 2.33033844e-02 4.64627797e-04 9.99728331e-01 1.13362253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32255784400002 meters Centerline goodness : 0.383380 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99718457e-01 4.43616153e-03 -2.33093759e-02 2.20904005e+00] [-4.44474513e-03 9.99990072e-01 -3.16450116e-04 3.84949294e-01] [ 2.33077406e-02 4.19965256e-04 9.99728250e-01 1.13346286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35255784400002 meters Centerline goodness : 0.195205 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99717106e-01 4.49856985e-03 -2.33553024e-02 2.20924832e+00] [-4.50329237e-03 9.99989849e-01 -1.49612014e-04 3.83879541e-01] [ 2.33543923e-02 2.54745445e-04 9.99727217e-01 1.13324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38255784400002 meters Centerline goodness : 0.384121 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.13 [[ 9.99676327e-01 -3.14149906e-03 -2.52462514e-02 2.18937600e+00] [ 3.18470100e-03 9.99993532e-01 1.67119691e-03 3.84299218e-01] [ 2.52408381e-02 -1.75105775e-03 9.99679866e-01 1.13267558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41255784400002 meters Centerline goodness : 0.387648 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99670398e-01 4.94628202e-03 -2.51918703e-02 2.20873533e+00] [-4.91989941e-03 9.99987282e-01 1.10914009e-03 3.78210577e-01] [ 2.51970360e-02 -9.84833051e-04 9.99682019e-01 1.13461950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44255784400002 meters Centerline goodness : 0.321698 Centerline is valid? [False, False] Translation: X:2.21, Y:0.38, Z:1.13 [[ 9.99669707e-01 5.19448864e-03 -2.51693146e-02 2.20874053e+00] [-5.15156283e-03 9.99985164e-01 1.77002347e-03 3.75076253e-01] [ 2.51781356e-02 -1.63977754e-03 9.99681636e-01 1.13459144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47255784400002 meters Centerline goodness : 0.331541 Centerline is valid? [False, False] Translation: X:2.21, Y:0.37, Z:1.13 [[ 9.99676564e-01 1.32787979e-03 -2.53969356e-02 2.20948187e+00] [-1.37675523e-03 9.99997234e-01 -1.90707343e-03 3.73643536e-01] [ 2.53943330e-02 1.94142198e-03 9.99675627e-01 1.13422080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50255784400002 meters Centerline goodness : 0.223876 Centerline is valid? [False, False] Translation: X:2.21, Y:0.37, Z:1.13 [[ 9.99667061e-01 1.49844743e-03 -2.57589044e-02 2.21073974e+00] [-1.53103754e-03 9.99998052e-01 -1.24552243e-03 3.70189239e-01] [ 2.57569879e-02 1.28454560e-03 9.99667408e-01 1.13369040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532557844 meters Centerline goodness : 0.362415 Centerline is valid? [False, False] Translation: X:2.21, Y:0.36, Z:1.13 [[ 9.99654452e-01 1.93661707e-03 -2.62150056e-02 2.21222692e+00] [-1.93466689e-03 9.99998124e-01 9.97544015e-05 3.63734711e-01] [ 2.62151496e-02 -4.90026281e-05 9.99656323e-01 1.13319044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562557844 meters Centerline goodness : 0.179569 Centerline is valid? [False, False] Translation: X:2.19, Y:0.36, Z:1.13 [[ 9.99616515e-01 -6.83012732e-03 -2.68360270e-02 2.19079918e+00] [ 6.86520313e-03 9.99975696e-01 1.21512443e-03 3.63210718e-01] [ 2.68270753e-02 -1.39889322e-03 9.99639110e-01 1.13230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592557844 meters Centerline goodness : 0.178251 Centerline is valid? [False, False] Translation: X:2.21, Y:0.36, Z:1.13 [[ 9.99709900e-01 -1.88084749e-03 -2.40120248e-02 2.21213726e+00] [ 1.83077967e-03 9.99996105e-01 -2.10692761e-03 3.57117569e-01] [ 2.40158940e-02 2.06235566e-03 9.99709450e-01 1.13265550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters Centerline goodness : 0.349644 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 9.99711319e-01 -1.66924097e-03 -2.39685771e-02 2.21201229e+00] [ 1.63172021e-03 9.99997413e-01 -1.58488716e-03 3.54773431e-01] [ 2.39711607e-02 1.54531963e-03 9.99711456e-01 1.13271384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652557844 meters Centerline goodness : 0.163969 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 9.99709108e-01 -1.46488765e-03 -2.40739345e-02 2.21252153e+00] [ 1.43868046e-03 9.99998354e-01 -1.10589642e-03 3.52667035e-01] [ 2.40755149e-02 1.07094003e-03 9.99709569e-01 1.13230418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 181.712557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 181.742557844 meters Centerline goodness : 0.156856 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 0.99968682 -0.00522175 -0.02447448 2.21396104] [ 0.00511978 0.99997796 -0.00422706 0.3479467 ] [ 0.02449601 0.00410043 0.99969152 1.1316435 ] [ 0. 0. 0. 1. ]] SLAMing on 181.772557844 meters Centerline goodness : 0.159362 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.13 [[ 0.99968963 -0.00507707 -0.02439001 2.21341514] [ 0.00498853 0.99998075 -0.0036894 0.34523226] [ 0.02440827 0.00356659 0.99969571 1.13223761] [ 0. 0. 0. 1. ]] SLAMing on 181.802557844 meters Centerline goodness : 0.151714 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.13 [[ 0.99972804 0.0026197 -0.02317309 2.19353158] [-0.00271793 0.99998745 -0.00420848 0.33665143] [ 0.02316178 0.00427032 0.99972261 1.13078592] [ 0. 0. 0. 1. ]] SLAMing on 181.832557844 meters Centerline goodness : 0.112301 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.13 [[ 0.99973678 -0.00543328 -0.02229 2.21325999] [ 0.00537636 0.99998213 -0.00261279 0.33896166] [ 0.02230379 0.00249227 0.99974813 1.13239435] [ 0. 0. 0. 1. ]] SLAMing on 181.862557844 meters Centerline goodness : 0.220387 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.13 [[ 9.99734474e-01 -5.38391608e-03 -2.24052658e-02 2.21396992e+00] [ 5.34273012e-03 9.99983927e-01 -1.89768184e-03 3.35143659e-01] [ 2.24151227e-02 1.77747267e-03 9.99747169e-01 1.13176904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892557844 meters Centerline goodness : 0.361328 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99713058e-01 1.14040129e-03 -2.39270069e-02 2.23229484e+00] [-1.21564849e-03 9.99994361e-01 -3.13055526e-03 3.28575674e-01] [ 2.39233019e-02 3.15874380e-03 9.99708807e-01 1.13394029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922557844 meters Centerline goodness : 0.106093 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99708467e-01 1.22269805e-03 -2.41140034e-02 2.23276972e+00] [-1.29131812e-03 9.99995161e-01 -2.83028587e-03 3.27079533e-01] [ 2.41104262e-02 2.86059960e-03 9.99705209e-01 1.13392251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952557844 meters Centerline goodness : 0.152878 Centerline is valid? [False, False] Translation: X:2.23, Y:0.33, Z:1.13 [[ 9.99710292e-01 1.28635522e-03 -2.40349113e-02 2.23227573e+00] [-1.34540535e-03 9.99996116e-01 -2.44083905e-03 3.25107893e-01] [ 2.40316781e-02 2.47246862e-03 9.99708140e-01 1.13451958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982557844 meters Centerline goodness : 0.383493 Centerline is valid? [False, False] Translation: X:2.23, Y:0.32, Z:1.14 [[ 9.99713614e-01 1.33031688e-03 -2.38939410e-02 2.23163570e+00] [-1.38355009e-03 9.99996598e-01 -2.21150249e-03 3.23897581e-01] [ 2.38909177e-02 2.24392761e-03 9.99712053e-01 1.13503365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012557844 meters Centerline goodness : 0.150165 Centerline is valid? [False, False] Translation: X:2.23, Y:0.32, Z:1.14 [[ 9.99717153e-01 1.34986393e-03 -2.37442905e-02 2.23101436e+00] [-1.39618183e-03 9.99997155e-01 -1.93422656e-03 3.22302867e-01] [ 2.37416120e-02 1.96683081e-03 9.99716193e-01 1.13549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04255784400002 meters Centerline goodness : 0.118500 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99694476e-01 -7.50937505e-03 -2.35491735e-02 2.25216172e+00] [ 7.48844875e-03 9.99971484e-01 -9.76682242e-04 3.23286196e-01] [ 2.35558363e-02 8.00037063e-04 9.99722203e-01 1.13702725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 182.10255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 182.13255784400002 meters Centerline goodness : 0.103854 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99728217e-01 -8.36440724e-03 -2.17607308e-02 2.24688130e+00] [ 8.34336698e-03 9.99964634e-01 -1.05750286e-03 3.20034986e-01] [ 2.17688066e-02 8.75657683e-04 9.99762648e-01 1.13846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16255784400002 meters Centerline goodness : 0.250390 Centerline is valid? [False, False] Translation: X:2.25, Y:0.32, Z:1.14 [[ 9.99728960e-01 -8.30787649e-03 -2.17482213e-02 2.24685813e+00] [ 8.29230290e-03 9.99965293e-01 -8.06171813e-04 3.18857558e-01] [ 2.17541641e-02 6.25610470e-04 9.99763154e-01 1.13843506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19255784400002 meters Centerline goodness : 0.119903 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99733965e-01 -6.81907932e-05 -2.30649885e-02 2.22789270e+00] [ 4.09091923e-05 9.99999299e-01 -1.18328420e-03 3.12193605e-01] [ 2.30650530e-02 1.18202583e-03 9.99733267e-01 1.13740254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22255784400002 meters Centerline goodness : 0.242918 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99727516e-01 -3.69816901e-05 -2.33429489e-02 2.22860687e+00] [ 1.58717901e-05 9.99999591e-01 -9.04521951e-04 3.10701408e-01] [ 2.33429728e-02 9.03904989e-04 9.99727107e-01 1.13735377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25255784400002 meters Centerline goodness : 0.256090 Centerline is valid? [False, False] Translation: X:2.23, Y:0.31, Z:1.14 [[ 9.99723296e-01 -8.10895487e-05 -2.35228710e-02 2.22902681e+00] [ 6.70027004e-05 9.99999818e-01 -5.99645061e-04 3.08753624e-01] [ 2.35229154e-02 5.97903040e-04 9.99723119e-01 1.13736358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282557844 meters Centerline goodness : 0.180069 Centerline is valid? [False, False] Translation: X:2.25, Y:0.31, Z:1.14 [[ 9.99695824e-01 -9.38612033e-03 -2.28070318e-02 2.25116861e+00] [ 9.38302969e-03 9.99955949e-01 -2.42524496e-04 3.08917366e-01] [ 2.28083035e-02 2.84516700e-05 9.99739856e-01 1.13787268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312557844 meters Centerline goodness : 0.098044 Centerline is valid? [False, False] Translation: X:2.21, Y:0.30, Z:1.14 [[ 9.99591877e-01 -1.25763235e-02 -2.56498717e-02 2.20788653e+00] [ 1.25424956e-02 9.99920246e-01 -1.47929686e-03 2.99969544e-01] [ 2.56664302e-02 1.15697972e-03 9.99669893e-01 1.13748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342557844 meters Centerline goodness : 0.091586 Centerline is valid? [False, False] Translation: X:2.21, Y:0.30, Z:1.14 [[ 9.99574289e-01 -1.27451977e-02 -2.62450198e-02 2.20970870e+00] [ 1.27266069e-02 9.99918630e-01 -8.75273278e-04 2.96250433e-01] [ 2.62540398e-02 5.40890613e-04 9.99655157e-01 1.13679435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372557844 meters Centerline goodness : 0.121147 Centerline is valid? [False, False] Translation: X:2.21, Y:0.29, Z:1.14 [[ 9.99557080e-01 -1.28962768e-02 -2.68203432e-02 2.21134635e+00] [ 1.28932252e-02 9.99916838e-01 -2.86712547e-04 2.92541820e-01] [ 2.68218103e-02 -5.92151698e-05 9.99640229e-01 1.13631886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402557844 meters Centerline goodness : 0.103746 Centerline is valid? [False, False] Translation: X:2.21, Y:0.29, Z:1.14 [[ 9.99541159e-01 -1.29499363e-02 -2.73819390e-02 2.21287759e+00] [ 1.29635672e-02 9.99915918e-01 3.20340792e-04 2.88959535e-01] [ 2.73754883e-02 -6.75161412e-04 9.99624993e-01 1.13597748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432557844 meters Centerline goodness : 0.115080 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:1.14 [[ 9.99547789e-01 -1.29300021e-02 -2.71483478e-02 2.21221827e+00] [ 1.29704704e-02 9.99915015e-01 1.31506262e-03 2.83163975e-01] [ 2.71290369e-02 -1.66659477e-03 9.99630551e-01 1.13605309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.462557844 meters Centerline goodness : 0.178723 Centerline is valid? [False, False] Translation: X:2.23, Y:0.28, Z:1.14 [[ 9.99638349e-01 -5.25891996e-03 -2.63726230e-02 2.22927404e+00] [ 5.26761215e-03 9.99986092e-01 2.60129387e-04 2.75625673e-01] [ 2.63708882e-02 -3.98956061e-04 9.99652148e-01 1.13838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.492557844 meters Centerline goodness : 0.189585 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99642211e-01 -5.11683885e-03 -2.62539014e-02 2.22867752e+00] [ 5.13510741e-03 9.99986618e-01 6.28468605e-04 2.73639851e-01] [ 2.62503342e-02 -7.63060349e-04 9.99655109e-01 1.13885389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.522557844 meters Centerline goodness : 0.095920 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99635723e-01 -5.04197255e-03 -2.65141545e-02 2.22969425e+00] [ 5.06245189e-03 9.99986937e-01 7.05324035e-04 2.73472390e-01] [ 2.65102520e-02 -8.39293733e-04 9.99648189e-01 1.13822207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552557844 meters Centerline goodness : 0.171139 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99627000e-01 -4.94784072e-03 -2.68585006e-02 2.23106527e+00] [ 4.96974405e-03 9.99987370e-01 7.48817079e-04 2.73669576e-01] [ 2.68544563e-02 -8.82017644e-04 9.99638965e-01 1.13736143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582557844 meters Centerline goodness : 0.182693 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99626178e-01 -4.93209687e-03 -2.68919825e-02 2.23135648e+00] [ 4.95341064e-03 9.99987468e-01 7.26011110e-04 2.73890107e-01] [ 2.68880648e-02 -8.58946744e-04 9.99638082e-01 1.13698943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612557844 meters Centerline goodness : 0.092714 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:1.14 [[ 9.99659208e-01 1.24768005e-03 -2.60750922e-02 2.20595706e+00] [-1.30017968e-03 9.99997162e-01 -1.99654425e-03 2.71353609e-01] [ 2.60725271e-02 2.02976615e-03 9.99657993e-01 1.13771067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642557844 meters Centerline goodness : 0.336978 Centerline is valid? [False, False] Translation: X:2.23, Y:0.27, Z:1.14 [[ 9.99680849e-01 -7.05332092e-03 -2.42580108e-02 2.22590206e+00] [ 7.02966243e-03 9.99974729e-01 -1.06042412e-03 2.73536605e-01] [ 2.42648773e-02 8.89560056e-04 9.99705169e-01 1.13922333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672557844 meters Centerline goodness : 0.114949 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.14 [[ 9.99608080e-01 -7.52361817e-03 -2.69644637e-02 2.18027749e+00] [ 7.50203303e-03 9.99971453e-01 -9.01577939e-04 2.72100444e-01] [ 2.69704771e-02 6.98936295e-04 9.99635986e-01 1.13973280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702557844 meters Centerline goodness : 0.175567 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 9.99562366e-01 -8.32048676e-04 -2.95699922e-02 2.20003891e+00] [ 7.82188372e-04 9.99998253e-01 -1.69770632e-03 2.65575788e-01] [ 2.95713531e-02 1.67383405e-03 9.99561270e-01 1.14157055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732557844 meters Centerline goodness : 0.111903 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99551321e-01 -8.03413574e-04 -2.99417885e-02 2.20129713e+00] [ 7.59550059e-04 9.99998622e-01 -1.47630464e-03 2.64404121e-01] [ 2.99429333e-02 1.45289997e-03 9.99550554e-01 1.14094915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762557844 meters Centerline goodness : 0.172841 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99550916e-01 -7.48788774e-04 -2.99567427e-02 2.20136274e+00] [ 7.11430341e-04 9.99998956e-01 -1.25771829e-03 2.63382593e-01] [ 2.99576532e-02 1.23584133e-03 9.99550405e-01 1.14083116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79255784400002 meters Centerline goodness : 0.162927 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99580324e-01 -7.32029109e-04 -2.89592877e-02 2.19822477e+00] [ 7.00533369e-04 9.99999152e-01 -1.09771750e-03 2.62747077e-01] [ 2.89600667e-02 1.07696986e-03 9.99579989e-01 1.14194139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82255784400002 meters Centerline goodness : 0.118429 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.14 [[ 9.99589301e-01 -7.42377980e-04 -2.86474887e-02 2.19705767e+00] [ 7.12182975e-04 9.99999180e-01 -1.06420809e-03 2.62418172e-01] [ 2.86482552e-02 1.04336876e-03 9.99589010e-01 1.14261725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85255784400002 meters Centerline goodness : 0.091089 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99961517 0.00549747 -0.02719001 2.21785982] [-0.00561121 0.99997582 -0.00410859 0.2595528 ] [ 0.02716677 0.00425958 0.99962184 1.14287217] [ 0. 0. 0. 1. ]] SLAMing on 182.88255784400002 meters Centerline goodness : 0.176754 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99961052 0.00543527 -0.02737282 2.21866459] [-0.00555352 0.99997556 -0.00424604 0.26020647] [ 0.02734908 0.00439641 0.99961628 1.14228103] [ 0. 0. 0. 1. ]] SLAMing on 182.91255784400002 meters Centerline goodness : 0.166396 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99959452 -0.00290544 -0.02832578 2.19931807] [ 0.00281858 0.9999912 -0.00310606 0.26652363] [ 0.02833456 0.00302496 0.99959392 1.14064469] [ 0. 0. 0. 1. ]] SLAMing on 182.94255784400002 meters Centerline goodness : 0.168213 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.9996135 0.00507483 -0.0273331 2.2185995 ] [-0.00519417 0.99997728 -0.00429692 0.26186687] [ 0.02731067 0.00443724 0.99961715 1.14191288] [ 0. 0. 0. 1. ]] SLAMing on 182.97255784400002 meters Centerline goodness : 0.170799 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99962401 0.00492963 -0.02697278 2.21688637] [-0.00505335 0.99997701 -0.00452082 0.26263244] [ 0.02694987 0.00465542 0.99962595 1.14327369] [ 0. 0. 0. 1. ]] SLAMing on 183.00255784400002 meters Centerline goodness : 0.168112 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.99962825 0.00484908 -0.02683005 2.21616976] [-0.00497568 0.99997679 -0.0046537 0.26315475] [ 0.02680687 0.00478546 0.99962918 1.1438516 ] [ 0. 0. 0. 1. ]] SLAMing on 183.032557844 meters Centerline goodness : 0.166760 Centerline is valid? [False, False] Translation: X:2.22, Y:0.26, Z:1.14 [[ 0.9996288 0.00478414 -0.02682116 2.21620686] [-0.00491346 0.99997661 -0.0047574 0.26358289] [ 0.02679778 0.00488741 0.99962893 1.14374807] [ 0. 0. 0. 1. ]] SLAMing on 183.062557844 meters Centerline goodness : 0.111648 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962143 -0.00357928 -0.02727986 2.19705295] [ 0.00348217 0.99998743 -0.00360653 0.26958788] [ 0.02729242 0.00351017 0.99962133 1.14158655] [ 0. 0. 0. 1. ]] SLAMing on 183.092557844 meters Centerline goodness : 0.137918 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962099 -0.00361939 -0.02729042 2.19730927] [ 0.00352032 0.99998704 -0.00367736 0.26991373] [ 0.02730338 0.00357989 0.99962078 1.14118254] [ 0. 0. 0. 1. ]] SLAMing on 183.122557844 meters Centerline goodness : 0.116606 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99962621 -0.00371174 -0.02708605 2.19659753] [ 0.00360805 0.99998598 -0.00387581 0.2707726 ] [ 0.02710006 0.00377664 0.99962559 1.1415299 ] [ 0. 0. 0. 1. ]] SLAMing on 183.152557844 meters Centerline goodness : 0.108504 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.14 [[ 0.99965188 0.00444482 -0.026007 2.21584207] [-0.00457536 0.99997722 -0.0049619 0.26647612] [ 0.02598436 0.00507917 0.99964945 1.14291405] [ 0. 0. 0. 1. ]] SLAMing on 183.182557844 meters Centerline goodness : 0.174784 Centerline is valid? [False, False] Translation: X:2.22, Y:0.27, Z:1.14 [[ 0.99964445 0.00433023 -0.02631014 2.21696831] [-0.00447037 0.99997612 -0.00526981 0.26809748] [ 0.02628669 0.00538555 0.99963994 1.14242112] [ 0. 0. 0. 1. ]] SLAMing on 183.212557844 meters Centerline goodness : 0.186486 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.99960198 -0.00391555 -0.0279382 2.19820598] [ 0.00380406 0.99998459 -0.00404277 0.27396436] [ 0.0279536 0.00393489 0.99960148 1.14067182] [ 0. 0. 0. 1. ]] SLAMing on 183.242557844 meters Centerline goodness : 0.114329 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.9995965 -0.00393377 -0.02813109 2.19905589] [ 0.00382144 0.99998451 -0.00404567 0.2739239 ] [ 0.02814657 0.00393654 0.99959606 1.14002654] [ 0. 0. 0. 1. ]] SLAMing on 183.272557844 meters Centerline goodness : 0.108469 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:1.14 [[ 0.9995911 -0.00399084 -0.02831439 2.19975902] [ 0.00387427 0.9999838 -0.0041705 0.2744223 ] [ 0.02833058 0.00405909 0.99959037 1.13964397] [ 0. 0. 0. 1. ]] SLAMing on 183.302557844 meters Centerline goodness : 0.107755 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99620427e-01 -1.22311975e-03 -2.75228353e-02 2.19640383e+00] [ 1.17651759e-03 9.99997847e-01 -1.70934782e-03 2.77814089e-01] [ 2.75248668e-02 1.67631790e-03 9.99619714e-01 1.14105956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332557844 meters Centerline goodness : 0.172488 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99618894e-01 -1.34382661e-03 -2.75728362e-02 2.19642953e+00] [ 1.28308071e-03 9.99996711e-01 -2.22068097e-03 2.80519115e-01] [ 2.75757298e-02 2.18445648e-03 9.99617330e-01 1.14132807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362557844 meters Centerline goodness : 0.114550 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:1.14 [[ 9.99620102e-01 -1.54956051e-03 -2.75181935e-02 2.19617370e+00] [ 1.47174591e-03 9.99994862e-01 -2.84777962e-03 2.83522612e-01] [ 2.75224649e-02 2.80619797e-03 9.99617246e-01 1.14159635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392557844 meters Centerline goodness : 0.159967 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.14 [[ 9.99623325e-01 -1.81037081e-03 -2.73848750e-02 2.19564285e+00] [ 1.71331726e-03 9.99992170e-01 -3.56710559e-03 2.86822530e-01] [ 2.73911184e-02 3.51884297e-03 9.99618599e-01 1.14205027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422557844 meters Centerline goodness : 0.159055 Centerline is valid? [False, False] Translation: X:2.22, Y:0.29, Z:1.14 [[ 0.99963824 0.00690191 -0.02599514 2.21687633] [-0.00703008 0.99996356 -0.00484246 0.29053599] [ 0.02596077 0.00502346 0.99965034 1.14287423] [ 0. 0. 0. 1. ]] SLAMing on 183.452557844 meters Centerline goodness : 0.178375 Centerline is valid? [False, False] Translation: X:2.22, Y:0.29, Z:1.14 [[ 0.99963265 0.00667675 -0.02626776 2.2178492 ] [-0.00682512 0.99996124 -0.0055629 0.29426447] [ 0.0262296 0.00574013 0.99963946 1.14248637] [ 0. 0. 0. 1. ]] SLAMing on 183.482557844 meters Centerline goodness : 0.121562 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99959808 0.01042407 -0.02636311 2.21868727] [-0.01049371 0.9999418 -0.0025048 0.29877774] [ 0.02633547 0.00278044 0.99964929 1.14184617] [ 0. 0. 0. 1. ]] SLAMing on 183.512557844 meters Centerline goodness : 0.161072 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99960746 0.01018967 -0.02609783 2.21764885] [-0.01027597 0.99994216 -0.00317477 0.30185916] [ 0.02606397 0.00344171 0.99965435 1.14257366] [ 0. 0. 0. 1. ]] SLAMing on 183.54255784400002 meters Centerline goodness : 0.167586 Centerline is valid? [False, False] Translation: X:2.22, Y:0.30, Z:1.14 [[ 0.99961533 0.00995924 -0.02588439 2.21664378] [-0.01005949 0.99994239 -0.00374566 0.3044018 ] [ 0.0258456 0.0040046 0.99965793 1.1434312 ] [ 0. 0. 0. 1. ]] SLAMing on 183.57255784400002 meters Centerline goodness : 0.164660 Centerline is valid? [False, False] Translation: X:2.20, Y:0.31, Z:1.14 [[ 0.99975151 0.00475961 -0.02177779 2.19555478] [-0.00481537 0.99998526 -0.00250866 0.3130614 ] [ 0.02176553 0.00261291 0.99975969 1.14181453] [ 0. 0. 0. 1. ]] SLAMing on 183.60255784400002 meters Centerline goodness : 0.113835 Centerline is valid? [False, False] Translation: X:2.20, Y:0.31, Z:1.14 [[ 0.99975412 0.00464432 -0.02168246 2.19526166] [-0.00470684 0.99998491 -0.00283303 0.31457042] [ 0.02166898 0.00293439 0.99976089 1.14194489] [ 0. 0. 0. 1. ]] SLAMing on 183.63255784400002 meters Centerline goodness : 0.155869 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99975832 0.00451342 -0.02151581 2.19487416] [-0.00458291 0.99998444 -0.00318109 0.31616648] [ 0.02150112 0.00327893 0.99976345 1.14192494] [ 0. 0. 0. 1. ]] SLAMing on 183.66255784400002 meters Centerline goodness : 0.155869 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99975832 0.00451342 -0.02151581 2.19487416] [-0.00458291 0.99998444 -0.00318109 0.31616648] [ 0.02150112 0.00327893 0.99976345 1.14192494] [ 0. 0. 0. 1. ]] SLAMing on 183.69255784400002 meters Centerline goodness : 0.120440 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99977968 0.00485716 -0.02042045 2.19191482] [-0.00493125 0.99998144 -0.00357907 0.31947547] [ 0.02040268 0.00367897 0.99978507 1.14258688] [ 0. 0. 0. 1. ]] SLAMing on 183.72255784400002 meters Centerline goodness : 0.160893 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99979008 0.00497266 -0.01987622 2.1901107 ] [-0.00505325 0.99997921 -0.00400663 0.32216248] [ 0.01985589 0.00410623 0.99979442 1.14347961] [ 0. 0. 0. 1. ]] SLAMing on 183.75255784400002 meters Centerline goodness : 0.164546 Centerline is valid? [False, False] Translation: X:2.19, Y:0.32, Z:1.14 [[ 0.99979804 0.00516465 -0.01942196 2.18876496] [-0.00525048 0.99997666 -0.004371 0.32465398] [ 0.01939893 0.00447209 0.99980182 1.14399627] [ 0. 0. 0. 1. ]] SLAMing on 183.782557844 meters Centerline goodness : 0.160871 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99979506 0.00528079 -0.01954337 2.18895498] [-0.00537572 0.99997399 -0.00480781 0.32737891] [ 0.01951747 0.00491188 0.99979745 1.14421401] [ 0. 0. 0. 1. ]] SLAMing on 183.812557844 meters Centerline goodness : 0.135937 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99976444 0.00796139 -0.02019129 2.1929724 ] [-0.00801929 0.99996396 -0.00278831 0.33204445] [ 0.02016837 0.00294958 0.99979225 1.14146268] [ 0. 0. 0. 1. ]] SLAMing on 183.842557844 meters Centerline goodness : 0.151487 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.14 [[ 0.99976283 0.00787543 -0.02030406 2.19351415] [-0.00794052 0.99996358 -0.00312733 0.33366449] [ 0.02027869 0.00328781 0.99978896 1.14097339] [ 0. 0. 0. 1. ]] SLAMing on 183.872557844 meters Centerline goodness : 0.208375 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976422 0.00780414 -0.02026306 2.19334907] [-0.00787441 0.99996325 -0.0033905 0.33503938] [ 0.02023586 0.00354926 0.99978893 1.14104481] [ 0. 0. 0. 1. ]] SLAMing on 183.902557844 meters Centerline goodness : 0.168078 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976669 0.00765477 -0.02019846 2.19316207] [-0.00773167 0.99996315 -0.00373227 0.33641951] [ 0.02016915 0.00388757 0.99978902 1.14103304] [ 0. 0. 0. 1. ]] SLAMing on 183.932557844 meters Centerline goodness : 0.118922 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 0.99976415 0.00763706 -0.02033027 2.19362322] [-0.00771461 0.99996325 -0.00373898 0.33639834] [ 0.02030096 0.00389493 0.99978633 1.14084005] [ 0. 0. 0. 1. ]] SLAMing on 183.962557844 meters Centerline goodness : 0.170470 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.14 [[ 9.99780709e-01 -2.55696574e-04 -2.09396539e-02 2.21363474e+00] [ 1.96854354e-04 9.99996027e-01 -2.81209867e-03 3.40654745e-01] [ 2.09402897e-02 2.80735993e-03 9.99776787e-01 1.14189468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.992557844 meters Centerline goodness : 0.167858 Centerline is valid? [False, False] Translation: X:2.21, Y:0.34, Z:1.14 [[ 9.99775298e-01 -2.25390754e-04 -2.11967605e-02 2.21473888e+00] [ 1.67694957e-04 9.99996277e-01 -2.72365389e-03 3.40209767e-01] [ 2.11972954e-02 2.71948729e-03 9.99771613e-01 1.14111800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.022557844 meters Centerline goodness : 0.116336 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99762032e-01 -1.53433359e-04 -2.18141349e-02 2.21696139e+00] [ 9.46440386e-05 9.99996361e-01 -2.69601727e-03 3.40166804e-01] [ 2.18144691e-02 2.69331112e-03 9.99758408e-01 1.13995856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052557844 meters Centerline goodness : 0.183226 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757880e-01 -1.75122433e-04 -2.20034146e-02 2.21758762e+00] [ 1.11445262e-04 9.99995803e-01 -2.89516063e-03 3.41249429e-01] [ 2.20038292e-02 2.89200748e-03 9.99753704e-01 1.13969491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082557844 meters Centerline goodness : 0.111288 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99756030e-01 -1.16708017e-04 -2.20877152e-02 2.21785191e+00] [ 4.89965175e-05 9.99995298e-01 -3.06608917e-03 3.42459468e-01] [ 2.20879692e-02 3.06425892e-03 9.99751335e-01 1.13960970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112557844 meters Centerline goodness : 0.105658 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757608e-01 3.06490182e-04 -2.20143476e-02 2.21738706e+00] [-3.75664965e-04 9.99995005e-01 -3.13819226e-03 3.43869548e-01] [ 2.20132758e-02 3.14570161e-03 9.99752730e-01 1.14003094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142557844 meters Centerline goodness : 0.361573 Centerline is valid? [False, False] Translation: X:2.22, Y:0.34, Z:1.14 [[ 9.99757668e-01 3.34590448e-04 -2.20112031e-02 2.21723799e+00] [-4.06431449e-04 9.99994605e-01 -3.25944542e-03 3.44573267e-01] [ 2.20099938e-02 3.26760159e-03 9.99752411e-01 1.14027122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 184.202557844 meters Centerline goodness : 0.163570 Centerline is valid? [False, False] Translation: X:2.22, Y:0.35, Z:1.14 [[ 9.99764341e-01 8.65496337e-04 -2.16913167e-02 2.21651283e+00] [-9.35412135e-04 9.99994400e-01 -3.21327690e-03 3.45586825e-01] [ 2.16884141e-02 3.23280998e-03 9.99759552e-01 1.13998444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232557844 meters Centerline goodness : 0.182143 Centerline is valid? [False, False] Translation: X:2.22, Y:0.35, Z:1.14 [[ 9.99770918e-01 8.74122037e-04 -2.13857024e-02 2.21542790e+00] [-9.43623854e-04 9.99994306e-01 -3.24004447e-03 3.45810275e-01] [ 2.13827484e-02 3.25948230e-03 9.99766050e-01 1.14048184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262557844 meters Centerline goodness : 0.363416 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99778989e-01 9.81772593e-04 -2.10002103e-02 2.21381793e+00] [-1.04916187e-03 9.99994335e-01 -3.19820436e-03 3.46173166e-01] [ 2.09969515e-02 3.21953015e-03 9.99774356e-01 1.14157030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 184.32255784400002 meters Centerline goodness : 0.384570 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99777098e-01 9.19188569e-04 -2.10928837e-02 2.21430291e+00] [-9.90436105e-04 9.99993839e-01 -3.36760156e-03 3.46652658e-01] [ 2.10896583e-02 3.38774207e-03 9.99771849e-01 1.14115478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35255784400002 meters Centerline goodness : 0.224178 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99775010e-01 8.92038692e-04 -2.11927634e-02 2.21482075e+00] [-9.66087191e-04 9.99993464e-01 -3.48406522e-03 3.47093694e-01] [ 2.11895169e-02 3.50375540e-03 9.99769337e-01 1.14064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38255784400002 meters Centerline goodness : 0.173579 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99776336e-01 1.20480525e-03 -2.11146016e-02 2.21456850e+00] [-1.28238506e-03 9.99992476e-01 -3.66107056e-03 3.49032972e-01] [ 2.11100318e-02 3.68732876e-03 9.99770359e-01 1.14061148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41255784400002 meters Centerline goodness : 0.375317 Centerline is valid? [False, False] Translation: X:2.21, Y:0.35, Z:1.14 [[ 9.99779935e-01 1.22886508e-03 -2.09420824e-02 2.21389546e+00] [-1.31029168e-03 9.99991634e-01 -3.87490246e-03 3.50520470e-01] [ 2.09371454e-02 3.90148997e-03 9.99773181e-01 1.14095487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44255784400002 meters Centerline goodness : 0.127716 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99728196e-01 2.08495908e-03 -2.32203870e-02 2.16738569e+00] [-2.16155356e-03 9.99992304e-01 -3.27397700e-03 3.50067821e-01] [ 2.32133822e-02 3.32327924e-03 9.99725010e-01 1.14183495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47255784400002 meters Centerline goodness : 0.111648 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99729788e-01 2.03935859e-03 -2.31558126e-02 2.16728134e+00] [-2.11908940e-03 9.99991909e-01 -3.41921529e-03 3.50771999e-01] [ 2.31486523e-02 3.46736061e-03 9.99726021e-01 1.14170076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50255784400002 meters Centerline goodness : 0.269100 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99732874e-01 1.98446462e-03 -2.30270155e-02 2.16711647e+00] [-2.06680117e-03 9.99991554e-01 -3.55240197e-03 3.51308519e-01] [ 2.30197715e-02 3.59904530e-03 9.99728532e-01 1.14139126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532557844 meters Centerline goodness : 0.112575 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99737480e-01 1.97557195e-03 -2.28269020e-02 2.16648187e+00] [-2.05741305e-03 9.99991538e-01 -3.56236274e-03 3.51368637e-01] [ 2.28196711e-02 3.60839191e-03 9.99733085e-01 1.14160529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562557844 meters Centerline goodness : 0.380316 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99741992e-01 1.97404445e-03 -2.26285894e-02 2.16579267e+00] [-2.05434365e-03 9.99991674e-01 -3.52587624e-03 3.51153145e-01] [ 2.26214408e-02 3.57145344e-03 9.99737723e-01 1.14194692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592557844 meters Centerline goodness : 0.212950 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 9.99749914e-01 1.98041341e-03 -2.22752733e-02 2.16450082e+00] [-2.05480831e-03 9.99992386e-01 -3.31740482e-03 3.49912163e-01] [ 2.22685338e-02 3.36234660e-03 9.99746371e-01 1.14269187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622557844 meters Centerline goodness : 0.363897 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 9.99751355e-01 2.08201138e-03 -2.22012034e-02 2.16417796e+00] [-2.15019684e-03 9.99993044e-01 -3.04782148e-03 3.48717518e-01] [ 2.21947033e-02 3.09480061e-03 9.99748877e-01 1.14294023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652557844 meters Centerline goodness : 0.248006 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 0.99975078 0.00216696 -0.02221883 2.16418099] [-0.00223027 0.99999352 -0.00282495 0.34769391] [ 0.02221257 0.0028738 0.99974914 1.14304405] [ 0. 0. 0. 1. ]] SLAMing on 184.682557844 meters Centerline goodness : 0.385208 Centerline is valid? [False, False] Translation: X:2.16, Y:0.35, Z:1.14 [[ 0.99974671 0.00222847 -0.02239516 2.16479522] [-0.00228922 0.99999377 -0.00268746 0.34704228] [ 0.02238903 0.00273804 0.99974558 1.14273704] [ 0. 0. 0. 1. ]] SLAMing on 184.712557844 meters Centerline goodness : 0.259613 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974018 0.00230328 -0.02267741 2.16600411] [-0.00236391 0.9999937 -0.00264738 0.34686189] [ 0.02267117 0.0027003 0.99973933 1.14177683] [ 0. 0. 0. 1. ]] SLAMing on 184.742557844 meters Centerline goodness : 0.160495 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974164 0.0023743 -0.02260544 2.16591428] [-0.00243377 0.99999365 -0.00260364 0.34672939] [ 0.02259912 0.00265799 0.99974107 1.14155297] [ 0. 0. 0. 1. ]] SLAMing on 184.772557844 meters Centerline goodness : 0.156315 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 0.99974399 0.00245869 -0.02249264 2.16559637] [-0.00251455 0.99999382 -0.00245563 0.34597831] [ 0.02248646 0.00251156 0.99974399 1.14153981] [ 0. 0. 0. 1. ]] SLAMing on 184.802557844 meters Centerline goodness : 0.126881 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99737572e-01 2.67909989e-03 -2.27510554e-02 2.16684916e+00] [-2.72183866e-03 9.99994589e-01 -1.84778183e-03 3.42727454e-01] [ 2.27459819e-02 1.90922162e-03 9.99739454e-01 1.14056755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832557844 meters Centerline goodness : 0.161742 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99730566e-01 2.86031741e-03 -2.30350499e-02 2.16788551e+00] [-2.89295199e-03 9.99994858e-01 -1.38353606e-03 3.40540721e-01] [ 2.30309741e-02 1.44980259e-03 9.99733701e-01 1.13997634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862557844 meters Centerline goodness : 0.271652 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99725567e-01 3.09714379e-03 -2.32206265e-02 2.16853164e+00] [-3.11670766e-03 9.99994818e-01 -8.06377769e-04 3.37950221e-01] [ 2.32180087e-02 8.78528377e-04 9.99730040e-01 1.13968623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892557844 meters Centerline goodness : 0.159184 Centerline is valid? [False, False] Translation: X:2.17, Y:0.34, Z:1.14 [[ 9.99724152e-01 3.35243451e-03 -2.32461193e-02 2.16857490e+00] [-3.35805210e-03 9.99994341e-01 -2.02625084e-04 3.35269843e-01] [ 2.32453084e-02 2.80630870e-04 9.99729752e-01 1.13972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922557844 meters Centerline goodness : 0.156956 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99726103e-01 3.81971898e-03 -2.30895589e-02 2.16795795e+00] [-3.79967084e-03 9.99992365e-01 9.12087047e-04 3.30099255e-01] [ 2.30928665e-02 -8.24104506e-04 9.99732985e-01 1.14016168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952557844 meters Centerline goodness : 0.155653 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99724034e-01 3.97298761e-03 -2.31531912e-02 2.16813471e+00] [-3.94373587e-03 9.99991367e-01 1.30892431e-03 3.28069761e-01] [ 2.31581916e-02 -1.21725302e-03 9.99731072e-01 1.14014013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982557844 meters Centerline goodness : 0.163945 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99718711e-01 4.03238126e-03 -2.33717626e-02 2.16889434e+00] [-3.99943335e-03 9.99990942e-01 1.45630351e-03 3.27134777e-01] [ 2.33774233e-02 -1.36242006e-03 9.99725782e-01 1.13981535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012557844 meters Centerline goodness : 0.150178 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99699233e-01 4.51833127e-03 -2.41045294e-02 2.17115371e+00] [-4.47708930e-03 9.99988421e-01 1.76465623e-03 3.26589243e-01] [ 2.41122236e-02 -1.65620735e-03 9.99707886e-01 1.13892719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04255784400002 meters Centerline goodness : 0.151539 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99701185e-01 4.64510935e-03 -2.39992468e-02 2.17097071e+00] [-4.60446313e-03 9.99987871e-01 1.74862860e-03 3.27088657e-01] [ 2.40070782e-02 -1.63760243e-03 9.99710447e-01 1.13872196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07255784400002 meters Centerline goodness : 0.118716 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99706122e-01 4.77141071e-03 -2.37676922e-02 2.17031411e+00] [-4.73310672e-03 9.99987408e-01 1.66759451e-03 3.27954387e-01] [ 2.37753497e-02 -1.55460942e-03 9.99716118e-01 1.13878664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10255784400002 meters Centerline goodness : 0.130581 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99719682e-01 5.12723591e-03 -2.31142388e-02 2.16832241e+00] [-5.09188640e-03 9.99985775e-01 1.58793567e-03 3.29328396e-01] [ 2.31220518e-02 -1.46979547e-03 9.99731569e-01 1.13929607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13255784400002 meters Centerline goodness : 0.130876 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:1.14 [[ 9.99714411e-01 5.02977075e-03 -2.33623336e-02 2.16900540e+00] [-5.00009059e-03 9.99986617e-01 1.32866952e-03 3.30338468e-01] [ 2.33687038e-02 -1.21147628e-03 9.99726181e-01 1.13910878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16255784400002 meters Centerline goodness : 0.117222 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 9.99699292e-01 -2.75554907e-03 -2.43666120e-02 2.18833527e+00] [ 2.80010990e-03 9.99994469e-01 1.79483532e-03 3.36561801e-01] [ 2.43615315e-02 -1.86252479e-03 9.99701479e-01 1.14064010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19255784400002 meters Centerline goodness : 0.158579 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.14 [[ 9.99698720e-01 -2.80346755e-03 -2.43846194e-02 2.18835894e+00] [ 2.84478408e-03 9.99994576e-01 1.65984395e-03 3.37261091e-01] [ 2.43798338e-02 -1.72871285e-03 9.99701273e-01 1.14062014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22255784400002 meters Centerline goodness : 0.128004 Centerline is valid? [False, False] Translation: X:2.14, Y:0.34, Z:1.14 [[ 0.99977003 -0.0023948 -0.0213107 2.14216075] [ 0.00245786 0.99999268 0.00293339 0.33620492] [ 0.02130351 -0.00298509 0.9997686 1.13927222] [ 0. 0. 0. 1. ]] SLAMing on 185.25255784400002 meters Centerline goodness : 0.113947 Centerline is valid? [False, False] Translation: X:2.16, Y:0.33, Z:1.14 [[ 9.99814151e-01 5.55309321e-03 -1.84614757e-02 2.16065861e+00] [-5.52306476e-03 9.99983341e-01 1.67713527e-03 3.34837702e-01] [ 1.84704814e-02 -1.57485965e-03 9.99828166e-01 1.14024419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282557844 meters Centerline goodness : 0.125749 Centerline is valid? [False, False] Translation: X:2.16, Y:0.34, Z:1.14 [[ 9.99818050e-01 5.43438383e-03 -1.82847986e-02 2.15996741e+00] [-5.40870989e-03 9.99984317e-01 1.45327411e-03 3.35724743e-01] [ 1.82924095e-02 -1.35411251e-03 9.99831763e-01 1.14067776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312557844 meters Centerline goodness : 0.158565 Centerline is valid? [False, False] Translation: X:2.18, Y:0.34, Z:1.14 [[ 9.99827301e-01 -2.73024172e-03 -1.83824601e-02 2.17903952e+00] [ 2.76702385e-03 9.99994220e-01 1.97579931e-03 3.42228409e-01] [ 1.83769594e-02 -2.02632280e-03 9.99829076e-01 1.14225202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342557844 meters Centerline goodness : 0.150204 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99823096e-01 -2.97823507e-03 -1.85716456e-02 2.17973379e+00] [ 3.00278443e-03 9.99994654e-01 1.29412790e-03 3.45596070e-01] [ 1.85676921e-02 -1.34966561e-03 9.99826695e-01 1.14173252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372557844 meters Centerline goodness : 0.153524 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99822216e-01 -3.06747958e-03 -1.86044940e-02 2.18002276e+00] [ 3.08531904e-03 9.99994808e-01 9.30251628e-04 3.47644477e-01] [ 1.86015439e-02 -9.87487044e-04 9.99826489e-01 1.14134241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402557844 meters Centerline goodness : 0.110955 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99826387e-01 -3.34264832e-03 -1.83309221e-02 2.17964946e+00] [ 3.34667187e-03 9.99994382e-01 1.88823510e-04 3.51188442e-01] [ 1.83301880e-02 -2.50138309e-04 9.99831957e-01 1.14069271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432557844 meters Centerline goodness : 0.153261 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99829673e-01 -3.46739898e-03 -1.81274068e-02 2.17887144e+00] [ 3.46616076e-03 9.99993988e-01 -9.97252166e-05 3.52455638e-01] [ 1.81276436e-02 3.68757245e-05 9.99835680e-01 1.14110278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.462557844 meters Centerline goodness : 0.157602 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:1.14 [[ 9.99834571e-01 -3.56507810e-03 -1.78359506e-02 2.17768326e+00] [ 3.55988573e-03 9.99993611e-01 -3.22859791e-04 3.53512249e-01] [ 1.78369876e-02 2.59312435e-04 9.99840875e-01 1.14182920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.492557844 meters Centerline goodness : 0.160018 Centerline is valid? [False, False] Translation: X:2.13, Y:0.35, Z:1.14 [[ 9.99787615e-01 -2.93200127e-03 -2.03992193e-02 2.13199122e+00] [ 2.93802173e-03 9.99995649e-01 2.65168333e-04 3.53475209e-01] [ 2.03983531e-02 -3.25045365e-04 9.99791879e-01 1.14252461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.522557844 meters Centerline goodness : 0.119920 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.14 [[ 9.99779997e-01 5.65168097e-03 -2.01993858e-02 2.15406220e+00] [-5.66152055e-03 9.99983881e-01 -4.29969819e-04 3.52330690e-01] [ 2.01966301e-02 5.44234462e-04 9.99795879e-01 1.14263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552557844 meters Centerline goodness : 0.119920 Centerline is valid? [False, False] Translation: X:2.15, Y:0.35, Z:1.14 [[ 9.99779997e-01 5.65168097e-03 -2.01993858e-02 2.15406220e+00] [-5.66152055e-03 9.99983881e-01 -4.29969819e-04 3.52330690e-01] [ 2.01966301e-02 5.44234462e-04 9.99795879e-01 1.14263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582557844 meters Centerline goodness : 0.128120 Centerline is valid? [False, False] Translation: X:2.11, Y:0.35, Z:1.14 [[ 9.99719260e-01 5.42325218e-03 -2.30648799e-02 2.10977077e+00] [-5.44557164e-03 9.99984763e-01 -9.04981887e-04 3.51923192e-01] [ 2.30596205e-02 1.03032928e-03 9.99733561e-01 1.14221811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612557844 meters Centerline goodness : 0.219890 Centerline is valid? [False, False] Translation: X:2.13, Y:0.36, Z:1.14 [[ 9.99734534e-01 -2.35225743e-03 -2.29200382e-02 2.12865455e+00] [ 2.34733347e-03 9.99997216e-01 -2.41733940e-04 3.60237954e-01] [ 2.29205431e-02 1.87868795e-04 9.99737272e-01 1.14353743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642557844 meters Centerline goodness : 0.157574 Centerline is valid? [False, False] Translation: X:2.13, Y:0.37, Z:1.14 [[ 9.99739951e-01 -2.21942608e-03 -2.26959178e-02 2.12809416e+00] [ 2.19609793e-03 9.99997034e-01 -1.05272959e-03 3.65434884e-01] [ 2.26981869e-02 1.00261337e-03 9.99741860e-01 1.14324233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672557844 meters Centerline goodness : 0.161202 Centerline is valid? [False, False] Translation: X:2.13, Y:0.37, Z:1.14 [[ 9.99738548e-01 -2.41729302e-03 -2.27374622e-02 2.12816770e+00] [ 2.37738101e-03 9.99995586e-01 -1.78220918e-03 3.69029044e-01] [ 2.27416700e-02 1.72768761e-03 9.99739882e-01 1.14310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702557844 meters Centerline goodness : 0.097939 Centerline is valid? [False, False] Translation: X:2.11, Y:0.37, Z:1.14 [[ 0.99969004 0.00631916 -0.02408099 2.10712847] [-0.00638792 0.99997573 -0.00277924 0.36745498] [ 0.02406284 0.0029322 0.99970615 1.14261182] [ 0. 0. 0. 1. ]] SLAMing on 185.732557844 meters Centerline goodness : 0.097038 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99691976e-01 -1.13250478e-03 -2.47925582e-02 2.12628911e+00] [ 1.08493500e-03 9.99997545e-01 -1.93207919e-03 3.76299860e-01] [ 2.47946855e-02 1.90458574e-03 9.99690750e-01 1.14437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762557844 meters Centerline goodness : 0.148385 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99686343e-01 -1.42493366e-03 -2.50036985e-02 2.12685012e+00] [ 1.36150723e-03 9.99995813e-01 -2.55352233e-03 3.79000306e-01] [ 2.50072324e-02 2.51867869e-03 9.99684097e-01 1.14427423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79255784400002 meters Centerline goodness : 0.121785 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99684453e-01 -1.49885556e-03 -2.50748415e-02 2.12695492e+00] [ 1.43239478e-03 9.99995414e-01 -2.66824813e-03 3.79433001e-01] [ 2.50787258e-02 2.63148910e-03 9.99682016e-01 1.14441059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82255784400002 meters Centerline goodness : 0.133552 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99687067e-01 -1.54650914e-03 -2.49674940e-02 2.12645000e+00] [ 1.47908692e-03 9.99995211e-01 -2.71864154e-03 3.79614165e-01] [ 2.49715789e-02 2.68086169e-03 9.99684567e-01 1.14480606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85255784400002 meters Centerline goodness : 0.117964 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.15 [[ 9.99690062e-01 -1.59206288e-03 -2.48444337e-02 2.12592676e+00] [ 1.52400071e-03 9.99995035e-01 -2.75822812e-03 3.79767355e-01] [ 2.48487016e-02 2.71951031e-03 9.99687524e-01 1.14520479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88255784400002 meters Centerline goodness : 0.170696 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99656019e-01 -9.94641405e-03 -2.42675392e-02 2.14611960e+00] [ 9.90666778e-03 9.99949383e-01 -1.75751347e-03 3.85272985e-01] [ 2.42837918e-02 1.51649847e-03 9.99703955e-01 1.14667587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91255784400002 meters Centerline goodness : 0.162884 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99648864e-01 -9.95892408e-03 -2.45554222e-02 2.14720201e+00] [ 9.91845657e-03 9.99949246e-01 -1.76925411e-03 3.85262179e-01] [ 2.45717958e-02 1.52508097e-03 9.99696905e-01 1.14609925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94255784400002 meters Centerline goodness : 0.158736 Centerline is valid? [False, False] Translation: X:2.15, Y:0.39, Z:1.15 [[ 9.99639070e-01 -9.94892297e-03 -2.49549206e-02 2.14851775e+00] [ 9.90702232e-03 9.99949300e-01 -1.80212872e-03 3.85465422e-01] [ 2.49715846e-02 1.55424932e-03 9.99686953e-01 1.14555221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97255784400002 meters Centerline goodness : 0.093303 Centerline is valid? [False, False] Translation: X:2.13, Y:0.38, Z:1.14 [[ 9.99662780e-01 -1.18121685e-03 -2.59409291e-02 2.12889558e+00] [ 1.11523640e-03 9.99996107e-01 -2.55780839e-03 3.80482740e-01] [ 2.59438495e-02 2.52801558e-03 9.99660205e-01 1.14428538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00255784400002 meters Centerline goodness : 0.147327 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99968715 0.0075509 -0.02384516 2.14914958] [-0.00763722 0.9999646 -0.00353075 0.38073343] [ 0.02381765 0.00371176 0.99970943 1.14556067] [ 0. 0. 0. 1. ]] SLAMing on 186.032557844 meters Centerline goodness : 0.148304 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99969771 0.00747729 -0.02342178 2.14779143] [-0.007567 0.99996436 -0.00374407 0.38166128] [ 0.02339295 0.00392017 0.99971866 1.14599479] [ 0. 0. 0. 1. ]] SLAMing on 186.062557844 meters Centerline goodness : 0.174005 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99970467 0.00738758 -0.02315169 2.14691315] [-0.0074815 0.99996412 -0.00397253 0.3826627 ] [ 0.02312151 0.00414456 0.99972407 1.14627656] [ 0. 0. 0. 1. ]] SLAMing on 186.092557844 meters Centerline goodness : 0.182022 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.15 [[ 0.99970689 0.00731888 -0.02307746 2.14672498] [-0.00741714 0.99996378 -0.00417493 0.38368194] [ 0.02304606 0.00434488 0.99972496 1.14621732] [ 0. 0. 0. 1. ]] SLAMing on 186.122557844 meters Centerline goodness : 0.176882 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99741226e-01 1.46726040e-05 -2.27481920e-02 2.16498750e+00] [-7.63736079e-05 9.99996321e-01 -2.71148118e-03 3.92511012e-01] [ 2.27480685e-02 2.71251688e-03 9.99737549e-01 1.14815253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152557844 meters Centerline goodness : 0.160372 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99744550e-01 -7.96914026e-05 -2.26015074e-02 2.16432848e+00] [ 1.48259790e-05 9.99995881e-01 -2.87011311e-03 3.93033774e-01] [ 2.26016430e-02 2.86904485e-03 9.99740433e-01 1.14863080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182557844 meters Centerline goodness : 0.123398 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99755006e-01 -3.11167713e-04 -2.21321155e-02 2.16263363e+00] [ 2.43522487e-04 9.99995291e-01 -3.05905789e-03 3.93332877e-01] [ 2.21329632e-02 3.05291877e-03 9.99750375e-01 1.14950612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.212557844 meters Centerline goodness : 0.156876 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99755880e-01 -2.90389817e-04 -2.20928952e-02 2.16246010e+00] [ 2.23423591e-04 9.99995374e-01 -3.03352838e-03 3.93462232e-01] [ 2.20936740e-02 3.02785176e-03 9.99751320e-01 1.14962805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.242557844 meters Centerline goodness : 0.174461 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99757365e-01 -2.78685603e-04 -2.20257497e-02 2.16234620e+00] [ 2.13083003e-04 9.99995535e-01 -2.98074110e-03 3.93303684e-01] [ 2.20264820e-02 2.97532456e-03 9.99752960e-01 1.14955985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.272557844 meters Centerline goodness : 0.152329 Centerline is valid? [False, False] Translation: X:2.16, Y:0.39, Z:1.15 [[ 9.99754161e-01 -2.76367095e-04 -2.21707506e-02 2.16272614e+00] [ 2.12993144e-04 9.99995885e-01 -2.86075905e-03 3.92547753e-01] [ 2.21714500e-02 2.85533355e-03 9.99750106e-01 1.14959416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302557844 meters Centerline goodness : 0.161956 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99722079e-01 -1.87327487e-03 -2.35001180e-02 2.16826327e+00] [ 1.76994617e-03 9.99988679e-01 -4.41697356e-03 3.93787468e-01] [ 2.35081261e-02 4.37415205e-03 9.99714077e-01 1.14704705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332557844 meters Centerline goodness : 0.159241 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99712024e-01 -1.82757485e-03 -2.39275803e-02 2.16969587e+00] [ 1.72580196e-03 9.99989380e-01 -4.27333073e-03 3.93089659e-01] [ 2.39351361e-02 4.23080585e-03 9.99704561e-01 1.14649212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362557844 meters Centerline goodness : 0.162869 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99704461e-01 -1.77577967e-03 -2.42453436e-02 2.17083340e+00] [ 1.67586212e-03 9.99990023e-01 -4.14079989e-03 3.92525974e-01] [ 2.42524548e-02 4.09894427e-03 9.99697463e-01 1.14592698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392557844 meters Centerline goodness : 0.161028 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99701176e-01 -1.72904622e-03 -2.43837804e-02 2.17138546e+00] [ 1.63089957e-03 9.99990491e-01 -4.04439214e-03 3.92132904e-01] [ 2.43905415e-02 4.00341609e-03 9.99694490e-01 1.14557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422557844 meters Centerline goodness : 0.188916 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99711039e-01 -1.70285966e-03 -2.39778910e-02 2.17024970e+00] [ 1.60521708e-03 9.99990344e-01 -4.09085107e-03 3.92379754e-01] [ 2.39846257e-02 4.05117926e-03 9.99704119e-01 1.14572470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452557844 meters Centerline goodness : 0.110698 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99720210e-01 -1.70372940e-03 -2.35923505e-02 2.16903616e+00] [ 1.60583185e-03 9.99990025e-01 -4.16786973e-03 3.92752801e-01] [ 2.35992161e-02 4.12881825e-03 9.99712974e-01 1.14611202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482557844 meters Centerline goodness : 0.150234 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99728258e-01 -1.71656430e-03 -2.32478853e-02 2.16794927e+00] [ 1.61723852e-03 9.99989488e-01 -4.29059291e-03 3.93457919e-01] [ 2.32550060e-02 4.25182960e-03 9.99720524e-01 1.14642489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512557844 meters Centerline goodness : 0.158528 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99734335e-01 -1.70276959e-03 -2.29860915e-02 2.16709961e+00] [ 1.60235347e-03 9.99989096e-01 -4.38627166e-03 3.94174440e-01] [ 2.29933097e-02 4.34827454e-03 9.99726163e-01 1.14669249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54255784400002 meters Centerline goodness : 0.122305 Centerline is valid? [False, False] Translation: X:2.17, Y:0.40, Z:1.15 [[ 9.99737701e-01 -1.71665933e-03 -2.28381707e-02 2.16687889e+00] [ 1.61348760e-03 9.99988414e-01 -4.53517303e-03 3.95022608e-01] [ 2.28456914e-02 4.49713436e-03 9.99728888e-01 1.14638670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57255784400002 meters Centerline goodness : 0.179038 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99737222e-01 -1.70716778e-03 -2.28598364e-02 2.16717557e+00] [ 1.60532878e-03 9.99988710e-01 -4.47254159e-03 3.94593787e-01] [ 2.28672137e-02 4.43466875e-03 9.99728675e-01 1.14594081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60255784400002 meters Centerline goodness : 0.147742 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99734148e-01 -1.65783774e-03 -2.29974931e-02 2.16773505e+00] [ 1.55900507e-03 9.99989476e-01 -4.31480469e-03 3.93769745e-01] [ 2.30044043e-02 4.27780438e-03 9.99726211e-01 1.14559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63255784400002 meters Centerline goodness : 0.176110 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99725334e-01 -1.66292420e-03 -2.33771352e-02 2.16880919e+00] [ 1.56864072e-03 9.99990565e-01 -4.05090857e-03 3.92371630e-01] [ 2.33836509e-02 4.01312560e-03 9.99718510e-01 1.14542229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66255784400002 meters Centerline goodness : 0.101432 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99719927e-01 -1.62739274e-03 -2.36097433e-02 2.16929827e+00] [ 1.53803409e-03 9.99991588e-01 -3.80248620e-03 3.91087339e-01] [ 2.36157328e-02 3.76510864e-03 9.99714020e-01 1.14565671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69255784400002 meters Centerline goodness : 0.128473 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99715243e-01 -1.80659482e-03 -2.37942904e-02 2.16961195e+00] [ 1.72579435e-03 9.99992677e-01 -3.41588946e-03 3.88480753e-01] [ 2.38002872e-02 3.37385271e-03 9.99711040e-01 1.14608586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72255784400002 meters Centerline goodness : 0.161030 Centerline is valid? [False, False] Translation: X:2.17, Y:0.39, Z:1.15 [[ 9.99712834e-01 -1.68567552e-03 -2.39041323e-02 2.16996943e+00] [ 1.61433519e-03 9.99994187e-01 -3.00341874e-03 3.86518572e-01] [ 2.39090561e-02 2.96396698e-03 9.99709744e-01 1.14600202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75255784400002 meters Centerline goodness : 0.273446 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99713566e-01 -1.51369775e-03 -2.38850256e-02 2.16996873e+00] [ 1.45274964e-03 9.99995645e-01 -2.56887421e-03 3.84569974e-01] [ 2.38888101e-02 2.53343943e-03 9.99711412e-01 1.14597332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters Centerline goodness : 0.160506 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99713575e-01 -1.35702018e-03 -2.38940731e-02 2.16997715e+00] [ 1.30661371e-03 9.99996888e-01 -2.12506638e-03 3.82521374e-01] [ 2.38968825e-02 2.09323738e-03 9.99712237e-01 1.14605579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812557844 meters Centerline goodness : 0.165129 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99714386e-01 -1.12817251e-03 -2.38720436e-02 2.16997865e+00] [ 1.09488576e-03 9.99998410e-01 -1.40740665e-03 3.78843131e-01] [ 2.38735934e-02 1.38086752e-03 9.99714031e-01 1.14603489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters Centerline goodness : 0.157944 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715473e-01 -9.95147107e-04 -2.38323902e-02 2.16980462e+00] [ 9.70009513e-04 9.99998961e-01 -1.06630320e-03 3.77243485e-01] [ 2.38334265e-02 1.04288216e-03 9.99715400e-01 1.14619626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872557844 meters Centerline goodness : 0.155829 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715521e-01 -8.68830200e-04 -2.38352983e-02 2.16968394e+00] [ 8.50376581e-04 9.99999331e-01 -7.84338934e-04 3.75970959e-01] [ 2.38359638e-02 7.63846827e-04 9.99715591e-01 1.14643668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902557844 meters Centerline goodness : 0.158647 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99715588e-01 -6.45778527e-04 -2.38395960e-02 2.16985831e+00] [ 6.33613726e-04 9.99999665e-01 -5.17827236e-04 3.75071589e-01] [ 2.38399225e-02 5.02574864e-04 9.99715662e-01 1.14608528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932557844 meters Centerline goodness : 0.169046 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99719589e-01 -6.07666870e-04 -2.36722277e-02 2.16956785e+00] [ 5.94273866e-04 9.99999659e-01 -5.72799397e-04 3.75472275e-01] [ 2.36725677e-02 5.58570991e-04 9.99719609e-01 1.14580641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.962557844 meters Centerline goodness : 0.103591 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99727648e-01 -6.06541490e-04 -2.33294126e-02 2.16870130e+00] [ 5.90206110e-04 9.99999576e-01 -7.07084516e-04 3.76154938e-01] [ 2.33298316e-02 6.93122778e-04 9.99727582e-01 1.14574725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.992557844 meters Centerline goodness : 0.147206 Centerline is valid? [False, False] Translation: X:2.19, Y:0.38, Z:1.15 [[ 9.99756557e-01 8.12357221e-03 -2.05142440e-02 2.18672988e+00] [-8.16478625e-03 9.99964813e-01 -1.92608728e-03 3.75403108e-01] [ 2.04978755e-02 2.09311281e-03 9.99787705e-01 1.14750958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.022557844 meters Centerline goodness : 0.181484 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99772890e-01 -1.47370888e-04 -2.13107130e-02 2.16587905e+00] [ 1.27883718e-04 9.99999572e-01 -9.15790633e-04 3.79789296e-01] [ 2.13108388e-02 9.12857355e-04 9.99772482e-01 1.14629893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052557844 meters Centerline goodness : 0.148420 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.15 [[ 9.99764594e-01 -1.15657466e-04 -2.16966173e-02 2.16728598e+00] [ 9.39612153e-05 9.99999495e-01 -1.00099987e-03 3.80311467e-01] [ 2.16967221e-02 9.98725590e-04 9.99764100e-01 1.14545673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082557844 meters Centerline goodness : 0.155956 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99736000e-01 -6.67860834e-04 -2.29670083e-02 2.17243960e+00] [ 6.30483534e-04 9.99998465e-01 -1.63463708e-03 3.81198391e-01] [ 2.29680647e-02 1.61972522e-03 9.99734887e-01 1.14238482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112557844 meters Centerline goodness : 0.156362 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99733367e-01 -6.05180776e-04 -2.30830762e-02 2.17307926e+00] [ 5.71234236e-04 9.99998746e-01 -1.47719010e-03 3.80432377e-01] [ 2.30839412e-02 1.46361039e-03 9.99732459e-01 1.14178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142557844 meters Centerline goodness : 0.160107 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99734247e-01 -5.41814575e-04 -2.30465217e-02 2.17292837e+00] [ 5.13064860e-04 9.99999083e-01 -1.25335906e-03 3.79362417e-01] [ 2.30471797e-02 1.24120162e-03 9.99733608e-01 1.14189113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172557844 meters Centerline goodness : 0.256186 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99735692e-01 -4.79451902e-04 -2.29851363e-02 2.17249484e+00] [ 4.55972164e-04 9.99999369e-01 -1.02674844e-03 3.78264436e-01] [ 2.29856141e-02 1.01599648e-03 9.99735280e-01 1.14243767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202557844 meters Centerline goodness : 0.161345 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99739511e-01 -4.40836900e-04 -2.28191802e-02 2.17177355e+00] [ 4.22573084e-04 9.99999587e-01 -8.05187071e-04 3.77180253e-01] [ 2.28195258e-02 7.95334558e-04 9.99739284e-01 1.14300507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232557844 meters Centerline goodness : 0.114432 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99751264e-01 -4.64700512e-04 -2.22978592e-02 2.17014877e+00] [ 4.55599901e-04 9.99999811e-01 -4.13216704e-04 3.75094580e-01] [ 2.22980470e-02 4.02955020e-04 9.99751286e-01 1.14368840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262557844 meters Centerline goodness : 0.162282 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99755120e-01 -3.42863639e-04 -2.21265056e-02 2.16971274e+00] [ 3.41469566e-04 9.99999939e-01 -6.67828962e-05 3.73564092e-01] [ 2.21265272e-02 5.92110142e-05 9.99755177e-01 1.14374808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29255784400002 meters Centerline goodness : 0.150017 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99759031e-01 -1.97704255e-04 -2.19508896e-02 2.16937652e+00] [ 2.10215880e-04 9.99999817e-01 5.67676576e-04 3.70474815e-01] [ 2.19507734e-02 -5.72154209e-04 9.99758889e-01 1.14370237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32255784400002 meters Centerline goodness : 0.130398 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99756838e-01 -1.08184641e-04 -2.20511488e-02 2.16959646e+00] [ 1.29288707e-04 9.99999535e-01 9.55627241e-04 3.68434911e-01] [ 2.20510351e-02 -9.58245833e-04 9.99756387e-01 1.14381420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35255784400002 meters Centerline goodness : 0.158210 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99756242e-01 -1.53143931e-05 -2.20784101e-02 2.16950285e+00] [ 4.55439810e-05 9.99999062e-01 1.36869007e-03 3.66202497e-01] [ 2.20783684e-02 -1.36936198e-03 9.99755305e-01 1.14416933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38255784400002 meters Centerline goodness : 0.132845 Centerline is valid? [False, False] Translation: X:2.19, Y:0.36, Z:1.14 [[ 9.99776153e-01 5.54977640e-03 -2.04167481e-02 2.19179833e+00] [-5.59064698e-03 9.99982480e-01 -1.94528324e-03 3.64371934e-01] [ 2.04055946e-02 2.05899063e-03 9.99789664e-01 1.14428037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41255784400002 meters Centerline goodness : 0.125322 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99785445e-01 -2.92361735e-03 -2.05064867e-02 2.17062438e+00] [ 2.91317204e-03 9.99995611e-01 -5.39220142e-04 3.64594689e-01] [ 2.05079732e-02 4.79365526e-04 9.99789574e-01 1.14305592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44255784400002 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99781943e-01 -2.85471152e-03 -2.06861458e-02 2.17125671e+00] [ 2.84594741e-03 9.99995848e-01 -4.53097442e-04 3.64304790e-01] [ 2.06873534e-02 3.94126958e-04 9.99785916e-01 1.14270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47255784400002 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99781943e-01 -2.85471152e-03 -2.06861458e-02 2.17125671e+00] [ 2.84594741e-03 9.99995848e-01 -4.53097442e-04 3.64304790e-01] [ 2.06873534e-02 3.94126958e-04 9.99785916e-01 1.14270330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50255784400002 meters Centerline goodness : 0.157780 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.14 [[ 9.99776511e-01 -2.80941671e-03 -2.09531769e-02 2.17234481e+00] [ 2.80008220e-03 9.99995967e-01 -4.74818692e-04 3.64476456e-01] [ 2.09544264e-02 4.16041957e-04 9.99780345e-01 1.14190522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532557844 meters Centerline goodness : 0.125783 Centerline is valid? [False, False] Translation: X:2.17, Y:0.37, Z:1.14 [[ 9.99769015e-01 -2.76053273e-03 -2.13142219e-02 2.17375079e+00] [ 2.74827101e-03 9.99996041e-01 -6.04554070e-04 3.65260908e-01] [ 2.13158064e-02 5.45837169e-04 9.99772643e-01 1.14093947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562557844 meters Centerline goodness : 0.160079 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.14 [[ 9.99762162e-01 -1.95140888e-03 -2.17212402e-02 2.17538968e+00] [ 1.94113202e-03 9.99997994e-01 -4.94199315e-04 3.66983912e-01] [ 2.17221610e-02 4.51917980e-04 9.99763944e-01 1.13964006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592557844 meters Centerline goodness : 0.154011 Centerline is valid? [False, False] Translation: X:2.18, Y:0.37, Z:1.14 [[ 9.99764383e-01 -1.93618565e-03 -2.16201394e-02 2.17517487e+00] [ 1.91814506e-03 9.99997795e-01 -8.55140838e-04 3.68893233e-01] [ 2.16217475e-02 8.13468788e-04 9.99765892e-01 1.13942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622557844 meters Centerline goodness : 0.156441 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99975575 0.00660424 -0.02109102 2.19555239] [-0.00665489 0.99997514 -0.00233233 0.36894209] [ 0.0210751 0.00247212 0.99977484 1.14124255] [ 0. 0. 0. 1. ]] SLAMing on 187.652557844 meters Centerline goodness : 0.133524 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974244 0.00680701 -0.02164975 2.19701277] [-0.00686756 0.99997271 -0.00272376 0.37171685] [ 0.02163062 0.00287174 0.99976191 1.14089538] [ 0. 0. 0. 1. ]] SLAMing on 187.682557844 meters Centerline goodness : 0.131991 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974246 0.00670295 -0.0216816 2.19724737] [-0.00677011 0.99997251 -0.00302542 0.37315048] [ 0.02166073 0.00317143 0.99976035 1.14056606] [ 0. 0. 0. 1. ]] SLAMing on 187.712557844 meters Centerline goodness : 0.106725 Centerline is valid? [False, False] Translation: X:2.20, Y:0.37, Z:1.14 [[ 0.99974367 0.0065724 -0.02166544 2.19736737] [-0.00664633 0.99997233 -0.00334197 0.37454793] [ 0.02164287 0.00348511 0.99975969 1.14021573] [ 0. 0. 0. 1. ]] SLAMing on 187.742557844 meters Centerline goodness : 0.158377 Centerline is valid? [False, False] Translation: X:2.20, Y:0.38, Z:1.14 [[ 0.99974458 0.00647037 -0.0216545 2.19731909] [-0.00654938 0.99997215 -0.00357971 0.37559038] [ 0.02163073 0.00372062 0.99975911 1.14020824] [ 0. 0. 0. 1. ]] SLAMing on 187.772557844 meters Centerline goodness : 0.160384 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99774417e-01 -1.74065012e-03 -2.11680442e-02 2.17632886e+00] [ 1.68461288e-03 9.99995030e-01 -2.66480033e-03 3.81697265e-01] [ 2.11725775e-02 2.62853924e-03 9.99772380e-01 1.13853297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802557844 meters Centerline goodness : 0.156942 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99773211e-01 -1.76557406e-03 -2.12228724e-02 2.17627063e+00] [ 1.70716471e-03 9.99994706e-01 -2.76999108e-03 3.82366372e-01] [ 2.12276507e-02 2.73313194e-03 9.99770932e-01 1.13884508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832557844 meters Centerline goodness : 0.154025 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99772826e-01 -1.79416705e-03 -2.12386028e-02 2.17615222e+00] [ 1.73466736e-03 9.99994520e-01 -2.81957958e-03 3.82660373e-01] [ 2.12435453e-02 2.78209713e-03 9.99770460e-01 1.13911167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862557844 meters Centerline goodness : 0.118339 Centerline is valid? [False, False] Translation: X:2.18, Y:0.38, Z:1.14 [[ 9.99771855e-01 -1.80355892e-03 -2.12834265e-02 2.17612087e+00] [ 1.74433504e-03 9.99994556e-01 -2.80086563e-03 3.82545202e-01] [ 2.12883622e-02 2.76310120e-03 9.99769559e-01 1.13938606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892557844 meters Centerline goodness : 0.156703 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781715e-01 -1.95971371e-03 -2.08009966e-02 2.17463572e+00] [ 1.90132622e-03 9.99994198e-01 -2.82636233e-03 3.82282680e-01] [ 2.08064148e-02 2.78619589e-03 9.99779641e-01 1.13994954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922557844 meters Centerline goodness : 0.159399 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781953e-01 -1.98411162e-03 -2.07872301e-02 2.17452045e+00] [ 1.92735069e-03 9.99994361e-01 -2.75024598e-03 3.81780759e-01] [ 2.07925696e-02 2.70958202e-03 9.99780139e-01 1.14012802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952557844 meters Centerline goodness : 0.158217 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781418e-01 -1.96914950e-03 -2.08143682e-02 2.17460410e+00] [ 1.91497272e-03 9.99994728e-01 -2.62246582e-03 3.81126567e-01] [ 2.08194224e-02 2.58203365e-03 9.99779918e-01 1.14013782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982557844 meters Centerline goodness : 0.158218 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 9.99781516e-01 -1.96334192e-03 -2.08102288e-02 2.17457244e+00] [ 1.91192523e-03 9.99995071e-01 -2.49034967e-03 3.80522850e-01] [ 2.08150157e-02 2.45001797e-03 9.99780342e-01 1.14026497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012557844 meters Centerline goodness : 0.166641 Centerline is valid? [False, False] Translation: X:2.15, Y:0.38, Z:1.14 [[ 0.99976839 0.00459056 -0.02102624 2.1513309 ] [-0.00469419 0.99997707 -0.00488189 0.37589617] [ 0.02100335 0.00497946 0.99976701 1.14079352] [ 0. 0. 0. 1. ]] SLAMing on 188.04255784400002 meters Centerline goodness : 0.160171 Centerline is valid? [False, False] Translation: X:2.17, Y:0.38, Z:1.14 [[ 0.99979288 -0.00361919 -0.02002727 2.17021511] [ 0.00354717 0.99998712 -0.00363047 0.3799313 ] [ 0.02004015 0.00355868 0.99979284 1.14264255] [ 0. 0. 0. 1. ]] SLAMing on 188.07255784400002 meters Centerline goodness : 0.156318 Centerline is valid? [False, False] Translation: X:2.12, Y:0.37, Z:1.14 [[ 0.99973715 -0.0049544 -0.02238502 2.12374219] [ 0.00486062 0.99997919 -0.00424205 0.37430977] [ 0.02240557 0.00413213 0.99974042 1.14370126] [ 0. 0. 0. 1. ]] SLAMing on 188.10255784400002 meters Centerline goodness : 0.139984 Centerline is valid? [False, False] Translation: X:2.14, Y:0.37, Z:1.14 [[ 0.9997496 0.00299006 -0.02217641 2.1442338 ] [-0.00310529 0.99998185 -0.00516323 0.36996709] [ 0.02216057 0.0052308 0.99974074 1.14492008] [ 0. 0. 0. 1. ]] SLAMing on 188.13255784400002 meters Centerline goodness : 0.163162 Centerline is valid? [False, False] Translation: X:2.14, Y:0.37, Z:1.14 [[ 0.99974613 0.00308731 -0.02231907 2.14479694] [-0.00319795 0.99998277 -0.0049235 0.36888244] [ 0.02230348 0.00499362 0.99973878 1.14462279] [ 0. 0. 0. 1. ]] SLAMing on 188.16255784400002 meters Centerline goodness : 0.166478 Centerline is valid? [False, False] Translation: X:2.15, Y:0.37, Z:1.14 [[ 0.99973842 0.0032989 -0.02263196 2.14569295] [-0.00340018 0.99998437 -0.00443815 0.36668907] [ 0.02261697 0.00451394 0.99973401 1.1444918 ] [ 0. 0. 0. 1. ]] SLAMing on 188.19255784400002 meters Centerline goodness : 0.120576 Centerline is valid? [False, False] Translation: X:2.15, Y:0.37, Z:1.14 [[ 0.99973702 0.0034173 -0.02267609 2.1457933 ] [-0.00351269 0.99998514 -0.00416832 0.36540466] [ 0.0226615 0.00424688 0.99973417 1.14452387] [ 0. 0. 0. 1. ]] SLAMing on 188.22255784400002 meters Centerline goodness : 0.168746 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.15 [[ 0.99973551 -0.00433638 -0.0225856 2.16380739] [ 0.00427292 0.99998679 -0.002857 0.36896588] [ 0.02259769 0.00275974 0.99974083 1.14656019] [ 0. 0. 0. 1. ]] SLAMing on 188.25255784400002 meters Centerline goodness : 0.142550 Centerline is valid? [False, False] Translation: X:2.16, Y:0.37, Z:1.15 [[ 9.99739201e-01 -4.07119546e-03 -2.24712227e-02 2.16353181e+00] [ 4.02160073e-03 9.99989378e-01 -2.25178329e-03 3.66118009e-01] [ 2.24801515e-02 2.16082574e-03 9.99744954e-01 1.14654622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282557844 meters Centerline goodness : 0.166347 Centerline is valid? [False, False] Translation: X:2.16, Y:0.36, Z:1.15 [[ 9.99740713e-01 -3.88326138e-03 -2.24371731e-02 2.16356047e+00] [ 3.84363442e-03 9.99990977e-01 -1.80898534e-03 3.64129195e-01] [ 2.24439954e-02 1.72227600e-03 9.99746618e-01 1.14637687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312557844 meters Centerline goodness : 0.112458 Centerline is valid? [False, False] Translation: X:2.16, Y:0.36, Z:1.15 [[ 9.99739632e-01 -3.69155731e-03 -2.25175799e-02 2.16401691e+00] [ 3.66315973e-03 9.99992443e-01 -1.30224719e-03 3.61681822e-01] [ 2.25222171e-02 1.21942263e-03 9.99745599e-01 1.14599775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters Centerline goodness : 0.163266 Centerline is valid? [False, False] Translation: X:2.17, Y:0.36, Z:1.15 [[ 9.99726918e-01 -3.50475670e-03 -2.31042285e-02 2.16590752e+00] [ 3.49512679e-03 9.99993788e-01 -4.57171268e-04 3.56005522e-01] [ 2.31056873e-02 3.76294215e-04 9.99732957e-01 1.14545712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372557844 meters Centerline goodness : 0.124864 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.15 [[ 9.99721000e-01 -3.33378136e-03 -2.33839332e-02 2.16682546e+00] [ 3.33420408e-03 9.99994441e-01 -2.09114998e-05 3.53888684e-01] [ 2.33838729e-02 -5.70611398e-05 9.99726558e-01 1.14514457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters Centerline goodness : 0.168692 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99715488e-01 -3.18647736e-03 -2.36387179e-02 2.16771432e+00] [ 3.19480299e-03 9.99994847e-01 3.14445694e-04 3.52368186e-01] [ 2.36375941e-02 -3.89877278e-04 9.99720517e-01 1.14475593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432557844 meters Centerline goodness : 0.168158 Centerline is valid? [False, False] Translation: X:2.17, Y:0.35, Z:1.14 [[ 9.99711953e-01 -3.07255945e-03 -2.38027357e-02 2.16848098e+00] [ 3.08649896e-03 9.99995086e-01 5.48909487e-04 3.51333042e-01] [ 2.38009322e-02 -6.22218495e-04 9.99716524e-01 1.14415224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.462557844 meters Centerline goodness : 0.156888 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99710088e-01 5.04744938e-03 -2.35428009e-02 2.18839088e+00] [-5.05904363e-03 9.99987109e-01 -4.32940545e-04 3.44676118e-01] [ 2.35403122e-02 5.51919087e-04 9.99722736e-01 1.14600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.492557844 meters Centerline goodness : 0.115066 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99710478e-01 5.25559392e-03 -2.34805917e-02 2.18804056e+00] [-5.25352108e-03 9.99986189e-01 1.49964855e-04 3.41902729e-01] [ 2.34810555e-02 -2.65656535e-05 9.99724282e-01 1.14638515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.522557844 meters Centerline goodness : 0.169630 Centerline is valid? [False, False] Translation: X:2.19, Y:0.34, Z:1.15 [[ 9.99721362e-01 1.65941511e-03 -2.35466522e-02 2.18744046e+00] [-1.72237432e-03 9.99994995e-01 -2.65377853e-03 3.36901375e-01] [ 2.35421306e-02 2.69359523e-03 9.99719217e-01 1.14744689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552557844 meters Centerline goodness : 0.174752 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.15 [[ 9.99716628e-01 1.77854523e-03 -2.37381688e-02 2.18785615e+00] [-1.82290304e-03 9.99996633e-01 -1.84711993e-03 3.32542973e-01] [ 2.37348037e-02 1.88986889e-03 9.99716504e-01 1.14767159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582557844 meters Centerline goodness : 0.112801 Centerline is valid? [False, False] Translation: X:2.19, Y:0.33, Z:1.15 [[ 9.99717818e-01 1.88357260e-03 -2.36798678e-02 2.18764616e+00] [-1.90807466e-03 9.99997667e-01 -1.01216934e-03 3.27863501e-01] [ 2.36779061e-02 1.05706668e-03 9.99719080e-01 1.14794557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612557844 meters Centerline goodness : 0.178864 Centerline is valid? [False, False] Translation: X:2.14, Y:0.32, Z:1.15 [[ 9.99664686e-01 5.31474847e-04 -2.58888527e-02 2.14117129e+00] [-5.62517434e-04 9.99999132e-01 -1.19180361e-03 3.20007751e-01] [ 2.58881968e-02 1.20596692e-03 9.99664117e-01 1.14888713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642557844 meters Centerline goodness : 0.291963 Centerline is valid? [False, False] Translation: X:2.14, Y:0.32, Z:1.15 [[ 9.99667601e-01 7.92527817e-04 -2.57693431e-02 2.14080250e+00] [-8.02861712e-04 9.99999601e-01 -3.90671184e-04 3.16160962e-01] [ 2.57690233e-02 4.11230545e-04 9.99667839e-01 1.14911074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672557844 meters Centerline goodness : 0.167087 Centerline is valid? [False, False] Translation: X:2.16, Y:0.31, Z:1.15 [[ 9.99687772e-01 -6.84562429e-03 -2.40311407e-02 2.16089163e+00] [ 6.88735435e-03 9.99974914e-01 1.65416086e-03 3.14073617e-01] [ 2.40192141e-02 -1.81915537e-03 9.99709842e-01 1.15000666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702557844 meters Centerline goodness : 0.138709 Centerline is valid? [False, False] Translation: X:2.18, Y:0.31, Z:1.15 [[ 9.99707174e-01 1.58082400e-03 -2.41467677e-02 2.18070817e+00] [-1.56160561e-03 9.99998449e-01 8.14734755e-04 3.08311334e-01] [ 2.41480181e-02 -7.76788452e-04 9.99708092e-01 1.15209738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732557844 meters Centerline goodness : 0.117577 Centerline is valid? [False, False] Translation: X:2.18, Y:0.31, Z:1.15 [[ 9.99703692e-01 1.73712121e-03 -2.42798557e-02 2.18121215e+00] [-1.70948194e-03 9.99997867e-01 1.15907203e-03 3.06673643e-01] [ 2.42818173e-02 -1.11722262e-03 9.99704529e-01 1.15182864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762557844 meters Centerline goodness : 0.141592 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 9.99698545e-01 2.01996496e-03 -2.44691534e-02 2.18201593e+00] [-1.97712165e-03 9.99996470e-01 1.77497775e-03 3.03532289e-01] [ 2.44726525e-02 -1.72606418e-03 9.99699010e-01 1.15131677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79255784400002 meters Centerline goodness : 0.169399 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 9.99699398e-01 2.18241555e-03 -2.44202833e-02 2.18193304e+00] [-2.13191782e-03 9.99995536e-01 2.09370402e-03 3.02172956e-01] [ 2.44247437e-02 -2.04101261e-03 9.99699588e-01 1.15124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82255784400002 meters Centerline goodness : 0.162946 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 0.99970142 0.00235701 -0.02432123 2.18168495] [-0.00229979 0.99999452 0.00238018 0.30109599] [ 0.02432671 -0.00232353 0.99970136 1.15125532] [ 0. 0. 0. 1. ]] SLAMing on 188.85255784400002 meters Centerline goodness : 0.115322 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.15 [[ 9.99657846e-01 1.13929785e-02 -2.35454909e-02 2.20250218e+00] [-1.13527232e-02 9.99933858e-01 1.84265065e-03 2.94966048e-01] [ 2.35649268e-02 -1.57471473e-03 9.99721068e-01 1.15265910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88255784400002 meters Centerline goodness : 0.244918 Centerline is valid? [False, False] Translation: X:2.18, Y:0.30, Z:1.15 [[ 0.99969779 0.00237716 -0.02446773 2.18189595] [-0.00231493 0.99999402 0.00257116 0.29678958] [ 0.0244737 -0.00251374 0.99969731 1.15165342] [ 0. 0. 0. 1. ]] SLAMing on 188.91255784400002 meters Centerline goodness : 0.142208 Centerline is valid? [False, False] Translation: X:2.20, Y:0.29, Z:1.15 [[ 9.99655363e-01 1.07924117e-02 -2.39307157e-02 2.20222243e+00] [-1.07589129e-02 9.99940954e-01 1.52814095e-03 2.91699131e-01] [ 2.39457950e-02 -1.27014581e-03 9.99712451e-01 1.15311706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94255784400002 meters Centerline goodness : 0.133524 Centerline is valid? [False, False] Translation: X:2.16, Y:0.29, Z:1.15 [[ 9.99594865e-01 1.01372407e-02 -2.65959037e-02 2.15662848e+00] [-1.00913263e-02 9.99947351e-01 1.86002365e-03 2.86498706e-01] [ 2.66133590e-02 -1.59088215e-03 9.99644536e-01 1.15361443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97255784400002 meters Centerline goodness : 0.130116 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.15 [[ 9.99688053e-01 2.18826772e-03 -2.48798893e-02 2.17612439e+00] [-2.11062089e-03 9.99992822e-01 3.14669926e-03 2.87000039e-01] [ 2.48865965e-02 -3.09320564e-03 9.99685495e-01 1.15447989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00255784400002 meters Centerline goodness : 0.164104 Centerline is valid? [False, False] Translation: X:2.18, Y:0.29, Z:1.15 [[ 0.99968725 0.00232046 -0.02490008 2.17593224] [-0.00223431 0.99999142 0.00348707 0.2853886 ] [ 0.02490796 -0.00343035 0.99968386 1.1549134 ] [ 0. 0. 0. 1. ]] SLAMing on 189.032557844 meters Centerline goodness : 0.130510 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 0.99968392 0.00247036 -0.0250191 2.17602387] [-0.0023752 0.99998984 0.00383244 0.28383801] [ 0.02502832 -0.0037718 0.99967963 1.15530486] [ 0. 0. 0. 1. ]] SLAMing on 189.062557844 meters Centerline goodness : 0.135898 Centerline is valid? [False, False] Translation: X:2.22, Y:0.28, Z:1.15 [[ 0.99970312 0.00288399 -0.02419418 2.22378468] [-0.00279535 0.99998926 0.00369704 0.28422835] [ 0.02420458 -0.00362832 0.99970044 1.15430999] [ 0. 0. 0. 1. ]] SLAMing on 189.092557844 meters Centerline goodness : 0.143983 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99625933e-01 1.78524080e-03 -2.72911483e-02 2.17968566e+00] [-1.69159494e-03 9.99992604e-01 3.45406574e-03 2.79595948e-01] [ 2.72971128e-02 -3.40660812e-03 9.99621560e-01 1.15401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters Centerline goodness : 0.138828 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99623753e-01 1.87361222e-03 -2.73649854e-02 2.17996410e+00] [-1.77367858e-03 9.99991672e-01 3.67569625e-03 2.78453414e-01] [ 2.73716444e-02 -3.62577659e-03 9.99618751e-01 1.15387426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152557844 meters Centerline goodness : 0.126504 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99629280e-01 1.96965247e-03 -2.71555319e-02 2.17927182e+00] [-1.86964366e-03 9.99991379e-01 3.70771411e-03 2.78653363e-01] [ 2.71626007e-02 -3.65556841e-03 9.99624344e-01 1.15410529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters Centerline goodness : 0.138093 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99627825e-01 1.90817505e-03 -2.72134359e-02 2.17956993e+00] [-1.81259268e-03 9.99992104e-01 3.53655868e-03 2.79452928e-01] [ 2.72199694e-02 -3.48591558e-03 9.99623390e-01 1.15380289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.212557844 meters Centerline goodness : 0.137682 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99625278e-01 1.82659154e-03 -2.73124129e-02 2.17982770e+00] [-1.73618896e-03 9.99992937e-01 3.33329274e-03 2.80364868e-01] [ 2.73183086e-02 -3.28462417e-03 9.99621389e-01 1.15376331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.242557844 meters Centerline goodness : 0.137679 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.15 [[ 9.99634820e-01 1.73636117e-03 -2.69668529e-02 2.17853505e+00] [-1.65462926e-03 9.99993971e-01 3.05284716e-03 2.82052335e-01] [ 2.69719912e-02 -3.00711218e-03 9.99631667e-01 1.15434270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.272557844 meters Centerline goodness : 0.158572 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99643571e-01 1.76337327e-03 -2.66387028e-02 2.17722884e+00] [-1.68102789e-03 9.99993741e-01 3.11327149e-03 2.81919959e-01] [ 2.66440259e-02 -3.06738143e-03 9.99640279e-01 1.15514723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302557844 meters Centerline goodness : 0.166605 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99651865e-01 1.80913510e-03 -2.63225410e-02 2.17598982e+00] [-1.72247417e-03 9.99993023e-01 3.31457235e-03 2.80897468e-01] [ 2.63283538e-02 -3.26807853e-03 9.99648007e-01 1.15593547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332557844 meters Centerline goodness : 0.133482 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99655074e-01 -2.31271622e-03 -2.61607318e-02 2.17539754e+00] [ 2.30300923e-03 9.99997268e-01 -4.01175305e-04 2.78874024e-01] [ 2.61615881e-02 3.40788523e-04 9.99657669e-01 1.15628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362557844 meters Centerline goodness : 0.133482 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99655074e-01 -2.31271622e-03 -2.61607318e-02 2.17539754e+00] [ 2.30300923e-03 9.99997268e-01 -4.01175305e-04 2.78874024e-01] [ 2.61615881e-02 3.40788523e-04 9.99657669e-01 1.15628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392557844 meters Centerline goodness : 0.131061 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:1.16 [[ 9.99644645e-01 -2.24536726e-03 -2.65620249e-02 2.17652424e+00] [ 2.24779607e-03 9.99997472e-01 6.15811357e-05 2.76349419e-01] [ 2.65618194e-02 -1.21265268e-04 9.99647165e-01 1.15615034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422557844 meters Centerline goodness : 0.134235 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99638500e-01 -2.10140829e-03 -2.68039643e-02 2.17728865e+00] [ 2.11731904e-03 9.99997599e-01 5.65229367e-04 2.73885190e-01] [ 2.68027122e-02 -6.21777581e-04 9.99640549e-01 1.15596776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452557844 meters Centerline goodness : 0.145927 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99632165e-01 -1.93061084e-03 -2.70519430e-02 2.17793129e+00] [ 1.96098525e-03 9.99997476e-01 1.09633367e-03 2.71366467e-01] [ 2.70497582e-02 -1.14897886e-03 9.99633428e-01 1.15598842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482557844 meters Centerline goodness : 0.151734 Centerline is valid? [False, False] Translation: X:2.18, Y:0.27, Z:1.16 [[ 9.99630386e-01 -1.62041805e-03 -2.71379113e-02 2.17816601e+00] [ 1.67840266e-03 9.99996357e-01 2.11402232e-03 2.66294775e-01] [ 2.71343869e-02 -2.15878929e-03 9.99629464e-01 1.15616760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512557844 meters Centerline goodness : 0.138085 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99634557e-01 -1.38646748e-03 -2.69968554e-02 2.17757320e+00] [ 1.46023007e-03 9.99995254e-01 2.71274330e-03 2.63511169e-01] [ 2.69929661e-02 -2.75117356e-03 9.99631838e-01 1.15664051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54255784400002 meters Centerline goodness : 0.148187 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99638048e-01 -1.14783143e-03 -2.68785230e-02 2.17702504e+00] [ 1.23712041e-03 9.99993771e-01 3.30555218e-03 2.60784863e-01] [ 2.68745613e-02 -3.33760770e-03 9.99633242e-01 1.15712309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57255784400002 meters Centerline goodness : 0.132578 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99636260e-01 -7.72137902e-04 -2.69583256e-02 2.17722141e+00] [ 8.85390690e-04 9.99990833e-01 4.18934825e-03 2.56591153e-01] [ 2.69548437e-02 -4.21169306e-03 9.99627780e-01 1.15724702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60255784400002 meters Centerline goodness : 0.134189 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99631119e-01 -6.25236595e-04 -2.71520716e-02 2.17800969e+00] [ 7.48013609e-04 9.99989542e-01 4.51190711e-03 2.55081607e-01] [ 2.71489666e-02 -4.53055287e-03 9.99621132e-01 1.15677678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63255784400002 meters Centerline goodness : 0.168230 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99623024e-01 -5.10573327e-04 -2.74508443e-02 2.17916410e+00] [ 6.41595717e-04 9.99988444e-01 4.76438617e-03 2.53862727e-01] [ 2.74480946e-02 -4.78020245e-03 9.99611801e-01 1.15613565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66255784400002 meters Centerline goodness : 0.139638 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99619043e-01 -2.16210934e-04 -2.75993082e-02 2.17979116e+00] [ 3.62340559e-04 9.99985943e-01 5.28979301e-03 2.51468891e-01] [ 2.75977765e-02 -5.29777817e-03 9.99605070e-01 1.15575142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69255784400002 meters Centerline goodness : 0.148722 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99625261e-01 -9.30917905e-05 -2.73738771e-02 2.17893104e+00] [ 2.45739202e-04 9.99984440e-01 5.57307872e-03 2.50060758e-01] [ 2.73729324e-02 -5.57771711e-03 9.99609730e-01 1.15625557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72255784400002 meters Centerline goodness : 0.139939 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99627806e-01 1.37158131e-04 -2.72805962e-02 2.17833827e+00] [ 3.11368395e-05 9.99980974e-01 6.16851520e-03 2.46988926e-01] [ 2.72809232e-02 -6.16706875e-03 9.99608783e-01 1.15688917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75255784400002 meters Centerline goodness : 0.134535 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99620774e-01 1.98486122e-04 -2.75366886e-02 2.17921494e+00] [-2.41305833e-05 9.99979953e-01 6.33194185e-03 2.46181285e-01] [ 2.75373934e-02 -6.32887613e-03 9.99600739e-01 1.15651987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters Centerline goodness : 0.138568 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99957813 0.00888468 -0.02765169 2.20035902] [-0.00873634 0.99994682 0.0054808 0.24261084] [ 0.02769892 -0.00523692 0.99960259 1.15763373] [ 0. 0. 0. 1. ]] SLAMing on 189.812557844 meters Centerline goodness : 0.156594 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99582308e-01 -3.28963524e-04 -2.88981298e-02 2.17926455e+00] [ 5.08114048e-04 9.99980699e-01 6.19225671e-03 2.44992840e-01] [ 2.88955350e-02 -6.20435379e-03 9.99563182e-01 1.15685028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters Centerline goodness : 0.137104 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99959059 0.00825656 -0.02739493 2.19897294] [-0.00812434 0.99995482 0.00493417 0.24189077] [ 0.02743443 -0.00470959 0.99961251 1.15822319] [ 0. 0. 0. 1. ]] SLAMing on 189.872557844 meters Centerline goodness : 0.134975 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.9995917 0.00829529 -0.02734259 2.19861565] [-0.0081612 0.99995414 0.00501216 0.24162357] [ 0.02738291 -0.00478697 0.99961356 1.15860304] [ 0. 0. 0. 1. ]] SLAMing on 189.902557844 meters Centerline goodness : 0.140853 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99608159e-01 -7.90026938e-04 -2.79804446e-02 2.17768764e+00] [ 9.56749543e-04 9.99981867e-01 5.94565380e-03 2.44915336e-01] [ 2.79752400e-02 -5.97009432e-03 9.99590788e-01 1.15738354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932557844 meters Centerline goodness : 0.145611 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99604004e-01 -8.11259382e-04 -2.81278834e-02 2.17823104e+00] [ 9.78828395e-04 9.99981854e-01 5.94414158e-03 2.44671344e-01] [ 2.81225508e-02 -5.96932010e-03 9.99586659e-01 1.15712473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.962557844 meters Centerline goodness : 0.133934 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.16 [[ 9.99598404e-01 -8.89080019e-04 -2.83238376e-02 2.17884308e+00] [ 1.05479205e-03 9.99982413e-01 5.83621709e-03 2.44907958e-01] [ 2.83181506e-02 -5.86374904e-03 9.99581762e-01 1.15694986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.992557844 meters Centerline goodness : 0.127042 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99594557e-01 -9.48021085e-04 -2.84573846e-02 2.17920599e+00] [ 1.11111252e-03 9.99983047e-01 5.71581054e-03 2.45366606e-01] [ 2.84514834e-02 -5.74511246e-03 9.99578665e-01 1.15690576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.022557844 meters Centerline goodness : 0.134748 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99592164e-01 -9.88805950e-04 -2.85399455e-02 2.17935100e+00] [ 1.14923056e-03 9.99983630e-01 5.60519987e-03 2.45951148e-01] [ 2.85339359e-02 -5.63571285e-03 9.99576937e-01 1.15700011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052557844 meters Centerline goodness : 0.134012 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:1.16 [[ 0.99958156 0.00792099 -0.02782025 2.20033706] [-0.00779419 0.99995875 0.00466313 0.24494586] [ 0.02785604 -0.00444434 0.99960207 1.15801216] [ 0. 0. 0. 1. ]] SLAMing on 190.082557844 meters Centerline goodness : 0.137613 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99600694e-01 -1.22307459e-03 -2.82304118e-02 2.17886930e+00] [ 1.37444442e-03 9.99984781e-01 5.34316024e-03 2.49307655e-01] [ 2.82234471e-02 -5.37982782e-03 9.99587162e-01 1.15692532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112557844 meters Centerline goodness : 0.132239 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99605054e-01 -1.27518071e-03 -2.80733106e-02 2.17810079e+00] [ 1.41897025e-03 9.99985975e-01 5.10260462e-03 2.50740659e-01] [ 2.80664101e-02 -5.14042456e-03 9.99592843e-01 1.15746759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142557844 meters Centerline goodness : 0.140474 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99603655e-01 -1.33740849e-03 -2.81201817e-02 2.17825045e+00] [ 1.47657885e-03 9.99986763e-01 4.92894492e-03 2.51619531e-01] [ 2.81132175e-02 -4.96851302e-03 9.99592397e-01 1.15740031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172557844 meters Centerline goodness : 0.132340 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99600565e-01 -1.43642928e-03 -2.82249301e-02 2.17874984e+00] [ 1.56888401e-03 9.99987859e-01 4.67124292e-03 2.52808316e-01] [ 2.82178775e-02 -4.71365871e-03 9.99590683e-01 1.15697257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202557844 meters Centerline goodness : 0.137231 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:1.16 [[ 9.99595971e-01 -1.55286863e-03 -2.83810370e-02 2.17939495e+00] [ 1.67710456e-03 9.99989114e-01 4.35414812e-03 2.54302400e-01] [ 2.83739666e-02 -4.39998688e-03 9.99587694e-01 1.15650439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232557844 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 9.99600480e-01 -1.72213677e-03 -2.82119549e-02 2.17877947e+00] [ 1.83302820e-03 9.99990694e-01 3.90526368e-03 2.56640635e-01] [ 2.82049670e-02 -3.95541676e-03 9.99594335e-01 1.15671878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262557844 meters Centerline goodness : 0.158712 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:1.16 [[ 0.99964159 0.00674024 -0.02590852 2.19785715] [-0.00667051 0.9999739 0.00277689 0.25514603] [ 0.02592656 -0.00260307 0.99966046 1.15770288] [ 0. 0. 0. 1. ]] SLAMing on 190.29255784400002 meters Centerline goodness : 0.144682 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:1.16 [[ 0.99967397 -0.00249571 -0.02541098 2.17541943] [ 0.00258501 0.9999906 0.00348219 0.25881638] [ 0.02540205 -0.00354674 0.99967102 1.15676603] [ 0. 0. 0. 1. ]] SLAMing on 190.32255784400002 meters Centerline goodness : 0.131981 Centerline is valid? [False, False] Translation: X:2.19, Y:0.26, Z:1.16 [[ 9.99691376e-01 5.21467068e-03 -2.42890717e-02 2.19392369e+00] [-5.17517392e-03 9.99985183e-01 1.68868851e-03 2.55684987e-01] [ 2.42975177e-02 -1.56246717e-03 9.99703551e-01 1.15869207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35255784400002 meters Centerline goodness : 0.165376 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.16 [[ 9.99717514e-01 -3.95875035e-03 -2.34354646e-02 2.21454598e+00] [ 4.00546609e-03 9.99990083e-01 1.94677230e-03 2.58660829e-01] [ 2.34275254e-02 -2.04009233e-03 9.99723456e-01 1.15969904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38255784400002 meters Centerline goodness : 0.137366 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:1.16 [[ 0.99971851 -0.00394947 -0.02339432 2.21445776] [ 0.00400329 0.99998945 0.00225408 0.2570031 ] [ 0.02338517 -0.0023471 0.99972377 1.15972861] [ 0. 0. 0. 1. ]] SLAMing on 190.41255784400002 meters Centerline goodness : 0.132363 Centerline is valid? [False, False] Translation: X:2.21, Y:0.25, Z:1.16 [[ 0.99971867 -0.00393379 -0.02339029 2.21433075] [ 0.0039966 0.99998853 0.00263892 0.25491581] [ 0.02337964 -0.00273166 0.99972293 1.16000765] [ 0. 0. 0. 1. ]] SLAMing on 190.44255784400002 meters Centerline goodness : 0.136979 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:1.16 [[ 9.99752774e-01 1.46424189e-03 -2.21866437e-02 2.23565199e+00] [-1.48419656e-03 9.99998509e-01 -8.82960449e-04 2.52102954e-01] [ 2.21853177e-02 9.15671498e-04 9.99753456e-01 1.15995391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47255784400002 meters Centerline goodness : 0.151706 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99696441e-01 -1.66600789e-03 -2.45815186e-02 2.19035813e+00] [ 1.62554775e-03 9.99997291e-01 -1.66584837e-03 2.43798054e-01] [ 2.45842273e-02 1.62538426e-03 9.99696441e-01 1.16066186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50255784400002 meters Centerline goodness : 0.131621 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99694648e-01 -1.56224544e-03 -2.46610895e-02 2.19046528e+00] [ 1.53307442e-03 9.99998103e-01 -1.20173833e-03 2.41432539e-01] [ 2.46629202e-02 1.16356409e-03 9.99695147e-01 1.16088441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532557844 meters Centerline goodness : 0.140858 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99697377e-01 -1.43308317e-03 -2.45581160e-02 2.19015865e+00] [ 1.41521137e-03 9.99998721e-01 -7.45099466e-04 2.39170501e-01] [ 2.45591524e-02 7.10119056e-04 9.99698126e-01 1.16099183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562557844 meters Centerline goodness : 0.140047 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99698996e-01 -1.29945929e-03 -2.44995788e-02 2.18991101e+00] [ 1.29222235e-03 9.99999117e-01 -3.11219989e-04 2.36982461e-01] [ 2.44999616e-02 2.79467407e-04 9.99699792e-01 1.16120361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592557844 meters Centerline goodness : 0.141814 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99702133e-01 -1.16212423e-03 -2.43781531e-02 2.18937747e+00] [ 1.17178621e-03 9.99999240e-01 3.82056517e-04 2.33301754e-01] [ 2.43776906e-02 -4.10508698e-04 9.99702736e-01 1.16165882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622557844 meters Centerline goodness : 0.136273 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99702060e-01 -1.02813955e-03 -2.43871530e-02 2.18941033e+00] [ 1.04661318e-03 9.99999175e-01 7.44763001e-04 2.31641056e-01] [ 2.43863672e-02 -7.70065022e-04 9.99702312e-01 1.16164074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652557844 meters Centerline goodness : 0.156233 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99698240e-01 -9.26134451e-04 -2.45473362e-02 2.18980390e+00] [ 9.53726480e-04 9.99998927e-01 1.11234990e-03 2.29765753e-01] [ 2.45462797e-02 -1.13542568e-03 9.99698050e-01 1.16164943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682557844 meters Centerline goodness : 0.143770 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99685852e-01 -1.07738282e-03 -2.50407111e-02 2.19131767e+00] [ 1.11784207e-03 9.99998092e-01 1.60179725e-03 2.25846382e-01] [ 2.50389376e-02 -1.62928561e-03 9.99685149e-01 1.16130699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.712557844 meters Centerline goodness : 0.140441 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99684010e-01 -9.29904331e-04 -2.51200258e-02 2.19152623e+00] [ 9.81299257e-04 9.99997451e-01 2.03372467e-03 2.23638085e-01] [ 2.51180706e-02 -2.05773230e-03 9.99682374e-01 1.16130278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.742557844 meters Centerline goodness : 0.147105 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.16 [[ 9.99658908e-01 -4.93786906e-04 -2.61117416e-02 2.15210596e+00] [ 5.53533778e-04 9.99997245e-01 2.28094424e-03 2.21130440e-01] [ 2.61105433e-02 -2.29461996e-03 9.99656428e-01 1.15965134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.772557844 meters Centerline goodness : 0.145001 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:1.16 [[ 9.99654736e-01 -5.01805157e-04 -2.62708208e-02 2.15278552e+00] [ 5.60391341e-04 9.99997373e-01 2.22277105e-03 2.21471492e-01] [ 2.62696364e-02 -2.23672555e-03 9.99652391e-01 1.15915743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802557844 meters Centerline goodness : 0.158322 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99624767e-01 8.13745966e-03 -2.61554325e-02 2.17295755e+00] [-8.10783546e-03 9.99966364e-01 1.23847344e-03 2.17436928e-01] [ 2.61646308e-02 -1.02594478e-03 9.99657121e-01 1.16021423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832557844 meters Centerline goodness : 0.149005 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99637132e-01 8.19244854e-03 -2.56610091e-02 2.17143394e+00] [-8.17306793e-03 9.99966230e-01 8.60047689e-04 2.19722472e-01] [ 2.56671885e-02 -6.50006435e-04 9.99670332e-01 1.16081842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862557844 meters Centerline goodness : 0.145258 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99641427e-01 8.16522578e-03 -2.55018760e-02 2.17095566e+00] [-8.15259993e-03 9.99966588e-01 5.99027725e-04 2.21360188e-01] [ 2.55059151e-02 -3.90906337e-04 9.99674595e-01 1.16090980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892557844 meters Centerline goodness : 0.142513 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99643978e-01 8.08826152e-03 -2.54263086e-02 2.17081877e+00] [-8.08208040e-03 9.99967280e-01 3.45857143e-04 2.22672063e-01] [ 2.54282740e-02 -1.40236540e-04 9.99676639e-01 1.16082192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922557844 meters Centerline goodness : 0.140539 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99646171e-01 7.88808934e-03 -2.54029706e-02 2.17071553e+00] [-7.89016586e-03 9.99968872e-01 1.84904438e-05 2.23878080e-01] [ 2.54023257e-02 1.81949750e-04 9.99677292e-01 1.16079081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952557844 meters Centerline goodness : 0.143273 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99691208e-01 -9.06556779e-05 -2.48491723e-02 2.18988815e+00] [ 1.18929542e-04 9.99999347e-01 1.13634362e-03 2.30261059e-01] [ 2.48490530e-02 -1.13894803e-03 9.99690566e-01 1.16205277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982557844 meters Centerline goodness : 0.143890 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99690553e-01 -7.50174491e-05 -2.48755289e-02 2.18996849e+00] [ 1.04361268e-04 9.99999300e-01 1.17832981e-03 2.30201349e-01] [ 2.48754231e-02 -1.18056122e-03 9.99689862e-01 1.16199860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012557844 meters Centerline goodness : 0.138146 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99691698e-01 -8.41349572e-05 -2.48294461e-02 2.18964903e+00] [ 1.15152912e-04 9.99999215e-01 1.24781355e-03 2.29997443e-01] [ 2.48293216e-02 -1.25028803e-03 9.99690923e-01 1.16236075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04255784400002 meters Centerline goodness : 0.139998 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99695288e-01 -6.61667709e-05 -2.46845534e-02 2.18909482e+00] [ 9.87133816e-05 9.99999128e-01 1.31728489e-03 2.29638893e-01] [ 2.46844447e-02 -1.31932020e-03 9.99694422e-01 1.16269298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07255784400002 meters Centerline goodness : 0.139212 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99699820e-01 -7.19317098e-05 -2.45003033e-02 2.18835798e+00] [ 1.05083776e-04 9.99999081e-01 1.35184400e-03 2.29411722e-01] [ 2.45001836e-02 -1.35401278e-03 9.99698908e-01 1.16314265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10255784400002 meters Centerline goodness : 0.147549 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99704054e-01 -1.02132278e-04 -2.43268309e-02 2.18792938e+00] [ 1.33381684e-04 9.99999168e-01 1.28294630e-03 2.29749837e-01] [ 2.43266796e-02 -1.28581137e-03 9.99703236e-01 1.16308952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13255784400002 meters Centerline goodness : 0.133647 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:1.16 [[ 9.99624420e-01 -5.57559474e-04 -2.73990454e-02 2.14501612e+00] [ 5.94967531e-04 9.99998902e-01 1.35717177e-03 2.27993541e-01] [ 2.73982587e-02 -1.37296359e-03 9.99623654e-01 1.16287982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16255784400002 meters Centerline goodness : 0.138164 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99624102e-01 -2.82676675e-04 -2.74148628e-02 2.18796578e+00] [ 3.09012798e-04 9.99999495e-01 9.56419481e-04 2.30241156e-01] [ 2.74145786e-02 -9.64531508e-04 9.99623684e-01 1.16364069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19255784400002 meters Centerline goodness : 0.163158 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99620852e-01 -2.25559050e-04 -2.75336354e-02 2.18830585e+00] [ 2.53827474e-04 9.99999444e-01 1.02319620e-03 2.30027630e-01] [ 2.75333893e-02 -1.02979705e-03 9.99620354e-01 1.16356783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22255784400002 meters Centerline goodness : 0.139785 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618820e-01 -1.95825443e-04 -2.76075594e-02 2.18841205e+00] [ 2.26156935e-04 9.99999374e-01 1.09554806e-03 2.29653580e-01] [ 2.76073276e-02 -1.10137410e-03 9.99618238e-01 1.16369295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25255784400002 meters Centerline goodness : 0.136936 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618723e-01 -1.39440143e-04 -2.76113949e-02 2.18838643e+00] [ 1.73894334e-04 9.99999209e-01 1.24542781e-03 2.28918282e-01] [ 2.76111994e-02 -1.24975442e-03 9.99617957e-01 1.16375476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters Centerline goodness : 0.136936 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99618723e-01 -1.39440143e-04 -2.76113949e-02 2.18838643e+00] [ 1.73894334e-04 9.99999209e-01 1.24542781e-03 2.28918282e-01] [ 2.76111994e-02 -1.24975442e-03 9.99617957e-01 1.16375476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312557844 meters Centerline goodness : 0.129221 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99616137e-01 -6.72909012e-05 -2.77051370e-02 2.18864765e+00] [ 1.07208311e-04 9.99998958e-01 1.43931164e-03 2.27950643e-01] [ 2.77050113e-02 -1.44172936e-03 9.99615103e-01 1.16373618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters Centerline goodness : 0.151170 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 9.99611955e-01 1.33529281e-04 -2.78553635e-02 2.18914906e+00] [-7.93640805e-05 9.99998104e-01 1.94561251e-03 2.25543695e-01] [ 2.78555705e-02 -1.94264681e-03 9.99610071e-01 1.16354486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372557844 meters Centerline goodness : 0.124471 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99611025e-01 2.25940514e-04 -2.78881154e-02 2.18924984e+00] [-1.66639525e-04 9.99997720e-01 2.12869503e-03 2.24769899e-01] [ 2.78885328e-02 -2.12321976e-03 9.99608784e-01 1.16353169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters Centerline goodness : 0.132783 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.16 [[ 9.99620351e-01 4.28527515e-04 -2.75494278e-02 2.18828990e+00] [-3.62476705e-04 9.99997048e-01 2.40248763e-03 2.23800856e-01] [ 2.75503761e-02 -2.39158950e-03 9.99617555e-01 1.16375229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432557844 meters Centerline goodness : 0.126267 Centerline is valid? [False, False] Translation: X:2.14, Y:0.22, Z:1.16 [[ 9.99557705e-01 -4.36233068e-04 -2.97355649e-02 2.14210409e+00] [ 5.19411724e-04 9.99995974e-01 2.78961166e-03 2.20472695e-01] [ 2.97342282e-02 -2.80382283e-03 9.99553908e-01 1.16427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.462557844 meters Centerline goodness : 0.154797 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:1.17 [[ 9.99554884e-01 8.13191657e-03 -2.87037511e-02 2.16207112e+00] [-8.09379328e-03 9.99966202e-01 1.44410124e-03 2.16605347e-01] [ 2.87145242e-02 -1.21113622e-03 9.99586919e-01 1.16575423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.492557844 meters Centerline goodness : 0.162513 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:1.17 [[ 9.99549662e-01 8.14273674e-03 -2.88819941e-02 2.16259264e+00] [-8.10621150e-03 9.99966190e-01 1.38149955e-03 2.16805604e-01] [ 2.88922668e-02 -1.14675385e-03 9.99581874e-01 1.16573452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.522557844 meters Centerline goodness : 0.131751 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.17 [[ 9.99523561e-01 8.35751649e-03 -2.97119845e-02 2.16517853e+00] [-8.32974572e-03 9.99964747e-01 1.05831907e-03 2.18759822e-01] [ 2.97197820e-02 -8.10321567e-04 9.99557941e-01 1.16513163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552557844 meters Centerline goodness : 0.129231 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99513318e-01 8.27668636e-03 -3.00769478e-02 2.16650107e+00] [-8.26222908e-03 9.99965684e-01 6.04926133e-04 2.21068879e-01] [ 3.00809224e-02 -3.56129094e-04 9.99547403e-01 1.16448443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582557844 meters Centerline goodness : 0.129123 Centerline is valid? [False, False] Translation: X:2.17, Y:0.22, Z:1.16 [[ 9.99506866e-01 8.14646181e-03 -3.03258969e-02 2.16733909e+00] [-8.14608509e-03 9.99966811e-01 1.35971301e-04 2.23437573e-01] [ 3.03259981e-02 1.11133088e-04 9.99540055e-01 1.16409628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612557844 meters Centerline goodness : 0.132935 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.16 [[ 0.99951269 0.00282716 -0.03108696 2.18944644] [-0.00274133 0.99999231 0.0028031 0.23058083] [ 0.03109465 -0.00271652 0.99951275 1.16481603] [ 0. 0. 0. 1. ]] SLAMing on 191.642557844 meters Centerline goodness : 0.153367 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99516413e-01 2.51726130e-03 -3.09936035e-02 2.18949807e+00] [-2.46163631e-03 9.99995291e-01 1.83275084e-03 2.35450855e-01] [ 3.09980711e-02 -1.75556956e-03 9.99517903e-01 1.16420544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672557844 meters Centerline goodness : 0.134446 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99518119e-01 2.34501809e-03 -3.09520848e-02 2.18950976e+00] [-2.30121015e-03 9.99996300e-01 1.45089358e-03 2.37174372e-01] [ 3.09553727e-02 -1.37896717e-03 9.99519816e-01 1.16396474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702557844 meters Centerline goodness : 0.136905 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99519540e-01 2.23132706e-03 -3.09145778e-02 2.18946491e+00] [-2.19488262e-03 9.99996856e-01 1.21276027e-03 2.38270295e-01] [ 3.09171867e-02 -1.14432371e-03 9.99521294e-01 1.16384815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732557844 meters Centerline goodness : 0.133393 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.16 [[ 9.99532332e-01 2.13323082e-03 -3.05051902e-02 2.18785024e+00] [-2.09927419e-03 9.99997141e-01 1.14512616e-03 2.38744346e-01] [ 3.05075458e-02 -1.08055187e-03 9.99533952e-01 1.16474789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762557844 meters Centerline goodness : 0.133831 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.17 [[ 9.99540802e-01 2.12310732e-03 -3.02271103e-02 2.18662655e+00] [-2.08748468e-03 9.99997089e-01 1.21000742e-03 2.38557615e-01] [ 3.02295912e-02 -1.14635315e-03 9.99542324e-01 1.16566173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79255784400002 meters Centerline goodness : 0.141825 Centerline is valid? [False, False] Translation: X:2.19, Y:0.24, Z:1.17 [[ 9.99548470e-01 2.13444208e-03 -2.99716664e-02 2.18550841e+00] [-2.09482298e-03 9.99996890e-01 1.35322272e-03 2.37959063e-01] [ 2.99744615e-02 -1.28982637e-03 9.99549833e-01 1.16651040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82255784400002 meters Centerline goodness : 0.137011 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.17 [[ 9.99551752e-01 2.16142106e-03 -2.98600590e-02 2.18488144e+00] [-2.11825422e-03 9.99996665e-01 1.47719501e-03 2.37405404e-01] [ 2.98631523e-02 -1.41328167e-03 9.99552997e-01 1.16713092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85255784400002 meters Centerline goodness : 0.137666 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:1.17 [[ 9.99557193e-01 2.22681810e-03 -2.96725303e-02 2.18421560e+00] [-2.17216613e-03 9.99995885e-01 1.87394389e-03 2.35351613e-01] [ 2.96765811e-02 -1.80866043e-03 9.99557917e-01 1.16752777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88255784400002 meters Centerline goodness : 0.129499 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:1.17 [[ 9.99555346e-01 2.28164897e-03 -2.97305291e-02 2.18441429e+00] [-2.21956090e-03 9.99995287e-01 2.12119534e-03 2.34023372e-01] [ 2.97352288e-02 -2.05426342e-03 9.99555699e-01 1.16745198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91255784400002 meters Centerline goodness : 0.130655 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:1.17 [[ 0.9995533 0.00236453 -0.02979265 2.1846144 ] [-0.00229503 0.99999457 0.00236675 0.23281078] [ 0.02979808 -0.00229732 0.9995533 1.16738175] [ 0. 0. 0. 1. ]] SLAMing on 191.94255784400002 meters Centerline goodness : 0.138926 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99953567 0.00248438 -0.03036901 2.18617401] [-0.00240502 0.9999936 0.00264936 0.23140938] [ 0.0303754 -0.00257509 0.99953524 1.16723928] [ 0. 0. 0. 1. ]] SLAMing on 191.97255784400002 meters Centerline goodness : 0.138619 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99952858 0.00251104 -0.03059932 2.18669375] [-0.00243015 0.99999345 0.00268067 0.23123575] [ 0.03060585 -0.00260504 0.99952814 1.16735515] [ 0. 0. 0. 1. ]] SLAMing on 192.00255784400002 meters Centerline goodness : 0.128796 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99952511 0.00251637 -0.030712 2.18695664] [-0.00243764 0.99999365 0.00260061 0.23161711] [ 0.03071835 -0.00252451 0.99952489 1.16739081] [ 0. 0. 0. 1. ]] SLAMing on 192.032557844 meters Centerline goodness : 0.125715 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99499881e-01 1.20313644e-02 -2.92443755e-02 2.20742937e+00] [-1.19835801e-02 9.99926559e-01 1.80868718e-03 2.29582530e-01] [ 2.92639887e-02 -1.45733031e-03 9.99570655e-01 1.16860564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters Centerline goodness : 0.134013 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99509755e-01 1.21101844e-02 -2.88720064e-02 2.20641249e+00] [-1.20633372e-02 9.99925622e-01 1.79621852e-03 2.30000562e-01] [ 2.88916115e-02 -1.44704518e-03 9.99581503e-01 1.16869519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092557844 meters Centerline goodness : 0.139924 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99515751e-01 1.21557890e-02 -2.86443885e-02 2.20582496e+00] [-1.21084064e-02 9.99925021e-01 1.82704866e-03 2.30034955e-01] [ 2.86644500e-02 -1.47932602e-03 9.99587996e-01 1.16872284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122557844 meters Centerline goodness : 0.135116 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 9.99517402e-01 1.22508459e-02 -2.85461167e-02 2.20529805e+00] [-1.21993434e-02 9.99923630e-01 1.97765339e-03 2.29213506e-01] [ 2.85681645e-02 -1.62845509e-03 9.99590520e-01 1.16923539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152557844 meters Centerline goodness : 0.143786 Centerline is valid? [False, False] Translation: X:2.19, Y:0.23, Z:1.17 [[ 0.99957993 0.00332837 -0.02879044 2.18549355] [-0.003243 0.99999021 0.00301136 0.23277872] [ 0.02880018 -0.00291673 0.99958093 1.16794306] [ 0. 0. 0. 1. ]] SLAMing on 192.182557844 meters Centerline goodness : 0.134460 Centerline is valid? [False, False] Translation: X:2.21, Y:0.24, Z:1.17 [[ 0.99959425 -0.00426995 -0.02816209 2.20515576] [ 0.00438746 0.99998192 0.00411193 0.2369749 ] [ 0.02814402 -0.00423382 0.99959491 1.16938636] [ 0. 0. 0. 1. ]] SLAMing on 192.212557844 meters Centerline goodness : 0.156364 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99958674 -0.00413061 -0.02844809 2.20640447] [ 0.00426228 0.99998048 0.00456928 0.23458512] [ 0.02842866 -0.00468864 0.99958483 1.16854664] [ 0. 0. 0. 1. ]] SLAMing on 192.242557844 meters Centerline goodness : 0.129090 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99958434 -0.00406165 -0.02854222 2.20674632] [ 0.00420135 0.99997948 0.00483637 0.23306816] [ 0.02852199 -0.00495428 0.99958089 1.16841744] [ 0. 0. 0. 1. ]] SLAMing on 192.272557844 meters Centerline goodness : 0.128510 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.9995862 -0.00393357 -0.02849491 2.2063587 ] [ 0.00408444 0.99997794 0.00523825 0.23096817] [ 0.02847368 -0.00535246 0.99958021 1.16891037] [ 0. 0. 0. 1. ]] SLAMing on 192.302557844 meters Centerline goodness : 0.126770 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.99959059 -0.0036868 -0.02837343 2.20575158] [ 0.00386063 0.9999741 0.00607434 0.22693377] [ 0.0283503 -0.00618139 0.99957894 1.16948223] [ 0. 0. 0. 1. ]] SLAMing on 192.332557844 meters Centerline goodness : 0.145025 Centerline is valid? [False, False] Translation: X:2.21, Y:0.23, Z:1.17 [[ 0.999584 -0.00357859 -0.02861841 2.20656746] [ 0.00376478 0.99997208 0.00645469 0.22504347] [ 0.02859451 -0.00655975 0.99956957 1.16919834] [ 0. 0. 0. 1. ]] SLAMing on 192.362557844 meters Centerline goodness : 0.127086 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99957428 -0.00348789 -0.02896699 2.20793707] [ 0.0036858 0.99997021 0.00678171 0.22331668] [ 0.02894247 -0.00688559 0.99955736 1.16844008] [ 0. 0. 0. 1. ]] SLAMing on 192.392557844 meters Centerline goodness : 0.130603 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99956486 -0.00335162 -0.02930639 2.20932422] [ 0.00356574 0.99996731 0.00725687 0.22079073] [ 0.02928111 -0.00735821 0.99954413 1.16760545] [ 0. 0. 0. 1. ]] SLAMing on 192.422557844 meters Centerline goodness : 0.155615 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:1.17 [[ 0.99956433 -0.00330846 -0.02932939 2.20932055] [ 0.00352559 0.99996674 0.00735464 0.2202922 ] [ 0.02930409 -0.00745484 0.99954274 1.16773721] [ 0. 0. 0. 1. ]] SLAMing on 192.452557844 meters Centerline goodness : 0.134062 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.9995608 0.00549516 -0.02912075 2.22934801] [-0.00532257 0.99996783 0.00600103 0.2169534 ] [ 0.02915279 -0.00584339 0.99955789 1.16997491] [ 0. 0. 0. 1. ]] SLAMing on 192.482557844 meters Centerline goodness : 0.133049 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955781 0.00550845 -0.02922068 2.22971086] [-0.00533714 0.99996813 0.00593744 0.21740501] [ 0.02925246 -0.00577886 0.99955535 1.16977719] [ 0. 0. 0. 1. ]] SLAMing on 192.512557844 meters Centerline goodness : 0.127975 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955979 0.00550384 -0.02915373 2.22973818] [-0.00533449 0.99996846 0.0058833 0.21774989] [ 0.02918519 -0.00572519 0.99955763 1.16942381] [ 0. 0. 0. 1. ]] SLAMing on 192.54255784400002 meters Centerline goodness : 0.135657 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955969 0.00547036 -0.02916327 2.2298753 ] [-0.00530404 0.99996924 0.00577741 0.21828584] [ 0.02919397 -0.00562018 0.99955797 1.16925892] [ 0. 0. 0. 1. ]] SLAMing on 192.57255784400002 meters Centerline goodness : 0.165980 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955866 0.00542677 -0.02920688 2.22998945] [-0.00526325 0.99997006 0.00567274 0.21873491] [ 0.02923679 -0.00551651 0.99955729 1.16922108] [ 0. 0. 0. 1. ]] SLAMing on 192.60255784400002 meters Centerline goodness : 0.129648 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.99955591 0.00541406 -0.02930308 2.23015044] [-0.00525014 0.99997015 0.00566801 0.21869236] [ 0.02933289 -0.00551164 0.9995545 1.16933228] [ 0. 0. 0. 1. ]] SLAMing on 192.63255784400002 meters Centerline goodness : 0.124926 Centerline is valid? [False, False] Translation: X:2.19, Y:0.22, Z:1.17 [[ 0.99947711 0.0040601 -0.03207838 2.18516801] [-0.0038707 0.99997472 0.00596436 0.21584364] [ 0.03210178 -0.00583707 0.99946756 1.16940928] [ 0. 0. 0. 1. ]] SLAMing on 192.66255784400002 meters Centerline goodness : 0.157576 Centerline is valid? [False, False] Translation: X:2.23, Y:0.22, Z:1.17 [[ 0.9995654 0.00381692 -0.02923087 2.22698365] [-0.00368397 0.99998263 0.0046007 0.21961758] [ 0.02924792 -0.00449102 0.9995621 1.17059166] [ 0. 0. 0. 1. ]] SLAMing on 192.69255784400002 meters Centerline goodness : 0.122811 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99955657 -0.0056318 -0.02923959 2.20425413] [ 0.00578749 0.99996951 0.00524279 0.22301357] [ 0.02920917 -0.00540969 0.99955868 1.17014261] [ 0. 0. 0. 1. ]] SLAMing on 192.72255784400002 meters Centerline goodness : 0.131339 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99956028 -0.00560956 -0.02911674 2.20359943] [ 0.00576626 0.99996933 0.0053008 0.22283816] [ 0.02908611 -0.00546636 0.99956196 1.17077167] [ 0. 0. 0. 1. ]] SLAMing on 192.75255784400002 meters Centerline goodness : 0.122982 Centerline is valid? [False, False] Translation: X:2.20, Y:0.22, Z:1.17 [[ 0.99956524 -0.00561093 -0.02894568 2.20298076] [ 0.00576583 0.99996949 0.00527084 0.22306384] [ 0.02891522 -0.00543545 0.99956709 1.1710729 ] [ 0. 0. 0. 1. ]] SLAMing on 192.782557844 meters Centerline goodness : 0.122624 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958923 0.0031774 -0.02848283 2.22272495] [-0.00306163 0.99998688 0.0041072 0.21976602] [ 0.02849551 -0.0040183 0.99958584 1.17245123] [ 0. 0. 0. 1. ]] SLAMing on 192.812557844 meters Centerline goodness : 0.130522 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958754 0.00319969 -0.02853964 2.22312003] [-0.00308229 0.99998661 0.00415643 0.21952725] [ 0.02855256 -0.00406675 0.99958402 1.17202064] [ 0. 0. 0. 1. ]] SLAMing on 192.842557844 meters Centerline goodness : 0.133129 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.999582 0.00330919 -0.02872056 2.22389426] [-0.0031843 0.99998528 0.00439298 0.21849283] [ 0.02873468 -0.00429969 0.99957783 1.17143859] [ 0. 0. 0. 1. ]] SLAMing on 192.872557844 meters Centerline goodness : 0.133062 Centerline is valid? [False, False] Translation: X:2.22, Y:0.22, Z:1.17 [[ 0.99958174 0.00340427 -0.0287185 2.22373641] [-0.00327309 0.999984 0.00461356 0.21744924] [ 0.02873374 -0.00451763 0.99957689 1.17172005] [ 0. 0. 0. 1. ]] SLAMing on 192.902557844 meters Centerline goodness : 0.129842 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99634007e-01 9.69262774e-03 -2.52567971e-02 2.24385990e+00] [-9.65852769e-03 9.99952272e-01 1.47177805e-03 2.14655159e-01] [ 2.52698570e-02 -1.22729592e-03 9.99679913e-01 1.17176899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932557844 meters Centerline goodness : 0.220234 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99635937e-01 9.81264286e-03 -2.51337636e-02 2.24354508e+00] [-9.77231986e-03 9.99950759e-01 1.72666372e-03 2.13560127e-01] [ 2.51494691e-02 -1.48041992e-03 9.99682606e-01 1.17179857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.962557844 meters Centerline goodness : 0.148274 Centerline is valid? [False, False] Translation: X:2.24, Y:0.21, Z:1.17 [[ 9.99633935e-01 9.97276910e-03 -2.51503569e-02 2.24398594e+00] [-9.92438268e-03 9.99948655e-01 2.04797627e-03 2.12341056e-01] [ 2.51694896e-02 -1.79762481e-03 9.99681582e-01 1.17117390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.992557844 meters Centerline goodness : 0.168252 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99632876e-01 8.79709021e-04 -2.70802489e-02 2.22500946e+00] [-7.94698280e-04 9.99994724e-01 3.14981787e-03 2.14713478e-01] [ 2.70828769e-02 -3.12714087e-03 9.99628300e-01 1.16988031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.022557844 meters Centerline goodness : 0.131376 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99625747e-01 9.08216136e-04 -2.73411927e-02 2.22597883e+00] [-8.17628280e-04 9.99994140e-01 3.32423443e-03 2.13560363e-01] [ 2.73440516e-02 -3.30063539e-03 9.99620632e-01 1.16938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052557844 meters Centerline goodness : 0.131397 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99612795e-01 9.31949045e-04 -2.78099016e-02 2.22717796e+00] [-8.28901673e-04 9.99992749e-01 3.71671825e-03 2.10960193e-01] [ 2.78131637e-02 -3.69222745e-03 9.99606320e-01 1.16940769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082557844 meters Centerline goodness : 0.133481 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99609800e-01 1.02479457e-03 -2.79141197e-02 2.22750055e+00] [-9.14623236e-04 9.99991744e-01 3.95927804e-03 2.09805138e-01] [ 2.79179467e-02 -3.93220222e-03 9.99602484e-01 1.16930675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112557844 meters Centerline goodness : 0.214625 Centerline is valid? [False, False] Translation: X:2.23, Y:0.21, Z:1.17 [[ 9.99606304e-01 1.19194101e-03 -2.80324102e-02 2.22773421e+00] [-1.06719818e-03 9.99989465e-01 4.46449011e-03 2.07473336e-01] [ 2.80374362e-02 -4.43281632e-03 9.99597045e-01 1.16939588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142557844 meters Centerline goodness : 0.218948 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:1.17 [[ 9.99625536e-01 7.42353983e-03 -2.63378023e-02 2.25024334e+00] [-7.39149657e-03 9.99971819e-01 1.31377391e-03 2.05590903e-01] [ 2.63468130e-02 -1.11860617e-03 9.99652237e-01 1.16872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172557844 meters Centerline goodness : 0.218948 Centerline is valid? [False, False] Translation: X:2.25, Y:0.21, Z:1.17 [[ 9.99625536e-01 7.42353983e-03 -2.63378023e-02 2.25024334e+00] [-7.39149657e-03 9.99971819e-01 1.31377391e-03 2.05590903e-01] [ 2.63468130e-02 -1.11860617e-03 9.99652237e-01 1.16872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202557844 meters Centerline goodness : 0.036656 Centerline is valid? [False, False] Translation: X:2.25, Y:0.20, Z:1.17 [[ 9.99659555e-01 3.82500370e-03 -2.58097481e-02 2.24907344e+00] [-3.87315549e-03 9.99990851e-01 -1.81591037e-03 2.03181332e-01] [ 2.58025661e-02 1.91525732e-03 9.99665224e-01 1.16816028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232557844 meters Centerline goodness : 0.123548 Centerline is valid? [False, False] Translation: X:2.25, Y:0.20, Z:1.17 [[ 9.99686981e-01 1.12470815e-03 -2.49935159e-02 2.24617435e+00] [-1.21930214e-03 9.99992151e-01 -3.76982362e-03 1.97939176e-01] [ 2.49890797e-02 3.79911824e-03 9.99680505e-01 1.16872084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262557844 meters Centerline goodness : 0.186630 Centerline is valid? [False, False] Translation: X:2.24, Y:0.19, Z:1.17 [[ 9.99719173e-01 -1.50221876e-03 -2.36499181e-02 2.24128220e+00] [ 1.39892871e-03 9.99989414e-01 -4.38339801e-03 1.88168671e-01] [ 2.36562525e-02 4.34908249e-03 9.99710692e-01 1.16923013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29255784400002 meters Centerline goodness : 0.185786 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99730611e-01 -1.60156851e-03 -2.31546897e-02 2.23992977e+00] [ 1.51826869e-03 9.99992314e-01 -3.61466787e-03 1.84980226e-01] [ 2.31603008e-02 3.57853907e-03 9.99725360e-01 1.16884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32255784400002 meters Centerline goodness : 0.157276 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99731421e-01 -1.64424303e-03 -2.31167180e-02 2.23991654e+00] [ 1.57753427e-03 9.99994540e-01 -2.90367670e-03 1.82048005e-01] [ 2.31213662e-02 2.86642941e-03 9.99728556e-01 1.16809004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35255784400002 meters Centerline goodness : 0.126505 Centerline is valid? [False, False] Translation: X:2.24, Y:0.18, Z:1.17 [[ 9.99728474e-01 -1.77795164e-03 -2.32339783e-02 2.24022708e+00] [ 1.72532814e-03 9.99995901e-01 -2.28478643e-03 1.79329128e-01] [ 2.32379454e-02 2.24407981e-03 9.99727444e-01 1.16741436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38255784400002 meters Centerline goodness : 0.124354 Centerline is valid? [False, False] Translation: X:2.24, Y:0.17, Z:1.17 [[ 9.99729017e-01 -2.09024445e-03 -2.31845484e-02 2.24012191e+00] [ 2.05317065e-03 9.99996576e-01 -1.62276239e-03 1.74364812e-01] [ 2.31878610e-02 1.57472081e-03 9.99729885e-01 1.16752751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41255784400002 meters Centerline goodness : 0.168354 Centerline is valid? [False, False] Translation: X:2.24, Y:0.17, Z:1.17 [[ 9.99727846e-01 -1.94737221e-03 -2.32473925e-02 2.24003782e+00] [ 1.92349714e-03 9.99997600e-01 -1.04931716e-03 1.71496149e-01] [ 2.32493801e-02 1.00431529e-03 9.99729192e-01 1.16793427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44255784400002 meters Centerline goodness : 0.123112 Centerline is valid? [False, False] Translation: X:2.26, Y:0.17, Z:1.17 [[ 9.99659206e-01 -1.00414019e-02 -2.40965056e-02 2.26318907e+00] [ 1.00430354e-02 9.99949566e-01 -5.32321415e-05 1.70523274e-01] [ 2.40958249e-02 -1.88788058e-04 9.99709636e-01 1.16888586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47255784400002 meters Centerline goodness : 0.164523 Centerline is valid? [False, False] Translation: X:2.25, Y:0.16, Z:1.17 [[ 9.99683518e-01 1.65820333e-04 -2.51562377e-02 2.24878177e+00] [-1.77125108e-04 9.99999884e-01 -4.47154996e-04 1.62401506e-01] [ 2.51561606e-02 4.51469281e-04 9.99683432e-01 1.16708326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50255784400002 meters Centerline goodness : 0.122081 Centerline is valid? [False, False] Translation: X:2.25, Y:0.16, Z:1.17 [[ 9.99686454e-01 3.72160768e-04 -2.50370853e-02 2.24836767e+00] [-3.68455672e-04 9.99999920e-01 1.52597392e-04 1.59596083e-01] [ 2.50371401e-02 -1.43324490e-04 9.99686511e-01 1.16726205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532557844 meters Centerline goodness : 0.122632 Centerline is valid? [False, False] Translation: X:2.29, Y:0.15, Z:1.17 [[ 9.99761344e-01 -9.15621886e-04 -2.18269588e-02 2.28508094e+00] [ 8.81942744e-04 9.99998406e-01 -1.55258291e-03 1.53376105e-01] [ 2.18283455e-02 1.53296225e-03 9.99760558e-01 1.17070051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562557844 meters Centerline goodness : 0.135697 Centerline is valid? [False, False] Translation: X:2.28, Y:0.15, Z:1.17 [[ 9.99761447e-01 -8.32352138e-04 -2.18255811e-02 2.28486851e+00] [ 8.10934986e-04 9.99999181e-01 -9.90118904e-04 1.50255211e-01] [ 2.18263874e-02 9.72183581e-04 9.99761303e-01 1.17103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592557844 meters Centerline goodness : 0.115560 Centerline is valid? [False, False] Translation: X:2.29, Y:0.15, Z:1.17 [[ 9.99751909e-01 -8.41793814e-04 -2.22578362e-02 2.28624223e+00] [ 8.29331162e-04 9.99999494e-01 -5.69146771e-04 1.47675009e-01] [ 2.22583041e-02 5.50546454e-04 9.99752102e-01 1.17050211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622557844 meters Centerline goodness : 0.155184 Centerline is valid? [False, False] Translation: X:2.24, Y:0.14, Z:1.17 [[ 9.99676896e-01 -3.62549497e-03 -2.51586858e-02 2.24469651e+00] [ 3.60519547e-03 9.99993138e-01 -8.52169888e-04 1.42176503e-01] [ 2.51616027e-02 7.61192568e-04 9.99683107e-01 1.16889080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 193.682557844 meters Centerline goodness : 0.123723 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99730377e-01 -3.39286949e-03 -2.29708957e-02 2.28970489e+00] [ 3.36208461e-03 9.99993398e-01 -1.37865651e-03 1.38222858e-01] [ 2.29754217e-02 1.30105470e-03 9.99735184e-01 1.16856220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.712557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 193.742557844 meters Centerline goodness : 0.115360 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99733131e-01 -3.35800083e-03 -2.28558826e-02 2.28933946e+00] [ 3.32915142e-03 9.99993613e-01 -1.30016435e-03 1.37756865e-01] [ 2.28601025e-02 1.22372668e-03 9.99737925e-01 1.16866274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.772557844 meters Centerline goodness : 0.069153 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99726511e-01 -3.35739702e-03 -2.31437104e-02 2.29046471e+00] [ 3.32973495e-03 9.99993695e-01 -1.23366355e-03 1.37383972e-01] [ 2.31477064e-02 1.15626373e-03 9.99731387e-01 1.16793398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802557844 meters Centerline goodness : 0.127773 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99720563e-01 -3.34308338e-03 -2.34012719e-02 2.29128798e+00] [ 3.31851326e-03 9.99993901e-01 -1.08870316e-03 1.36529612e-01] [ 2.34047688e-02 1.01074151e-03 9.99725560e-01 1.16757519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832557844 meters Centerline goodness : 0.129928 Centerline is valid? [False, False] Translation: X:2.29, Y:0.14, Z:1.17 [[ 9.99711956e-01 -3.35443185e-03 -2.37645236e-02 2.29237547e+00] [ 3.33430775e-03 9.99994048e-01 -8.86386761e-04 1.35226292e-01] [ 2.37673554e-02 8.06893207e-04 9.99717191e-01 1.16719223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862557844 meters Centerline goodness : 0.138391 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99973635 -0.00453757 -0.02250857 2.33732972] [ 0.00446949 0.99998529 -0.00307377 0.13321281] [ 0.02252219 0.00297236 0.99974192 1.1669332 ] [ 0. 0. 0. 1. ]] SLAMing on 193.892557844 meters Centerline goodness : 0.201451 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99973858 -0.00447322 -0.02242243 2.33677273] [ 0.00440905 0.99998605 -0.00291018 0.13259339] [ 0.02243514 0.00281056 0.99974435 1.16741213] [ 0. 0. 0. 1. ]] SLAMing on 193.922557844 meters Centerline goodness : 0.159365 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99974563 -0.00447149 -0.02210613 2.33560142] [ 0.0044062 0.99998579 -0.00300127 0.1334683 ] [ 0.02211924 0.0029031 0.99975112 1.16795268] [ 0. 0. 0. 1. ]] SLAMing on 193.952557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 193.982557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.012557844 meters Centerline goodness : 0.144081 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974913 -0.00463707 -0.02191294 2.33496045] [ 0.00457066 0.99998481 -0.00307959 0.13364215] [ 0.02192688 0.00297867 0.99975514 1.16812296] [ 0. 0. 0. 1. ]] SLAMing on 194.04255784400002 meters Centerline goodness : 0.131390 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974798 -0.00462626 -0.02196761 2.33488276] [ 0.00456424 0.99998546 -0.00287272 0.1324975 ] [ 0.02198058 0.00277173 0.99975456 1.168391 ] [ 0. 0. 0. 1. ]] SLAMing on 194.07255784400002 meters Centerline goodness : 0.122142 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99974664 -0.00458483 -0.02203699 2.33496297] [ 0.00452932 0.99998645 -0.00256808 0.13097281] [ 0.02204846 0.00246762 0.99975386 1.168386 ] [ 0. 0. 0. 1. ]] SLAMing on 194.10255784400002 meters Centerline goodness : 0.171572 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99741768e-01 -4.58202228e-03 -2.22576204e-02 2.33555799e+00] [ 4.53324235e-03 9.99987212e-01 -2.24156765e-03 1.29332742e-01] [ 2.22676067e-02 2.14008961e-03 9.99749756e-01 1.16814009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13255784400002 meters Centerline goodness : 0.126125 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99616005e-01 -1.46234084e-02 -2.35371620e-02 2.31598310e+00] [ 1.45927668e-02 9.99892435e-01 -1.47308378e-03 1.31177485e-01] [ 2.35561717e-02 1.12904581e-03 9.99721877e-01 1.16719989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.19255784400002 meters Centerline goodness : 0.191201 Centerline is valid? [False, False] Translation: X:2.31, Y:0.13, Z:1.17 [[ 9.99625934e-01 -1.44511850e-02 -2.32197243e-02 2.31481286e+00] [ 1.44307932e-02 9.99895324e-01 -1.04554373e-03 1.29719963e-01] [ 2.32324030e-02 7.10073589e-04 9.99729839e-01 1.16769987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22255784400002 meters Centerline goodness : 0.152740 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 9.99736073e-01 -5.23505796e-03 -2.23691253e-02 2.33412879e+00] [ 5.19958741e-03 9.99985131e-01 -1.64356103e-03 1.25012756e-01] [ 2.23773969e-02 1.52681703e-03 9.99748429e-01 1.16818326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25255784400002 meters Centerline goodness : 0.176814 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 9.99734787e-01 -5.25790235e-03 -2.24212195e-02 2.33440846e+00] [ 5.22078784e-03 9.99984903e-01 -1.71354476e-03 1.25339101e-01] [ 2.24298906e-02 1.59603387e-03 9.99747144e-01 1.16795399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.312557844 meters Centerline goodness : 0.076540 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99725488e-01 -5.20512400e-03 -2.28441325e-02 2.33555447e+00] [ 5.15188963e-03 9.99983876e-01 -2.38856495e-03 1.29062780e-01] [ 2.28561969e-02 2.27021881e-03 9.99736185e-01 1.16788991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342557844 meters Centerline goodness : 0.155549 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99972768 -0.00529108 -0.02272812 2.3351546 ] [ 0.00523013 0.99998257 -0.00274038 0.13100298] [ 0.02274223 0.00262076 0.99973793 1.16806178] [ 0. 0. 0. 1. ]] SLAMing on 194.372557844 meters Centerline goodness : 0.076730 Centerline is valid? [False, False] Translation: X:2.33, Y:0.13, Z:1.17 [[ 0.99973102 -0.0054964 -0.02253157 2.33431633] [ 0.0054234 0.99997985 -0.00329957 0.13385909] [ 0.02254925 0.00317649 0.99974069 1.16862289] [ 0. 0. 0. 1. ]] SLAMing on 194.402557844 meters Centerline goodness : 0.196238 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:1.17 [[ 0.99972743 -0.00565215 -0.02265203 2.33478879] [ 0.00557195 0.99997799 -0.00360209 0.1351653 ] [ 0.02267189 0.0034749 0.99973692 1.16832483] [ 0. 0. 0. 1. ]] SLAMing on 194.432557844 meters Centerline goodness : 0.125063 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99971922 -0.00579654 -0.02297578 2.33598656] [ 0.00570997 0.99997636 -0.00383191 0.13613869] [ 0.02299745 0.00369964 0.99972868 1.16761328] [ 0. 0. 0. 1. ]] SLAMing on 194.462557844 meters Centerline goodness : 0.170915 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99969806 -0.00612068 -0.02379766 2.33864277] [ 0.00602272 0.9999731 -0.00418583 0.13740205] [ 0.02382264 0.00404124 0.99970803 1.16648711] [ 0. 0. 0. 1. ]] SLAMing on 194.492557844 meters Centerline goodness : 0.125019 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99969487 -0.00618716 -0.02391411 2.33900569] [ 0.00608788 0.99997255 -0.0042223 0.13743621] [ 0.02393957 0.00407542 0.9997051 1.16633121] [ 0. 0. 0. 1. ]] SLAMing on 194.522557844 meters Centerline goodness : 0.127410 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 0.99970089 -0.00632285 -0.02362536 2.33776147] [ 0.00622524 0.99997179 -0.00420294 0.13689689] [ 0.02365127 0.00405461 0.99971205 1.16710731] [ 0. 0. 0. 1. ]] SLAMing on 194.552557844 meters Centerline goodness : 0.128803 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99720498e-01 1.22328570e-03 -2.36099453e-02 2.31673027e+00] [-1.34515346e-03 9.99985852e-01 -5.14652173e-03 1.32504681e-01] [ 2.36033156e-02 5.17684227e-03 9.99707999e-01 1.16594802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582557844 meters Centerline goodness : 0.145789 Centerline is valid? [False, False] Translation: X:2.32, Y:0.13, Z:1.17 [[ 9.99721621e-01 1.16797735e-03 -2.35651388e-02 2.31636845e+00] [-1.28858923e-03 9.99986146e-01 -5.10369781e-03 1.31957009e-01] [ 2.35588514e-02 5.13264284e-03 9.99709276e-01 1.16633538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612557844 meters Centerline goodness : 0.191380 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 0.99969701 -0.00644665 -0.02375546 2.33726904] [ 0.00635702 0.9999724 -0.00384654 0.13486471] [ 0.0237796 0.00369436 0.9997104 1.1680579 ] [ 0. 0. 0. 1. ]] SLAMing on 194.642557844 meters Centerline goodness : 0.186515 Centerline is valid? [False, False] Translation: X:2.34, Y:0.13, Z:1.17 [[ 9.99708879e-01 -2.93352256e-03 -2.39489467e-02 2.33784907e+00] [ 2.93065276e-03 9.99995694e-01 -1.54927002e-04 1.34455161e-01] [ 2.39492980e-02 8.46958523e-05 9.99713171e-01 1.16786575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672557844 meters Centerline goodness : 0.124975 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99707918e-01 -3.02540862e-03 -2.39775935e-02 2.33810076e+00] [ 3.01471530e-03 9.99995340e-01 -4.82106978e-04 1.36082414e-01] [ 2.39789403e-02 4.09680545e-04 9.99712380e-01 1.16768007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702557844 meters Centerline goodness : 0.152739 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99707944e-01 -3.09651648e-03 -2.39674432e-02 2.33800287e+00] [ 3.07560505e-03 9.99994857e-01 -9.09306634e-04 1.38255557e-01] [ 2.39701356e-02 8.35326677e-04 9.99712326e-01 1.16793297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732557844 meters Centerline goodness : 0.125458 Centerline is valid? [False, False] Translation: X:2.34, Y:0.14, Z:1.17 [[ 9.99709974e-01 -3.21346870e-03 -2.38671667e-02 2.33761702e+00] [ 3.17872446e-03 9.99993833e-01 -1.49353006e-03 1.41151888e-01] [ 2.38718189e-02 1.41722975e-03 9.99714023e-01 1.16829605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762557844 meters Centerline goodness : 0.129053 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:1.17 [[ 9.99710059e-01 5.70245822e-04 -2.40722515e-02 2.33750658e+00] [-5.31855394e-04 9.99998577e-01 1.60117235e-03 1.45265668e-01] [ 2.40731303e-02 -1.58790515e-03 9.99708939e-01 1.16912506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79255784400002 meters Centerline goodness : 0.126281 Centerline is valid? [False, False] Translation: X:2.34, Y:0.15, Z:1.17 [[ 9.99713994e-01 4.11552512e-04 -2.39115149e-02 2.33719531e+00] [-3.89383285e-04 9.99999490e-01 9.31784698e-04 1.48894350e-01] [ 2.39118862e-02 -9.22207458e-04 9.99713645e-01 1.16904422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82255784400002 meters Centerline goodness : 0.127813 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99742666e-01 2.27877132e-03 -2.25701098e-02 2.33235760e+00] [-2.23461540e-03 9.99995540e-01 1.98141717e-03 1.56617185e-01] [ 2.25745243e-02 -1.93047176e-03 9.99743299e-01 1.17072519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85255784400002 meters Centerline goodness : 0.145768 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99744860e-01 1.97693531e-03 -2.25012579e-02 2.33238939e+00] [-1.94788597e-03 9.99997241e-01 1.31285440e-03 1.59686998e-01] [ 2.25037913e-02 -1.26868955e-03 9.99745953e-01 1.17039033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88255784400002 meters Centerline goodness : 0.123298 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:1.17 [[ 9.99745944e-01 1.77059885e-03 -2.24702501e-02 2.33251317e+00] [-1.75217208e-03 9.99998112e-01 8.39713571e-04 1.61942892e-01] [ 2.24716945e-02 -8.00128492e-04 9.99747159e-01 1.17005586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91255784400002 meters Centerline goodness : 0.124738 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99745127e-01 1.38653361e-03 -2.25335026e-02 2.33281146e+00] [-1.38654851e-03 9.99999039e-01 1.49626970e-05 1.65928408e-01] [ 2.25335017e-02 1.62849111e-05 9.99746088e-01 1.16983518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94255784400002 meters Centerline goodness : 0.095785 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99743876e-01 1.12971291e-03 -2.26032416e-02 2.33291723e+00] [-1.14064293e-03 9.99999239e-01 -4.70673127e-04 1.68047417e-01] [ 2.26026927e-02 4.96334804e-04 9.99744403e-01 1.16992703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97255784400002 meters Centerline goodness : 0.183801 Centerline is valid? [False, False] Translation: X:2.33, Y:0.17, Z:1.17 [[ 9.99742045e-01 8.67718871e-04 -2.26956069e-02 2.33327638e+00] [-8.90724509e-04 9.99999100e-01 -1.00357097e-03 1.70470826e-01] [ 2.26947157e-02 1.02352762e-03 9.99741918e-01 1.16972518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00255784400002 meters Centerline goodness : 0.096399 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99734541e-01 4.02980441e-04 -2.30366111e-02 2.33541363e+00] [-4.50862763e-04 9.99997749e-01 -2.07337546e-03 1.76385487e-01] [ 2.30357237e-02 2.08321141e-03 9.99732472e-01 1.16789100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032557844 meters Centerline goodness : 0.155910 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99730789e-01 1.59351304e-04 -2.32017917e-02 2.33638214e+00] [-2.21792721e-04 9.99996361e-01 -2.68868410e-03 1.79441288e-01] [ 2.32012789e-02 2.69310626e-03 9.99727187e-01 1.16703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062557844 meters Centerline goodness : 0.155910 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99730789e-01 1.59351304e-04 -2.32017917e-02 2.33638214e+00] [-2.21792721e-04 9.99996361e-01 -2.68868410e-03 1.79441288e-01] [ 2.32012789e-02 2.69310626e-03 9.99727187e-01 1.16703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092557844 meters Centerline goodness : 0.177768 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:1.17 [[ 9.99727592e-01 -9.83459678e-05 -2.33395182e-02 2.33693479e+00] [ 2.07344565e-05 9.99994470e-01 -3.32554490e-03 1.82446393e-01] [ 2.33397162e-02 3.32415506e-03 9.99722065e-01 1.16679164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122557844 meters Centerline goodness : 0.106288 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:1.17 [[ 0.99970487 -0.00886385 -0.02261863 2.31671175] [ 0.00878444 0.99995491 -0.00360782 0.19543252] [ 0.02264959 0.00340807 0.99973766 1.16586174] [ 0. 0. 0. 1. ]] SLAMing on 195.152557844 meters Centerline goodness : 0.172393 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:1.17 [[ 9.99788001e-01 -3.87786437e-04 -2.05864458e-02 2.33588569e+00] [ 2.86820742e-04 9.99987918e-01 -4.90720042e-03 1.94303573e-01] [ 2.05881001e-02 4.90025548e-03 9.99776034e-01 1.16625030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182557844 meters Centerline goodness : 0.111446 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99791766e-01 -7.70208418e-04 -2.03919256e-02 2.33533983e+00] [ 6.52029343e-04 9.99982959e-01 -5.80140037e-03 1.98667260e-01] [ 2.03960464e-02 5.78689619e-03 9.99775231e-01 1.16638143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.212557844 meters Centerline goodness : 0.118908 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99792972e-01 -9.32025794e-04 -2.03259646e-02 2.33526781e+00] [ 8.08794487e-04 9.99981250e-01 -6.07013133e-03 1.99719163e-01] [ 2.03312410e-02 6.05243512e-03 9.99774979e-01 1.16617456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.242557844 meters Centerline goodness : 0.104365 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99789782e-01 -1.10035906e-03 -2.04738946e-02 2.33563620e+00] [ 9.73367205e-04 9.99980234e-01 -6.21155488e-03 1.99994197e-01] [ 2.04803249e-02 6.19032048e-03 9.99771092e-01 1.16609836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.272557844 meters Centerline goodness : 0.110182 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99777973e-01 -1.65252794e-03 -2.10065291e-02 2.33708795e+00] [ 1.51508608e-03 9.99977355e-01 -6.55704843e-03 2.00485036e-01] [ 2.10168891e-02 6.52376589e-03 9.99757836e-01 1.16576066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302557844 meters Centerline goodness : 0.174681 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99775424e-01 -1.70828063e-03 -2.11230733e-02 2.33742164e+00] [ 1.56989443e-03 9.99977209e-01 -6.56627122e-03 2.00411255e-01] [ 2.11338089e-02 6.53163560e-03 9.99755320e-01 1.16562669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332557844 meters Centerline goodness : 0.100614 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99772617e-01 -1.70629800e-03 -2.12556427e-02 2.33772140e+00] [ 1.56819574e-03 9.99977566e-01 -6.51217947e-03 2.00148781e-01] [ 2.12662776e-02 6.47736570e-03 9.99752864e-01 1.16562620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362557844 meters Centerline goodness : 0.102272 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99771031e-01 -1.71600264e-03 -2.13293657e-02 2.33776425e+00] [ 1.57869844e-03 9.99977936e-01 -6.45250391e-03 1.99773331e-01] [ 2.13399676e-02 6.41735384e-03 9.99751681e-01 1.16581447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392557844 meters Centerline goodness : 0.188992 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99775976e-01 -1.72724721e-03 -2.10953479e-02 2.33669484e+00] [ 1.59292405e-03 9.99978362e-01 -6.38257501e-03 1.99232284e-01] [ 2.11059157e-02 6.34754188e-03 9.99757095e-01 1.16660776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422557844 meters Centerline goodness : 0.181218 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99779166e-01 -1.67966570e-03 -2.09474931e-02 2.33603197e+00] [ 1.54673116e-03 9.99978575e-01 -6.36067159e-03 1.99384210e-01] [ 2.09577281e-02 6.32686680e-03 9.99760343e-01 1.16711622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452557844 meters Centerline goodness : 0.179324 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99782019e-01 -1.64395367e-03 -2.08137416e-02 2.33552580e+00] [ 1.51093804e-03 9.99978347e-01 -6.40487395e-03 1.99866281e-01] [ 2.08238202e-02 6.37202953e-03 9.99762855e-01 1.16744274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482557844 meters Centerline goodness : 0.154082 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99780914e-01 -1.60738145e-03 -2.08696059e-02 2.33565140e+00] [ 1.47329438e-03 9.99978186e-01 -6.43877934e-03 2.00022203e-01] [ 2.08795002e-02 6.40662162e-03 9.99761472e-01 1.16756703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512557844 meters Centerline goodness : 0.163688 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:1.17 [[ 9.99778786e-01 -1.56828958e-03 -2.09742547e-02 2.33588782e+00] [ 1.43399903e-03 9.99978388e-01 -6.41614622e-03 1.99871689e-01] [ 2.09838638e-02 6.38464982e-03 9.99759428e-01 1.16764114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54255784400002 meters Centerline goodness : 0.172421 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99784443e-01 -1.36557773e-03 -2.07171951e-02 2.33480914e+00] [ 1.23442308e-03 9.99979126e-01 -6.34218294e-03 2.00208520e-01] [ 2.07254234e-02 6.31524206e-03 9.99765260e-01 1.16840023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57255784400002 meters Centerline goodness : 0.170488 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99783574e-01 -1.29503597e-03 -2.07636006e-02 2.33461060e+00] [ 1.16334101e-03 9.99979140e-01 -6.35341274e-03 2.00698134e-01] [ 2.07713954e-02 6.32788255e-03 9.99764226e-01 1.16895559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60255784400002 meters Centerline goodness : 0.184581 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99784428e-01 -1.24740204e-03 -2.07253596e-02 2.33423597e+00] [ 1.11547617e-03 9.99979052e-01 -6.37577381e-03 2.01078699e-01] [ 2.07328786e-02 6.35128073e-03 9.99764877e-01 1.16946918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63255784400002 meters Centerline goodness : 0.117190 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99789608e-01 -1.24906648e-03 -2.04738701e-02 2.33311463e+00] [ 1.11729565e-03 9.99978599e-01 -6.44622461e-03 2.01361808e-01] [ 2.04814837e-02 6.42199301e-03 9.99769607e-01 1.17028971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66255784400002 meters Centerline goodness : 0.103853 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99790995e-01 -1.32117130e-03 -2.04014749e-02 2.33294301e+00] [ 1.18656939e-03 9.99977461e-01 -6.60835214e-03 2.02015565e-01] [ 2.04097459e-02 6.58276320e-03 9.99770028e-01 1.17027522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69255784400002 meters Centerline goodness : 0.102557 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99792619e-01 -1.40263286e-03 -2.03162893e-02 2.33271392e+00] [ 1.26439824e-03 9.99975976e-01 -6.81537510e-03 2.02958389e-01] [ 2.03253607e-02 6.78827384e-03 9.99770373e-01 1.17030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72255784400002 meters Centerline goodness : 0.114746 Centerline is valid? [False, False] Translation: X:2.33, Y:0.20, Z:1.17 [[ 9.99792802e-01 -1.53911378e-03 -2.02973992e-02 2.33264969e+00] [ 1.39498830e-03 9.99973730e-01 -7.11293528e-03 2.04364377e-01] [ 2.03078136e-02 7.08314686e-03 9.99768684e-01 1.17033514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75255784400002 meters Centerline goodness : 0.100497 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99791044e-01 -1.72681783e-03 -2.03687789e-02 2.33275703e+00] [ 1.57407234e-03 9.99970541e-01 -7.51265162e-03 2.06502017e-01] [ 2.03811518e-02 7.47901987e-03 9.99764309e-01 1.17039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78255784400002 meters Centerline goodness : 0.164742 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99787574e-01 -1.87343782e-03 -2.05255223e-02 2.33319944e+00] [ 1.71742826e-03 9.99969525e-01 -7.61575210e-03 2.06686917e-01] [ 2.05391645e-02 7.57888320e-03 9.99760323e-01 1.17025840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812557844 meters Centerline goodness : 0.170228 Centerline is valid? [False, False] Translation: X:2.33, Y:0.21, Z:1.17 [[ 9.99781547e-01 -2.03141263e-03 -2.08022035e-02 2.33399925e+00] [ 1.87301813e-03 9.99969130e-01 -7.63096836e-03 2.06240584e-01] [ 2.08170630e-02 7.59033844e-03 9.99754488e-01 1.16998379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842557844 meters Centerline goodness : 0.141553 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976817 -0.0025084 -0.02138506 2.33604186] [ 0.00234494 0.99996787 -0.00766545 0.20524955] [ 0.0214036 0.00761353 0.99974193 1.16882122] [ 0. 0. 0. 1. ]] SLAMing on 195.872557844 meters Centerline goodness : 0.109982 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99764883e-01 -2.49541952e-03 -2.15395457e-02 2.33662504e+00] [ 2.33221601e-03 9.99968410e-01 -7.59872230e-03 2.05097814e-01] [ 2.15578273e-02 7.54670083e-03 9.99739120e-01 1.16842900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902557844 meters Centerline goodness : 0.161506 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976151 -0.00254431 -0.02168974 2.33730876] [ 0.00237743 0.9999674 -0.00771615 0.2057009 ] [ 0.02170867 0.00766275 0.99973497 1.16793062] [ 0. 0. 0. 1. ]] SLAMing on 195.932557844 meters Centerline goodness : 0.109055 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99975718 -0.00264275 -0.02187678 2.33792433] [ 0.00246833 0.99996498 -0.00799607 0.20705877] [ 0.02189714 0.00794012 0.9997287 1.16777908] [ 0. 0. 0. 1. ]] SLAMing on 195.962557844 meters Centerline goodness : 0.193119 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.99976866 -0.00267088 -0.02134218 2.33617269] [ 0.00248946 0.99996058 -0.00852258 0.20982881] [ 0.02136411 0.00846748 0.9997359 1.16867844] [ 0. 0. 0. 1. ]] SLAMing on 195.992557844 meters Centerline goodness : 0.108620 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 0.9997707 -0.00270354 -0.02124241 2.33571172] [ 0.00251722 0.99995817 -0.00879327 0.21128225] [ 0.02126529 0.00873778 0.99973568 1.16915825] [ 0. 0. 0. 1. ]] SLAMing on 196.022557844 meters Centerline goodness : 0.171594 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99770096e-01 9.79919526e-04 -2.14194869e-02 2.33595498e+00] [-1.08882511e-03 9.99986538e-01 -5.07334519e-03 2.10566784e-01] [ 2.14142270e-02 5.09550089e-03 9.99757704e-01 1.16932375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052557844 meters Centerline goodness : 0.105817 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99750938e-01 1.09672147e-03 -2.22903221e-02 2.33878698e+00] [-1.21660428e-03 9.99984866e-01 -5.36539569e-03 2.12607427e-01] [ 2.22841004e-02 5.39117788e-03 9.99737142e-01 1.16834315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082557844 meters Centerline goodness : 0.158378 Centerline is valid? [False, False] Translation: X:2.34, Y:0.21, Z:1.17 [[ 9.99749089e-01 1.02628127e-03 -2.23764682e-02 2.33903270e+00] [-1.15250588e-03 9.99983494e-01 -5.62878727e-03 2.13865325e-01] [ 2.23703222e-02 5.65316396e-03 9.99733770e-01 1.16836987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112557844 meters Centerline goodness : 0.107649 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 9.99752183e-01 1.00340916e-03 -2.22388225e-02 2.33858516e+00] [-1.13489550e-03 9.99981947e-01 -5.90063659e-03 2.15403592e-01] [ 2.22325003e-02 5.92441305e-03 9.99735274e-01 1.16864380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142557844 meters Centerline goodness : 0.116479 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 9.99758640e-01 1.08189056e-03 -2.19428917e-02 2.33765484e+00] [-1.21839358e-03 9.99979985e-01 -6.20841642e-03 2.17542846e-01] [ 2.19357357e-02 6.23365304e-03 9.99739949e-01 1.16912023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172557844 meters Centerline goodness : 0.117944 Centerline is valid? [False, False] Translation: X:2.34, Y:0.22, Z:1.17 [[ 0.99974833 0.0049886 -0.02187206 2.33702935] [-0.00505272 0.9999831 -0.00287709 0.22079545] [ 0.02185734 0.00298688 0.99975664 1.16996549] [ 0. 0. 0. 1. ]] SLAMing on 196.202557844 meters Centerline goodness : 0.139553 Centerline is valid? [False, False] Translation: X:2.36, Y:0.22, Z:1.17 [[ 9.99751803e-01 -4.61713970e-04 -2.22737114e-02 2.35997692e+00] [ 4.49550387e-04 9.99999747e-01 -5.51100049e-04 2.24923712e-01] [ 2.22739602e-02 5.40950112e-04 9.99751758e-01 1.17016574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232557844 meters Centerline goodness : 0.175902 Centerline is valid? [False, False] Translation: X:2.36, Y:0.23, Z:1.17 [[ 9.99749374e-01 -6.57261555e-04 -2.23775927e-02 2.36047722e+00] [ 6.28276856e-04 9.99998955e-01 -1.30226136e-03 2.28644505e-01] [ 2.23784252e-02 1.28787566e-03 9.99748742e-01 1.16987827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262557844 meters Centerline goodness : 0.133522 Centerline is valid? [False, False] Translation: X:2.36, Y:0.23, Z:1.17 [[ 9.99745331e-01 3.08324768e-03 -2.23554578e-02 2.36069025e+00] [-3.04794236e-03 9.99994054e-01 1.61317213e-03 2.34446700e-01] [ 2.23602987e-02 -1.54462316e-03 9.99748784e-01 1.16955988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29255784400002 meters Centerline goodness : 0.103021 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:1.17 [[ 9.99748647e-01 2.83270783e-03 -2.22400073e-02 2.36038490e+00] [-2.81328219e-03 9.99995633e-01 9.04693704e-04 2.38045980e-01] [ 2.22424730e-02 -8.41898890e-04 9.99752251e-01 1.16963873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32255784400002 meters Centerline goodness : 0.178980 Centerline is valid? [False, False] Translation: X:2.36, Y:0.24, Z:1.17 [[ 9.99751963e-01 2.56133556e-03 -2.21235847e-02 2.35994409e+00] [-2.55659814e-03 9.99996703e-01 2.42415654e-04 2.41249529e-01] [ 2.21241326e-02 -1.85794410e-04 9.99755214e-01 1.16990079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35255784400002 meters Centerline goodness : 0.147301 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:1.17 [[ 9.99700269e-01 2.11105517e-03 -2.43908955e-02 2.31320856e+00] [-2.10892192e-03 9.99997770e-01 1.13183594e-04 2.47244599e-01] [ 2.43910801e-02 -6.17111750e-05 9.99702491e-01 1.17097683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38255784400002 meters Centerline goodness : 0.176155 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99712103e-01 -5.90941159e-03 -2.32548943e-02 2.33256832e+00] [ 5.93025088e-03 9.99982074e-01 8.27263476e-04 2.56898475e-01] [ 2.32495888e-02 -9.64932666e-04 9.99729226e-01 1.17236057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41255784400002 meters Centerline goodness : 0.144596 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99713443e-01 -6.14886841e-03 -2.31348894e-02 2.33248584e+00] [ 6.15690745e-03 9.99981008e-01 2.76271592e-04 2.59567989e-01] [ 2.31327512e-02 -4.18631798e-04 9.99732314e-01 1.17200310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44255784400002 meters Centerline goodness : 0.151221 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:1.17 [[ 9.99710747e-01 -6.37699129e-03 -2.31895871e-02 2.33276536e+00] [ 6.37273166e-03 9.99979661e-01 -2.57583939e-04 2.62035977e-01] [ 2.31907581e-02 1.09728416e-04 9.99731052e-01 1.17178634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47255784400002 meters Centerline goodness : 0.119267 Centerline is valid? [False, False] Translation: X:2.33, Y:0.27, Z:1.17 [[ 9.99701305e-01 -6.77560693e-03 -2.34817289e-02 2.33354349e+00] [ 6.75435771e-03 9.99976705e-01 -9.84121606e-04 2.65170997e-01] [ 2.34878499e-02 8.25223658e-04 9.99723782e-01 1.17163244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50255784400002 meters Centerline goodness : 0.121200 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99728766e-01 9.50264674e-04 -2.32699809e-02 2.35289649e+00] [-1.00133560e-03 9.99997116e-01 -2.18315924e-03 2.61109909e-01] [ 2.32678392e-02 2.20586815e-03 9.99726834e-01 1.17278037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53255784400002 meters Centerline goodness : 0.171270 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99726135e-01 8.48941131e-04 -2.33866153e-02 2.35322919e+00] [-9.03674054e-04 9.99996878e-01 -2.32988350e-03 2.61746810e-01] [ 2.33845643e-02 2.35037931e-03 9.99723781e-01 1.17269418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562557844 meters Centerline goodness : 0.162639 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99722043e-01 5.54846372e-04 -2.35696554e-02 2.35392197e+00] [-6.18806735e-04 9.99996146e-01 -2.70646719e-03 2.63031744e-01] [ 2.35680629e-02 2.72029997e-03 9.99718534e-01 1.17224011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592557844 meters Centerline goodness : 0.165261 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99721162e-01 4.64121385e-04 -2.36089604e-02 2.35408882e+00] [-5.31591266e-04 9.99995793e-01 -2.85161243e-03 2.63615345e-01] [ 2.36075376e-02 2.86336761e-03 9.99717203e-01 1.17212629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622557844 meters Centerline goodness : 0.272027 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 9.99721003e-01 3.55603231e-04 -2.36175657e-02 2.35417031e+00] [-4.29340169e-04 9.99995050e-01 -3.11712542e-03 2.64837759e-01] [ 2.36163404e-02 3.12639572e-03 9.99716207e-01 1.17204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652557844 meters Centerline goodness : 0.122366 Centerline is valid? [False, False] Translation: X:2.35, Y:0.27, Z:1.17 [[ 9.99719821e-01 2.05958830e-04 -2.36693100e-02 2.35425840e+00] [-2.89138310e-04 9.99993795e-01 -3.51086482e-03 2.66682481e-01] [ 2.36684401e-02 3.51672486e-03 9.99713678e-01 1.17222707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682557844 meters Centerline goodness : 0.155932 Centerline is valid? [False, False] Translation: X:2.40, Y:0.27, Z:1.17 [[ 9.99737334e-01 8.36061507e-04 -2.29033555e-02 2.40152257e+00] [-9.24157459e-04 9.99992215e-01 -3.83610672e-03 2.68328356e-01] [ 2.28999700e-02 3.85626542e-03 9.99730324e-01 1.17168437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.712557844 meters Centerline goodness : 0.166376 Centerline is valid? [False, False] Translation: X:2.36, Y:0.27, Z:1.17 [[ 9.99648720e-01 1.21748166e-03 -2.64755373e-02 2.35785246e+00] [-1.31767562e-03 9.99992036e-01 -3.76728098e-03 2.73585299e-01] [ 2.64707399e-02 3.80084378e-03 9.99642363e-01 1.17184036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.742557844 meters Centerline goodness : 0.146333 Centerline is valid? [False, False] Translation: X:2.36, Y:0.28, Z:1.17 [[ 9.99640315e-01 1.10423654e-03 -2.67959178e-02 2.35885064e+00] [-1.21692041e-03 9.99990484e-01 -4.18932000e-03 2.75789111e-01] [ 2.67910368e-02 4.22042166e-03 9.99632147e-01 1.17160452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.772557844 meters Centerline goodness : 0.122919 Centerline is valid? [False, False] Translation: X:2.36, Y:0.28, Z:1.17 [[ 9.99639809e-01 9.92442990e-04 -2.68191581e-02 2.35875248e+00] [-1.11561474e-03 9.99988898e-01 -4.57810528e-03 2.77779218e-01] [ 2.68143168e-02 4.60637613e-03 9.99629818e-01 1.17195484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802557844 meters Centerline goodness : 0.102669 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99768884e-01 -2.43797135e-03 -2.13596433e-02 2.38083937e+00] [ 2.40999549e-03 9.99996204e-01 -1.33539699e-03 2.75917191e-01] [ 2.13628179e-02 1.28361172e-03 9.99770965e-01 1.17086564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832557844 meters Centerline goodness : 0.109267 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99775823e-01 -2.50080092e-03 -2.10249942e-02 2.37948375e+00] [ 2.47097478e-03 9.99995904e-01 -1.44446358e-03 2.76191285e-01] [ 2.10285204e-02 1.39218753e-03 9.99777907e-01 1.17171634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862557844 meters Centerline goodness : 0.120777 Centerline is valid? [False, False] Translation: X:2.38, Y:0.28, Z:1.17 [[ 9.99779798e-01 -2.49215546e-03 -2.08361394e-02 2.37874657e+00] [ 2.46383789e-03 9.99996006e-01 -1.38462084e-03 2.75813298e-01] [ 2.08395069e-02 1.33297908e-03 9.99781945e-01 1.17213193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892557844 meters Centerline goodness : 0.113566 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779717e-01 -2.44011157e-03 -2.08461870e-02 2.37870803e+00] [ 2.41602154e-03 9.99996384e-01 -1.18071551e-03 2.74821630e-01] [ 2.08489927e-02 1.13009058e-03 9.99781997e-01 1.17216555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922557844 meters Centerline goodness : 0.171043 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99768255e-01 -2.56171818e-03 -2.13745954e-02 2.38031310e+00] [ 2.54916159e-03 9.99996562e-01 -6.14680350e-04 2.71345045e-01] [ 2.13760965e-02 5.60050603e-04 9.99771348e-01 1.17141345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952557844 meters Centerline goodness : 0.126494 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99775159e-01 -2.46372320e-03 -2.10609011e-02 2.37929330e+00] [ 2.45957458e-03 9.99996950e-01 -2.22883039e-04 2.69349395e-01] [ 2.10613860e-02 1.71032068e-04 9.99778170e-01 1.17171065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982557844 meters Centerline goodness : 0.126494 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99775159e-01 -2.46372320e-03 -2.10609011e-02 2.37929330e+00] [ 2.45957458e-03 9.99996950e-01 -2.22883039e-04 2.69349395e-01] [ 2.10613860e-02 1.71032068e-04 9.99778170e-01 1.17171065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012557844 meters Centerline goodness : 0.110417 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99782946e-01 -2.37111768e-03 -2.06987750e-02 2.37809130e+00] [ 2.37312314e-03 9.99997182e-01 7.23252569e-05 2.67920121e-01] [ 2.06985452e-02 -1.21430300e-04 9.99785755e-01 1.17217169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04255784400002 meters Centerline goodness : 0.106732 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99782489e-01 -2.27773713e-03 -2.07313121e-02 2.37793159e+00] [ 2.28339130e-03 9.99997362e-01 2.49068170e-04 2.67285401e-01] [ 2.07306901e-02 -2.96351692e-04 9.99785052e-01 1.17262824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07255784400002 meters Centerline goodness : 0.152579 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779328e-01 -2.25027795e-03 -2.08861452e-02 2.37837322e+00] [ 2.25566298e-03 9.99997429e-01 2.34272492e-04 2.67492277e-01] [ 2.08855643e-02 -2.81332899e-04 9.99781833e-01 1.17257366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10255784400002 meters Centerline goodness : 0.110927 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99767882e-01 -2.19109031e-03 -2.14331589e-02 2.38006147e+00] [ 2.19442065e-03 9.99997584e-01 1.31864105e-04 2.68147992e-01] [ 2.14328181e-02 -1.78866863e-04 9.99770275e-01 1.17204734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13255784400002 meters Centerline goodness : 0.174572 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99770311e-01 -2.16930845e-03 -2.13218217e-02 2.37951921e+00] [ 2.17303713e-03 9.99997627e-01 1.51708857e-04 2.68016315e-01] [ 2.13214420e-02 -1.98007122e-04 9.99772653e-01 1.17246964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16255784400002 meters Centerline goodness : 0.100305 Centerline is valid? [False, False] Translation: X:2.38, Y:0.27, Z:1.17 [[ 9.99779462e-01 -2.11019353e-03 -2.08943815e-02 2.37797107e+00] [ 2.11821576e-03 9.99997691e-01 3.61817576e-04 2.66833710e-01] [ 2.08935697e-02 -4.05996589e-04 9.99781623e-01 1.17319014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19255784400002 meters Centerline goodness : 0.172258 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:1.17 [[ 9.99813520e-01 -2.61016485e-03 -1.91340664e-02 2.37280735e+00] [ 2.62032346e-03 9.99996439e-01 5.05865711e-04 2.64119668e-01] [ 1.91326779e-02 -5.55908820e-04 9.99816799e-01 1.17438760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22255784400002 meters Centerline goodness : 0.172856 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99808161e-01 3.02551987e-03 -1.93516736e-02 2.39273495e+00] [-3.06854172e-03 9.99992886e-01 -2.19385207e-03 2.57741989e-01] [ 1.93448984e-02 2.25281262e-03 9.99810332e-01 1.17526803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25255784400002 meters Centerline goodness : 0.275411 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99806336e-01 3.10758784e-03 -1.94327852e-02 2.39298695e+00] [-3.14196787e-03 9.99993552e-01 -1.73889536e-03 2.55353298e-01] [ 1.94272561e-02 1.79961579e-03 9.99809653e-01 1.17500038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28255784400002 meters Centerline goodness : 0.113352 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99803308e-01 3.17871052e-03 -1.95765212e-02 2.39339641e+00] [-3.20637143e-03 9.99993905e-01 -1.38173775e-03 2.53467050e-01] [ 1.95720097e-02 1.44423557e-03 9.99807407e-01 1.17482422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312557844 meters Centerline goodness : 0.173066 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.18 [[ 9.99803707e-01 3.31468115e-03 -1.95335824e-02 2.39301235e+00] [-3.33279146e-03 9.99994046e-01 -8.94655736e-04 2.51099298e-01] [ 1.95305006e-02 9.59581478e-04 9.99808801e-01 1.17514364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342557844 meters Centerline goodness : 0.166236 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.18 [[ 9.99802185e-01 3.40155400e-03 -1.95964589e-02 2.39309381e+00] [-3.41624416e-03 9.99993908e-01 -7.16205610e-04 2.50397473e-01] [ 1.95939033e-02 7.83010222e-04 9.99807714e-01 1.17524687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372557844 meters Centerline goodness : 0.170045 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99798076e-01 3.47413474e-03 -1.97923700e-02 2.39377207e+00] [-3.48572519e-03 9.99993773e-01 -5.51132780e-04 2.49654375e-01] [ 1.97903320e-02 6.20012256e-04 9.99803960e-01 1.17490972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402557844 meters Centerline goodness : 0.105025 Centerline is valid? [False, False] Translation: X:2.39, Y:0.25, Z:1.17 [[ 9.99791186e-01 3.52404172e-03 -2.01287050e-02 2.39493954e+00] [-3.53331473e-03 9.99993667e-01 -4.25140400e-04 2.49011311e-01] [ 2.01270793e-02 4.96172675e-04 9.99797307e-01 1.17436628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432557844 meters Centerline goodness : 0.143927 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99778245e-01 3.49435955e-03 -2.07665599e-02 2.39682634e+00] [-3.50933743e-03 9.99993608e-01 -6.84851341e-04 2.50095161e-01] [ 2.07640340e-02 7.57576338e-04 9.99784117e-01 1.17392838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.462557844 meters Centerline goodness : 0.165852 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99775835e-01 3.39344952e-03 -2.08989061e-02 2.39706793e+00] [-3.41608468e-03 9.99993617e-01 -1.04747386e-03 2.51842206e-01] [ 2.08952182e-02 1.11863148e-03 9.99781045e-01 1.17416254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.492557844 meters Centerline goodness : 0.105220 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:1.17 [[ 9.99778602e-01 3.32020838e-03 -2.07779313e-02 2.39668145e+00] [-3.35049855e-03 9.99993374e-01 -1.42316245e-03 2.53809415e-01] [ 2.07730684e-02 1.49246379e-03 9.99783103e-01 1.17442133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.522557844 meters Centerline goodness : 0.103907 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 9.99781370e-01 3.38643355e-03 -2.06335716e-02 2.39650403e+00] [-3.42959128e-03 9.99992004e-01 -2.05659973e-03 2.57875784e-01] [ 2.06264421e-02 2.12691481e-03 9.99784990e-01 1.17432815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552557844 meters Centerline goodness : 0.130084 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 0.99977819 0.003242 -0.02081024 2.39723902] [-0.00329353 0.99999159 -0.00244217 0.25968318] [ 0.02080214 0.00251017 0.99978046 1.17389035] [ 0. 0. 0. 1. ]] SLAMing on 197.582557844 meters Centerline goodness : 0.170103 Centerline is valid? [False, False] Translation: X:2.40, Y:0.26, Z:1.17 [[ 0.99977587 0.00314247 -0.02093632 2.39777827] [-0.00319874 0.99999136 -0.00265444 0.26061112] [ 0.02092779 0.00272081 0.99977729 1.17349605] [ 0. 0. 0. 1. ]] SLAMing on 197.612557844 meters Centerline goodness : 0.112463 Centerline is valid? [False, False] Translation: X:2.35, Y:0.26, Z:1.17 [[ 0.99971838 0.00291011 -0.02355186 2.35127075] [-0.00297506 0.99999187 -0.00272348 0.26457902] [ 0.02354375 0.00279278 0.99971891 1.1745879 ] [ 0. 0. 0. 1. ]] SLAMing on 197.642557844 meters Centerline goodness : 0.105452 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:1.18 [[ 9.99712039e-01 -5.45743540e-03 -2.33678277e-02 2.37265685e+00] [ 5.41904120e-03 9.99983862e-01 -1.70604671e-03 2.67890015e-01] [ 2.33767612e-02 1.57892421e-03 9.99725479e-01 1.17577148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672557844 meters Centerline goodness : 0.159544 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:1.18 [[ 9.99710262e-01 -5.48664272e-03 -2.34369059e-02 2.37309149e+00] [ 5.44667523e-03 9.99983602e-01 -1.76881821e-03 2.68240309e-01] [ 2.34462264e-02 1.64065251e-03 9.99723753e-01 1.17529526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702557844 meters Centerline goodness : 0.296703 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 0.99973123 0.00241756 -0.02305674 2.39291336] [-0.00248414 0.99999283 -0.00285921 0.26255767] [ 0.02304967 0.00291571 0.99973007 1.17588278] [ 0. 0. 0. 1. ]] SLAMing on 197.732557844 meters Centerline goodness : 0.109290 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99729570e-01 2.37276961e-03 -2.31334520e-02 2.39323826e+00] [-2.44188588e-03 9.99992638e-01 -2.95992911e-03 2.63023751e-01] [ 2.31262585e-02 3.01561791e-03 9.99728004e-01 1.17564940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762557844 meters Centerline goodness : 0.272221 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99722642e-01 2.36334321e-03 -2.34319023e-02 2.39406652e+00] [-2.43671594e-03 9.99992216e-01 -3.10325981e-03 2.64057600e-01] [ 2.34243859e-02 3.15949598e-03 9.99720619e-01 1.17554922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79255784400002 meters Centerline goodness : 0.175448 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99717667e-01 2.38480494e-03 -2.36410321e-02 2.39463935e+00] [-2.45902783e-03 9.99992137e-01 -3.11100529e-03 2.64322309e-01] [ 2.36334271e-02 3.16826090e-03 9.99715671e-01 1.17547288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82255784400002 meters Centerline goodness : 0.106730 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 0.99971598 0.00240475 -0.02371018 2.39491393] [-0.00247906 0.99999211 -0.003105 0.26440721] [ 0.02370253 0.0031629 0.99971405 1.17530147] [ 0. 0. 0. 1. ]] SLAMing on 197.85255784400002 meters Centerline goodness : 0.168216 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:1.18 [[ 9.99726034e-01 2.32631854e-03 -2.32904635e-02 2.39351326e+00] [-2.40299745e-03 9.99991783e-01 -3.26484194e-03 2.64683119e-01] [ 2.32826770e-02 3.31991440e-03 9.99723409e-01 1.17597139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88255784400002 meters Centerline goodness : 0.164430 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99757784e-01 -5.79737101e-03 -2.12312215e-02 2.41278950e+00] [ 5.75079157e-03 9.99980923e-01 -2.25431121e-03 2.66707592e-01] [ 2.12438856e-02 2.13166885e-03 9.99772051e-01 1.17737629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91255784400002 meters Centerline goodness : 0.162009 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99760955e-01 -5.79101686e-03 -2.10831180e-02 2.41206601e+00] [ 5.74319607e-03 9.99980798e-01 -2.32804661e-03 2.67196685e-01] [ 2.10961949e-02 2.20640562e-03 9.99775016e-01 1.17798209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94255784400002 meters Centerline goodness : 0.307999 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.99975825 -0.00580248 -0.02120762 2.41223351] [ 0.00574968 0.99998022 -0.00254953 0.26862374] [ 0.02122199 0.00242698 0.99977184 1.1783004 ] [ 0. 0. 0. 1. ]] SLAMing on 197.97255784400002 meters Centerline goodness : 0.168192 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.9997528 -0.00591383 -0.0214328 2.41296976] [ 0.00585444 0.99997885 -0.00283256 0.26988985] [ 0.0214491 0.00270638 0.99976628 1.17805429] [ 0. 0. 0. 1. ]] SLAMing on 198.00255784400002 meters Centerline goodness : 0.121797 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 0.99974619 -0.00602729 -0.02170772 2.41382598] [ 0.00595942 0.99997715 -0.00319013 0.27160302] [ 0.02172645 0.00305996 0.99975927 1.17782403] [ 0. 0. 0. 1. ]] SLAMing on 198.03255784400002 meters Centerline goodness : 0.165138 Centerline is valid? [False, False] Translation: X:2.41, Y:0.27, Z:1.18 [[ 9.99768472e-01 -3.76829964e-03 -2.11849583e-02 2.41121475e+00] [ 3.74336635e-03 9.99992254e-01 -1.21646653e-03 2.74800664e-01] [ 2.11893782e-02 1.13688182e-03 9.99774834e-01 1.17902569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062557844 meters Centerline goodness : 0.278597 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99781542e-01 1.88038365e-04 -2.09005654e-02 2.41019714e+00] [-1.40097516e-04 9.99997356e-01 2.29519904e-03 2.77378151e-01] [ 2.09009418e-02 -2.29176951e-03 9.99778925e-01 1.17954354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092557844 meters Centerline goodness : 0.101527 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99785140e-01 3.14368929e-05 -2.07285697e-02 2.40955229e+00] [ 5.74859701e-06 9.99998391e-01 1.79386252e-03 2.79771393e-01] [ 2.07285927e-02 -1.79359625e-03 9.99783531e-01 1.18000407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122557844 meters Centerline goodness : 0.168898 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99788228e-01 -1.47591632e-04 -2.05785491e-02 2.40892622e+00] [ 1.74597182e-04 9.99999126e-01 1.31052503e-03 2.82016128e-01] [ 2.05783376e-02 -1.31384046e-03 9.99787380e-01 1.18048950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152557844 meters Centerline goodness : 0.317722 Centerline is valid? [False, False] Translation: X:2.41, Y:0.28, Z:1.18 [[ 9.99788715e-01 -3.20724348e-04 -2.05529024e-02 2.40857686e+00] [ 3.38492079e-04 9.99999572e-01 8.61014664e-04 2.84151403e-01] [ 2.05526174e-02 -8.67789740e-04 9.99788396e-01 1.18101627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182557844 meters Centerline goodness : 0.162859 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99787997e-01 -6.79091054e-04 -2.05791125e-02 2.40868388e+00] [ 6.77109251e-04 9.99999765e-01 -1.03269416e-04 2.88924581e-01] [ 2.05791778e-02 8.93132151e-05 9.99788222e-01 1.18106611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.212557844 meters Centerline goodness : 0.166039 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99789631e-01 -8.95651035e-04 -2.04912569e-02 2.40844174e+00] [ 8.83232144e-04 9.99999421e-01 -6.15100231e-04 2.91200083e-01] [ 2.04917959e-02 5.96872296e-04 9.99789843e-01 1.18111460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.242557844 meters Centerline goodness : 0.121278 Centerline is valid? [False, False] Translation: X:2.41, Y:0.29, Z:1.18 [[ 9.99790766e-01 -1.10207512e-03 -2.04257327e-02 2.40820982e+00] [ 1.07898191e-03 9.99998766e-01 -1.14158013e-03 2.93603998e-01] [ 2.04269656e-02 1.11930227e-03 9.99790721e-01 1.18129582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.272557844 meters Centerline goodness : 0.159379 Centerline is valid? [False, False] Translation: X:2.41, Y:0.30, Z:1.18 [[ 9.99789700e-01 -1.36107586e-03 -2.04622410e-02 2.40827552e+00] [ 1.32431723e-03 9.99997485e-01 -1.80985646e-03 2.96757556e-01] [ 2.04646529e-02 1.78237735e-03 9.99788988e-01 1.18142689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302557844 meters Centerline goodness : 0.163437 Centerline is valid? [False, False] Translation: X:2.41, Y:0.30, Z:1.18 [[ 9.99786603e-01 -1.60516780e-03 -2.05954133e-02 2.40862078e+00] [ 1.55369366e-03 9.99995630e-01 -2.51505894e-03 3.00304022e-01] [ 2.05993604e-02 2.48252327e-03 9.99784729e-01 1.18150655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332557844 meters Centerline goodness : 0.104397 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783726e-01 2.09532589e-03 -2.06908623e-02 2.40894062e+00] [-2.08787316e-03 9.99997748e-01 3.81789736e-04 3.05955494e-01] [ 2.06916156e-02 -3.38507269e-04 9.99785848e-01 1.18147934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362557844 meters Centerline goodness : 0.108844 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783012e-01 1.77568646e-03 -2.07551202e-02 2.40912826e+00] [-1.78534051e-03 9.99998307e-01 -4.46620523e-04 3.09742797e-01] [ 2.07542920e-02 4.83578569e-04 9.99784490e-01 1.18155856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392557844 meters Centerline goodness : 0.117300 Centerline is valid? [False, False] Translation: X:2.41, Y:0.31, Z:1.18 [[ 9.99783285e-01 1.46235669e-03 -2.07664451e-02 2.40930177e+00] [-1.48799950e-03 9.99998149e-01 -1.21942113e-03 3.13246677e-01] [ 2.07646234e-02 1.25005733e-03 9.99783610e-01 1.18138866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422557844 meters Centerline goodness : 0.160056 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:1.18 [[ 9.99727685e-01 -4.08068610e-03 -2.29761720e-02 2.43464485e+00] [ 4.11110113e-03 9.99990734e-01 1.27668447e-03 3.21118082e-01] [ 2.29707494e-02 -1.37079418e-03 9.99735198e-01 1.18084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452557844 meters Centerline goodness : 0.168562 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:1.18 [[ 9.99724825e-01 -4.22533688e-03 -2.30742339e-02 2.43521678e+00] [ 4.24698477e-03 9.99990586e-01 8.89260241e-04 3.23219339e-01] [ 2.30702592e-02 -9.87011459e-04 9.99733359e-01 1.18036226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482557844 meters Centerline goodness : 0.263749 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:1.18 [[ 9.99724369e-01 -4.39279134e-03 -2.30627205e-02 2.43519687e+00] [ 4.40571852e-03 9.99990165e-01 5.09741728e-04 3.24992957e-01] [ 2.30602545e-02 -6.11209083e-04 9.99733890e-01 1.18036398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512557844 meters Centerline goodness : 0.124448 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:1.18 [[ 9.99772047e-01 3.07479701e-03 -2.11281678e-02 2.45309482e+00] [-3.10171480e-03 9.99994419e-01 -1.24137192e-03 3.21642339e-01] [ 2.11242329e-02 1.30662249e-03 9.99776005e-01 1.18184276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54255784400002 meters Centerline goodness : 0.108506 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99808382e-01 1.59010044e-03 -1.95108137e-02 2.44707927e+00] [-1.65020280e-03 9.99993942e-01 -3.06475082e-03 3.26223122e-01] [ 1.95058223e-02 3.09636035e-03 9.99804949e-01 1.18467820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57255784400002 meters Centerline goodness : 0.160827 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99809106e-01 1.51791367e-03 -1.94794059e-02 2.44690631e+00] [-1.58042949e-03 9.99993649e-01 -3.19433587e-03 3.26801546e-01] [ 1.94744334e-02 3.22451191e-03 9.99805156e-01 1.18481977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60255784400002 meters Centerline goodness : 0.104476 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99804139e-01 1.48972521e-03 -1.97348538e-02 2.44791863e+00] [-1.55364574e-03 9.99993596e-01 -3.22403071e-03 3.27075508e-01] [ 1.97299245e-02 3.25406022e-03 9.99800051e-01 1.18417344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63255784400002 meters Centerline goodness : 0.138363 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99795818e-01 1.48205665e-03 -2.01525740e-02 2.44953359e+00] [-1.54655788e-03 9.99993731e-01 -3.18543626e-03 3.27098884e-01] [ 2.01477266e-02 3.21595297e-03 9.99791842e-01 1.18319238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66255784400002 meters Centerline goodness : 0.164574 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.18 [[ 9.99793288e-01 1.40806831e-03 -2.02829847e-02 2.44983382e+00] [-1.47605973e-03 9.99993341e-01 -3.33756022e-03 3.27891778e-01] [ 2.02781501e-02 3.36680920e-03 9.99788708e-01 1.18326741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69255784400002 meters Centerline goodness : 0.125284 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99801887e-01 -6.83993341e-03 -1.86923090e-02 2.46827919e+00] [ 6.80407494e-03 9.99974889e-01 -1.98127928e-03 3.31348315e-01] [ 1.87053915e-02 1.85370289e-03 9.99823320e-01 1.18580578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72255784400002 meters Centerline goodness : 0.141422 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99832716e-01 2.12740186e-03 -1.81662937e-02 2.44517002e+00] [-2.17281052e-03 9.99994564e-01 -2.48023923e-03 3.28928047e-01] [ 1.81609185e-02 2.51929624e-03 9.99831903e-01 1.18551456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75255784400002 meters Centerline goodness : 0.143284 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99797726e-01 -5.85879538e-03 -1.92400888e-02 2.46665937e+00] [ 5.83333931e-03 9.99982035e-01 -1.37893094e-03 3.33385638e-01] [ 1.92478220e-02 1.26641806e-03 9.99813941e-01 1.18659854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78255784400002 meters Centerline goodness : 0.158410 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.19 [[ 9.99733185e-01 -5.42603881e-03 -2.24525275e-02 2.42363988e+00] [ 5.39419145e-03 9.99984358e-01 -1.47875262e-03 3.36420067e-01] [ 2.24602001e-02 1.35724483e-03 9.99746817e-01 1.18591721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812557844 meters Centerline goodness : 0.166970 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99756663e-01 1.06267246e-03 -2.20337259e-02 2.44603786e+00] [-1.14696468e-03 9.99992072e-01 -3.81331510e-03 3.32171838e-01] [ 2.20294989e-02 3.83765909e-03 9.99749956e-01 1.18537003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842557844 meters Centerline goodness : 0.355002 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99757068e-01 1.04351053e-03 -2.20162650e-02 2.44596586e+00] [-1.12809719e-03 9.99992029e-01 -3.82993755e-03 3.32110087e-01] [ 2.20120929e-02 3.85384363e-03 9.99750277e-01 1.18539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872557844 meters Centerline goodness : 0.355002 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99757068e-01 1.04351053e-03 -2.20162650e-02 2.44596586e+00] [-1.12809719e-03 9.99992029e-01 -3.82993755e-03 3.32110087e-01] [ 2.20120929e-02 3.85384363e-03 9.99750277e-01 1.18539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters Centerline goodness : 0.146014 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99755531e-01 1.01702181e-03 -2.20872102e-02 2.44589192e+00] [-1.10406548e-03 9.99991672e-01 -3.92907163e-03 3.32604780e-01] [ 2.20830303e-02 3.95249682e-03 9.99748327e-01 1.18584088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932557844 meters Centerline goodness : 0.118725 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.19 [[ 9.99738384e-01 -4.23340467e-03 -2.24775783e-02 2.46859449e+00] [ 4.23201847e-03 9.99991039e-01 -1.09238958e-04 3.34972654e-01] [ 2.24778394e-02 1.40848523e-05 9.99747341e-01 1.18690294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.962557844 meters Centerline goodness : 0.120379 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99735725e-01 -4.35359306e-03 -2.25727129e-02 2.46885958e+00] [ 4.34441457e-03 9.99990459e-01 -4.55641867e-04 3.36578947e-01] [ 2.25744813e-02 3.57456229e-04 9.99745100e-01 1.18691477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.992557844 meters Centerline goodness : 0.143018 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99739032e-01 -4.54201025e-03 -2.23883570e-02 2.46838216e+00] [ 4.52200011e-03 9.99989330e-01 -9.44320245e-04 3.38775418e-01] [ 2.23924072e-02 8.42833654e-04 9.99748903e-01 1.18695434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.022557844 meters Centerline goodness : 0.118667 Centerline is valid? [False, False] Translation: X:2.45, Y:0.34, Z:1.19 [[ 9.99729314e-01 4.25887148e-03 -2.28727143e-02 2.44791769e+00] [-4.30331960e-03 9.99988946e-01 -1.89441230e-03 3.36561545e-01] [ 2.28643934e-02 1.99232811e-03 9.99736590e-01 1.18530278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052557844 meters Centerline goodness : 0.151572 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99718232e-01 -4.08335318e-03 -2.33833929e-02 2.46854269e+00] [ 4.06327467e-03 9.99991334e-01 -9.06114167e-04 3.40193772e-01] [ 2.33868902e-02 8.10845705e-04 9.99726160e-01 1.18680935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082557844 meters Centerline goodness : 0.124389 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99715234e-01 -4.09935993e-03 -2.35084252e-02 2.46909398e+00] [ 4.07906454e-03 9.99991265e-01 -9.11212252e-04 3.40203601e-01] [ 2.35119552e-02 8.15060387e-04 9.99723224e-01 1.18637165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112557844 meters Centerline goodness : 0.154252 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99709504e-01 -4.16457192e-03 -2.37395018e-02 2.46986767e+00] [ 4.14517873e-03 9.99991034e-01 -8.66066931e-04 3.39670923e-01] [ 2.37428957e-02 7.67410864e-04 9.99717803e-01 1.18598457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142557844 meters Centerline goodness : 0.155542 Centerline is valid? [False, False] Translation: X:2.45, Y:0.34, Z:1.18 [[ 9.99773550e-01 2.57614397e-03 -2.11237121e-02 2.45307007e+00] [-2.61708550e-03 9.99994750e-01 -1.91076336e-03 3.36926060e-01] [ 2.11186788e-02 1.96561323e-03 9.99775044e-01 1.18224394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172557844 meters Centerline goodness : 0.126196 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.18 [[ 9.99767934e-01 -5.77682780e-03 -2.07534495e-02 2.47306372e+00] [ 5.76393220e-03 9.99983156e-01 -6.81135183e-04 3.39520012e-01] [ 2.07570348e-02 5.61355639e-04 9.99784392e-01 1.18380819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202557844 meters Centerline goodness : 0.126651 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.18 [[ 9.99770589e-01 -5.76463310e-03 -2.06285731e-02 2.47256879e+00] [ 5.75321423e-03 9.99983262e-01 -6.12850523e-04 3.39142214e-01] [ 2.06317607e-02 4.94029328e-04 9.99787021e-01 1.18405671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232557844 meters Centerline goodness : 0.129079 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99784180e-01 -5.74731199e-03 -1.99640115e-02 2.47009361e+00] [ 5.74093074e-03 9.99983450e-01 -3.76935030e-04 3.37688436e-01] [ 1.99658475e-02 2.62241672e-04 9.99800628e-01 1.18541018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262557844 meters Centerline goodness : 0.148932 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99788695e-01 -5.66946846e-03 -1.97591105e-02 2.46912455e+00] [ 5.66599036e-03 9.99983921e-01 -2.32004089e-04 3.37073460e-01] [ 1.97601082e-02 1.20000136e-04 9.99804743e-01 1.18619525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29255784400002 meters Centerline goodness : 0.143206 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99790493e-01 -5.61607361e-03 -1.96832302e-02 2.46878723e+00] [ 5.61394151e-03 9.99984228e-01 -1.63575056e-04 3.36820937e-01] [ 1.96838384e-02 5.30402829e-05 9.99806253e-01 1.18644923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32255784400002 meters Centerline goodness : 0.143529 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.19 [[ 9.99730124e-01 -4.38080189e-03 -2.28142026e-02 2.42460036e+00] [ 4.38459125e-03 9.99990381e-01 1.16076963e-04 3.39460044e-01] [ 2.28134746e-02 -2.16076589e-04 9.99739715e-01 1.18703672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35255784400002 meters Centerline goodness : 0.163245 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99731207e-01 3.95632834e-03 -2.28442700e-02 2.44552202e+00] [-3.96730725e-03 9.99992035e-01 -4.35297012e-04 3.33925851e-01] [ 2.28423659e-02 5.25810245e-04 9.99738941e-01 1.18789701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38255784400002 meters Centerline goodness : 0.151090 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:1.19 [[ 9.99722012e-01 3.98614478e-03 -2.32380896e-02 2.44656277e+00] [-4.00072768e-03 9.99991828e-01 -5.81085926e-04 3.34907325e-01] [ 2.32355834e-02 6.73893660e-04 9.99729790e-01 1.18782827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41255784400002 meters Centerline goodness : 0.144239 Centerline is valid? [False, False] Translation: X:2.47, Y:0.34, Z:1.19 [[ 9.99703557e-01 -3.24540088e-03 -2.41301900e-02 2.46662771e+00] [ 3.26490393e-03 9.99994375e-01 7.68889738e-04 3.39752385e-01] [ 2.41275589e-02 -8.47444558e-04 9.99708529e-01 1.18983898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44255784400002 meters Centerline goodness : 0.151073 Centerline is valid? [False, False] Translation: X:2.46, Y:0.34, Z:1.19 [[ 9.99719486e-01 -2.90210778e-03 -2.35058959e-02 2.46455544e+00] [ 2.90966984e-03 9.99995726e-01 2.87513318e-04 3.43809909e-01] [ 2.35049610e-02 -3.55827062e-04 9.99723657e-01 1.19086072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47255784400002 meters Centerline goodness : 0.126156 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99728123e-01 -3.00555440e-03 -2.31224438e-02 2.46306774e+00] [ 3.00261342e-03 9.99995479e-01 -1.61909371e-04 3.46121144e-01] [ 2.31228259e-02 9.24375912e-05 9.99732627e-01 1.19178986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50255784400002 meters Centerline goodness : 0.152753 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99733318e-01 -3.13899746e-03 -2.28787981e-02 2.46205577e+00] [ 3.12798114e-03 9.99994974e-01 -5.17278856e-04 3.47774796e-01] [ 2.28803069e-02 4.45576458e-04 9.99738112e-01 1.19246202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53255784400002 meters Centerline goodness : 0.159024 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99738215e-01 -3.22997535e-03 -2.26510037e-02 2.46118563e+00] [ 3.21437332e-03 9.99994571e-01 -7.25176003e-04 3.48714994e-01] [ 2.26532230e-02 6.52177381e-04 9.99743170e-01 1.19296015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562557844 meters Centerline goodness : 0.146592 Centerline is valid? [False, False] Translation: X:2.46, Y:0.35, Z:1.19 [[ 9.99745163e-01 -3.41916453e-03 -2.23140631e-02 2.46033022e+00] [ 3.39900798e-03 9.99993780e-01 -9.41176934e-04 3.49471654e-01] [ 2.23171424e-02 8.65091409e-04 9.99750567e-01 1.19289525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592557844 meters Centerline goodness : 0.128634 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.19 [[ 9.99678837e-01 -2.86818074e-03 -2.51792714e-02 2.41449443e+00] [ 2.84701351e-03 9.99995563e-01 -8.76469503e-04 3.53180293e-01] [ 2.51816735e-02 8.04502288e-04 9.99682568e-01 1.19330948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622557844 meters Centerline goodness : 0.128472 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.19 [[ 9.99679382e-01 -2.93807596e-03 -2.51495819e-02 2.41457596e+00] [ 2.91408488e-03 9.99995263e-01 -9.90532140e-04 3.53757520e-01] [ 2.51523731e-02 9.16926541e-04 9.99683209e-01 1.19303356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652557844 meters Centerline goodness : 0.136485 Centerline is valid? [False, False] Translation: X:2.45, Y:0.35, Z:1.20 [[ 9.99737455e-01 -3.56719764e-03 -2.26339708e-02 2.45495278e+00] [ 3.54689210e-03 9.99993271e-01 -9.37208908e-04 3.53440551e-01] [ 2.26371617e-02 8.56682596e-04 9.99743380e-01 1.19557064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682557844 meters Centerline goodness : 0.161852 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:1.20 [[ 9.99677492e-01 -2.95753671e-03 -2.52223005e-02 2.40779470e+00] [ 2.92699217e-03 9.99994938e-01 -1.24784620e-03 3.59181375e-01] [ 2.52258634e-02 1.17361828e-03 9.99681088e-01 1.19738359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.712557844 meters Centerline goodness : 0.139705 Centerline is valid? [False, False] Translation: X:2.41, Y:0.36, Z:1.20 [[ 9.99671599e-01 -3.10931028e-03 -2.54367260e-02 2.40841107e+00] [ 3.06742116e-03 9.99993875e-01 -1.68565013e-03 3.61379751e-01] [ 2.54418114e-02 1.60707141e-03 9.99675013e-01 1.19730564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.742557844 meters Centerline goodness : 0.157981 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 9.99653320e-01 -3.24074975e-03 -2.61292544e-02 2.41073836e+00] [ 3.17900383e-03 9.99992057e-01 -2.40428918e-03 3.65472318e-01] [ 2.61368386e-02 2.32039066e-03 9.99655681e-01 1.19643713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.772557844 meters Centerline goodness : 0.126829 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99965361 -0.00344033 -0.02609257 2.41068228] [ 0.00336585 0.99999014 -0.00289765 0.36765483] [ 0.02610228 0.00280882 0.99965533 1.19639966] [ 0. 0. 0. 1. ]] SLAMing on 199.802557844 meters Centerline goodness : 0.128806 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99965169 -0.00360272 -0.02614414 2.41077187] [ 0.00351707 0.9999883 -0.00332135 0.36967654] [ 0.0261558 0.00322825 0.99965267 1.19647856] [ 0. 0. 0. 1. ]] SLAMing on 199.832557844 meters Centerline goodness : 0.137236 Centerline is valid? [False, False] Translation: X:2.41, Y:0.37, Z:1.20 [[ 0.99964391 -0.00372912 -0.02642263 2.41159724] [ 0.00363315 0.99998663 -0.0036789 0.37164844] [ 0.026436 0.0035816 0.99964409 1.19625219] [ 0. 0. 0. 1. ]] SLAMing on 199.862557844 meters Centerline goodness : 0.138198 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.19 [[ 9.99613519e-01 -1.89061651e-03 -2.77351290e-02 2.41772289e+00] [ 1.83776069e-03 9.99996447e-01 -1.93110174e-03 3.74115380e-01] [ 2.77386814e-02 1.87938488e-03 9.99613442e-01 1.19309310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892557844 meters Centerline goodness : 0.134610 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.19 [[ 9.99606503e-01 -2.01143559e-03 -2.79784445e-02 2.41856742e+00] [ 1.95271290e-03 9.99995833e-01 -2.12601867e-03 3.74749325e-01] [ 2.79826043e-02 2.07054822e-03 9.99606266e-01 1.19266754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922557844 meters Centerline goodness : 0.141932 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99606980e-01 -2.13543900e-03 -2.79521867e-02 2.41842752e+00] [ 2.07128117e-03 9.99995154e-01 -2.32402359e-03 3.75340953e-01] [ 2.79570141e-02 2.26521337e-03 9.99606560e-01 1.19275335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952557844 meters Centerline goodness : 0.127319 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99611381e-01 -2.24239690e-03 -2.77859418e-02 2.41778951e+00] [ 2.17199940e-03 9.99994355e-01 -2.56348777e-03 3.76448382e-01] [ 2.77915333e-02 2.50214050e-03 9.99610609e-01 1.19314147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982557844 meters Centerline goodness : 0.147351 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99637854e-01 -7.89699618e-03 -2.57254335e-02 2.43818299e+00] [ 7.93630888e-03 9.99967490e-01 1.42642248e-03 3.78836661e-01] [ 2.57133327e-02 -1.63007089e-03 9.99668029e-01 1.19377670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012557844 meters Centerline goodness : 0.137245 Centerline is valid? [False, False] Translation: X:2.42, Y:0.38, Z:1.19 [[ 9.99629943e-01 1.10015342e-03 -2.71802683e-02 2.41731729e+00] [-1.08712146e-03 9.99999287e-01 4.94236058e-04 3.77143089e-01] [ 2.71807926e-02 -4.64504910e-04 9.99630426e-01 1.19287603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04255784400002 meters Centerline goodness : 0.140741 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99625656e-01 7.81897858e-03 -2.62185417e-02 2.43931939e+00] [-7.87569375e-03 9.99966863e-01 -2.06060467e-03 3.75485943e-01] [ 2.62015611e-02 2.26632250e-03 9.99654111e-01 1.19301542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07255784400002 meters Centerline goodness : 0.127393 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.19 [[ 9.99664319e-01 2.32193551e-03 -2.58042392e-02 2.41486777e+00] [-2.30504151e-03 9.99997109e-01 6.84424055e-04 3.81818307e-01] [ 2.58057538e-02 -6.24714464e-04 9.99666781e-01 1.19412231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10255784400002 meters Centerline goodness : 0.162726 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.19 [[ 9.99670987e-01 2.35794360e-03 -2.55413101e-02 2.41376418e+00] [-2.34982494e-03 9.99997179e-01 3.47872922e-04 3.84194127e-01] [ 2.55420583e-02 -2.87740859e-04 9.99673707e-01 1.19496426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13255784400002 meters Centerline goodness : 0.139488 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.20 [[ 9.99674066e-01 2.31051180e-03 -2.54248432e-02 2.41317115e+00] [-2.31248542e-03 9.99997325e-01 -4.82236356e-05 3.86477022e-01] [ 2.54246638e-02 1.07002497e-04 9.99676735e-01 1.19559713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16255784400002 meters Centerline goodness : 0.138316 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99700471e-01 -4.25827730e-03 -2.41005390e-02 2.43631905e+00] [ 4.31695705e-03 9.99987842e-01 2.38328562e-03 3.88200162e-01] [ 2.40900973e-02 -2.48661275e-03 9.99706699e-01 1.19485382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19255784400002 meters Centerline goodness : 0.135300 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99677559e-01 3.74504207e-03 -2.51147983e-02 2.41621046e+00] [-3.74269936e-03 9.99992986e-01 1.40285452e-04 3.87393223e-01] [ 2.51151475e-02 -4.62430786e-05 9.99684564e-01 1.19308368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22255784400002 meters Centerline goodness : 0.135512 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99680002e-01 3.66835946e-03 -2.50287222e-02 2.41589618e+00] [-3.66996353e-03 9.99993265e-01 -1.81549938e-05 3.88193242e-01] [ 2.50284870e-02 1.10003682e-04 9.99686732e-01 1.19322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25255784400002 meters Centerline goodness : 0.126115 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99685231e-01 3.60909055e-03 -2.48276865e-02 2.41506323e+00] [-3.61344309e-03 9.99993463e-01 -1.30448326e-04 3.88791316e-01] [ 2.48270534e-02 2.20120697e-04 9.99691737e-01 1.19379689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28255784400002 meters Centerline goodness : 0.134354 Centerline is valid? [False, False] Translation: X:2.43, Y:0.39, Z:1.20 [[ 9.99704431e-01 -5.41729255e-03 -2.37002696e-02 2.43483857e+00] [ 5.43842799e-03 9.99984869e-01 8.27415903e-04 3.91490865e-01] [ 2.36954286e-02 -9.56063554e-04 9.99718767e-01 1.19629996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312557844 meters Centerline goodness : 0.137473 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99691712e-01 3.08144301e-03 -2.46370970e-02 2.41544900e+00] [-3.09668120e-03 9.99995037e-01 -5.80377380e-04 3.88309413e-01] [ 2.46351863e-02 6.56491692e-04 9.99696292e-01 1.19459401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters Centerline goodness : 0.143723 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99674794e-01 -5.51915393e-03 -2.48966814e-02 2.43669907e+00] [ 5.53244040e-03 9.99984588e-01 4.64815149e-04 3.91895017e-01] [ 2.48937323e-02 -6.02403394e-04 9.99689922e-01 1.19595604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372557844 meters Centerline goodness : 0.141741 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99677227e-01 -5.62456814e-03 -2.47750957e-02 2.43655942e+00] [ 5.63167809e-03 9.99984118e-01 2.17214872e-04 3.93463054e-01] [ 2.47734804e-02 -3.56670125e-04 9.99693027e-01 1.19572073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters Centerline goodness : 0.135307 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99682363e-01 -5.70742890e-03 -2.45478613e-02 2.43571624e+00] [ 5.71103039e-03 9.99983689e-01 7.66077685e-05 3.94014307e-01] [ 2.45470237e-02 -2.16777017e-04 9.99698653e-01 1.19616926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.432557844 meters Centerline goodness : 0.147065 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99686013e-01 -5.78450435e-03 -2.43806088e-02 2.43509617e+00] [ 5.78597771e-03 9.99983261e-01 -1.01119643e-05 3.94201507e-01] [ 2.43802592e-02 -1.30956870e-04 9.99702749e-01 1.19649886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.462557844 meters Centerline goodness : 0.129365 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99683410e-01 -5.83452674e-03 -2.44752603e-02 2.43530370e+00] [ 5.83468342e-03 9.99982976e-01 -6.50123453e-05 3.94311612e-01] [ 2.44752230e-02 -7.78136328e-05 9.99700434e-01 1.19652224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.492557844 meters Centerline goodness : 0.138526 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99681220e-01 -5.91405028e-03 -2.45455205e-02 2.43578544e+00] [ 5.91092069e-03 9.99982510e-01 -2.00054605e-04 3.94832301e-01] [ 2.45462743e-02 5.49042071e-05 9.99698693e-01 1.19602748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.522557844 meters Centerline goodness : 0.141977 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99675080e-01 -5.98434679e-03 -2.47774346e-02 2.43694768e+00] [ 5.97716343e-03 9.99982070e-01 -3.63966796e-04 3.95739176e-01] [ 2.47791685e-02 2.15749759e-04 9.99692926e-01 1.19504897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552557844 meters Centerline goodness : 0.135180 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99672939e-01 -5.98814396e-03 -2.48627544e-02 2.43715357e+00] [ 5.97989313e-03 9.99982038e-01 -4.06192230e-04 3.96093842e-01] [ 2.48647402e-02 2.57382766e-04 9.99690791e-01 1.19507370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582557844 meters Centerline goodness : 0.145995 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99672358e-01 -5.97191219e-03 -2.48900048e-02 2.43699636e+00] [ 5.96425429e-03 9.99982141e-01 -3.81895637e-04 3.96017683e-01] [ 2.48918410e-02 2.33320194e-04 9.99690123e-01 1.19546182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612557844 meters Centerline goodness : 0.136113 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.20 [[ 9.99671772e-01 -5.92559998e-03 -2.49246016e-02 2.43664280e+00] [ 5.92173820e-03 9.99982440e-01 -2.28746053e-04 3.95093956e-01] [ 2.49255194e-02 8.10740062e-05 9.99689308e-01 1.19616158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642557844 meters Centerline goodness : 0.120642 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99672060e-01 -5.85545737e-03 -2.49296293e-02 2.43677736e+00] [ 5.85629427e-03 9.99982851e-01 -3.94390005e-05 3.94116691e-01] [ 2.49294327e-02 -1.06569178e-04 9.99689208e-01 1.19592043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672557844 meters Centerline goodness : 0.118979 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.20 [[ 9.99678031e-01 -5.76144134e-03 -2.47111522e-02 2.43654828e+00] [ 5.76952085e-03 9.99983323e-01 2.55672970e-04 3.92567130e-01] [ 2.47092671e-02 -3.98162159e-04 9.99694600e-01 1.19531179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702557844 meters Centerline goodness : 0.122049 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.19 [[ 9.99687585e-01 3.03714271e-03 -2.48094271e-02 2.41644270e+00] [-3.05855035e-03 9.99994982e-01 -8.24982459e-04 3.89297208e-01] [ 2.48067971e-02 9.00605605e-04 9.99691858e-01 1.19332897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732557844 meters Centerline goodness : 0.146303 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99692954e-01 -5.35509683e-03 -2.41934138e-02 2.43686141e+00] [ 5.36744679e-03 9.99985496e-01 4.45558271e-04 3.91300078e-01] [ 2.41906769e-02 -5.75278325e-04 9.99707197e-01 1.19463057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762557844 meters Centerline goodness : 0.139624 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99679126e-01 -5.15782124e-03 -2.48000288e-02 2.43861648e+00] [ 5.17754563e-03 9.99986329e-01 7.31191189e-04 3.90291523e-01] [ 2.47959184e-02 -8.59359850e-04 9.99692165e-01 1.19427728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79255784400002 meters Centerline goodness : 0.139624 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99679126e-01 -5.15782124e-03 -2.48000288e-02 2.43861648e+00] [ 5.17754563e-03 9.99986329e-01 7.31191189e-04 3.90291523e-01] [ 2.47959184e-02 -8.59359850e-04 9.99692165e-01 1.19427728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82255784400002 meters Centerline goodness : 0.129413 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99677724e-01 -5.08475300e-03 -2.48715257e-02 2.43880939e+00] [ 5.10782476e-03 9.99986582e-01 8.64195803e-04 3.89715784e-01] [ 2.48667977e-02 -9.90956688e-04 9.99690282e-01 1.19424475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85255784400002 meters Centerline goodness : 0.165574 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99682045e-01 -5.02557749e-03 -2.47093613e-02 2.43827495e+00] [ 5.05104983e-03 9.99986774e-01 9.68572271e-04 3.89216994e-01] [ 2.47041669e-02 -1.09307252e-03 9.99694208e-01 1.19443356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88255784400002 meters Centerline goodness : 0.122677 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99691047e-01 -4.96878457e-03 -2.43540920e-02 2.43719789e+00] [ 4.99780027e-03 9.99986872e-01 1.13068672e-03 3.88295852e-01] [ 2.43481541e-02 -1.25205428e-03 9.99702756e-01 1.19469659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91255784400002 meters Centerline goodness : 0.142480 Centerline is valid? [False, False] Translation: X:2.44, Y:0.39, Z:1.19 [[ 9.99697607e-01 -4.88446339e-03 -2.41005326e-02 2.43636893e+00] [ 4.91897800e-03 9.99986959e-01 1.37303371e-03 3.86963750e-01] [ 2.40935118e-02 -1.49116851e-03 9.99708597e-01 1.19498276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94255784400002 meters Centerline goodness : 0.147525 Centerline is valid? [False, False] Translation: X:2.44, Y:0.38, Z:1.19 [[ 9.99701021e-01 -4.68592146e-03 -2.39981361e-02 2.43624938e+00] [ 4.73506749e-03 9.99986806e-01 1.99149493e-03 3.83790122e-01] [ 2.39884875e-02 -2.10453231e-03 9.99710020e-01 1.19462407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97255784400002 meters Centerline goodness : 0.135322 Centerline is valid? [False, False] Translation: X:2.46, Y:0.38, Z:1.20 [[ 9.99686791e-01 2.70976233e-03 -2.48792323e-02 2.45568235e+00] [-2.67585503e-03 9.99995445e-01 1.39606631e-03 3.76761834e-01] [ 2.48829020e-02 -1.32905583e-03 9.99689489e-01 1.19623199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00255784400002 meters Centerline goodness : 0.125412 Centerline is valid? [False, False] Translation: X:2.41, Y:0.38, Z:1.20 [[ 9.99604450e-01 3.53575085e-03 -2.79005817e-02 2.41107950e+00] [-3.49677027e-03 9.99992841e-01 1.44579121e-03 3.79695444e-01] [ 2.79054939e-02 -1.34765741e-03 9.99609657e-01 1.19644332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03255784400002 meters Centerline goodness : 0.139893 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99670233e-01 2.29720653e-03 -2.55763062e-02 2.45371433e+00] [-2.25635270e-03 9.99996132e-01 1.62607578e-03 3.72680993e-01] [ 2.55799427e-02 -1.56783039e-03 9.99671550e-01 1.19760650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters Centerline goodness : 0.156639 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99680888e-01 2.35252723e-03 -2.51513091e-02 2.45220643e+00] [-2.30577457e-03 9.99995560e-01 1.88769564e-03 3.71046626e-01] [ 2.51556382e-02 -1.82910001e-03 9.99681874e-01 1.19823472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092557844 meters Centerline goodness : 0.136134 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99688127e-01 2.40947520e-03 -2.48564467e-02 2.45113349e+00] [-2.35721574e-03 9.99994950e-01 2.13153721e-03 3.69631245e-01] [ 2.48614570e-02 -2.07228043e-03 9.99688758e-01 1.19866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters Centerline goodness : 0.162764 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 9.99621370e-01 3.23747947e-03 -2.73246414e-02 2.40467408e+00] [-3.17668520e-03 9.99992382e-01 2.26800407e-03 3.72715642e-01] [ 2.73317759e-02 -2.18034355e-03 9.99624039e-01 1.19940212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152557844 meters Centerline goodness : 0.141245 Centerline is valid? [False, False] Translation: X:2.43, Y:0.37, Z:1.20 [[ 0.99962695 -0.00386187 -0.0270377 2.42646841] [ 0.0039984 0.99997952 0.00499754 0.3727131 ] [ 0.02701785 -0.00510379 0.99962192 1.19992994] [ 0. 0. 0. 1. ]] SLAMing on 201.182557844 meters Centerline goodness : 0.152931 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 0.9995442 -0.00307106 -0.03003265 2.383107 ] [ 0.00322023 0.99998271 0.00491972 0.37494054] [ 0.03001702 -0.00501419 0.99953681 1.19911178] [ 0. 0. 0. 1. ]] SLAMing on 201.212557844 meters Centerline goodness : 0.133191 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99956224 0.00433935 -0.02926598 2.40183568] [-0.00423838 0.99998485 0.00351119 0.36884682] [ 0.02928077 -0.00338561 0.99956549 1.20113645] [ 0. 0. 0. 1. ]] SLAMing on 201.242557844 meters Centerline goodness : 0.156613 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99581590e-01 -1.81213249e-03 -2.88679822e-02 2.37744997e+00] [ 1.98007706e-03 9.99981277e-01 5.79015259e-03 3.74076099e-01] [ 2.88569491e-02 -5.84489076e-03 9.99566463e-01 1.20179756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.272557844 meters Centerline goodness : 0.153993 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99960333 0.00705667 -0.02726497 2.39898815] [-0.00690281 0.99995974 0.00573283 0.37207247] [ 0.02730433 -0.00554235 0.9996118 1.20182064] [ 0. 0. 0. 1. ]] SLAMing on 201.302557844 meters Centerline goodness : 0.164728 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99636454e-01 -2.65838310e-04 -2.69608852e-02 2.38122612e+00] [ 4.46454907e-04 9.99977499e-01 6.69341047e-03 3.79784896e-01] [ 2.69584992e-02 -6.70301392e-03 9.99614080e-01 1.19927999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332557844 meters Centerline goodness : 0.135630 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99634792e-01 -3.88945108e-04 -2.70209433e-02 2.38153111e+00] [ 5.62038677e-04 9.99979371e-01 6.39860459e-03 3.81003514e-01] [ 2.70178971e-02 -6.41145458e-03 9.99614389e-01 1.19903539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362557844 meters Centerline goodness : 0.147952 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99630025e-01 -5.00981975e-04 -2.71948736e-02 2.38200315e+00] [ 6.67318677e-04 9.99981125e-01 6.10774184e-03 3.82357206e-01] [ 2.71913005e-02 -6.12362977e-03 9.99611492e-01 1.19892499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392557844 meters Centerline goodness : 0.125166 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99628040e-01 -4.96920441e-04 -2.72678151e-02 2.38208966e+00] [ 6.62979892e-04 9.99981289e-01 6.08124072e-03 3.82698059e-01] [ 2.72642830e-02 -6.09705675e-03 9.99609666e-01 1.19908175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422557844 meters Centerline goodness : 0.167864 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99633264e-01 -4.76573978e-04 -2.70760189e-02 2.38140628e+00] [ 6.44067485e-04 9.99980711e-01 6.17766213e-03 3.82234559e-01] [ 2.70725525e-02 -6.19283535e-03 9.99614288e-01 1.19939869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452557844 meters Centerline goodness : 0.144741 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99639067e-01 -4.61558580e-04 -2.68611731e-02 2.38058537e+00] [ 6.31878991e-04 9.99979749e-01 6.33262337e-03 3.81284957e-01] [ 2.68577063e-02 -6.34731073e-03 9.99619115e-01 1.19983019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482557844 meters Centerline goodness : 0.126682 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99661172e-01 -8.80614733e-04 -2.60147226e-02 2.37812637e+00] [ 1.04496435e-03 9.99979580e-01 6.30464307e-03 3.79572061e-01] [ 2.60086394e-02 -6.32969134e-03 9.99641679e-01 1.20027901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512557844 meters Centerline goodness : 0.127497 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99659008e-01 -7.56210220e-04 -2.61016315e-02 2.37858682e+00] [ 9.31273110e-04 9.99977151e-01 6.69546700e-03 3.77658621e-01] [ 2.60959720e-02 -6.71749165e-03 9.99636872e-01 1.19975275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54255784400002 meters Centerline goodness : 0.124882 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99654349e-01 -6.17467009e-04 -2.62831075e-02 2.37916491e+00] [ 8.03642592e-04 9.99974660e-01 7.07349576e-03 3.75887623e-01] [ 2.62780738e-02 -7.09217302e-03 9.99629513e-01 1.19948469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57255784400002 meters Centerline goodness : 0.134447 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99651006e-01 -4.88981751e-04 -2.64126456e-02 2.37955740e+00] [ 6.84153113e-04 9.99972528e-01 7.38078392e-03 3.74546924e-01] [ 2.64083109e-02 -7.39627836e-03 9.99623877e-01 1.19932683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60255784400002 meters Centerline goodness : 0.161976 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99652969e-01 -4.33071626e-04 -2.63392113e-02 2.37881525e+00] [ 6.29402543e-04 9.99972079e-01 7.44610706e-03 3.74244138e-01] [ 2.63352512e-02 -7.46010099e-03 9.99625331e-01 1.20030943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63255784400002 meters Centerline goodness : 0.126003 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99652230e-01 -4.53584019e-04 -2.63669113e-02 2.37867859e+00] [ 6.47808680e-04 9.99972719e-01 7.35815221e-03 3.74668483e-01] [ 2.63628544e-02 -7.37267397e-03 9.99625252e-01 1.20065294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66255784400002 meters Centerline goodness : 0.156317 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 0.99962405 0.00712107 -0.02647723 2.39787545] [-0.00695979 0.99995669 0.00617849 0.3695815 ] [ 0.02652008 -0.00599189 0.99963032 1.20264694] [ 0. 0. 0. 1. ]] SLAMing on 201.69255784400002 meters Centerline goodness : 0.127905 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99612881e-01 -9.80483183e-04 -2.78051651e-02 2.37830553e+00] [ 1.17854197e-03 9.99974046e-01 7.10760032e-03 3.75192869e-01] [ 2.77974746e-02 -7.13761839e-03 9.99588093e-01 1.20098778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72255784400002 meters Centerline goodness : 0.128619 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99615603e-01 -9.32139310e-04 -2.77088134e-02 2.37816232e+00] [ 1.13469772e-03 9.99972744e-01 7.29542756e-03 3.74272566e-01] [ 2.77012578e-02 -7.32406435e-03 9.99589415e-01 1.20076051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75255784400002 meters Centerline goodness : 0.151647 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99619667e-01 -9.02535016e-04 -2.75627655e-02 2.37774463e+00] [ 1.11173526e-03 9.99970687e-01 7.57557775e-03 3.72706532e-01] [ 2.75551203e-02 -7.60333901e-03 9.99591369e-01 1.20075473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78255784400002 meters Centerline goodness : 0.163261 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99622803e-01 -8.52844114e-04 -2.74503993e-02 2.37734443e+00] [ 1.06973009e-03 9.99968323e-01 7.88729853e-03 3.71046346e-01] [ 2.74428031e-02 -7.91368798e-03 9.99592050e-01 1.20085307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812557844 meters Centerline goodness : 0.138537 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99623353e-01 -1.06253832e-03 -2.74230496e-02 2.37748421e+00] [ 1.29229904e-03 9.99964203e-01 8.36201760e-03 3.67595597e-01] [ 2.74131830e-02 -8.39430685e-03 9.99588942e-01 1.20031771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842557844 meters Centerline goodness : 0.123084 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99622698e-01 -9.41713661e-04 -2.74513056e-02 2.37782727e+00] [ 1.18302694e-03 9.99960793e-01 8.77567889e-03 3.65449767e-01] [ 2.74419651e-02 -8.80484345e-03 9.99584620e-01 1.19980419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872557844 meters Centerline goodness : 0.125382 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955971 0.00781328 -0.02862423 2.35759978] [-0.00758863 0.99993961 0.0079486 0.36100811] [ 0.02868461 -0.00772788 0.99955864 1.19799055] [ 0. 0. 0. 1. ]] SLAMing on 201.902557844 meters Centerline goodness : 0.126569 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.9995518 0.00796847 -0.02885664 2.35825916] [-0.00773574 0.99993672 0.00816777 0.36045801] [ 0.0289199 -0.00794088 0.99955019 1.19788066] [ 0. 0. 0. 1. ]] SLAMing on 201.932557844 meters Centerline goodness : 0.123360 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954109 0.00845248 -0.02908897 2.35878297] [-0.00820889 0.99993032 0.00848333 0.36019465] [ 0.02915865 -0.00824064 0.99954083 1.19814531] [ 0. 0. 0. 1. ]] SLAMing on 201.962557844 meters Centerline goodness : 0.147173 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954162 0.00842932 -0.02907749 2.35866832] [-0.00818773 0.99993105 0.00841751 0.36011637] [ 0.02914643 -0.00817557 0.99954172 1.19830829] [ 0. 0. 0. 1. ]] SLAMing on 201.992557844 meters Centerline goodness : 0.357295 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.9995597 0.00834311 -0.02847451 2.35610037] [-0.00811378 0.99993379 0.00815996 0.36009951] [ 0.02854071 -0.00792533 0.99956121 1.19977992] [ 0. 0. 0. 1. ]] SLAMing on 202.022557844 meters Centerline goodness : 0.252565 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 0.99957105 0.00840886 -0.02805379 2.35462137] [-0.00818192 0.99993295 0.00819447 0.36010123] [ 0.02812082 -0.00796142 0.99957283 1.20053588] [ 0. 0. 0. 1. ]] SLAMing on 202.052557844 meters Centerline goodness : 0.165874 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 0.99957954 0.00850157 -0.02772116 2.3534841 ] [-0.00827272 0.99993084 0.00835962 0.3594171 ] [ 0.02779031 -0.00812678 0.99958074 1.2010171 ] [ 0. 0. 0. 1. ]] SLAMing on 202.082557844 meters Centerline goodness : 0.108399 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99956131 0.00655182 -0.02888359 2.3589074 ] [-0.0063584 0.99995678 0.00678328 0.35613779] [ 0.02892678 -0.00659665 0.99955977 1.19822983] [ 0. 0. 0. 1. ]] SLAMing on 202.112557844 meters Centerline goodness : 0.123278 Centerline is valid? [False, False] Translation: X:2.36, Y:0.35, Z:1.20 [[ 0.99954819 0.00664941 -0.02931225 2.36063559] [-0.00644442 0.99995415 0.00708221 0.3546292 ] [ 0.02935799 -0.00689011 0.99954521 1.19709298] [ 0. 0. 0. 1. ]] SLAMing on 202.142557844 meters Centerline goodness : 0.136986 Centerline is valid? [False, False] Translation: X:2.36, Y:0.35, Z:1.20 [[ 0.99953799 0.00670367 -0.02964559 2.36182568] [-0.00649302 0.99995303 0.00719634 0.35412074] [ 0.02969244 -0.00700053 0.99953457 1.1964973 ] [ 0. 0. 0. 1. ]] SLAMing on 202.172557844 meters Centerline goodness : 0.128529 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99953958 0.00676616 -0.02957765 2.36147139] [-0.00655988 0.99995352 0.00706548 0.35515214] [ 0.02962408 -0.0068682 0.99953751 1.19688941] [ 0. 0. 0. 1. ]] SLAMing on 202.202557844 meters Centerline goodness : 0.121402 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954323 0.00668132 -0.02947364 2.36087978] [-0.00648435 0.99995604 0.0067733 0.35658215] [ 0.0295176 -0.00657908 0.99954261 1.19748001] [ 0. 0. 0. 1. ]] SLAMing on 202.232557844 meters Centerline goodness : 0.146181 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954915 0.00653954 -0.02930404 2.36036954] [-0.00635497 0.99995941 0.00638733 0.3583843 ] [ 0.02934462 -0.00619823 0.99955014 1.19765458] [ 0. 0. 0. 1. ]] SLAMing on 202.262557844 meters Centerline goodness : 0.151012 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955064 0.00642272 -0.02927916 2.36058052] [-0.00625383 0.9999633 0.00585601 0.36148797] [ 0.0293157 -0.00567028 0.99955412 1.19724652] [ 0. 0. 0. 1. ]] SLAMing on 202.29255784400002 meters Centerline goodness : 0.140684 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955234 0.00634642 -0.02923775 2.36062828] [-0.00618338 0.99996484 0.00566352 0.36250265] [ 0.02927267 -0.00548019 0.99955644 1.19699824] [ 0. 0. 0. 1. ]] SLAMing on 202.32255784400002 meters Centerline goodness : 0.117369 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955344 0.00627575 -0.02921517 2.36076412] [-0.00611569 0.99996581 0.00556483 0.36288248] [ 0.02924909 -0.00538368 0.99955766 1.19666919] [ 0. 0. 0. 1. ]] SLAMing on 202.35255784400002 meters Centerline goodness : 0.149049 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99955194 0.00616569 -0.02928998 2.36106497] [-0.00600863 0.99996711 0.00544726 0.36309542] [ 0.02932261 -0.00526883 0.99955611 1.19642437] [ 0. 0. 0. 1. ]] SLAMing on 202.38255784400002 meters Centerline goodness : 0.150002 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99954075 0.00601549 -0.02970014 2.36233174] [-0.0058606 0.99996878 0.0052994 0.36349046] [ 0.02973109 -0.0051229 0.99954481 1.1959582 ] [ 0. 0. 0. 1. ]] SLAMing on 202.41255784400002 meters Centerline goodness : 0.144442 Centerline is valid? [False, False] Translation: X:2.36, Y:0.36, Z:1.20 [[ 0.99953486 0.00596191 -0.02990842 2.36291497] [-0.00581063 0.9999699 0.00514245 0.3645065 ] [ 0.02993818 -0.00496627 0.99953941 1.19586374] [ 0. 0. 0. 1. ]] SLAMing on 202.44255784400002 meters Centerline goodness : 0.156327 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953055 0.00586638 -0.03007092 2.36339374] [-0.00572229 0.99997174 0.00487558 0.36599288] [ 0.03009867 -0.00470122 0.99953588 1.19577832] [ 0. 0. 0. 1. ]] SLAMing on 202.47255784400002 meters Centerline goodness : 0.148566 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99952975 0.0057833 -0.03011355 2.36353351] [-0.00564508 0.99997315 0.00467287 0.36704133] [ 0.03013977 -0.00450068 0.99953556 1.19572435] [ 0. 0. 0. 1. ]] SLAMing on 202.50255784400002 meters Centerline goodness : 0.147806 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953886 0.00564807 -0.0298356 2.36256997] [-0.00551917 0.99997508 0.00440099 0.36822253] [ 0.02985972 -0.0042343 0.99954513 1.19617249] [ 0. 0. 0. 1. ]] SLAMing on 202.53255784400002 meters Centerline goodness : 0.143657 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99954474 0.00559545 -0.02964812 2.36197437] [-0.00546958 0.99997569 0.00432463 0.36852218] [ 0.0296716 -0.0041605 0.99955104 1.19638197] [ 0. 0. 0. 1. ]] SLAMing on 202.562557844 meters Centerline goodness : 0.149492 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955173 0.00556724 -0.02941681 2.36126674] [-0.0054427 0.99997589 0.00431173 0.36847597] [ 0.02944011 -0.0041497 0.99955793 1.19654181] [ 0. 0. 0. 1. ]] SLAMing on 202.592557844 meters Centerline goodness : 0.153918 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955792 0.00554784 -0.02920928 2.36052826] [-0.00542332 0.99997587 0.00434052 0.36831942] [ 0.02923266 -0.00418019 0.99956389 1.19686025] [ 0. 0. 0. 1. ]] SLAMing on 202.622557844 meters Centerline goodness : 0.128064 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955515 0.00552683 -0.02930785 2.36073568] [-0.00540312 0.99997616 0.00429859 0.36858613] [ 0.02933091 -0.00413833 0.99956119 1.19691401] [ 0. 0. 0. 1. ]] SLAMing on 202.652557844 meters Centerline goodness : 0.128829 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955236 0.00549967 -0.02940818 2.36104293] [-0.00537693 0.99997651 0.00425108 0.36877782] [ 0.02943087 -0.00409106 0.99955845 1.19682375] [ 0. 0. 0. 1. ]] SLAMing on 202.682557844 meters Centerline goodness : 0.128829 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955236 0.00549967 -0.02940818 2.36104293] [-0.00537693 0.99997651 0.00425108 0.36877782] [ 0.02943087 -0.00409106 0.99955845 1.19682375] [ 0. 0. 0. 1. ]] SLAMing on 202.712557844 meters Centerline goodness : 0.126708 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99955003 0.00542058 -0.02950179 2.36125934] [-0.00530223 0.99997758 0.00408861 0.36940807] [ 0.02952329 -0.00393034 0.99955637 1.19684551] [ 0. 0. 0. 1. ]] SLAMing on 202.742557844 meters Centerline goodness : 0.129798 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99956204 0.00536689 -0.02910191 2.35987983] [-0.00526293 0.9999795 0.00364767 0.37162745] [ 0.02912089 -0.00349291 0.99956979 1.1976274 ] [ 0. 0. 0. 1. ]] SLAMing on 202.772557844 meters Centerline goodness : 0.155305 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99631066e-01 -5.85017809e-04 -2.71549345e-02 2.38227300e+00] [ 7.66213648e-04 9.99977510e-01 6.66274166e-03 3.72301013e-01] [ 2.71504260e-02 -6.68109003e-03 9.99609032e-01 1.19723677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802557844 meters Centerline goodness : 0.157438 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99630665e-01 -6.47091760e-04 -2.71682718e-02 2.38236646e+00] [ 8.21495296e-04 9.99979127e-01 6.40871224e-03 3.73674437e-01] [ 2.71635577e-02 -6.42866389e-03 9.99610331e-01 1.19714345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832557844 meters Centerline goodness : 0.133432 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99626428e-01 -6.49637167e-04 -2.73236641e-02 2.38298529e+00] [ 8.21784384e-04 9.99979883e-01 6.28954042e-03 3.74461554e-01] [ 2.73190285e-02 -6.30964498e-03 9.99606852e-01 1.19675172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862557844 meters Centerline goodness : 0.130725 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99628152e-01 -6.39516796e-04 -2.72607702e-02 2.38276930e+00] [ 8.12684043e-04 9.99979561e-01 6.34164482e-03 3.74184307e-01] [ 2.72561574e-02 -6.36144108e-03 9.99608240e-01 1.19678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892557844 meters Centerline goodness : 0.133839 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99627719e-01 -6.06004325e-04 -2.72773894e-02 2.38268313e+00] [ 7.83235288e-04 9.99978652e-01 6.48714265e-03 3.73405031e-01] [ 2.72728758e-02 -6.50609223e-03 9.99606853e-01 1.19696772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922557844 meters Centerline goodness : 0.127913 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99625621e-01 -7.34191195e-04 -2.73510201e-02 2.38293271e+00] [ 9.15947856e-04 9.99977579e-01 6.63339833e-03 3.72004175e-01] [ 2.73455367e-02 -6.65596703e-03 9.99603881e-01 1.19672997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952557844 meters Centerline goodness : 0.131411 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 9.99538442e-01 -1.35027709e-03 -3.03492898e-02 2.33829745e+00] [ 1.51370089e-03 9.99984476e-01 5.36243520e-03 3.75111357e-01] [ 3.03415778e-02 -5.40589987e-03 9.99524970e-01 1.19654832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982557844 meters Centerline goodness : 0.149908 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 9.99538525e-01 3.99709028e-03 -3.01124667e-02 2.36102024e+00] [-3.92740843e-03 9.99989472e-01 2.37284336e-03 3.70914976e-01] [ 3.01216342e-02 -2.25348439e-03 9.99543700e-01 1.19638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012557844 meters Centerline goodness : 0.128231 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99953917 0.00404733 -0.03008439 2.36102511] [-0.00397215 0.99998884 0.00255828 0.37000203] [ 0.03009441 -0.00243761 0.99954409 1.19620851] [ 0. 0. 0. 1. ]] SLAMing on 203.04255784400002 meters Centerline goodness : 0.146504 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99954408 0.00407815 -0.02991651 2.36053719] [-0.00399982 0.99998842 0.0026775 0.36941128] [ 0.02992709 -0.00255662 0.99954881 1.19625829] [ 0. 0. 0. 1. ]] SLAMing on 203.07255784400002 meters Centerline goodness : 0.124923 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:1.20 [[ 9.99485750e-01 3.86737879e-03 -3.18320385e-02 2.31292923e+00] [-3.80984505e-03 9.99990998e-01 1.86787089e-03 3.71926515e-01] [ 3.18389757e-02 -1.74563520e-03 9.99491487e-01 1.19724168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10255784400002 meters Centerline goodness : 0.143559 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950182 -0.0049178 -0.03117565 2.33415301] [ 0.00500306 0.99998395 0.00265737 0.37250955] [ 0.03116208 -0.00281202 0.99951039 1.19806277] [ 0. 0. 0. 1. ]] SLAMing on 203.13255784400002 meters Centerline goodness : 0.126671 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 0.99949499 -0.00467563 -0.03143098 2.33530132] [ 0.0047804 0.99998326 0.00325915 0.36977147] [ 0.03141522 -0.00340776 0.99950061 1.1971096 ] [ 0. 0. 0. 1. ]] SLAMing on 203.16255784400002 meters Centerline goodness : 0.126472 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 0.99949627 -0.00454625 -0.03140904 2.33520533] [ 0.00465898 0.99998296 0.00351681 0.36867331] [ 0.03139252 -0.00366138 0.99950043 1.19714662] [ 0. 0. 0. 1. ]] SLAMing on 203.19255784400002 meters Centerline goodness : 0.152916 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950042 -0.0044454 -0.03129134 2.33465294] [ 0.00456421 0.99998264 0.00372632 0.36763301] [ 0.03127423 -0.00386728 0.99950336 1.19753298] [ 0. 0. 0. 1. ]] SLAMing on 203.22255784400002 meters Centerline goodness : 0.125852 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:1.20 [[ 0.99950486 -0.00438411 -0.0311579 2.33392122] [ 0.00450845 0.99998215 0.00392143 0.36646212] [ 0.03114015 -0.00405997 0.99950678 1.19812829] [ 0. 0. 0. 1. ]] SLAMing on 203.25255784400002 meters Centerline goodness : 0.125865 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99950338 -0.00417734 -0.03123378 2.33378119] [ 0.00431723 0.99998094 0.00441278 0.36411432] [ 0.03121476 -0.00454543 0.99950237 1.19863077] [ 0. 0. 0. 1. ]] SLAMing on 203.28255784400002 meters Centerline goodness : 0.126433 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99949789 -0.00402747 -0.03142847 2.33443064] [ 0.00417765 0.99998016 0.00471434 0.36299884] [ 0.03140886 -0.00484327 0.99949489 1.19831851] [ 0. 0. 0. 1. ]] SLAMing on 203.312557844 meters Centerline goodness : 0.143869 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99949792 -0.00387729 -0.03144637 2.33471387] [ 0.00403712 0.99997925 0.00502075 0.3617985 ] [ 0.03142625 -0.00514518 0.99949283 1.19787487] [ 0. 0. 0. 1. ]] SLAMing on 203.342557844 meters Centerline goodness : 0.127150 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99950468 -0.00377376 -0.03124338 2.33429658] [ 0.00394111 0.99997821 0.0052964 0.36042477] [ 0.03122271 -0.00541691 0.99949777 1.19768833] [ 0. 0. 0. 1. ]] SLAMing on 203.372557844 meters Centerline goodness : 0.125774 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99954678 -0.00500456 -0.02968486 2.32867599] [ 0.00513268 0.99997783 0.00424117 0.36035281] [ 0.02966298 -0.00439161 0.99955031 1.19977651] [ 0. 0. 0. 1. ]] SLAMing on 203.402557844 meters Centerline goodness : 0.152958 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99955009 -0.00492361 -0.02958675 2.32816868] [ 0.00505723 0.99997734 0.00444294 0.359415 ] [ 0.02956421 -0.00459057 0.99955234 1.20016646] [ 0. 0. 0. 1. ]] SLAMing on 203.432557844 meters Centerline goodness : 0.153177 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99953264 -0.00470484 -0.03020544 2.33017987] [ 0.00485303 0.99997654 0.0048347 0.35819662] [ 0.03018198 -0.00497903 0.99953202 1.19935255] [ 0. 0. 0. 1. ]] SLAMing on 203.462557844 meters Centerline goodness : 0.103851 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.99951678 -0.00465338 -0.03073353 2.33208335] [ 0.00480905 0.99997597 0.0049933 0.35746816] [ 0.03070956 -0.00513869 0.99951514 1.19834169] [ 0. 0. 0. 1. ]] SLAMing on 203.492557844 meters Centerline goodness : 0.161143 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:1.20 [[ 0.9995089 -0.00459907 -0.03099688 2.33323717] [ 0.0047623 0.99997517 0.00519395 0.35634452] [ 0.03097222 -0.00533902 0.99950599 1.19748553] [ 0. 0. 0. 1. ]] SLAMing on 203.522557844 meters Centerline goodness : 0.150056 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957986 0.00289762 -0.02883945 2.35040432] [-0.00278821 0.99998876 0.00383356 0.34864744] [ 0.02885024 -0.00375154 0.99957671 1.19948124] [ 0. 0. 0. 1. ]] SLAMing on 203.552557844 meters Centerline goodness : 0.139579 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99958968 0.00298368 -0.028488 2.34897688] [-0.00287235 0.99998808 0.00394808 0.34832135] [ 0.02849944 -0.00386463 0.99958634 1.20036804] [ 0. 0. 0. 1. ]] SLAMing on 203.582557844 meters Centerline goodness : 0.127100 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99959574 0.00303917 -0.02826866 2.34811464] [-0.00292615 0.99998756 0.00403869 0.34796016] [ 0.02828058 -0.00395434 0.9995922 1.20089766] [ 0. 0. 0. 1. ]] SLAMing on 203.612557844 meters Centerline goodness : 0.106875 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99958938 0.00313427 -0.02848226 2.34919907] [-0.00301002 0.99998577 0.00440403 0.34567427] [ 0.02849566 -0.00431649 0.9995846 1.19999966] [ 0. 0. 0. 1. ]] SLAMing on 203.642557844 meters Centerline goodness : 0.127264 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958492 0.00323549 -0.02862731 2.34979427] [-0.00310363 0.99998437 0.00464949 0.34445329] [ 0.02864191 -0.00455871 0.99957934 1.19956849] [ 0. 0. 0. 1. ]] SLAMing on 203.672557844 meters Centerline goodness : 0.130128 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958176 0.00332457 -0.02872715 2.35012944] [-0.00318767 0.99998335 0.00481021 0.34377833] [ 0.02874266 -0.00471662 0.99957572 1.19941726] [ 0. 0. 0. 1. ]] SLAMing on 203.702557844 meters Centerline goodness : 0.275469 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958828 0.00351874 -0.02847619 2.34901636] [-0.00337909 0.99998204 0.00495077 0.3435351 ] [ 0.0284931 -0.00485251 0.99958221 1.20030304] [ 0. 0. 0. 1. ]] SLAMing on 203.732557844 meters Centerline goodness : 0.155189 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958727 0.00351942 -0.02851136 2.34887353] [-0.00338151 0.99998236 0.00488371 0.34385547] [ 0.02852805 -0.00478528 0.99958154 1.20070766] [ 0. 0. 0. 1. ]] SLAMing on 203.762557844 meters Centerline goodness : 0.126059 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99958163 0.00349739 -0.02871137 2.34940609] [-0.00336164 0.99998295 0.00477527 0.34437445] [ 0.02872758 -0.00467675 0.99957634 1.20068276] [ 0. 0. 0. 1. ]] SLAMing on 203.79255784400002 meters Centerline goodness : 0.156766 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957437 0.00346605 -0.02896653 2.35016354] [-0.00333281 0.99998365 0.00464679 0.34504403] [ 0.02898217 -0.00454827 0.99956958 1.2004945 ] [ 0. 0. 0. 1. ]] SLAMing on 203.82255784400002 meters Centerline goodness : 0.160634 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.99957218 0.00343562 -0.0290457 2.35033777] [-0.00330681 0.99998449 0.00448171 0.34604538] [ 0.02906065 -0.00438375 0.99956804 1.20054093] [ 0. 0. 0. 1. ]] SLAMing on 203.85255784400002 meters Centerline goodness : 0.106199 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 0.9995765 0.00347469 -0.02889196 2.34989196] [-0.00334321 0.99998384 0.00459797 0.34554026] [ 0.02890747 -0.00449943 0.99957197 1.20055479] [ 0. 0. 0. 1. ]] SLAMing on 203.88255784400002 meters Centerline goodness : 0.283187 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.99957901 0.00352282 -0.0287993 2.34957849] [-0.00338644 0.99998283 0.00478274 0.34465776] [ 0.02881565 -0.0046832 0.99957377 1.2006185 ] [ 0. 0. 0. 1. ]] SLAMing on 203.91255784400002 meters Centerline goodness : 0.127249 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 0.9995808 0.00358278 -0.02872965 2.34941625] [-0.00343894 0.99998131 0.00505433 0.34330909] [ 0.02874722 -0.00495342 0.99957444 1.20051091] [ 0. 0. 0. 1. ]] SLAMing on 203.94255784400002 meters Centerline goodness : 0.156331 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99586800e-01 -4.92942421e-04 -2.87399729e-02 2.34939124e+00] [ 5.29953142e-04 9.99999040e-01 1.28017579e-03 3.42154737e-01] [ 2.87393143e-02 -1.29487766e-03 9.99586102e-01 1.20057586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97255784400002 meters Centerline goodness : 0.140530 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99590145e-01 -3.98670334e-04 -2.86248552e-02 2.34896498e+00] [ 4.47314320e-04 9.99998467e-01 1.69297847e-03 3.39925178e-01] [ 2.86241364e-02 -1.70508891e-03 9.99588791e-01 1.20070693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00255784400002 meters Centerline goodness : 0.109855 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99593122e-01 -2.88013325e-04 -2.85220701e-02 2.34863622e+00] [ 3.47369585e-04 9.99997785e-01 2.07613124e-03 3.37978784e-01] [ 2.85214089e-02 -2.08519420e-03 9.99591007e-01 1.20074552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03255784400002 meters Centerline goodness : 0.110487 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99596152e-01 -1.03559374e-04 -2.84169312e-02 2.34856813e+00] [ 1.78746224e-04 9.99996490e-01 2.64331949e-03 3.35283824e-01] [ 2.84165577e-02 -2.64733141e-03 9.99592662e-01 1.20029782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062557844 meters Centerline goodness : 0.122554 Centerline is valid? [False, False] Translation: X:2.30, Y:0.34, Z:1.20 [[ 9.99527551e-01 5.72578417e-05 -3.07355236e-02 2.30293051e+00] [ 1.77992185e-05 9.99997019e-01 2.44175051e-03 3.37933041e-01] [ 3.07355718e-02 -2.44114397e-03 9.99524570e-01 1.20011882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092557844 meters Centerline goodness : 0.114526 Centerline is valid? [False, False] Translation: X:2.35, Y:0.33, Z:1.20 [[ 9.99583697e-01 -6.60214119e-04 -2.88443404e-02 2.34655416e+00] [ 7.26452111e-04 9.99997123e-01 2.28597590e-03 3.33968724e-01] [ 2.88427482e-02 -2.30597827e-03 9.99581302e-01 1.20093367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters Centerline goodness : 0.114280 Centerline is valid? [False, False] Translation: X:2.35, Y:0.33, Z:1.20 [[ 9.99583628e-01 -6.57351729e-04 -2.88468147e-02 2.34640236e+00] [ 7.23121582e-04 9.99997163e-01 2.26959650e-03 3.33981147e-01] [ 2.88452410e-02 -2.28951126e-03 9.99581267e-01 1.20123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152557844 meters Centerline goodness : 0.121240 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99572176e-01 -4.07702546e-04 -2.92454859e-02 2.34712802e+00] [ 4.71058875e-04 9.99997557e-01 2.15950575e-03 3.35477293e-01] [ 2.92445340e-02 -2.17235820e-03 9.99569927e-01 1.20177851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.182557844 meters Centerline goodness : 0.118542 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99562632e-01 -4.51257449e-04 -2.95692521e-02 2.34798880e+00] [ 5.04491316e-04 9.99998266e-01 1.79287595e-03 3.37546530e-01] [ 2.95683918e-02 -1.80700923e-03 9.99561126e-01 1.20179747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.212557844 meters Centerline goodness : 0.118240 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.20 [[ 9.99556734e-01 -5.24728502e-04 -2.97667628e-02 2.34848688e+00] [ 5.64684401e-04 9.99998951e-01 1.33390871e-03 3.39960783e-01] [ 2.97660316e-02 -1.35012626e-03 9.99555982e-01 1.20190510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.242557844 meters Centerline goodness : 0.122810 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99570927e-01 2.15563307e-03 -2.92115624e-02 2.34542299e+00] [-2.06438420e-03 9.99992897e-01 3.15352295e-03 3.45948366e-01] [ 2.92181527e-02 -3.09186598e-03 9.99568277e-01 1.20372296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.272557844 meters Centerline goodness : 0.118918 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99570537e-01 1.98732303e-03 -2.92368395e-02 2.34544946e+00] [-1.91186761e-03 9.99994770e-01 2.60856215e-03 3.48726673e-01] [ 2.92418707e-02 -2.55154490e-03 9.99569108e-01 1.20382757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302557844 meters Centerline goodness : 0.111486 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99565569e-01 1.84967553e-03 -2.94151592e-02 2.34597012e+00] [-1.78614961e-03 9.99996016e-01 2.18576111e-03 3.50968553e-01] [ 2.94190849e-02 -2.13227167e-03 9.99564891e-01 1.20374743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332557844 meters Centerline goodness : 0.124787 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99544378e-01 1.67846046e-03 -3.01366793e-02 2.34874056e+00] [-1.62296685e-03 9.99996942e-01 1.86576418e-03 3.52351958e-01] [ 3.01397188e-02 -1.81600327e-03 9.99544046e-01 1.20216783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362557844 meters Centerline goodness : 0.241105 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99533721e-01 1.65874239e-03 -3.04891563e-02 2.35013356e+00] [-1.60020562e-03 9.99996830e-01 1.94422094e-03 3.51781855e-01] [ 3.04922846e-02 -1.89452547e-03 9.99533207e-01 1.20130828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392557844 meters Centerline goodness : 0.163100 Centerline is valid? [False, False] Translation: X:2.35, Y:0.35, Z:1.20 [[ 9.99531017e-01 1.65310813e-03 -3.05779751e-02 2.35056900e+00] [-1.59399892e-03 9.99996814e-01 1.95734047e-03 3.51673382e-01] [ 3.05811134e-02 -1.90768125e-03 9.99530468e-01 1.20094658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422557844 meters Centerline goodness : 0.131256 Centerline is valid? [False, False] Translation: X:2.34, Y:0.35, Z:1.20 [[ 0.99957214 0.00360645 -0.02902651 2.34356035] [-0.0035062 0.99998771 0.0035038 0.35402671] [ 0.02903879 -0.00340053 0.9995725 1.20460701] [ 0. 0. 0. 1. ]] SLAMing on 204.452557844 meters Centerline goodness : 0.124595 Centerline is valid? [False, False] Translation: X:2.34, Y:0.36, Z:1.21 [[ 0.99957622 0.003414 -0.02890895 2.34299087] [-0.00333169 0.99999026 0.00289506 0.35694036] [ 0.02891856 -0.00279752 0.99957786 1.20517388] [ 0. 0. 0. 1. ]] SLAMing on 204.482557844 meters Centerline goodness : 0.129271 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 9.99552432e-01 3.44397750e-03 -2.97165625e-02 2.34544789e+00] [-3.38288935e-03 9.99992061e-01 2.10572399e-03 3.62052410e-01] [ 2.97235786e-02 -2.00425370e-03 9.99556147e-01 1.20457204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512557844 meters Centerline goodness : 0.373407 Centerline is valid? [False, False] Translation: X:2.35, Y:0.36, Z:1.20 [[ 9.99551870e-01 3.27494354e-03 -2.97545767e-02 2.34573856e+00] [-3.22812137e-03 9.99993475e-01 1.62151244e-03 3.64451587e-01] [ 2.97596929e-02 -1.52473441e-03 9.99555919e-01 1.20426440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54255784400002 meters Centerline goodness : 0.340239 Centerline is valid? [False, False] Translation: X:2.35, Y:0.37, Z:1.20 [[ 9.99558888e-01 3.11252581e-03 -2.95354224e-02 2.34508523e+00] [-3.07815769e-03 9.99994532e-01 1.20901970e-03 3.66332326e-01] [ 2.95390240e-02 -1.11757170e-03 9.99563003e-01 1.20444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57255784400002 meters Centerline goodness : 0.144586 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99594345e-01 -5.66221281e-03 -2.79120773e-02 2.36495732e+00] [ 5.71307785e-03 9.99982161e-01 1.74291965e-03 3.70432200e-01] [ 2.79017106e-02 -1.90167649e-03 9.99608863e-01 1.20566032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60255784400002 meters Centerline goodness : 0.144586 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99594345e-01 -5.66221281e-03 -2.79120773e-02 2.36495732e+00] [ 5.71307785e-03 9.99982161e-01 1.74291965e-03 3.70432200e-01] [ 2.79017106e-02 -1.90167649e-03 9.99608863e-01 1.20566032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63255784400002 meters Centerline goodness : 0.260944 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.20 [[ 9.99608407e-01 2.67583812e-03 -2.78544969e-02 2.34361579e+00] [-2.66643081e-03 9.99996375e-01 3.74868119e-04 3.67909693e-01] [ 2.78553990e-02 -3.00449235e-04 9.99611918e-01 1.20421322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66255784400002 meters Centerline goodness : 0.118142 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99589227e-01 -6.04444395e-03 -2.80150234e-02 2.36410505e+00] [ 6.07986106e-03 9.99980822e-01 1.17920953e-03 3.72731448e-01] [ 2.80073585e-02 -1.34905259e-03 9.99606807e-01 1.20614932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69255784400002 meters Centerline goodness : 0.142551 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.21 [[ 9.99588657e-01 -6.13595019e-03 -2.80154889e-02 2.36412516e+00] [ 6.16633690e-03 9.99980490e-01 9.98374325e-04 3.73625637e-01] [ 2.80088164e-02 -1.17071659e-03 9.99606991e-01 1.20609318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72255784400002 meters Centerline goodness : 0.144672 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99589915e-01 -6.35117546e-03 -2.79224543e-02 2.36376507e+00] [ 6.36688609e-03 9.99979619e-01 4.73780755e-04 3.76337356e-01] [ 2.79188762e-02 -6.51365551e-04 9.99609980e-01 1.20633621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75255784400002 meters Centerline goodness : 0.124129 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99590567e-01 -6.46984108e-03 -2.78718485e-02 2.36359212e+00] [ 6.47714427e-03 9.99979008e-01 1.71752019e-04 3.77862107e-01] [ 2.78701522e-02 -3.52211681e-04 9.99611490e-01 1.20642634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78255784400002 meters Centerline goodness : 0.122618 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99588777e-01 -6.60277410e-03 -2.79048291e-02 2.36364250e+00] [ 6.60120635e-03 9.99978201e-01 -1.48303131e-04 3.79329151e-01] [ 2.79052000e-02 -3.59633896e-05 9.99610573e-01 1.20650408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812557844 meters Centerline goodness : 0.123592 Centerline is valid? [False, False] Translation: X:2.36, Y:0.38, Z:1.21 [[ 9.99576038e-01 -6.88924231e-03 -2.82892573e-02 2.36491774e+00] [ 6.86827188e-03 9.99976062e-01 -8.38388660e-04 3.82541429e-01] [ 2.82943560e-02 6.43734904e-04 9.99599427e-01 1.20601159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842557844 meters Centerline goodness : 0.170929 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99556680e-01 2.07393835e-03 -2.97008687e-02 2.34507921e+00] [-2.13184559e-03 9.99995888e-01 -1.91814844e-03 3.81948224e-01] [ 2.96967684e-02 1.98061575e-03 9.99556991e-01 1.20441233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872557844 meters Centerline goodness : 0.154644 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99538372e-01 1.95693539e-03 -3.03185453e-02 2.34688688e+00] [-2.03078316e-03 9.99995046e-01 -2.40512852e-03 3.84858789e-01] [ 3.03136884e-02 2.46558864e-03 9.99537394e-01 1.20403132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters Centerline goodness : 0.151657 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99536666e-01 1.88852022e-03 -3.03790522e-02 2.34693684e+00] [-1.96753571e-03 9.99994759e-01 -2.57130372e-03 3.85676712e-01] [ 3.03740370e-02 2.62988421e-03 9.99535143e-01 1.20423603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.932557844 meters Centerline goodness : 0.164814 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99538611e-01 1.80023718e-03 -3.03203567e-02 2.34661009e+00] [-1.88617362e-03 9.99994285e-01 -2.80591905e-03 3.86824540e-01] [ 3.03151321e-02 2.86181389e-03 9.99536294e-01 1.20456345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.962557844 meters Centerline goodness : 0.165110 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99543422e-01 1.70313397e-03 -3.01669987e-02 2.34608164e+00] [-1.79854276e-03 9.99993466e-01 -3.13583519e-03 3.88486715e-01] [ 3.01614608e-02 3.18866008e-03 9.99539954e-01 1.20487637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.992557844 meters Centerline goodness : 0.135409 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99567195e-01 1.60249028e-03 -2.93743960e-02 2.34378949e+00] [-1.71361701e-03 9.99991469e-01 -3.75833220e-03 3.91562604e-01] [ 2.93681227e-02 3.80704204e-03 9.99561414e-01 1.20554413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.022557844 meters Centerline goodness : 0.143705 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99574986e-01 1.49761644e-03 -2.91136628e-02 2.34294376e+00] [-1.61572374e-03 9.99990559e-01 -4.03366405e-03 3.92732537e-01] [ 2.91073471e-02 4.07898932e-03 9.99567969e-01 1.20586289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052557844 meters Centerline goodness : 0.160895 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99575378e-01 1.44846454e-03 -2.91026741e-02 2.34271480e+00] [-1.57178100e-03 9.99989882e-01 -4.21486019e-03 3.93588174e-01] [ 2.90962745e-02 4.25881349e-03 9.99567541e-01 1.20620613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082557844 meters Centerline goodness : 0.119893 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99568567e-01 1.46947722e-03 -2.93346220e-02 2.34340434e+00] [-1.59534806e-03 9.99989620e-01 -4.26791951e-03 3.94042219e-01] [ 2.93280459e-02 4.31287712e-03 9.99560536e-01 1.20605405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112557844 meters Centerline goodness : 0.121128 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99546747e-01 1.64750426e-03 -3.00596990e-02 2.34586073e+00] [-1.76739681e-03 9.99990588e-01 -3.96234794e-03 3.92803635e-01] [ 3.00528881e-02 4.01367941e-03 9.99540251e-01 1.20492842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142557844 meters Centerline goodness : 0.154473 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99542771e-01 1.71637439e-03 -3.01877922e-02 2.34647103e+00] [-1.83017748e-03 9.99991322e-01 -3.74261132e-03 3.91573498e-01] [ 3.01811065e-02 3.79614911e-03 9.99537238e-01 1.20442613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172557844 meters Centerline goodness : 0.124851 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99538899e-01 1.80409283e-03 -3.03106373e-02 2.34686009e+00] [-1.91169570e-03 9.99991973e-01 -3.52139964e-03 3.90443764e-01] [ 3.03040410e-02 3.57772063e-03 9.99534324e-01 1.20425188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202557844 meters Centerline goodness : 0.119978 Centerline is valid? [False, False] Translation: X:2.35, Y:0.39, Z:1.20 [[ 9.99550359e-01 2.00807208e-03 -2.99173300e-02 2.34544721e+00] [-2.10470941e-03 9.99992668e-01 -3.19900501e-03 3.89170644e-01] [ 2.99106868e-02 3.26053389e-03 9.99547257e-01 1.20491562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232557844 meters Centerline goodness : 0.157443 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99561880e-01 2.10253506e-03 -2.95233384e-02 2.34408160e+00] [-2.19447391e-03 9.99992843e-01 -3.08205181e-03 3.88777963e-01] [ 2.95166470e-02 3.14548969e-03 9.99559340e-01 1.20555660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262557844 meters Centerline goodness : 0.154256 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99567947e-01 2.18039482e-03 -2.93115291e-02 2.34327076e+00] [-2.26769727e-03 9.99993091e-01 -2.94552209e-03 3.88140245e-01] [ 2.93049041e-02 3.01071914e-03 9.99565985e-01 1.20598795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29255784400002 meters Centerline goodness : 0.156035 Centerline is valid? [False, False] Translation: X:2.34, Y:0.39, Z:1.21 [[ 9.99566137e-01 2.27571079e-03 -2.93659311e-02 2.34357807e+00] [-2.35765196e-03 9.99993423e-01 -2.75602506e-03 3.87210999e-01] [ 2.93594661e-02 2.82406397e-03 9.99564929e-01 1.20569290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32255784400002 meters Centerline goodness : 0.156418 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99549196e-01 2.56915876e-03 -2.99132699e-02 2.34563259e+00] [-2.63637479e-03 9.99994088e-01 -2.20780715e-03 3.84794217e-01] [ 2.99074208e-02 2.28567445e-03 9.99550060e-01 1.20446924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35255784400002 meters Centerline goodness : 0.144268 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99548945e-01 2.68411077e-03 -2.99115612e-02 2.34578510e+00] [-2.74346047e-03 9.99994348e-01 -1.94330946e-03 3.83615417e-01] [ 2.99061761e-02 2.02449410e-03 9.99550660e-01 1.20415230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38255784400002 meters Centerline goodness : 0.158409 Centerline is valid? [False, False] Translation: X:2.35, Y:0.38, Z:1.20 [[ 9.99551562e-01 2.81528511e-03 -2.98118892e-02 2.34540087e+00] [-2.86586278e-03 9.99994526e-01 -1.65396855e-03 3.82238948e-01] [ 2.98070696e-02 1.73866364e-03 9.99554158e-01 1.20432843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41255784400002 meters Centerline goodness : 0.120805 Centerline is valid? [False, False] Translation: X:2.32, Y:0.38, Z:1.20 [[ 9.99549986e-01 -5.52398958e-03 -2.94840813e-02 2.32284478e+00] [ 5.50120939e-03 9.99984504e-01 -8.53688418e-04 3.84715373e-01] [ 2.94883402e-02 6.91106141e-04 9.99564885e-01 1.20415833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44255784400002 meters Centerline goodness : 0.224255 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99589976e-01 2.07907000e-03 -2.85579570e-02 2.34139183e+00] [-2.13985941e-03 9.99995509e-01 -2.09823664e-03 3.77566613e-01] [ 2.85534664e-02 2.15848633e-03 9.99589936e-01 1.20595859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47255784400002 meters Centerline goodness : 0.145992 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99595166e-01 2.15057390e-03 -2.83704075e-02 2.34079542e+00] [-2.20372713e-03 9.99995875e-01 -1.84241128e-03 3.76010709e-01] [ 2.83663282e-02 1.90418604e-03 9.99595781e-01 1.20606510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50255784400002 meters Centerline goodness : 0.145002 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99599854e-01 2.24305315e-03 -2.81975322e-02 2.34038556e+00] [-2.28728825e-03 9.99996204e-01 -1.53660140e-03 3.74302684e-01] [ 2.81939785e-02 1.60048242e-03 9.99601189e-01 1.20597632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53255784400002 meters Centerline goodness : 0.147950 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99605309e-01 2.40026975e-03 -2.79904283e-02 2.33967165e+00] [-2.43329488e-03 9.99996383e-01 -1.14587106e-03 3.72673390e-01] [ 2.79875766e-02 1.21352776e-03 9.99607534e-01 1.20623327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters Centerline goodness : 0.173040 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99606434e-01 2.46859979e-03 -2.79442908e-02 2.33950042e+00] [-2.49880066e-03 9.99996331e-01 -1.04588403e-03 3.72512802e-01] [ 2.79416064e-02 1.11529962e-03 9.99608935e-01 1.20633678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592557844 meters Centerline goodness : 0.235525 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99607515e-01 2.49708152e-03 -2.79030572e-02 2.33933245e+00] [-2.52606012e-03 9.99996306e-01 -1.00334487e-03 3.72366878e-01] [ 2.79004487e-02 1.07343588e-03 9.99610130e-01 1.20645760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters Centerline goodness : 0.142823 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99614291e-01 2.44060734e-03 -2.76642805e-02 2.33855540e+00] [-2.47395973e-03 9.99996254e-01 -1.17144925e-03 3.72938558e-01] [ 2.76613178e-02 1.23943773e-03 9.99616584e-01 1.20672673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652557844 meters Centerline goodness : 0.177207 Centerline is valid? [False, False] Translation: X:2.34, Y:0.37, Z:1.21 [[ 9.99612062e-01 2.39717664e-03 -2.77484992e-02 2.33879830e+00] [-2.43574495e-03 9.99996114e-01 -1.35620689e-03 3.73938603e-01] [ 2.77451403e-02 1.42326903e-03 9.99614016e-01 1.20667793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.682557844 meters Centerline goodness : 0.108496 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99611999e-01 2.38975952e-03 -2.77513907e-02 2.33887411e+00] [-2.43467129e-03 9.99995781e-01 -1.58468460e-03 3.75378652e-01] [ 2.77474866e-02 1.65163526e-03 9.99613600e-01 1.20657496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.712557844 meters Centerline goodness : 0.131145 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99621665e-01 2.66153105e-03 -2.73759565e-02 2.33790626e+00] [-2.71084215e-03 9.99994769e-01 -1.76430063e-03 3.77285768e-01] [ 2.73711175e-02 1.83784503e-03 9.99623651e-01 1.20672989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.742557844 meters Centerline goodness : 0.364272 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99625383e-01 2.61353016e-03 -2.72445020e-02 2.33756595e+00] [-2.66739415e-03 9.99994559e-01 -1.94090399e-03 3.78044649e-01] [ 2.72392811e-02 2.01284872e-03 9.99626915e-01 1.20673191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.772557844 meters Centerline goodness : 0.141422 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99627608e-01 2.59210309e-03 -2.71647816e-02 2.33730236e+00] [-2.64993210e-03 9.99994299e-01 -2.09304031e-03 3.78805832e-01] [ 2.71592014e-02 2.16424571e-03 9.99628778e-01 1.20681575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802557844 meters Centerline goodness : 0.346958 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99616219e-01 2.82998844e-03 -2.75573185e-02 2.33845223e+00] [-2.89047340e-03 9.99993500e-01 -2.15529115e-03 3.79971184e-01] [ 2.75510399e-02 2.23411769e-03 9.99617901e-01 1.20655507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832557844 meters Centerline goodness : 0.390585 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 9.99607160e-01 2.88050285e-03 -2.78788100e-02 2.33947848e+00] [-2.94555975e-03 9.99993033e-01 -2.29277493e-03 3.80957072e-01] [ 2.78720114e-02 2.37399294e-03 9.99608681e-01 1.20618200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862557844 meters Centerline goodness : 0.341514 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.21 [[ 0.99960146 0.00291102 -0.02807933 2.34022167] [-0.00298172 0.99999249 -0.0024765 0.38204141] [ 0.02807191 0.00255924 0.99960263 1.20575502] [ 0. 0. 0. 1. ]] SLAMing on 205.892557844 meters Centerline goodness : 0.220896 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99959662 0.00337621 -0.02819927 2.34086757] [-0.00344883 0.99999086 -0.00252719 0.38331303] [ 0.02819048 0.00262343 0.99959913 1.20491508] [ 0. 0. 0. 1. ]] SLAMing on 205.922557844 meters Centerline goodness : 0.119322 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99959968 0.00347392 -0.02807878 2.34065333] [-0.00355068 0.99999009 -0.00268464 0.384319 ] [ 0.02806918 0.00278327 0.99960211 1.20462552] [ 0. 0. 0. 1. ]] SLAMing on 205.952557844 meters Centerline goodness : 0.133072 Centerline is valid? [False, False] Translation: X:2.34, Y:0.38, Z:1.20 [[ 0.99960821 0.00354287 -0.0277647 2.33982933] [-0.00362082 0.99998964 -0.00275764 0.38485996] [ 0.02775464 0.00285709 0.99961068 1.2045787 ] [ 0. 0. 0. 1. ]] SLAMing on 205.982557844 meters Centerline goodness : 0.180522 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 0.99965757 0.00365064 -0.02591171 2.38298041] [-0.00371681 0.99998995 -0.002506 0.38443324] [ 0.0259023 0.00260145 0.99966109 1.20597833] [ 0. 0. 0. 1. ]] SLAMing on 206.012557844 meters Centerline goodness : 0.167690 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 9.99655927e-01 3.83705865e-03 -2.59481190e-02 2.38311847e+00] [-3.89571807e-03 9.99989969e-01 -2.21046858e-03 3.83143071e-01] [ 2.59393770e-02 2.31079457e-03 9.99660847e-01 1.20574857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04255784400002 meters Centerline goodness : 0.160614 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.21 [[ 9.99652354e-01 3.99383178e-03 -2.60618616e-02 2.38360121e+00] [-4.04390940e-03 9.99990077e-01 -1.86906835e-03 3.81603270e-01] [ 2.60541383e-02 1.97381039e-03 9.99658585e-01 1.20538853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07255784400002 meters Centerline goodness : 0.094508 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99652047e-01 4.26811293e-03 -2.60301556e-02 2.38406806e+00] [-4.30094061e-03 9.99990025e-01 -1.20528385e-03 3.78169454e-01] [ 2.60247516e-02 1.31681862e-03 9.99660431e-01 1.20438412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10255784400002 meters Centerline goodness : 0.035848 Centerline is valid? [False, False] Translation: X:2.38, Y:0.38, Z:1.20 [[ 9.99652534e-01 4.40935773e-03 -2.59878598e-02 2.38418451e+00] [-4.43214848e-03 9.99989842e-01 -8.19441362e-04 3.76040476e-01] [ 2.59839826e-02 9.34338687e-04 9.99661923e-01 1.20395177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 206.16255784400002 meters Centerline goodness : 0.184833 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99655424e-01 5.05280279e-03 -2.57585332e-02 2.38372832e+00] [-5.04730336e-03 9.99987223e-01 2.78511443e-04 3.71484701e-01] [ 2.57596114e-02 -1.48404343e-04 9.99668155e-01 1.20374105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19255784400002 meters Centerline goodness : 0.203270 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99658797e-01 5.21603620e-03 -2.55945841e-02 2.38317392e+00] [-5.20720412e-03 9.99986358e-01 4.11713750e-04 3.71336136e-01] [ 2.55963825e-02 -2.78297048e-04 9.99672320e-01 1.20393611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22255784400002 meters Centerline goodness : 0.294938 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99661883e-01 5.34652059e-03 -2.54466810e-02 2.38277501e+00] [-5.33730591e-03 9.99985664e-01 4.30023012e-04 3.71518256e-01] [ 2.54486153e-02 -2.94060893e-04 9.99676088e-01 1.20388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 206.28255784400002 meters Centerline goodness : 0.227344 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99653612e-01 6.13331441e-03 -2.55937150e-02 2.38382887e+00] [-6.10751723e-03 9.99980759e-01 1.08599852e-03 3.69616930e-01] [ 2.55998833e-02 -9.29308290e-04 9.99671837e-01 1.20263148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312557844 meters Centerline goodness : 0.090815 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99646395e-01 6.29362862e-03 -2.58355387e-02 2.38476534e+00] [-6.25827085e-03 9.99979367e-01 1.44920049e-03 3.67892327e-01] [ 2.58441263e-02 -1.28700224e-03 9.99665156e-01 1.20205411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342557844 meters Centerline goodness : 0.247223 Centerline is valid? [False, False] Translation: X:2.36, Y:0.37, Z:1.20 [[ 0.99963024 -0.00254014 -0.02707252 2.36346059] [ 0.00260709 0.99999363 0.0024378 0.36601572] [ 0.02706615 -0.00250748 0.9996305 1.20124669] [ 0. 0. 0. 1. ]] SLAMing on 206.372557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 206.402557844 meters Centerline goodness : 0.167963 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99744409e-01 4.24935049e-03 -2.22049286e-02 2.37889329e+00] [-4.24107838e-03 9.99990919e-01 4.19614060e-04 3.61684721e-01] [ 2.22065100e-02 -3.25333968e-04 9.99753352e-01 1.20389816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.432557844 meters Centerline goodness : 0.089097 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99754726e-01 4.30909163e-03 -2.17236949e-02 2.37750267e+00] [-4.30381925e-03 9.99990697e-01 2.89449025e-04 3.62777322e-01] [ 2.17247400e-02 -1.95883175e-04 9.99763971e-01 1.20420078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.462557844 meters Centerline goodness : 0.171526 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99758316e-01 4.25432465e-03 -2.15687330e-02 2.37713040e+00] [-4.25584552e-03 9.99990944e-01 -2.46109714e-05 3.64524373e-01] [ 2.15684330e-02 1.16398219e-04 9.99767368e-01 1.20411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.492557844 meters Centerline goodness : 0.171526 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99758316e-01 4.25432465e-03 -2.15687330e-02 2.37713040e+00] [-4.25584552e-03 9.99990944e-01 -2.46109714e-05 3.64524373e-01] [ 2.15684330e-02 1.16398219e-04 9.99767368e-01 1.20411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.522557844 meters Centerline goodness : 0.150673 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99756312e-01 4.18892082e-03 -2.16741894e-02 2.37768003e+00] [-4.19682346e-03 9.99991142e-01 -3.19136265e-04 3.66043527e-01] [ 2.16726606e-02 4.10021242e-04 9.99765036e-01 1.20355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552557844 meters Centerline goodness : 0.165769 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99747071e-01 4.19666849e-03 -2.20948623e-02 2.37896003e+00] [-4.21404657e-03 9.99990847e-01 -7.40019950e-04 3.68711637e-01] [ 2.20915544e-02 8.32941556e-04 9.99755605e-01 1.20307250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582557844 meters Centerline goodness : 0.171371 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99746152e-01 4.15561349e-03 -2.21441451e-02 2.37886765e+00] [-4.17568789e-03 9.99990912e-01 -8.60370955e-04 3.69397297e-01] [ 2.21403685e-02 9.52619590e-04 9.99754418e-01 1.20341388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612557844 meters Centerline goodness : 0.093020 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99742337e-01 4.16475446e-03 -2.23139744e-02 2.37899527e+00] [-4.18320660e-03 9.99990946e-01 -7.80317743e-04 3.68915438e-01] [ 2.23105225e-02 8.73460649e-04 9.99750708e-01 1.20393006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642557844 meters Centerline goodness : 0.095581 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99741062e-01 4.15409720e-03 -2.23730094e-02 2.37906929e+00] [-4.16953890e-03 9.99991100e-01 -6.43589215e-04 3.67900963e-01] [ 2.23701367e-02 7.36707699e-04 9.99749486e-01 1.20400946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672557844 meters Centerline goodness : 0.315245 Centerline is valid? [False, False] Translation: X:2.38, Y:0.37, Z:1.20 [[ 9.99741563e-01 4.18645714e-03 -2.23446095e-02 2.37886082e+00] [-4.19713375e-03 9.99991099e-01 -4.30939516e-04 3.66684228e-01] [ 2.23426065e-02 5.24611460e-04 9.99750235e-01 1.20421526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702557844 meters Centerline goodness : 0.181467 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.21 [[ 9.99768891e-01 -3.87633686e-03 -2.11456389e-02 2.39780389e+00] [ 3.89930001e-03 9.99991852e-01 1.04482928e-03 3.69452864e-01] [ 2.11414164e-02 -1.12704100e-03 9.99775860e-01 1.20563368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732557844 meters Centerline goodness : 0.096435 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.21 [[ 9.99773301e-01 -3.56327091e-03 -2.09916764e-02 2.39756682e+00] [ 3.60041103e-03 9.99992019e-01 1.73175081e-03 3.66733291e-01] [ 2.09853382e-02 -1.80693689e-03 9.99778151e-01 1.20550173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762557844 meters Centerline goodness : 0.221381 Centerline is valid? [False, False] Translation: X:2.40, Y:0.37, Z:1.20 [[ 9.99770161e-01 -3.44056038e-03 -2.11609752e-02 2.39830669e+00] [ 3.48321894e-03 9.99991975e-01 1.97937928e-03 3.65570838e-01] [ 2.11539952e-02 -2.05263265e-03 9.99774122e-01 1.20497755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 206.82255784400002 meters Centerline goodness : 0.167607 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99753912e-01 4.01345221e-03 -2.18175853e-02 2.42193264e+00] [-4.01493339e-03 9.99991940e-01 -2.40863425e-05 3.62248276e-01] [ 2.18173127e-02 1.11676567e-04 9.99761968e-01 1.20447485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85255784400002 meters Centerline goodness : 0.299452 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99756424e-01 4.62433012e-03 -2.15802929e-02 2.42136820e+00] [-4.62010180e-03 9.99989297e-01 2.45788000e-04 3.62289047e-01] [ 2.15811986e-02 -1.46024982e-04 9.99767088e-01 1.20432678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88255784400002 meters Centerline goodness : 0.164474 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99687588e-01 5.44259369e-03 -2.43947486e-02 2.37581136e+00] [-5.42711985e-03 9.99985028e-01 7.00472626e-04 3.60912135e-01] [ 2.43981957e-02 -5.67860566e-04 9.99702158e-01 1.20481306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91255784400002 meters Centerline goodness : 0.160985 Centerline is valid? [False, False] Translation: X:2.38, Y:0.36, Z:1.20 [[ 9.99684883e-01 5.49169116e-03 -2.44944227e-02 2.37614438e+00] [-5.47907171e-03 9.99984820e-01 5.82281137e-04 3.61722430e-01] [ 2.44972486e-02 -4.47890952e-04 9.99699797e-01 1.20457703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94255784400002 meters Centerline goodness : 0.170167 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99724710e-01 7.08946396e-03 -2.23661388e-02 2.42035437e+00] [-7.06533872e-03 9.99974370e-01 1.15748925e-03 3.65534860e-01] [ 2.23737715e-02 -9.99146262e-04 9.99749177e-01 1.20440068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97255784400002 meters Centerline goodness : 0.118920 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99732553e-01 7.07982041e-03 -2.20158878e-02 2.41937368e+00] [-7.05797166e-03 9.99974520e-01 1.06995425e-03 3.66023476e-01] [ 2.20229020e-02 -9.14280583e-04 9.99757048e-01 1.20450434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00255784400002 meters Centerline goodness : 0.119660 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99732623e-01 7.10867784e-03 -2.20033979e-02 2.41930440e+00] [-7.08558680e-03 9.99974262e-01 1.12721715e-03 3.65746651e-01] [ 2.20108446e-02 -9.71008772e-04 9.99757260e-01 1.20451432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03255784400002 meters Centerline goodness : 0.171287 Centerline is valid? [False, False] Translation: X:2.42, Y:0.37, Z:1.20 [[ 9.99725026e-01 7.10694703e-03 -2.23464561e-02 2.42045925e+00] [-7.08216917e-03 9.99974216e-01 1.18775081e-03 3.65304096e-01] [ 2.23543212e-02 -1.02916283e-03 9.99749581e-01 1.20399841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters Centerline goodness : 0.165487 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99715291e-01 7.14061616e-03 -2.27672909e-02 2.42193203e+00] [-7.11227583e-03 9.99973829e-01 1.32551522e-03 3.64517256e-01] [ 2.27761600e-02 -1.16321058e-03 9.99739913e-01 1.20327123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092557844 meters Centerline goodness : 0.125365 Centerline is valid? [False, False] Translation: X:2.42, Y:0.36, Z:1.20 [[ 9.99706932e-01 7.18325054e-03 -2.31182129e-02 2.42310941e+00] [-7.15088885e-03 9.99973334e-01 1.48220087e-03 3.63689421e-01] [ 2.31282435e-02 -1.31645071e-03 9.99731640e-01 1.20278714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters Centerline goodness : 0.119073 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.20 [[ 9.99721833e-01 -1.65706553e-03 -2.35267950e-02 2.40186080e+00] [ 1.71291801e-03 9.99995762e-01 2.35404006e-03 3.64193989e-01] [ 2.35227945e-02 -2.39368471e-03 9.99720435e-01 1.20186781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152557844 meters Centerline goodness : 0.118063 Centerline is valid? [False, False] Translation: X:2.45, Y:0.37, Z:1.20 [[ 9.99769641e-01 -2.02750782e-03 -2.13671117e-02 2.44500534e+00] [ 2.07135021e-03 9.99995794e-01 2.02993105e-03 3.65002040e-01] [ 2.13629061e-02 -2.07372221e-03 9.99769636e-01 1.20289624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.182557844 meters Centerline goodness : 0.277324 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.21 [[ 9.99726932e-01 -2.75421101e-03 -2.32050894e-02 2.39599663e+00] [ 2.80620572e-03 9.99993624e-01 2.20839430e-03 3.57321049e-01] [ 2.31988591e-02 -2.27290951e-03 9.99728286e-01 1.20520154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.212557844 meters Centerline goodness : 0.166956 Centerline is valid? [False, False] Translation: X:2.40, Y:0.36, Z:1.21 [[ 0.99972746 -0.00257087 -0.02320332 2.39585879] [ 0.00263294 0.99999304 0.00264497 0.35535006] [ 0.02319635 -0.00270534 0.99972727 1.20545796] [ 0. 0. 0. 1. ]] SLAMing on 207.242557844 meters Centerline goodness : 0.112305 Centerline is valid? [False, False] Translation: X:2.40, Y:0.35, Z:1.21 [[ 0.99972775 -0.00243281 -0.02320596 2.39595032] [ 0.00250299 0.99999238 0.00299586 0.35366766] [ 0.02319849 -0.00305313 0.99972622 1.20535846] [ 0. 0. 0. 1. ]] SLAMing on 207.272557844 meters Centerline goodness : 0.148012 Centerline is valid? [False, False] Translation: X:2.40, Y:0.35, Z:1.21 [[ 9.99728322e-01 -2.32315842e-03 -2.31923504e-02 2.39607394e+00] [ 2.39982534e-03 9.99991746e-01 3.27841353e-03 3.52209930e-01] [ 2.31845427e-02 -3.33318045e-03 9.99725646e-01 1.20512039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302557844 meters Centerline goodness : 0.165728 Centerline is valid? [False, False] Translation: X:2.42, Y:0.35, Z:1.21 [[ 9.99723448e-01 5.93685690e-03 -2.27548177e-02 2.41611802e+00] [-5.88952591e-03 9.99980353e-01 2.14649547e-03 3.46704773e-01] [ 2.27671141e-02 -2.01188676e-03 9.99738771e-01 1.20668040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332557844 meters Centerline goodness : 0.121624 Centerline is valid? [False, False] Translation: X:2.42, Y:0.35, Z:1.21 [[ 9.99726206e-01 6.03522875e-03 -2.26072727e-02 2.41570675e+00] [-5.98463776e-03 9.99979436e-01 2.30480866e-03 3.46203138e-01] [ 2.26207179e-02 -2.16888128e-03 9.99741766e-01 1.20673074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362557844 meters Centerline goodness : 0.267146 Centerline is valid? [False, False] Translation: X:2.41, Y:0.35, Z:1.21 [[ 0.99973113 0.00622538 -0.02233637 2.41465467] [-0.00616831 0.99997754 0.00262277 0.3450766 ] [ 0.02235219 -0.00248428 0.99974707 1.20735706] [ 0. 0. 0. 1. ]] SLAMing on 207.392557844 meters Centerline goodness : 0.162823 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.21 [[ 0.9997272 0.00628068 -0.02249625 2.41502688] [-0.00621926 0.99997674 0.00279916 0.34401845] [ 0.0225133 -0.00265849 0.99974301 1.20741199] [ 0. 0. 0. 1. ]] SLAMing on 207.422557844 meters Centerline goodness : 0.167392 Centerline is valid? [False, False] Translation: X:2.42, Y:0.34, Z:1.21 [[ 0.99972223 0.00631659 -0.02270582 2.41558879] [-0.00625106 0.99997609 0.0029555 0.34298813] [ 0.02272395 -0.00281275 0.99973782 1.20736584] [ 0. 0. 0. 1. ]] SLAMing on 207.452557844 meters Centerline goodness : 0.163570 Centerline is valid? [False, False] Translation: X:2.41, Y:0.34, Z:1.21 [[ 0.99972747 0.00649884 -0.02242227 2.41460505] [-0.00642512 0.99997372 0.00335803 0.34118263] [ 0.02244351 -0.00321305 0.99974295 1.20779782] [ 0. 0. 0. 1. ]] SLAMing on 207.482557844 meters Centerline goodness : 0.161662 Centerline is valid? [False, False] Translation: X:2.43, Y:0.34, Z:1.21 [[ 9.99782275e-01 -1.29672196e-03 -2.08259939e-02 2.43239830e+00] [ 1.39953976e-03 9.99986902e-01 4.92317763e-03 3.44908718e-01] [ 2.08193371e-02 -4.95125253e-03 9.99770994e-01 1.20949882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512557844 meters Centerline goodness : 0.170698 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.21 [[ 9.99734144e-01 -2.12491009e-03 -2.29592057e-02 2.38589499e+00] [ 2.23702068e-03 9.99985695e-01 4.85845476e-03 3.39731924e-01] [ 2.29485535e-02 -4.90852333e-03 9.99724597e-01 1.21001006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54255784400002 meters Centerline goodness : 0.162905 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 9.99705292e-01 3.16468811e-03 -2.40689344e-02 2.40954142e+00] [-3.12523210e-03 9.99993711e-01 1.67673152e-03 3.34471538e-01] [ 2.40740893e-02 -1.60101637e-03 9.99708895e-01 1.20994743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57255784400002 meters Centerline goodness : 0.153249 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 9.99695402e-01 3.29314833e-03 -2.44593186e-02 2.41081351e+00] [-3.24338009e-03 9.99992589e-01 2.07412801e-03 3.32429925e-01] [ 2.44659677e-02 -1.99416537e-03 9.99698674e-01 1.20946843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60255784400002 meters Centerline goodness : 0.149938 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 0.99969008 0.00356537 -0.02463798 2.41150437] [-0.00349825 0.99999005 0.00276661 0.32921094] [ 0.0246476 -0.00267957 0.99969261 1.20909442] [ 0. 0. 0. 1. ]] SLAMing on 207.63255784400002 meters Centerline goodness : 0.164810 Centerline is valid? [False, False] Translation: X:2.41, Y:0.33, Z:1.21 [[ 0.99969064 0.00367919 -0.02459866 2.41136905] [-0.00360588 0.99998893 0.00302378 0.3279746 ] [ 0.02460951 -0.00293415 0.99969283 1.20914485] [ 0. 0. 0. 1. ]] SLAMing on 207.66255784400002 meters Centerline goodness : 0.157493 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99970041 -0.00392844 -0.02415906 2.43063452] [ 0.00403314 0.99998268 0.00428637 0.33236346] [ 0.0241418 -0.00438252 0.99969894 1.2104207 ] [ 0. 0. 0. 1. ]] SLAMing on 207.69255784400002 meters Centerline goodness : 0.163040 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99970066 -0.00384398 -0.0241623 2.43077226] [ 0.00395198 0.99998241 0.00442377 0.33185947] [ 0.02414487 -0.00451794 0.99969826 1.21018701] [ 0. 0. 0. 1. ]] SLAMing on 207.72255784400002 meters Centerline goodness : 0.160232 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99969488 -0.00362937 -0.0244329 2.43177298] [ 0.00375059 0.99998088 0.00491755 0.32945565] [ 0.02441458 -0.00500769 0.99968938 1.20969038] [ 0. 0. 0. 1. ]] SLAMing on 207.75255784400002 meters Centerline goodness : 0.152272 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:1.21 [[ 0.99969138 -0.0034931 -0.02459557 2.43212106] [ 0.00362472 0.99997934 0.00530875 0.32739164] [ 0.02457652 -0.00539626 0.99968339 1.20985008] [ 0. 0. 0. 1. ]] SLAMing on 207.78255784400002 meters Centerline goodness : 0.160542 Centerline is valid? [False, False] Translation: X:2.43, Y:0.32, Z:1.21 [[ 0.9996923 -0.00335022 -0.02457795 2.4320028 ] [ 0.00349488 0.99997681 0.00584504 0.32451177] [ 0.0245578 -0.00592914 0.99968083 1.21006365] [ 0. 0. 0. 1. ]] SLAMing on 207.812557844 meters Centerline goodness : 0.117271 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:1.21 [[ 9.99725437e-01 1.76352643e-03 -2.33653571e-02 2.45265700e+00] [-1.69923764e-03 9.99994717e-01 2.77102637e-03 3.16879502e-01] [ 2.33701205e-02 -2.73056226e-03 9.99723152e-01 1.21064006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842557844 meters Centerline goodness : 0.162294 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99724763e-01 1.99412841e-03 -2.33756821e-02 2.45270576e+00] [-1.91385336e-03 9.99992197e-01 3.45599559e-03 3.13608706e-01] [ 2.33823914e-02 -3.41030674e-03 9.99720778e-01 1.21068570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872557844 meters Centerline goodness : 0.293783 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99722230e-01 2.19177179e-03 -2.34661074e-02 2.45303355e+00] [-2.09889370e-03 9.99989870e-01 3.98186628e-03 3.11076814e-01] [ 2.34745970e-02 -3.93150737e-03 9.99716703e-01 1.21056291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902557844 meters Centerline goodness : 0.162352 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99713876e-01 2.43166667e-03 -2.37960730e-02 2.45417144e+00] [-2.32374822e-03 9.99986895e-01 4.56173822e-03 3.08222686e-01] [ 2.38068538e-02 -4.50513691e-03 9.99706426e-01 1.21011466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.932557844 meters Centerline goodness : 0.169139 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 9.99715221e-01 2.54657471e-03 -2.37274562e-02 2.45396493e+00] [-2.43428621e-03 9.99985708e-01 4.76011113e-03 3.07470190e-01] [ 2.37392391e-02 -4.70099613e-03 9.99707132e-01 1.21014855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.962557844 meters Centerline goodness : 0.161382 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 0.99971642 0.00268428 -0.02366149 2.45361362] [-0.00256666 0.99998421 0.00499974 0.30662567] [ 0.02367454 -0.00493759 0.99970753 1.21047614] [ 0. 0. 0. 1. ]] SLAMing on 207.992557844 meters Centerline goodness : 0.162281 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:1.21 [[ 0.99971058 0.00272673 -0.02390237 2.45450521] [-0.00260511 0.99998351 0.00511777 0.30570978] [ 0.02391593 -0.00505402 0.9997012 1.21005427] [ 0. 0. 0. 1. ]] SLAMing on 208.022557844 meters Centerline goodness : 0.132086 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99970473 0.00273562 -0.02414465 2.45521271] [-0.00261069 0.99998305 0.00520424 0.30491011] [ 0.02415848 -0.00513966 0.99969493 1.20983972] [ 0. 0. 0. 1. ]] SLAMing on 208.052557844 meters Centerline goodness : 0.132567 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99970143 0.00279408 -0.02427455 2.45561516] [-0.00266416 0.99998196 0.00538295 0.30391388] [ 0.02428915 -0.00531667 0.99969084 1.20971462] [ 0. 0. 0. 1. ]] SLAMing on 208.082557844 meters Centerline goodness : 0.148970 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:1.21 [[ 0.99969976 0.00302734 -0.02431512 2.45545023] [-0.00288309 0.99997805 0.00596553 0.30144235] [ 0.02433264 -0.00589364 0.99968654 1.21020274] [ 0. 0. 0. 1. ]] SLAMing on 208.112557844 meters Centerline goodness : 0.129996 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.99970244 0.00315863 -0.02418784 2.45490527] [-0.00300715 0.99997566 0.00629653 0.29986958] [ 0.02420714 -0.00622192 0.9996876 1.2106306 ] [ 0. 0. 0. 1. ]] SLAMing on 208.142557844 meters Centerline goodness : 0.144792 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.9997061 0.00325935 -0.02402262 2.45424847] [-0.00310145 0.99997336 0.00660726 0.29816027] [ 0.02404351 -0.00653082 0.99968958 1.21107472] [ 0. 0. 0. 1. ]] SLAMing on 208.172557844 meters Centerline goodness : 0.130566 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:1.21 [[ 0.99970906 0.00345895 -0.02387114 2.45395006] [-0.00329077 0.99996952 0.00708066 0.29587597] [ 0.0238949 -0.00700005 0.99968997 1.21092708] [ 0. 0. 0. 1. ]] SLAMing on 208.202557844 meters Centerline goodness : 0.130742 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99970702 0.00356745 -0.02394032 2.45434983] [-0.00339356 0.99996759 0.00730055 0.2949907 ] [ 0.02396558 -0.00721717 0.99968673 1.21055651] [ 0. 0. 0. 1. ]] SLAMing on 208.232557844 meters Centerline goodness : 0.132612 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99970461 0.00367958 -0.02402404 2.45464877] [-0.00349881 0.99996528 0.00756222 0.29379282] [ 0.02405103 -0.00747593 0.99968278 1.21043658] [ 0. 0. 0. 1. ]] SLAMing on 208.262557844 meters Centerline goodness : 0.130560 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 0.99970095 0.00376931 -0.02416208 2.45506977] [-0.00358106 0.99996294 0.00782944 0.29229196] [ 0.0241907 -0.00774057 0.99967739 1.21033807] [ 0. 0. 0. 1. ]] SLAMing on 208.29255784400002 meters Centerline goodness : 0.130331 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99701077e-01 6.19238865e-05 -2.44490003e-02 2.45611024e+00] [ 4.14417463e-05 9.99991064e-01 4.22727679e-03 2.90855748e-01] [ 2.44490436e-02 -4.22702637e-03 9.99692141e-01 1.20972286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32255784400002 meters Centerline goodness : 0.132861 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99698628e-01 1.83243981e-04 -2.45483075e-02 2.45662845e+00] [-7.21268123e-05 9.99989749e-01 4.52727859e-03 2.89437503e-01] [ 2.45488854e-02 -4.52414361e-03 9.99688394e-01 1.20928528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35255784400002 meters Centerline goodness : 0.141989 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99699284e-01 3.22622695e-04 -2.45201331e-02 2.45678666e+00] [-2.04930024e-04 9.99988448e-01 4.80219946e-03 2.88354283e-01] [ 2.45213991e-02 -4.79573045e-03 9.99687802e-01 1.20890706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38255784400002 meters Centerline goodness : 0.132191 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706877e-01 5.02731854e-04 -2.42055384e-02 2.45594633e+00] [-3.78535645e-04 9.99986743e-01 5.13520916e-03 2.87081947e-01] [ 2.42077991e-02 -5.12454125e-03 9.99693814e-01 1.20905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41255784400002 meters Centerline goodness : 0.132191 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706877e-01 5.02731854e-04 -2.42055384e-02 2.45594633e+00] [-3.78535645e-04 9.99986743e-01 5.13520916e-03 2.87081947e-01] [ 2.42077991e-02 -5.12454125e-03 9.99693814e-01 1.20905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44255784400002 meters Centerline goodness : 0.128495 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99707686e-01 5.56886160e-04 -2.41709165e-02 2.45582313e+00] [-4.29455597e-04 9.99985985e-01 5.27693245e-03 2.86287525e-01] [ 2.41735164e-02 -5.26500959e-03 9.99693914e-01 1.20909196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47255784400002 meters Centerline goodness : 0.129802 Centerline is valid? [False, False] Translation: X:2.46, Y:0.29, Z:1.21 [[ 9.99706056e-01 5.92838776e-04 -2.42373691e-02 2.45623442e+00] [-4.61824528e-04 9.99985255e-01 5.41070515e-03 2.85428056e-01] [ 2.42402194e-02 -5.39792129e-03 9.99691590e-01 1.20868732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50255784400002 meters Centerline goodness : 0.125230 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99699596e-01 7.00115633e-04 -2.44995330e-02 2.45725395e+00] [-5.59473432e-04 9.99983329e-01 5.74699109e-03 2.83613844e-01] [ 2.45031482e-02 -5.73155783e-03 9.99683322e-01 1.20808769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53255784400002 meters Centerline goodness : 0.132100 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99700071e-01 7.57346245e-04 -2.44784471e-02 2.45718166e+00] [-6.12506545e-04 9.99982265e-01 5.92398595e-03 2.82746720e-01] [ 2.44824995e-02 -5.90721596e-03 9.99682806e-01 1.20812363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562557844 meters Centerline goodness : 0.132678 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99703977e-01 8.80112503e-04 -2.43142692e-02 2.45665885e+00] [-7.25540309e-04 9.99979478e-01 6.36535311e-03 2.80558373e-01] [ 2.43193725e-02 -6.34582784e-03 9.99684099e-01 1.20839179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592557844 meters Centerline goodness : 0.137184 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99705187e-01 9.78495034e-04 -2.42607184e-02 2.45642269e+00] [-8.17641961e-04 9.99977626e-01 6.63921940e-03 2.79216661e-01] [ 2.42666721e-02 -6.61742549e-03 9.99683619e-01 1.20858597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622557844 meters Centerline goodness : 0.351068 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:1.21 [[ 9.99704396e-01 1.06731380e-03 -2.42895364e-02 2.45639337e+00] [-9.00361681e-04 9.99975904e-01 6.88331572e-03 2.78059386e-01] [ 2.42962978e-02 -6.85941162e-03 9.99681268e-01 1.20878127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652557844 meters Centerline goodness : 0.133056 Centerline is valid? [False, False] Translation: X:2.48, Y:0.27, Z:1.21 [[ 0.99966555 0.00938689 -0.02409706 2.47646256] [-0.00925217 0.99994098 0.00569594 0.27443784] [ 0.02414911 -0.00547108 0.9996934 1.21041861] [ 0. 0. 0. 1. ]] SLAMing on 208.682557844 meters Centerline goodness : 0.132683 Centerline is valid? [False, False] Translation: X:2.43, Y:0.27, Z:1.21 [[ 0.99957327 0.00886102 -0.02783459 2.43397955] [-0.00869962 0.99994467 0.00591421 0.27281877] [ 0.02788545 -0.00566953 0.99959505 1.20987114] [ 0. 0. 0. 1. ]] SLAMing on 208.712557844 meters Centerline goodness : 0.132923 Centerline is valid? [False, False] Translation: X:2.43, Y:0.27, Z:1.21 [[ 0.99957325 0.00880874 -0.02785179 2.43407069] [-0.00865226 0.99994613 0.00573364 0.27379147] [ 0.02790079 -0.00549022 0.99959562 1.20978797] [ 0. 0. 0. 1. ]] SLAMing on 208.742557844 meters Centerline goodness : 0.176468 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99649360e-01 1.08824520e-03 -2.64569967e-02 2.45276763e+00] [-9.16820506e-04 9.99978515e-01 6.49063777e-03 2.80544030e-01] [ 2.64634917e-02 -6.46410558e-03 9.99628881e-01 1.21108977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.772557844 meters Centerline goodness : 0.132370 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99668083e-01 1.00769011e-03 -2.57431322e-02 2.45012731e+00] [-8.51452272e-04 9.99981158e-01 6.07934811e-03 2.82844249e-01] [ 2.57487732e-02 -6.05541122e-03 9.99650105e-01 1.21234333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802557844 meters Centerline goodness : 0.129495 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:1.21 [[ 9.99668586e-01 9.18600596e-04 -2.57269209e-02 2.44996747e+00] [-7.68101061e-04 9.99982540e-01 5.85915649e-03 2.83934750e-01] [ 2.57318540e-02 -5.83745380e-03 9.99651837e-01 1.21247439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832557844 meters Centerline goodness : 0.133454 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664218e-01 8.27488311e-04 -2.58991457e-02 2.45052182e+00] [-6.81819718e-04 9.99983903e-01 5.63278100e-03 2.85073909e-01] [ 2.59033899e-02 -5.61323106e-03 9.99648691e-01 1.21222221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862557844 meters Centerline goodness : 0.133997 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99653522e-01 6.58337934e-04 -2.63135548e-02 2.45211481e+00] [-5.21114164e-04 9.99986232e-01 5.22146330e-03 2.87115568e-01] [ 2.63166300e-02 -5.20594181e-03 9.99640102e-01 1.21124791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892557844 meters Centerline goodness : 0.157696 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99650165e-01 5.60655452e-04 -2.64430303e-02 2.45252365e+00] [-4.25797292e-04 9.99986877e-01 5.10530603e-03 2.87393125e-01] [ 2.64455456e-02 -5.09226065e-03 9.99637285e-01 1.21112346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922557844 meters Centerline goodness : 0.133707 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99649098e-01 4.17687690e-04 -2.64859542e-02 2.45234895e+00] [-2.88822949e-04 9.99988104e-01 4.86903814e-03 2.88432928e-01] [ 2.64876729e-02 -4.85967983e-03 9.99637328e-01 1.21158050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952557844 meters Centerline goodness : 0.133852 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99648480e-01 3.69437266e-04 -2.65100004e-02 2.45234715e+00] [-2.43914554e-04 9.99988746e-01 4.73799674e-03 2.89205957e-01] [ 2.65114524e-02 -4.72986506e-03 9.99637320e-01 1.21163545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982557844 meters Centerline goodness : 0.129629 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99648092e-01 3.15773809e-04 -2.65253271e-02 2.45236799e+00] [-1.93167310e-04 9.99989287e-01 4.62467785e-03 2.89816749e-01] [ 2.65265033e-02 -4.61792656e-03 9.99637444e-01 1.21163994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012557844 meters Centerline goodness : 0.136893 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658624e-01 2.87367308e-04 -2.61257085e-02 2.45119908e+00] [-1.64927069e-04 9.99988995e-01 4.68861461e-03 2.89249030e-01] [ 2.61267684e-02 -4.68270520e-03 9.99647670e-01 1.21195277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04255784400002 meters Centerline goodness : 0.132116 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664617e-01 3.42862949e-04 -2.58947202e-02 2.45036049e+00] [-2.16985414e-04 9.99988148e-01 4.86378084e-03 2.88345667e-01] [ 2.58960809e-02 -4.85653084e-03 9.99652843e-01 1.21236949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07255784400002 meters Centerline goodness : 0.135336 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99670322e-01 3.82002430e-04 -2.56729756e-02 2.44962712e+00] [-2.54165113e-04 9.99987555e-01 4.98252938e-03 2.87767498e-01] [ 2.56745594e-02 -4.97436157e-03 9.99657978e-01 1.21265590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10255784400002 meters Centerline goodness : 0.134263 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99671110e-01 3.89214638e-04 -2.56421602e-02 2.44949630e+00] [-2.61505826e-04 9.99987548e-01 4.98358841e-03 2.87736369e-01] [ 2.56437806e-02 -4.97524378e-03 9.99658764e-01 1.21277909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13255784400002 meters Centerline goodness : 0.160422 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99665421e-01 3.86591281e-04 -2.58630174e-02 2.45069487e+00] [-2.62309028e-04 9.99988404e-01 4.80862430e-03 2.88633578e-01] [ 2.58645764e-02 -4.80023133e-03 9.99653931e-01 1.21163704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16255784400002 meters Centerline goodness : 0.132201 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99666167e-01 3.92928776e-04 -2.58340901e-02 2.45099926e+00] [-2.71131494e-04 9.99988834e-01 4.71792916e-03 2.89176155e-01] [ 2.58356554e-02 -4.70934973e-03 9.99655111e-01 1.21098119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19255784400002 meters Centerline goodness : 0.133796 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963607 0.00965402 -0.02518984 2.47224031] [-0.00956198 0.99994717 0.00377169 0.28764779] [ 0.02522492 -0.00352946 0.99967557 1.21158009] [ 0. 0. 0. 1. ]] SLAMing on 209.22255784400002 meters Centerline goodness : 0.134984 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963686 0.00959884 -0.02517955 2.47216293] [-0.00951255 0.99994847 0.00354441 0.28873 ] [ 0.02521227 -0.0033036 0.99967666 1.21158663] [ 0. 0. 0. 1. ]] SLAMing on 209.25255784400002 meters Centerline goodness : 0.139691 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:1.21 [[ 0.99963855 0.00956949 -0.02512351 2.47185772] [-0.00948738 0.99994926 0.0033854 0.28956939] [ 0.02515463 -0.00314582 0.99967862 1.21180892] [ 0. 0. 0. 1. ]] SLAMing on 209.28255784400002 meters Centerline goodness : 0.130076 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99966092 0.00303351 -0.02586198 2.44820003] [-0.00286479 0.99997439 0.00655854 0.2906104 ] [ 0.02588122 -0.00648223 0.99964401 1.21271547] [ 0. 0. 0. 1. ]] SLAMing on 209.312557844 meters Centerline goodness : 0.129107 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99965872 0.00305883 -0.02594389 2.44847774] [-0.00288718 0.99997371 0.00665086 0.29011722] [ 0.02596355 -0.00657368 0.99964128 1.21259092] [ 0. 0. 0. 1. ]] SLAMing on 209.342557844 meters Centerline goodness : 0.138094 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 0.99965154 0.00305909 -0.02621891 2.44951977] [-0.00288148 0.99997267 0.00680912 0.28898853] [ 0.02623902 -0.0067312 0.99963303 1.21206811] [ 0. 0. 0. 1. ]] SLAMing on 209.372557844 meters Centerline goodness : 0.134720 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658961e-01 -5.98697356e-04 -2.61075285e-02 2.45013084e+00] [ 6.85545128e-04 9.99994261e-01 3.31771775e-03 2.88403872e-01] [ 2.61053923e-02 -3.33448417e-03 9.99653635e-01 1.21086299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402557844 meters Centerline goodness : 0.131205 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661376e-01 -5.26857221e-04 -2.60164654e-02 2.44982176e+00] [ 6.17819448e-04 9.99993725e-01 3.48841870e-03 2.87742333e-01] [ 2.60144643e-02 -3.50331092e-03 9.99655428e-01 1.21103925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.432557844 meters Centerline goodness : 0.129807 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661353e-01 -4.57696788e-04 -2.60186376e-02 2.44963274e+00] [ 5.52089089e-04 9.99993292e-01 3.62080478e-03 2.87205984e-01] [ 2.60168058e-02 -3.63394322e-03 9.99654901e-01 1.21136472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.462557844 meters Centerline goodness : 0.142188 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99658312e-01 -4.44157434e-04 -2.61354553e-02 2.44990481e+00] [ 5.40074205e-04 9.99993145e-01 3.66304230e-03 2.86912145e-01] [ 2.61336492e-02 -3.67590577e-03 9.99651699e-01 1.21141530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.492557844 meters Centerline goodness : 0.138922 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99643693e-01 -4.69113699e-04 -2.66883135e-02 2.45184638e+00] [ 5.66742540e-04 9.99993176e-01 3.65066560e-03 2.86525936e-01] [ 2.66864188e-02 -3.66449025e-03 9.99637137e-01 1.21057335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.522557844 meters Centerline goodness : 0.144245 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99642311e-01 -5.10735002e-04 -2.67392946e-02 2.45218370e+00] [ 6.05386964e-04 9.99993580e-01 3.53183213e-03 2.87046277e-01] [ 2.67373191e-02 -3.54675646e-03 9.99636202e-01 1.21018424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552557844 meters Centerline goodness : 0.162818 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99643441e-01 -5.74842454e-04 -2.66956912e-02 2.45209279e+00] [ 6.64921180e-04 9.99994116e-01 3.36552534e-03 2.87872191e-01] [ 2.66935994e-02 -3.38207586e-03 9.99637941e-01 1.21011272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582557844 meters Centerline goodness : 0.132125 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99653691e-01 -6.43243317e-04 -2.63074796e-02 2.45092552e+00] [ 7.24137013e-04 9.99995039e-01 3.06552031e-03 2.89840734e-01] [ 2.63053772e-02 -3.08350891e-03 9.99649198e-01 1.21029266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612557844 meters Centerline goodness : 0.133126 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99657955e-01 -7.08406352e-04 -2.61432864e-02 2.45032824e+00] [ 7.83580103e-04 9.99995588e-01 2.86531908e-03 2.91056858e-01] [ 2.61411413e-02 -2.88482437e-03 9.99654099e-01 1.21056482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642557844 meters Centerline goodness : 0.129274 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99660920e-01 -8.12372852e-04 -2.60266108e-02 2.44987610e+00] [ 8.80893894e-04 9.99996176e-01 2.62137305e-03 2.92275303e-01] [ 2.60243817e-02 -2.64341088e-03 9.99657813e-01 1.21078383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672557844 meters Centerline goodness : 0.161000 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663678e-01 -8.98291367e-04 -2.59176448e-02 2.44953772e+00] [ 9.62495549e-04 9.99996499e-01 2.46486971e-03 2.92983888e-01] [ 2.59153399e-02 -2.48898634e-03 9.99661043e-01 1.21089712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702557844 meters Centerline goodness : 0.127217 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99672642e-01 -1.11773303e-03 -2.55608800e-02 2.44838820e+00] [ 1.17606290e-03 9.99996739e-01 2.26707849e-03 2.93561365e-01] [ 2.55582626e-02 -2.29639755e-03 9.99670697e-01 1.21133890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732557844 meters Centerline goodness : 0.130446 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99670921e-01 -1.17062726e-03 -2.56257602e-02 2.44858394e+00] [ 1.22887836e-03 9.99996697e-01 2.25751611e-03 2.93508921e-01] [ 2.56230328e-02 -2.28826415e-03 9.99669057e-01 1.21131906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762557844 meters Centerline goodness : 0.130968 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99669120e-01 -1.22396522e-03 -2.56934219e-02 2.44881080e+00] [ 1.28187223e-03 9.99996675e-01 2.23741824e-03 2.93529895e-01] [ 2.56905980e-02 -2.26961361e-03 9.99667366e-01 1.21123634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79255784400002 meters Centerline goodness : 0.133740 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99667327e-01 -1.38137157e-03 -2.57551328e-02 2.44897437e+00] [ 1.43837466e-03 9.99996557e-01 2.19487648e-03 2.93358171e-01] [ 2.57520121e-02 -2.23119184e-03 9.99665872e-01 1.21124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82255784400002 meters Centerline goodness : 0.131603 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99665315e-01 -1.39915257e-03 -2.58321477e-02 2.44916079e+00] [ 1.45878671e-03 9.99996314e-01 2.28982346e-03 2.92656494e-01] [ 2.58288486e-02 -2.32674069e-03 9.99663672e-01 1.21130411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85255784400002 meters Centerline goodness : 0.171420 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663704e-01 -1.37355633e-03 -2.58957995e-02 2.44926866e+00] [ 1.43734445e-03 9.99995978e-01 2.44480855e-03 2.91757030e-01] [ 2.58923373e-02 -2.48120756e-03 9.99661658e-01 1.21141465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88255784400002 meters Centerline goodness : 0.143169 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99662765e-01 -1.29983263e-03 -2.59358062e-02 2.44930548e+00] [ 1.36938647e-03 9.99995513e-01 2.66418826e-03 2.90685836e-01] [ 2.59322269e-02 -2.69880594e-03 9.99660060e-01 1.21154800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91255784400002 meters Centerline goodness : 0.140195 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99664431e-01 -1.15935697e-03 -2.58782036e-02 2.44917149e+00] [ 1.24190229e-03 9.99994192e-01 3.17391865e-03 2.88071963e-01] [ 2.58743736e-02 -3.20499178e-03 9.99660065e-01 1.21162310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94255784400002 meters Centerline goodness : 0.133606 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99663820e-01 -1.10990415e-03 -2.59039636e-02 2.44952159e+00] [ 1.19760027e-03 9.99993604e-01 3.37016407e-03 2.86803354e-01] [ 2.59000574e-02 -3.40005368e-03 9.99658755e-01 1.21120599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97255784400002 meters Centerline goodness : 0.132753 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661484e-01 -1.09901738e-03 -2.59943981e-02 2.44994136e+00] [ 1.18969675e-03 9.99993261e-01 3.47321163e-03 2.85921245e-01] [ 2.59904058e-02 -3.50296135e-03 9.99656055e-01 1.21093900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00255784400002 meters Centerline goodness : 0.132861 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:1.21 [[ 9.99661099e-01 -1.08088135e-03 -2.60099733e-02 2.45018655e+00] [ 1.17243190e-03 9.99993171e-01 3.50483197e-03 2.85692538e-01] [ 2.60060074e-02 -3.53413910e-03 9.99655539e-01 1.21057237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03255784400002 meters Centerline goodness : 0.145948 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 0.99963014 0.00864254 -0.02578563 2.47304353] [-0.00855112 0.99995676 0.00365332 0.28332628] [ 0.02581609 -0.00343147 0.99966082 1.21065743] [ 0. 0. 0. 1. ]] SLAMing on 210.06255784400003 meters Centerline goodness : 0.129725 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 0.99962888 0.0086539 -0.02583029 2.47336662] [-0.0085625 0.99995669 0.00364676 0.28330456] [ 0.02586073 -0.00342424 0.99965969 1.21028972] [ 0. 0. 0. 1. ]] SLAMing on 210.092557844 meters Centerline goodness : 0.134590 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99643479e-01 5.54366014e-03 -2.61186174e-02 2.47413685e+00] [-5.53648014e-03 9.99984613e-01 3.47206959e-04 2.82956494e-01] [ 2.61201403e-02 -2.02477966e-04 9.99658790e-01 1.20988012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters Centerline goodness : 0.134086 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99642793e-01 5.61773647e-03 -2.61290656e-02 2.47406670e+00] [-5.60634777e-03 9.99984155e-01 5.09100312e-04 2.82332086e-01] [ 2.61315116e-02 -3.62429829e-04 9.99658448e-01 1.21001705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152557844 meters Centerline goodness : 0.134352 Centerline is valid? [False, False] Translation: X:2.47, Y:0.28, Z:1.21 [[ 9.99642834e-01 5.73276298e-03 -2.61024888e-02 2.47388705e+00] [-5.71589020e-03 9.99983404e-01 7.20972250e-04 2.81583854e-01] [ 2.61061888e-02 -5.71515783e-04 9.99659012e-01 1.21018709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.182557844 meters Centerline goodness : 0.130905 Centerline is valid? [False, False] Translation: X:2.49, Y:0.29, Z:1.21 [[ 9.99683020e-01 -1.99500069e-03 -2.50973980e-02 2.49341219e+00] [ 2.04308331e-03 9.99996126e-01 1.89034450e-03 2.85384528e-01] [ 2.50935295e-02 -1.94102137e-03 9.99683223e-01 1.21161141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.212557844 meters Centerline goodness : 0.136976 Centerline is valid? [False, False] Translation: X:2.49, Y:0.28, Z:1.21 [[ 9.99687155e-01 -1.76893586e-03 -2.49492111e-02 2.49267921e+00] [ 1.83280805e-03 9.99995101e-01 2.53745355e-03 2.81932360e-01] [ 2.49446003e-02 -2.58238683e-03 9.99685500e-01 1.21226643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.242557844 meters Centerline goodness : 0.136942 Centerline is valid? [False, False] Translation: X:2.49, Y:0.28, Z:1.21 [[ 9.99688046e-01 -1.61375226e-03 -2.49240311e-02 2.49246277e+00] [ 1.68700977e-03 9.99994318e-01 2.91848491e-03 2.80018655e-01] [ 2.49191797e-02 -2.95962156e-03 9.99685088e-01 1.21256919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.272557844 meters Centerline goodness : 0.133967 Centerline is valid? [False, False] Translation: X:2.51, Y:0.28, Z:1.21 [[ 9.99690274e-01 6.72958596e-03 -2.39597143e-02 2.51103089e+00] [-6.69442002e-03 9.99976395e-01 1.54761942e-03 2.75409474e-01] [ 2.39695635e-02 -1.38674369e-03 9.99711727e-01 1.21471903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302557844 meters Centerline goodness : 0.140010 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99692732e-01 6.86698372e-03 -2.38177620e-02 2.51038785e+00] [-6.82461845e-03 9.99974983e-01 1.85955607e-03 2.74000650e-01] [ 2.38299357e-02 -1.69643755e-03 9.99714587e-01 1.21518961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332557844 meters Centerline goodness : 0.140010 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99692732e-01 6.86698372e-03 -2.38177620e-02 2.51038785e+00] [-6.82461845e-03 9.99974983e-01 1.85955607e-03 2.74000650e-01] [ 2.38299357e-02 -1.69643755e-03 9.99714587e-01 1.21518961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362557844 meters Centerline goodness : 0.132479 Centerline is valid? [False, False] Translation: X:2.51, Y:0.27, Z:1.22 [[ 9.99689128e-01 7.13235424e-03 -2.38909466e-02 2.51024401e+00] [-7.07436964e-03 9.99971824e-01 2.51069412e-03 2.71067009e-01] [ 2.39081806e-02 -2.34090023e-03 9.99711418e-01 1.21575020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392557844 meters Centerline goodness : 0.129152 Centerline is valid? [False, False] Translation: X:2.53, Y:0.27, Z:1.22 [[ 9.99713997e-01 -4.95523769e-04 -2.39097998e-02 2.53085457e+00] [ 5.83353155e-04 9.99993108e-01 3.66652842e-03 2.74331893e-01] [ 2.39078182e-02 -3.67942764e-03 9.99707396e-01 1.21675785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422557844 meters Centerline goodness : 0.133254 Centerline is valid? [False, False] Translation: X:2.49, Y:0.27, Z:1.22 [[ 9.99642687e-01 -1.39539564e-03 -2.66936622e-02 2.48639706e+00] [ 1.50775394e-03 9.99990087e-01 4.18951074e-03 2.68685702e-01] [ 2.66875516e-02 -4.22826124e-03 9.99634882e-01 1.21649959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452557844 meters Centerline goodness : 0.134878 Centerline is valid? [False, False] Translation: X:2.49, Y:0.26, Z:1.22 [[ 9.99651300e-01 -1.27558161e-03 -2.63751848e-02 2.48545212e+00] [ 1.40708961e-03 9.99986669e-01 4.96809220e-03 2.63981822e-01] [ 2.63684960e-02 -5.00347208e-03 9.99639769e-01 1.21695338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482557844 meters Centerline goodness : 0.130877 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 0.99966613 0.00690834 -0.02489769 2.50409084] [-0.00681886 0.99996999 0.00367705 0.25908577] [ 0.02492235 -0.00350605 0.99968324 1.21891033] [ 0. 0. 0. 1. ]] SLAMing on 210.512557844 meters Centerline goodness : 0.134980 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 0.99966691 0.007046 -0.02482796 2.50374578] [-0.00694866 0.99996784 0.00400479 0.25764513] [ 0.02485538 -0.00383093 0.99968372 1.21919224] [ 0. 0. 0. 1. ]] SLAMing on 210.54255784400002 meters Centerline goodness : 0.133537 Centerline is valid? [False, False] Translation: X:2.48, Y:0.26, Z:1.22 [[ 9.99674643e-01 -1.84666747e-03 -2.54401001e-02 2.48295672e+00] [ 1.98407451e-03 9.99983575e-01 5.37701664e-03 2.59413590e-01] [ 2.54297527e-02 -5.42574224e-03 9.99661887e-01 1.21777826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57255784400002 meters Centerline goodness : 0.146100 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:1.22 [[ 9.99699575e-01 4.60046200e-03 -2.40747791e-02 2.50554517e+00] [-4.54259819e-03 9.99986662e-01 2.45764070e-03 2.57622832e-01] [ 2.40857643e-02 -2.34754032e-03 9.99707140e-01 1.21722634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60255784400002 meters Centerline goodness : 0.142972 Centerline is valid? [False, False] Translation: X:2.50, Y:0.26, Z:1.22 [[ 9.99718399e-01 6.34989558e-04 -2.37216887e-02 2.50469804e+00] [-6.62095107e-04 9.99999137e-01 -1.13481175e-03 2.55246325e-01] [ 2.37209476e-02 1.15019820e-03 9.99717957e-01 1.21711028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63255784400002 meters Centerline goodness : 0.149716 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:1.22 [[ 9.99722065e-01 8.07401332e-04 -2.35614394e-02 2.50399704e+00] [-8.22465804e-04 9.99999464e-01 -6.29686194e-04 2.52706397e-01] [ 2.35609183e-02 6.48889660e-04 9.99722192e-01 1.21762031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66255784400002 meters Centerline goodness : 0.138682 Centerline is valid? [False, False] Translation: X:2.50, Y:0.25, Z:1.22 [[ 9.99742594e-01 1.05926310e-03 -2.26632790e-02 2.50114765e+00] [-1.05107509e-03 9.99999378e-01 3.73198653e-04 2.47681353e-01] [ 2.26636602e-02 -3.49281782e-04 9.99743085e-01 1.21870758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69255784400002 meters Centerline goodness : 0.135419 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99746867e-01 1.26406249e-03 -2.24634121e-02 2.50061232e+00] [-1.24350461e-03 9.99998795e-01 9.29116298e-04 2.44995743e-01] [ 2.24645594e-02 -9.00947751e-04 9.99747234e-01 1.21879738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72255784400002 meters Centerline goodness : 0.145901 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99745825e-01 1.40876335e-03 -2.25011364e-02 2.50086872e+00] [-1.37842254e-03 9.99998120e-01 1.36386536e-03 2.42642731e-01] [ 2.25030155e-02 -1.33250263e-03 9.99745887e-01 1.21859449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75255784400002 meters Centerline goodness : 0.144018 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99735900e-01 1.55460579e-03 -2.29284315e-02 2.50269130e+00] [-1.51433236e-03 9.99997280e-01 1.77374263e-03 2.40155541e-01] [ 2.29311266e-02 -1.73855292e-03 9.99735535e-01 1.21745669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78255784400002 meters Centerline goodness : 0.149087 Centerline is valid? [False, False] Translation: X:2.50, Y:0.24, Z:1.22 [[ 9.99724846e-01 1.59498494e-03 -2.34027247e-02 2.50434695e+00] [-1.55504016e-03 9.99997303e-01 1.72494269e-03 2.40484198e-01] [ 2.34054129e-02 -1.68807589e-03 9.99724631e-01 1.21666040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81255784400003 meters Centerline goodness : 0.149178 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 9.99711419e-01 1.68058435e-03 -2.39635960e-02 2.50614649e+00] [-1.64348395e-03 9.99997420e-01 1.56780924e-03 2.41666463e-01] [ 2.39661690e-02 -1.52797301e-03 9.99711602e-01 1.21584069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842557844 meters Centerline goodness : 0.146966 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 9.99703446e-01 1.81912029e-03 -2.42839547e-02 2.50720950e+00] [-1.78535866e-03 9.99997410e-01 1.41189431e-03 2.43099262e-01] [ 2.42864602e-02 -1.36812004e-03 9.99704104e-01 1.21529872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872557844 meters Centerline goodness : 0.139236 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99705899e-01 2.66585656e-03 -2.41041068e-02 2.50697877e+00] [-2.62564939e-03 9.99995109e-01 1.69955821e-03 2.44377197e-01] [ 2.41085197e-02 -1.63576943e-03 9.99708009e-01 1.21471290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902557844 meters Centerline goodness : 0.133407 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99708178e-01 2.65466111e-03 -2.40106727e-02 2.50688234e+00] [-2.61654344e-03 9.99995267e-01 1.61880793e-03 2.44687574e-01] [ 2.40148564e-02 -1.55551055e-03 9.99710392e-01 1.21443240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.932557844 meters Centerline goodness : 0.133987 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99707873e-01 2.69251910e-03 -2.40191255e-02 2.50691224e+00] [-2.65224046e-03 9.99995023e-01 1.70863962e-03 2.44139822e-01] [ 2.40236065e-02 -1.64443599e-03 9.99710039e-01 1.21439746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.962557844 meters Centerline goodness : 0.129924 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 9.99709292e-01 2.90558681e-03 -2.39351175e-02 2.50640878e+00] [-2.85161461e-03 9.99993315e-01 2.28876109e-03 2.41293828e-01] [ 2.39416077e-02 -2.21984200e-03 9.99710894e-01 1.21491250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.992557844 meters Centerline goodness : 0.141827 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.22 [[ 0.99970792 0.00299154 -0.0239818 2.50647949] [-0.00293011 0.99999234 0.00259593 0.23969651] [ 0.02398938 -0.0025249 0.99970902 1.21501891] [ 0. 0. 0. 1. ]] SLAMing on 211.022557844 meters Centerline goodness : 0.127068 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 0.99970205 0.0030433 -0.02421879 2.50720716] [-0.00297496 0.99999149 0.00285726 0.23815207] [ 0.02422728 -0.00278435 0.9997026 1.21482286] [ 0. 0. 0. 1. ]] SLAMing on 211.052557844 meters Centerline goodness : 0.158800 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:1.21 [[ 0.99968609 0.00294575 -0.02488075 2.50956557] [-0.00286947 0.99999108 0.00310075 0.23613484] [ 0.02488966 -0.00302838 0.99968562 1.213659 ] [ 0. 0. 0. 1. ]] SLAMing on 211.082557844 meters Centerline goodness : 0.146743 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:1.21 [[ 0.99968436 0.00305971 -0.02493624 2.50980184] [-0.00297574 0.99998978 0.00340394 0.23476015] [ 0.0249464 -0.00332866 0.99968325 1.21350916] [ 0. 0. 0. 1. ]] SLAMing on 211.112557844 meters Centerline goodness : 0.123258 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:1.21 [[ 0.99968423 0.00314725 -0.02493073 2.50976985] [-0.00305776 0.99998875 0.0036266 0.23380592] [ 0.02494187 -0.00354922 0.9996826 1.21354471] [ 0. 0. 0. 1. ]] SLAMing on 211.142557844 meters Centerline goodness : 0.132272 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970969 0.00376734 -0.02379816 2.55532615] [-0.00369868 0.99998887 0.00292821 0.23583588] [ 0.02380892 -0.00283934 0.9997125 1.21385703] [ 0. 0. 0. 1. ]] SLAMing on 211.172557844 meters Centerline goodness : 0.134160 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970656 0.0037617 -0.02392987 2.55588979] [-0.00369273 0.9999889 0.00292599 0.2357284 ] [ 0.02394061 -0.00283677 0.99970936 1.21344558] [ 0. 0. 0. 1. ]] SLAMing on 211.202557844 meters Centerline goodness : 0.128010 Centerline is valid? [False, False] Translation: X:2.56, Y:0.24, Z:1.21 [[ 0.99970812 0.00372405 -0.02387063 2.55606499] [-0.00365734 0.99998928 0.00283794 0.23605967] [ 0.02388094 -0.00274981 0.99971103 1.21288494] [ 0. 0. 0. 1. ]] SLAMing on 211.232557844 meters Centerline goodness : 0.121791 Centerline is valid? [False, False] Translation: X:2.55, Y:0.24, Z:1.21 [[ 0.99972695 0.00387023 -0.02304432 2.5538311 ] [-0.0038069 0.99998886 0.00279166 0.23702214] [ 0.02305486 -0.00270317 0.99973055 1.21312561] [ 0. 0. 0. 1. ]] SLAMing on 211.262557844 meters Centerline goodness : 0.135639 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.21 [[ 0.99976797 -0.00338252 -0.02127352 2.57165203] [ 0.00347116 0.99998544 0.00413142 0.24345229] [ 0.02125923 -0.00420431 0.99976516 1.21493307] [ 0. 0. 0. 1. ]] SLAMing on 211.29255784400002 meters Centerline goodness : 0.129591 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.22 [[ 0.99977317 -0.00342624 -0.02102053 2.57076308] [ 0.00351081 0.99998589 0.00398754 0.24428178] [ 0.02100657 -0.00406043 0.99977109 1.21530976] [ 0. 0. 0. 1. ]] SLAMing on 211.32255784400002 meters Centerline goodness : 0.126982 Centerline is valid? [False, False] Translation: X:2.57, Y:0.24, Z:1.22 [[ 0.99977599 -0.00345735 -0.02088091 2.57023695] [ 0.00353929 0.99998618 0.00388814 0.2448655 ] [ 0.02086718 -0.00396118 0.99977441 1.21559859] [ 0. 0. 0. 1. ]] SLAMing on 211.35255784400002 meters Centerline goodness : 0.134584 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977812 -0.00360485 -0.02075371 2.56988137] [ 0.00368033 0.99998675 0.00360014 0.2459714 ] [ 0.02074045 -0.00367572 0.99977814 1.21563876] [ 0. 0. 0. 1. ]] SLAMing on 211.38255784400002 meters Centerline goodness : 0.122696 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977792 -0.00368891 -0.02074851 2.56997469] [ 0.00375984 0.99998722 0.00338052 0.24698656] [ 0.02073577 -0.00345778 0.99977901 1.21541777] [ 0. 0. 0. 1. ]] SLAMing on 211.41255784400002 meters Centerline goodness : 0.132265 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977781 -0.00376421 -0.02074019 2.57006003] [ 0.00383112 0.99998758 0.00318726 0.2479504 ] [ 0.02072793 -0.00326601 0.99977982 1.21521132] [ 0. 0. 0. 1. ]] SLAMing on 211.44255784400002 meters Centerline goodness : 0.134050 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977846 -0.0038158 -0.0206995 2.57001783] [ 0.00387965 0.99998784 0.00304504 0.24870659] [ 0.02068763 -0.00312467 0.99978111 1.21506337] [ 0. 0. 0. 1. ]] SLAMing on 211.47255784400002 meters Centerline goodness : 0.131980 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99978079 -0.00382921 -0.02058415 2.56961744] [ 0.00389244 0.99998783 0.00303225 0.24888046] [ 0.02057229 -0.00311171 0.99978353 1.2152149 ] [ 0. 0. 0. 1. ]] SLAMing on 211.50255784400002 meters Centerline goodness : 0.131604 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.22 [[ 0.99977919 -0.00385001 -0.02065793 2.56985766] [ 0.00391368 0.99998771 0.00304237 0.24871274] [ 0.02064597 -0.00312255 0.99978197 1.21512873] [ 0. 0. 0. 1. ]] SLAMing on 211.53255784400002 meters Centerline goodness : 0.127121 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977835 -0.00384969 -0.0206987 2.57017894] [ 0.00391464 0.99998754 0.00309805 0.24822735] [ 0.02068651 -0.00317839 0.99978096 1.21475964] [ 0. 0. 0. 1. ]] SLAMing on 211.56255784400003 meters Centerline goodness : 0.136711 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977805 -0.00388292 -0.02070691 2.57051972] [ 0.00394934 0.99998718 0.00316781 0.24729763] [ 0.02069435 -0.00324888 0.99978057 1.21430549] [ 0. 0. 0. 1. ]] SLAMing on 211.592557844 meters Centerline goodness : 0.129123 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977781 -0.00387955 -0.02071896 2.57066507] [ 0.00394583 0.99998723 0.00315888 0.24738656] [ 0.02070644 -0.00323993 0.99978035 1.21408558] [ 0. 0. 0. 1. ]] SLAMing on 211.622557844 meters Centerline goodness : 0.139437 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977579 -0.00385059 -0.02082146 2.57112448] [ 0.00391659 0.99998743 0.00313003 0.24774558] [ 0.02080915 -0.00321088 0.99977831 1.21369399] [ 0. 0. 0. 1. ]] SLAMing on 211.652557844 meters Centerline goodness : 0.135675 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.9997727 -0.00379455 -0.02097972 2.5717679 ] [ 0.0038618 0.99998753 0.00316581 0.24781117] [ 0.02096745 -0.00324611 0.99977489 1.21327314] [ 0. 0. 0. 1. ]] SLAMing on 211.682557844 meters Centerline goodness : 0.140983 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99977266 -0.00368226 -0.02100142 2.57166407] [ 0.00375485 0.99998711 0.00341813 0.24649183] [ 0.02098856 -0.00349621 0.9997736 1.21354031] [ 0. 0. 0. 1. ]] SLAMing on 211.712557844 meters Centerline goodness : 0.121388 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.9997767 -0.0036312 -0.02081759 2.57084941] [ 0.00370646 0.99998673 0.00357785 0.24560099] [ 0.02080433 -0.00365421 0.99977689 1.2141636 ] [ 0. 0. 0. 1. ]] SLAMing on 211.742557844 meters Centerline goodness : 0.134953 Centerline is valid? [False, False] Translation: X:2.57, Y:0.25, Z:1.21 [[ 0.99978522 -0.00350238 -0.02042679 2.56951545] [ 0.00357864 0.99998676 0.00369814 0.24555948] [ 0.02041357 -0.00377044 0.99978451 1.2146978 ] [ 0. 0. 0. 1. ]] SLAMing on 211.772557844 meters Centerline goodness : 0.137619 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.22 [[ 0.99979382 0.00563072 -0.01950929 2.58993414] [-0.00557679 0.99998048 0.00281771 0.24459357] [ 0.01952477 -0.00270833 0.99980571 1.21533833] [ 0. 0. 0. 1. ]] SLAMing on 211.802557844 meters Centerline goodness : 0.135376 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99793004e-01 5.52273185e-03 -1.95818466e-02 2.59043372e+00] [-5.47605425e-03 9.99982038e-01 2.43653841e-03 2.46489564e-01] [ 1.95949513e-02 -2.32880280e-03 9.99805288e-01 1.21473859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832557844 meters Centerline goodness : 0.154641 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99792037e-01 5.35775353e-03 -1.96768133e-02 2.59092182e+00] [-5.31933540e-03 9.99983844e-01 2.00427707e-03 2.48392322e-01] [ 1.96872338e-02 -1.89919269e-03 9.99804384e-01 1.21426469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862557844 meters Centerline goodness : 0.135140 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99785118e-01 5.07702213e-03 -2.00983053e-02 2.59209632e+00] [-5.05240739e-03 9.99986423e-01 1.27530550e-03 2.51671301e-01] [ 2.01045072e-02 -1.17348663e-03 9.99797195e-01 1.21393369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892557844 meters Centerline goodness : 0.133180 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99785454e-01 5.03016353e-03 -2.00933723e-02 2.59193193e+00] [-5.00645864e-03 9.99986711e-01 1.22986628e-03 2.51873254e-01] [ 2.00992917e-02 -1.12900578e-03 9.99797351e-01 1.21414157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922557844 meters Centerline goodness : 0.136331 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99789953e-01 4.50548695e-03 -1.99937398e-02 2.59150049e+00] [-4.48130651e-03 9.99989173e-01 1.25403960e-03 2.50194509e-01] [ 1.99991734e-02 -1.16417812e-03 9.99799319e-01 1.21463174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952557844 meters Centerline goodness : 0.137288 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99783908e-01 4.44266242e-03 -2.03076444e-02 2.59239923e+00] [-4.41201874e-03 9.99989060e-01 1.55352731e-03 2.48204218e-01] [ 2.03143241e-02 -1.46359389e-03 9.99792572e-01 1.21452539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982557844 meters Centerline goodness : 0.145490 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:1.21 [[ 9.99773222e-01 4.39986381e-03 -2.08361596e-02 2.59392821e+00] [-4.36319342e-03 9.99988852e-01 1.80507424e-03 2.46478918e-01] [ 2.08438694e-02 -1.71375270e-03 9.99781274e-01 1.21421432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012557844 meters Centerline goodness : 0.141793 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 9.99764992e-01 -3.41525565e-03 -2.14078667e-02 2.61482199e+00] [ 3.46971854e-03 9.99990837e-01 2.50743221e-03 2.49755072e-01] [ 2.13991070e-02 -2.58112221e-03 9.99767681e-01 1.21521848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04255784400002 meters Centerline goodness : 0.139887 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:1.22 [[ 0.99976349 -0.00334085 -0.02148947 2.61508612] [ 0.00340049 0.99999047 0.00273932 0.24848844] [ 0.02148012 -0.00281174 0.99976532 1.21518062] [ 0. 0. 0. 1. ]] SLAMing on 212.07255784400002 meters Centerline goodness : 0.150121 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99977936 -0.00310506 -0.02077468 2.61278015] [ 0.00316817 0.99999047 0.00300536 0.24774662] [ 0.02076515 -0.00307052 0.99977967 1.21601432] [ 0. 0. 0. 1. ]] SLAMing on 212.10255784400002 meters Centerline goodness : 0.141411 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99978761 -0.00302034 -0.02038679 2.61154132] [ 0.0030828 0.99999065 0.00303303 0.24793365] [ 0.02037744 -0.00309523 0.99978757 1.21642861] [ 0. 0. 0. 1. ]] SLAMing on 212.13255784400002 meters Centerline goodness : 0.141533 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.22 [[ 0.99979283 -0.00297571 -0.02013575 2.61087457] [ 0.00303697 0.99999085 0.00301284 0.24820301] [ 0.0201266 -0.00307337 0.99979272 1.21646624] [ 0. 0. 0. 1. ]] SLAMing on 212.16255784400002 meters Centerline goodness : 0.136005 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.22 [[ 9.99764016e-01 5.09533268e-03 -2.11175073e-02 2.63561478e+00] [-5.06928255e-03 9.99986323e-01 1.28692751e-03 2.46134587e-01] [ 2.11237758e-02 -1.17957320e-03 9.99776172e-01 1.21539258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19255784400002 meters Centerline goodness : 0.172201 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688772e-01 3.94581143e-03 -2.46330898e-02 2.59298110e+00] [-3.90991879e-03 9.99991224e-01 1.50508452e-03 2.42692681e-01] [ 2.46388124e-02 -1.40830271e-03 9.99695426e-01 1.21464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22255784400002 meters Centerline goodness : 0.172201 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688772e-01 3.94581143e-03 -2.46330898e-02 2.59298110e+00] [-3.90991879e-03 9.99991224e-01 1.50508452e-03 2.42692681e-01] [ 2.46388124e-02 -1.40830271e-03 9.99695426e-01 1.21464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25255784400002 meters Centerline goodness : 0.138462 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:1.21 [[ 9.99688518e-01 3.95182242e-03 -2.46424532e-02 2.59318901e+00] [-3.91544264e-03 9.99991173e-01 1.52438067e-03 2.42598836e-01] [ 2.46482597e-02 -1.42741974e-03 9.99695166e-01 1.21428360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28255784400002 meters Centerline goodness : 0.137131 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99737661e-01 4.97363345e-03 -2.23578139e-02 2.63632118e+00] [-4.95081910e-03 9.99987166e-01 1.07565569e-03 2.45958412e-01] [ 2.23628769e-02 -9.64684016e-04 9.99749454e-01 1.21457903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31255784400003 meters Centerline goodness : 0.143653 Centerline is valid? [False, False] Translation: X:2.62, Y:0.25, Z:1.21 [[ 9.99725974e-01 -4.51250316e-03 -2.29698372e-02 2.61546757e+00] [ 4.55269892e-03 9.99988195e-01 1.69794314e-03 2.49490377e-01] [ 2.29619041e-02 -1.80205261e-03 9.99734717e-01 1.21312088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters Centerline goodness : 0.136743 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99737532e-01 3.44688245e-03 -2.26492107e-02 2.63552015e+00] [-3.44909656e-03 9.99994050e-01 -5.86924774e-05 2.46541685e-01] [ 2.26488736e-02 1.36796387e-04 9.99743472e-01 1.21433230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372557844 meters Centerline goodness : 0.137246 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99733181e-01 3.43095458e-03 -2.28428341e-02 2.63612672e+00] [-3.43314673e-03 9.99994105e-01 -5.67503023e-05 2.46592301e-01] [ 2.28425047e-02 1.35157961e-04 9.99739067e-01 1.21413872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters Centerline goodness : 0.144853 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:1.21 [[ 9.99732043e-01 3.42620580e-03 -2.28932989e-02 2.63629603e+00] [-3.42875084e-03 9.99994119e-01 -7.19174623e-05 2.46885589e-01] [ 2.28929179e-02 1.50393609e-04 9.99737912e-01 1.21402051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.432557844 meters Centerline goodness : 0.137895 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:1.21 [[ 9.99723091e-01 -6.27364511e-03 -2.26800185e-02 2.61339317e+00] [ 6.28605827e-03 9.99980129e-01 4.76064655e-04 2.49419177e-01] [ 2.26765811e-02 -6.18500746e-04 9.99742662e-01 1.21376496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.462557844 meters Centerline goodness : 0.150211 Centerline is valid? [False, False] Translation: X:2.63, Y:0.25, Z:1.21 [[ 9.99785801e-01 3.20231817e-04 -2.06941991e-02 2.63231252e+00] [-3.74073246e-04 9.99996555e-01 -2.59794573e-03 2.46513864e-01] [ 2.06932959e-02 2.60513040e-03 9.99782477e-01 1.21486104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.492557844 meters Centerline goodness : 0.146486 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99786333e-01 3.35759816e-04 -2.06682129e-02 2.63197114e+00] [-3.82424448e-04 9.99997387e-01 -2.25388613e-03 2.44595919e-01] [ 2.06674021e-02 2.26130858e-03 9.99783849e-01 1.21534430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.522557844 meters Centerline goodness : 0.142002 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99789536e-01 4.38324421e-04 -2.05107735e-02 2.63140682e+00] [-4.75710991e-04 9.99998234e-01 -1.81793357e-03 2.42606137e-01] [ 2.05099405e-02 1.82730816e-03 9.99787979e-01 1.21561128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552557844 meters Centerline goodness : 0.139300 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99790433e-01 3.64820374e-04 -2.04684435e-02 2.63122854e+00] [-3.89492245e-04 9.99999202e-01 -1.20138772e-03 2.39104386e-01] [ 2.04679889e-02 1.20910825e-03 9.99789778e-01 1.21588644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582557844 meters Centerline goodness : 0.139317 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99784390e-01 4.54710367e-04 -2.07597245e-02 2.63199946e+00] [-4.71681446e-04 9.99999559e-01 -8.12611008e-04 2.36965951e-01] [ 2.07593458e-02 8.22227778e-04 9.99784163e-01 1.21585808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612557844 meters Centerline goodness : 0.142990 Centerline is valid? [False, False] Translation: X:2.63, Y:0.24, Z:1.22 [[ 9.99778703e-01 4.97470012e-04 -2.10308544e-02 2.63269481e+00] [-5.08237853e-04 9.99999742e-01 -5.06660253e-04 2.35121844e-01] [ 2.10305969e-02 5.17236807e-04 9.99778699e-01 1.21586456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642557844 meters Centerline goodness : 0.179817 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99777397e-01 6.25699597e-04 -2.10894624e-02 2.63267344e+00] [-6.29910538e-04 9.99999783e-01 -1.93027975e-04 2.33705753e-01] [ 2.10893370e-02 2.06269481e-04 9.99777574e-01 1.21616173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672557844 meters Centerline goodness : 0.144959 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99779705e-01 8.73253687e-04 -2.09709098e-02 2.63204739e+00] [-8.62383395e-04 9.99999489e-01 5.27388869e-04 2.30440933e-01] [ 2.09713596e-02 -5.09187723e-04 9.99779947e-01 1.21675175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702557844 meters Centerline goodness : 0.159463 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99776705e-01 9.38467789e-04 -2.11106622e-02 2.63234723e+00] [-9.19806956e-04 9.99999178e-01 8.93645562e-04 2.28527115e-01] [ 2.11114835e-02 -8.74028282e-04 9.99776746e-01 1.21682416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732557844 meters Centerline goodness : 0.144124 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:1.22 [[ 9.99772668e-01 1.02003845e-03 -2.12972215e-02 2.63287702e+00] [-9.92888526e-04 9.99998681e-01 1.28534595e-03 2.26362636e-01] [ 2.12985045e-02 -1.26390799e-03 9.99772362e-01 1.21675142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762557844 meters Centerline goodness : 0.135000 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99767924e-01 1.14806007e-03 -2.15123434e-02 2.63346737e+00] [-1.11140618e-03 9.99997911e-01 1.71573209e-03 2.24218352e-01] [ 2.15142682e-02 -1.69142496e-03 9.99767111e-01 1.21666077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79255784400002 meters Centerline goodness : 0.154686 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99769635e-01 1.47177039e-03 -2.14128729e-02 2.63311703e+00] [-1.41488666e-03 9.99995431e-01 2.67142773e-03 2.19791653e-01] [ 2.14167068e-02 -2.64051554e-03 9.99767149e-01 1.21687063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82255784400002 meters Centerline goodness : 0.154596 Centerline is valid? [False, False] Translation: X:2.63, Y:0.22, Z:1.22 [[ 9.99772792e-01 1.63932041e-03 -2.12527111e-02 2.63234130e+00] [-1.57147405e-03 9.99993617e-01 3.20867050e-03 2.17141660e-01] [ 2.12578355e-02 -3.17454338e-03 9.99768987e-01 1.21753911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85255784400002 meters Centerline goodness : 0.148966 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 9.99786923e-01 7.90187559e-03 -1.90701157e-02 2.65388190e+00] [-7.90251036e-03 9.99968774e-01 4.20729864e-05 2.13936896e-01] [ 1.90698526e-02 1.08637765e-04 9.99818148e-01 1.21717618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88255784400002 meters Centerline goodness : 0.152319 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 0.99981748 0.00432122 -0.01860986 2.65253978] [-0.0043822 0.99998516 -0.00323729 0.21137764] [ 0.0185956 0.00331825 0.99982158 1.21739599] [ 0. 0. 0. 1. ]] SLAMing on 212.91255784400002 meters Centerline goodness : 0.170961 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 0.99981407 0.00449433 -0.01875196 2.6529634 ] [-0.00454762 0.99998574 -0.00280039 0.20929144] [ 0.01873911 0.00288514 0.99982024 1.21726101] [ 0. 0. 0. 1. ]] SLAMing on 212.94255784400002 meters Centerline goodness : 0.146593 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:1.22 [[ 9.99811676e-01 4.65234557e-03 -1.88406193e-02 2.65338700e+00] [-4.69804764e-03 9.99986127e-01 -2.38218566e-03 2.07282424e-01] [ 1.88292752e-02 2.47025117e-03 9.99819662e-01 1.21689748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97255784400002 meters Centerline goodness : 0.382280 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99811630e-01 4.94841323e-03 -1.87674834e-02 2.65298205e+00] [-4.97598223e-03 9.99986608e-01 -1.42256373e-03 2.02492792e-01] [ 1.87601926e-02 1.51568242e-03 9.99822863e-01 1.21727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00255784400002 meters Centerline goodness : 0.263509 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99813365e-01 5.12810502e-03 -1.86262716e-02 2.65227361e+00] [-5.14507228e-03 9.99986392e-01 -8.63124771e-04 1.99739552e-01] [ 1.86215919e-02 9.58797196e-04 9.99826143e-01 1.21786128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03255784400002 meters Centerline goodness : 0.151230 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:1.22 [[ 9.99810556e-01 5.28146996e-03 -1.87338620e-02 2.65224250e+00] [-5.28857880e-03 9.99985961e-01 -3.29942553e-04 1.96980169e-01] [ 1.87318564e-02 4.28955552e-04 9.99824451e-01 1.21835925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06255784400003 meters Centerline goodness : 0.149116 Centerline is valid? [False, False] Translation: X:2.65, Y:0.19, Z:1.22 [[ 9.99792444e-01 5.21912730e-03 -1.96933709e-02 2.65484620e+00] [-5.21396054e-03 9.99986358e-01 3.13696643e-04 1.92993429e-01] [ 1.96947395e-02 -2.10951074e-04 9.99806018e-01 1.21798551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092557844 meters Centerline goodness : 0.085575 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99787743e-01 5.32146409e-03 -1.99035649e-02 2.65568669e+00] [-5.30960939e-03 9.99985694e-01 6.48405187e-04 1.91449638e-01] [ 1.99067307e-02 -5.42587403e-04 9.99801694e-01 1.21740076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122557844 meters Centerline goodness : 0.137309 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99784588e-01 5.36297334e-03 -2.00503214e-02 2.65637727e+00] [-5.34733572e-03 9.99985356e-01 8.33451113e-04 1.90524638e-01] [ 2.00544976e-02 -7.26055778e-04 9.99798625e-01 1.21683164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152557844 meters Centerline goodness : 0.085560 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99782273e-01 5.34250744e-03 -2.01708590e-02 2.65679607e+00] [-5.32679150e-03 9.99985466e-01 8.32789138e-04 1.90418319e-01] [ 2.01750150e-02 -7.25161857e-04 9.99796201e-01 1.21663823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.182557844 meters Centerline goodness : 0.085158 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:1.22 [[ 9.99785219e-01 5.10136001e-03 -2.00871178e-02 2.65646849e+00] [-5.09753406e-03 9.99986978e-01 2.41665752e-04 1.93034405e-01] [ 2.00880891e-02 -1.39219079e-04 9.99798204e-01 1.21686275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.212557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 213.242557844 meters Centerline goodness : 0.132319 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:1.22 [[ 9.99794410e-01 1.30517474e-05 -2.02765290e-02 2.67832393e+00] [ 4.37851769e-05 9.99996072e-01 2.80264296e-03 2.00968489e-01] [ 2.02764859e-02 -2.80295458e-03 9.99790482e-01 1.21744320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.272557844 meters Centerline goodness : 0.123627 Centerline is valid? [False, False] Translation: X:2.68, Y:0.20, Z:1.22 [[ 9.99790992e-01 -2.63807364e-04 -2.04426771e-02 2.67909686e+00] [ 3.06891483e-04 9.99997739e-01 2.10444910e-03 2.04194817e-01] [ 2.04420757e-02 -2.11028294e-03 9.99788812e-01 1.21681914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302557844 meters Centerline goodness : 0.135072 Centerline is valid? [False, False] Translation: X:2.68, Y:0.21, Z:1.22 [[ 9.99782858e-01 -8.76937093e-04 -2.08198778e-02 2.68081640e+00] [ 8.93072939e-04 9.99999308e-01 7.65736002e-04 2.10216242e-01] [ 2.08191919e-02 -7.84163399e-04 9.99782950e-01 1.21537577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332557844 meters Centerline goodness : 0.140617 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.21 [[ 9.99821936e-01 -8.03824186e-04 -1.88533710e-02 2.72484869e+00] [ 7.96247346e-04 9.99999599e-01 -4.09385744e-04 2.14240191e-01] [ 1.88536925e-02 3.94300901e-04 9.99822176e-01 1.21496963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362557844 meters Centerline goodness : 0.151396 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.22 [[ 9.99824022e-01 -1.10875411e-03 -1.87268539e-02 2.72422752e+00] [ 1.09689897e-03 9.99999191e-01 -6.43315534e-04 2.14996488e-01] [ 1.87275520e-02 6.22660858e-04 9.99824430e-01 1.21538974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392557844 meters Centerline goodness : 0.148522 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:1.22 [[ 9.99833295e-01 -1.48528368e-03 -1.81982685e-02 2.72225950e+00] [ 1.47048914e-03 9.99998577e-01 -8.26318015e-04 2.15388517e-01] [ 1.81994699e-02 7.99419907e-04 9.99834056e-01 1.21644428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422557844 meters Centerline goodness : 0.149454 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:1.22 [[ 9.99818458e-01 -1.11615276e-02 -1.54424975e-02 2.73995302e+00] [ 1.11487663e-02 9.99937434e-01 -9.12220064e-04 2.18774958e-01] [ 1.54517131e-02 7.39889664e-04 9.99880341e-01 1.21856666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452557844 meters Centerline goodness : 0.161228 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:1.22 [[ 9.99863226e-01 -1.98979616e-03 -1.64185735e-02 2.72078609e+00] [ 1.96327505e-03 9.99996742e-01 -1.63127162e-03 2.13486035e-01] [ 1.64217659e-02 1.59881433e-03 9.99863875e-01 1.21814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482557844 meters Centerline goodness : 0.139984 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99875453e-01 -1.96302521e-03 -1.56596894e-02 2.76583595e+00] [ 1.92913174e-03 9.99995765e-01 -2.17918896e-03 2.12910157e-01] [ 1.56639008e-02 2.14870795e-03 9.99875005e-01 1.21771374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512557844 meters Centerline goodness : 0.167434 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99870746e-01 -2.19828999e-03 -1.59266714e-02 2.76649904e+00] [ 2.16542138e-03 9.99995491e-01 -2.08069744e-03 2.12090447e-01] [ 1.59311736e-02 2.04594054e-03 9.99870998e-01 1.21766276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54255784400002 meters Centerline goodness : 0.151255 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99871741e-01 -2.22991518e-03 -1.58596393e-02 2.76598403e+00] [ 2.19927862e-03 9.99995682e-01 -1.94891031e-03 2.11481977e-01] [ 1.58639167e-02 1.91378058e-03 9.99872329e-01 1.21823272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57255784400002 meters Centerline goodness : 0.143246 Centerline is valid? [False, False] Translation: X:2.77, Y:0.21, Z:1.22 [[ 9.99874506e-01 -2.21646815e-03 -1.56862941e-02 2.76519971e+00] [ 2.18750986e-03 9.99995872e-01 -1.86300623e-03 2.11095717e-01] [ 1.56903587e-02 1.82845851e-03 9.99875227e-01 1.21880118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60255784400002 meters Centerline goodness : 0.163738 Centerline is valid? [False, False] Translation: X:2.76, Y:0.21, Z:1.22 [[ 9.99876189e-01 -2.23388393e-03 -1.55761495e-02 2.76471597e+00] [ 2.20443500e-03 9.99995751e-01 -1.90755521e-03 2.11299991e-01] [ 1.55803446e-02 1.87298242e-03 9.99876865e-01 1.21911292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63255784400002 meters Centerline goodness : 0.141317 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99900932e-01 -1.12233308e-03 -1.40308853e-02 2.80791560e+00] [ 1.09206490e-03 9.99997061e-01 -2.16472972e-03 2.11428207e-01] [ 1.40332736e-02 2.14919263e-03 9.99899219e-01 1.21929882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66255784400002 meters Centerline goodness : 0.144856 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99900581e-01 -1.21191201e-03 -1.40484703e-02 2.80831254e+00] [ 1.17601536e-03 9.99996024e-01 -2.56317932e-03 2.13387556e-01] [ 1.40515208e-02 2.54640328e-03 9.99898030e-01 1.21874462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69255784400002 meters Centerline goodness : 0.155452 Centerline is valid? [False, False] Translation: X:2.81, Y:0.21, Z:1.22 [[ 9.99898608e-01 -1.30290186e-03 -1.41801609e-02 2.80879833e+00] [ 1.26278634e-03 9.99995177e-01 -2.83757509e-03 2.14714908e-01] [ 1.41837896e-02 2.81938087e-03 9.99895430e-01 1.21845743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72255784400002 meters Centerline goodness : 0.143261 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99896918e-01 -1.40872901e-03 -1.42887617e-02 2.80929668e+00] [ 1.36287990e-03 9.99993894e-01 -3.21798323e-03 2.16686221e-01] [ 1.42932078e-02 3.19817765e-03 9.99892732e-01 1.21812151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75255784400002 meters Centerline goodness : 0.152010 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99905096e-01 8.26500626e-04 -1.37519549e-02 2.80676964e+00] [-8.44583299e-04 9.99998786e-01 -1.30916085e-03 2.20723651e-01] [ 1.37508562e-02 1.32065128e-03 9.99904580e-01 1.21929190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78255784400002 meters Centerline goodness : 0.135075 Centerline is valid? [False, False] Translation: X:2.81, Y:0.22, Z:1.22 [[ 9.99893128e-01 4.57104057e-03 -1.38865947e-02 2.80713565e+00] [-4.54635303e-03 9.99988029e-01 1.80884469e-03 2.24669695e-01] [ 1.38946968e-02 -1.74551801e-03 9.99901940e-01 1.21930605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81255784400003 meters Centerline goodness : 0.142533 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99891373e-01 4.42719451e-03 -1.40585092e-02 2.80764515e+00] [-4.40908109e-03 9.99989410e-01 1.31916381e-03 2.26984067e-01] [ 1.40642005e-02 -1.25703540e-03 9.99900304e-01 1.21919644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters Centerline goodness : 0.157183 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99889342e-01 4.26920213e-03 -1.42505505e-02 2.80835788e+00] [-4.25677607e-03 9.99990533e-01 9.02188428e-04 2.28810243e-01] [ 1.42542672e-02 -8.41427191e-04 9.99898049e-01 1.21882618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872557844 meters Centerline goodness : 0.150281 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99886770e-01 4.14259928e-03 -1.44667455e-02 2.80924895e+00] [-4.13451976e-03 9.99991280e-01 5.88352716e-04 2.30219218e-01] [ 1.44690566e-02 -5.28473052e-04 9.99895178e-01 1.21819351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters Centerline goodness : 0.146278 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99883457e-01 3.98796945e-03 -1.47366623e-02 2.81021857e+00] [-3.98459885e-03 9.99992028e-01 2.58076577e-04 2.31780914e-01] [ 1.47375740e-02 -1.99326813e-04 9.99891376e-01 1.21764803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.932557844 meters Centerline goodness : 0.153094 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99881235e-01 3.92476558e-03 -1.49034135e-02 2.81060673e+00] [-3.92165699e-03 9.99992282e-01 2.37801152e-04 2.31820051e-01] [ 1.49042318e-02 -1.79326834e-04 9.99888910e-01 1.21762614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.962557844 meters Centerline goodness : 0.144416 Centerline is valid? [False, False] Translation: X:2.81, Y:0.23, Z:1.22 [[ 9.99878297e-01 3.83096073e-03 -1.51233340e-02 2.81119877e+00] [-3.82877511e-03 9.99992655e-01 1.73470758e-04 2.32017680e-01] [ 1.51238875e-02 -1.15545802e-04 9.99885621e-01 1.21752371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.992557844 meters Centerline goodness : 0.141406 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99856166e-01 -4.87006455e-03 -1.62459399e-02 2.79202040e+00] [ 4.89575880e-03 9.99986827e-01 1.54218388e-03 2.36862016e-01] [ 1.62382153e-02 -1.62149827e-03 9.99866837e-01 1.21632875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.022557844 meters Centerline goodness : 0.170396 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854216e-01 -4.88052077e-03 -1.63623454e-02 2.79224281e+00] [ 4.90616508e-03 9.99986798e-01 1.52750171e-03 2.37250704e-01] [ 1.63546744e-02 -1.60755539e-03 9.99864961e-01 1.21643181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052557844 meters Centerline goodness : 0.125046 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854666e-01 -4.91806919e-03 -1.63235907e-02 2.79201181e+00] [ 4.94151731e-03 9.99986816e-01 1.39643284e-03 2.37974053e-01] [ 1.63165078e-02 -1.47689320e-03 9.99865786e-01 1.21666180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082557844 meters Centerline goodness : 0.151384 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99854468e-01 -4.95674986e-03 -1.63240179e-02 2.79190707e+00] [ 4.97731141e-03 9.99986870e-01 1.21920239e-03 2.38980743e-01] [ 1.63177602e-02 -1.30027467e-03 9.99866011e-01 1.21685975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112557844 meters Centerline goodness : 0.163324 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99853989e-01 -5.00865079e-03 -1.63375262e-02 2.79184810e+00] [ 5.02487368e-03 9.99986922e-01 9.52084655e-04 2.40441435e-01] [ 1.63325438e-02 -1.03403964e-03 9.99866080e-01 1.21702481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142557844 meters Centerline goodness : 0.163324 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99853944e-01 -5.00407281e-03 -1.63416861e-02 2.79184288e+00] [ 5.02039948e-03 9.99986939e-01 9.58210359e-04 2.40439960e-01] [ 1.63366777e-02 -1.04011220e-03 9.99866007e-01 1.21703586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172557844 meters Centerline goodness : 0.150090 Centerline is valid? [False, False] Translation: X:2.79, Y:0.24, Z:1.22 [[ 9.99863557e-01 -1.50775905e-03 -1.64497529e-02 2.79186253e+00] [ 1.58115678e-03 9.99988849e-01 4.44984212e-03 2.41236800e-01] [ 1.64428602e-02 -4.47524461e-03 9.99854792e-01 1.21726681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202557844 meters Centerline goodness : 0.149251 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99865316e-01 -1.72964623e-03 -1.63204900e-02 2.79169537e+00] [ 1.78928228e-03 9.99991774e-01 3.64016630e-03 2.45587194e-01] [ 1.63140595e-02 -3.66887799e-03 9.99860186e-01 1.21701310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232557844 meters Centerline goodness : 0.142842 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99867255e-01 -1.90178881e-03 -1.61819703e-02 2.79103429e+00] [ 1.95404496e-03 9.99992926e-01 3.21408379e-03 2.47537926e-01] [ 1.61757433e-02 -3.24527743e-03 9.99863897e-01 1.21751569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262557844 meters Centerline goodness : 0.154545 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99870015e-01 -2.07265835e-03 -1.59892788e-02 2.79011275e+00] [ 2.11748728e-03 9.99993874e-01 2.78726719e-03 2.49654514e-01] [ 1.59834038e-02 -2.82076198e-03 9.99868278e-01 1.21819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29255784400002 meters Centerline goodness : 0.145291 Centerline is valid? [False, False] Translation: X:2.79, Y:0.25, Z:1.22 [[ 9.99872844e-01 -2.21219564e-03 -1.57924943e-02 2.78919778e+00] [ 2.24956018e-03 9.99994712e-01 2.34859648e-03 2.52045846e-01] [ 1.57872152e-02 -2.38382401e-03 9.99872532e-01 1.21881552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32255784400002 meters Centerline goodness : 0.124498 Centerline is valid? [False, False] Translation: X:2.78, Y:0.26, Z:1.22 [[ 9.99892410e-01 5.27913566e-06 -1.46685998e-02 2.78488176e+00] [ 5.21202450e-05 9.99992344e-01 3.91269332e-03 2.59420730e-01] [ 1.46685082e-02 -3.91303688e-03 9.99884755e-01 1.22062336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35255784400002 meters Centerline goodness : 0.148987 Centerline is valid? [False, False] Translation: X:2.78, Y:0.26, Z:1.22 [[ 9.99894393e-01 -2.81653420e-04 -1.45300646e-02 2.78448785e+00] [ 3.28827235e-04 9.99994683e-01 3.24434803e-03 2.62485282e-01] [ 1.45290736e-02 -3.24878328e-03 9.99889170e-01 1.22069884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38255784400002 meters Centerline goodness : 0.183245 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99895909e-01 -5.65011340e-04 -1.44170588e-02 2.78419495e+00] [ 6.03047490e-04 9.99996349e-01 2.63406298e-03 2.65196418e-01] [ 1.44155178e-02 -2.64248297e-03 9.99892599e-01 1.22068678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41255784400002 meters Centerline goodness : 0.160369 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99897412e-01 -7.80808765e-04 -1.43022959e-02 2.78384881e+00] [ 8.12158274e-04 9.99997280e-01 2.18624445e-03 2.67222914e-01] [ 1.43005499e-02 -2.19763589e-03 9.99895327e-01 1.22076153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44255784400002 meters Centerline goodness : 0.133349 Centerline is valid? [False, False] Translation: X:2.81, Y:0.27, Z:1.22 [[ 0.99987488 -0.00747274 -0.01394206 2.80624063] [ 0.007535 0.99996185 0.00441796 0.27299586] [ 0.01390851 -0.00452246 0.99989304 1.22080556] [ 0. 0. 0. 1. ]] SLAMing on 214.47255784400002 meters Centerline goodness : 0.152479 Centerline is valid? [False, False] Translation: X:2.76, Y:0.27, Z:1.22 [[ 0.99982455 -0.0082012 -0.01684078 2.76095028] [ 0.00827794 0.99995565 0.00449235 0.27490594] [ 0.01680319 -0.00463097 0.99984809 1.22171465] [ 0. 0. 0. 1. ]] SLAMing on 214.50255784400002 meters Centerline goodness : 0.190804 Centerline is valid? [False, False] Translation: X:2.78, Y:0.27, Z:1.22 [[ 9.99864748e-01 -6.63782524e-04 -1.64330638e-02 2.77852722e+00] [ 7.07885463e-04 9.99996163e-01 2.67812153e-03 2.71011283e-01] [ 1.64312231e-02 -2.68939204e-03 9.99861381e-01 1.22354305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.56255784400003 meters Centerline goodness : 0.095932 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99863851e-01 -1.13961121e-03 -1.64614633e-02 2.77883096e+00] [ 1.16773553e-03 9.99997875e-01 1.69898416e-03 2.75299488e-01] [ 1.64594922e-02 -1.71797548e-03 9.99863057e-01 1.22320618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592557844 meters Centerline goodness : 0.094377 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99860659e-01 -1.30258838e-03 -1.66422936e-02 2.77953970e+00] [ 1.32240080e-03 9.99998430e-01 1.17953663e-03 2.77909951e-01] [ 1.66407310e-02 -1.20138006e-03 9.99860812e-01 1.22284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622557844 meters Centerline goodness : 0.320030 Centerline is valid? [False, False] Translation: X:2.78, Y:0.28, Z:1.22 [[ 9.99855474e-01 -1.51020151e-03 -1.69336821e-02 2.78052275e+00] [ 1.52027939e-03 9.99998675e-01 5.82280759e-04 2.80698214e-01] [ 1.69327803e-02 -6.07940533e-04 9.99856445e-01 1.22247899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652557844 meters Centerline goodness : 0.146877 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:1.22 [[ 9.99858316e-01 -1.59533512e-03 -1.67571483e-02 2.78027992e+00] [ 1.58726711e-03 9.99998618e-01 -4.94755665e-04 2.86850875e-01] [ 1.67579145e-02 4.68087496e-04 9.99859467e-01 1.22226570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.682557844 meters Centerline goodness : 0.141940 Centerline is valid? [False, False] Translation: X:2.78, Y:0.29, Z:1.22 [[ 9.99874172e-01 3.41137960e-04 -1.58595237e-02 2.77666505e+00] [-3.25862300e-04 9.99999481e-01 9.65759499e-04 2.91792994e-01] [ 1.58598449e-02 -9.60469958e-04 9.99873763e-01 1.22368962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.712557844 meters Centerline goodness : 0.098735 Centerline is valid? [False, False] Translation: X:2.78, Y:0.30, Z:1.22 [[ 9.99873062e-01 1.29946947e-04 -1.59324289e-02 2.77699342e+00] [-1.26185881e-04 9.99999964e-01 2.37068635e-04 2.95448866e-01] [ 1.59324591e-02 -2.35028094e-04 9.99873043e-01 1.22349338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.742557844 meters Centerline goodness : 0.094265 Centerline is valid? [False, False] Translation: X:2.76, Y:0.30, Z:1.22 [[ 9.99818544e-01 -8.12700218e-03 -1.72287592e-02 2.75885259e+00] [ 8.14975521e-03 9.99966008e-01 1.25084248e-03 3.04135620e-01] [ 1.72180079e-02 -1.39102567e-03 9.99850791e-01 1.22177208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.772557844 meters Centerline goodness : 0.198561 Centerline is valid? [False, False] Translation: X:2.76, Y:0.31, Z:1.22 [[ 9.99804804e-01 -8.48522632e-03 -1.78425081e-02 2.76076992e+00] [ 8.49110498e-03 9.99963918e-01 2.53742148e-04 3.08772665e-01] [ 1.78397112e-02 -4.05195227e-04 9.99840778e-01 1.22110046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802557844 meters Centerline goodness : 0.161516 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99835656e-01 4.77641083e-05 -1.81289629e-02 2.73961348e+00] [-5.48845457e-05 9.99999922e-01 -3.92268504e-04 3.06754423e-01] [ 1.81289428e-02 3.93199036e-04 9.99835580e-01 1.22048333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832557844 meters Centerline goodness : 0.158539 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99838320e-01 -5.76678486e-05 -1.79813807e-02 2.73893445e+00] [ 4.63791261e-05 9.99999802e-01 -6.28217030e-04 3.07968956e-01] [ 1.79814134e-02 6.27281499e-04 9.99838125e-01 1.22098883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862557844 meters Centerline goodness : 0.197973 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99843016e-01 -1.31376821e-04 -1.77179448e-02 2.73797501e+00] [ 1.17963516e-04 9.99999706e-01 -7.58089306e-04 3.08680762e-01] [ 1.77180392e-02 7.55880227e-04 9.99842738e-01 1.22148110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892557844 meters Centerline goodness : 0.152997 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99843334e-01 -2.45210916e-04 -1.76988225e-02 2.73789598e+00] [ 2.28872203e-04 9.99999546e-01 -9.25172194e-04 3.09273211e-01] [ 1.76990413e-02 9.20976482e-04 9.99842936e-01 1.22154338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922557844 meters Centerline goodness : 0.186270 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99841350e-01 -3.65368164e-04 -1.78084762e-02 2.73835278e+00] [ 3.45236677e-04 9.99999298e-01 -1.13350533e-03 3.10059810e-01] [ 1.78088778e-02 1.12717736e-03 9.99840774e-01 1.22122636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952557844 meters Centerline goodness : 0.144339 Centerline is valid? [False, False] Translation: X:2.74, Y:0.31, Z:1.22 [[ 9.99834402e-01 -6.28969908e-04 -1.81871496e-02 2.73965075e+00] [ 5.95711156e-04 9.99998141e-01 -1.83405489e-03 3.13662217e-01] [ 1.81882694e-02 1.82291688e-03 9.99832918e-01 1.22063936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982557844 meters Centerline goodness : 0.102034 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99832776e-01 -7.33840143e-04 -1.82724091e-02 2.73989166e+00] [ 6.92671154e-04 9.99997208e-01 -2.25929549e-03 3.16236733e-01] [ 1.82740161e-02 2.24626091e-03 9.99830493e-01 1.22064755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012557844 meters Centerline goodness : 0.217091 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99837910e-01 -1.08961560e-03 -1.79712678e-02 2.73869299e+00] [ 1.03107000e-03 9.99994133e-01 -3.26667721e-03 3.21153045e-01] [ 1.79747218e-02 3.24761808e-03 9.99833167e-01 1.22153740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04255784400002 meters Centerline goodness : 0.336915 Centerline is valid? [False, False] Translation: X:2.74, Y:0.32, Z:1.22 [[ 9.99838913e-01 -1.31831718e-03 -1.78999975e-02 2.73826223e+00] [ 1.25153087e-03 9.99992216e-01 -3.74176907e-03 3.22936641e-01] [ 1.79047911e-02 3.71876392e-03 9.99832781e-01 1.22197400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07255784400002 meters Centerline goodness : 0.153228 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 0.99979669 -0.0096176 -0.01772204 2.75861467] [ 0.00955999 0.99994875 -0.00333265 0.32879812] [ 0.01775318 0.00316255 0.9998374 1.22335519] [ 0. 0. 0. 1. ]] SLAMing on 215.10255784400002 meters Centerline goodness : 0.156918 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99821953e-01 -6.67521893e-03 -1.76494512e-02 2.75819653e+00] [ 6.67002067e-03 9.99977693e-01 -3.53377869e-04 3.30258506e-01] [ 1.76514163e-02 2.35592747e-04 9.99844174e-01 1.22346782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13255784400002 meters Centerline goodness : 0.134577 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99843143e-01 -3.50036112e-03 -1.73619492e-02 2.75731863e+00] [ 3.54804684e-03 9.99990016e-01 2.71652304e-03 3.33160967e-01] [ 1.73522670e-02 -2.77769794e-03 9.99845580e-01 1.22362635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16255784400002 meters Centerline goodness : 0.157290 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99844563e-01 -3.62336386e-03 -1.72545930e-02 2.75696444e+00] [ 3.66764279e-03 9.99990060e-01 2.53525885e-03 3.33844287e-01] [ 1.72452353e-02 -2.59814846e-03 9.99847914e-01 1.22375208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19255784400002 meters Centerline goodness : 0.114439 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:1.22 [[ 9.99846071e-01 -3.73102399e-03 -1.71439403e-02 2.75665616e+00] [ 3.77394026e-03 9.99989824e-01 2.47162068e-03 3.33791454e-01] [ 1.71345442e-02 -2.53594043e-03 9.99849977e-01 1.22375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22255784400002 meters Centerline goodness : 0.185801 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99838036e-01 2.95553824e-03 -1.77529467e-02 2.73326444e+00] [-2.95638553e-03 9.99995630e-01 -2.14825391e-05 3.32299073e-01] [ 1.77528056e-02 7.39636144e-05 9.99842404e-01 1.22363879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25255784400002 meters Centerline goodness : 0.133964 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99841568e-01 2.81404181e-03 -1.75761271e-02 2.73279588e+00] [-2.81613577e-03 9.99996030e-01 -9.43872542e-05 3.32546474e-01] [ 1.75757917e-02 1.43869060e-04 9.99845523e-01 1.22360460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28255784400002 meters Centerline goodness : 0.185085 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99843609e-01 2.78225180e-03 -1.74647153e-02 2.73246380e+00] [-2.78456341e-03 9.99996117e-01 -1.08042510e-04 3.32547956e-01] [ 1.74643469e-02 1.56657221e-04 9.99847474e-01 1.22368044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31255784400003 meters Centerline goodness : 0.160804 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99846202e-01 2.73752640e-03 -1.73227782e-02 2.73207191e+00] [-2.74003462e-03 9.99996239e-01 -1.21060634e-04 3.32356301e-01] [ 1.73223817e-02 1.68507027e-04 9.99849942e-01 1.22375826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters Centerline goodness : 0.132965 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99845755e-01 2.67904471e-03 -1.73576524e-02 2.73213853e+00] [-2.68209286e-03 9.99996392e-01 -1.52331845e-04 3.32240053e-01] [ 1.73571816e-02 1.98863184e-04 9.99849333e-01 1.22375569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372557844 meters Centerline goodness : 0.182471 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:1.22 [[ 9.99845665e-01 2.63434501e-03 -1.73697072e-02 2.73215552e+00] [-2.63926075e-03 9.99996483e-01 -2.60088788e-04 3.32750470e-01] [ 1.73689610e-02 3.05891834e-04 9.99849101e-01 1.22377144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters Centerline goodness : 0.141097 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:1.22 [[ 0.99984947 -0.00299234 -0.0170906 2.75547697] [ 0.003041 0.99999139 0.00282196 0.33657307] [ 0.01708201 -0.00287351 0.99984996 1.22368586] [ 0. 0. 0. 1. ]] SLAMing on 215.432557844 meters Centerline goodness : 0.132287 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.23 [[ 9.99807017e-01 -2.28897970e-03 -1.95112677e-02 2.70837468e+00] [ 2.35127907e-03 9.99992209e-01 3.17065247e-03 3.40990141e-01] [ 1.95038581e-02 -3.21591702e-03 9.99804610e-01 1.22506561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.462557844 meters Centerline goodness : 0.111544 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.23 [[ 9.99807873e-01 -2.43395820e-03 -1.94497649e-02 2.70812993e+00] [ 2.48873580e-03 9.99993004e-01 2.79265463e-03 3.42764685e-01] [ 1.94428316e-02 -2.84052342e-03 9.99806935e-01 1.22526034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.492557844 meters Centerline goodness : 0.159957 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:1.22 [[ 9.99804516e-01 -2.63892929e-03 -1.95950461e-02 2.70888890e+00] [ 2.68532729e-03 9.99993652e-01 2.34190869e-03 3.44718599e-01] [ 1.95887416e-02 -2.39407000e-03 9.99805256e-01 1.22457199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.522557844 meters Centerline goodness : 0.107105 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.22 [[ 9.99801820e-01 -2.72829997e-03 -1.97199528e-02 2.70939567e+00] [ 2.77114496e-03 9.99993858e-01 2.14567266e-03 3.45590338e-01] [ 1.97139776e-02 -2.19989428e-03 9.99803240e-01 1.22422014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552557844 meters Centerline goodness : 0.113018 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.22 [[ 9.99799948e-01 -2.80312088e-03 -1.98041881e-02 2.70979391e+00] [ 2.84356643e-03 9.99993928e-01 2.01440794e-03 3.46163222e-01] [ 1.97984212e-02 -2.07031948e-03 9.99801849e-01 1.22388173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582557844 meters Centerline goodness : 0.183221 Centerline is valid? [False, False] Translation: X:2.66, Y:0.35, Z:1.22 [[ 9.99742907e-01 -3.07565051e-03 -2.24646668e-02 2.66397660e+00] [ 3.11408169e-03 9.99993747e-01 1.67595615e-03 3.49002617e-01] [ 2.24593717e-02 -1.74548208e-03 9.99746233e-01 1.22491015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612557844 meters Centerline goodness : 0.086168 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99783657e-01 -3.69497399e-03 -2.04691573e-02 2.70778129e+00] [ 3.72284028e-03 9.99992194e-01 1.32344117e-03 3.47707029e-01] [ 2.04641074e-02 -1.39935826e-03 9.99789609e-01 1.22592019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642557844 meters Centerline goodness : 0.157104 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99785549e-01 -3.70392803e-03 -2.03749071e-02 2.70734960e+00] [ 3.73087652e-03 9.99992215e-01 1.28477784e-03 3.47981989e-01] [ 2.03699898e-02 -1.36051859e-03 9.99791585e-01 1.22623603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672557844 meters Centerline goodness : 0.173461 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99785878e-01 -3.73801977e-03 -2.03525231e-02 2.70707450e+00] [ 3.76315614e-03 9.99992203e-01 1.19689053e-03 3.48467522e-01] [ 2.03478904e-02 -1.27322397e-03 9.99792150e-01 1.22661872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702557844 meters Centerline goodness : 0.117112 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99791634e-01 -3.81210935e-03 -2.00538595e-02 2.70610800e+00] [ 3.83275254e-03 9.99992164e-01 9.91053213e-04 3.49617701e-01] [ 2.00499243e-02 -1.06770819e-03 9.99798410e-01 1.22701715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732557844 meters Centerline goodness : 0.129086 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99815434e-01 4.07316753e-03 -1.87751548e-02 2.72480396e+00] [-4.08196495e-03 9.99991576e-01 -4.30268014e-04 3.45381949e-01] [ 1.87732441e-02 5.06828125e-04 9.99823639e-01 1.22831544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762557844 meters Centerline goodness : 0.132374 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99817716e-01 3.95539783e-03 -1.86786029e-02 2.72438179e+00] [-3.96889589e-03 9.99991889e-01 -6.85633132e-04 3.46476269e-01] [ 1.86757394e-02 7.59641582e-04 9.99825305e-01 1.22865131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79255784400002 meters Centerline goodness : 0.125380 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99817840e-01 3.86073260e-03 -1.86917554e-02 2.72433176e+00] [-3.87924132e-03 9.99992021e-01 -9.54050322e-04 3.47755342e-01] [ 1.86879229e-02 1.02638636e-03 9.99824839e-01 1.22881455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82255784400002 meters Centerline goodness : 0.129819 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99819240e-01 3.75701588e-03 -1.86379344e-02 2.72386238e+00] [-3.78298034e-03 9.99991922e-01 -1.35803617e-03 3.50131419e-01] [ 1.86326817e-02 1.42829763e-03 9.99825376e-01 1.22938935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85255784400002 meters Centerline goodness : 0.123853 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99818503e-01 3.69560172e-03 -1.86896698e-02 2.72394399e+00] [-3.72353421e-03 9.99992002e-01 -1.45996367e-03 3.50646663e-01] [ 1.86841249e-02 1.52929032e-03 9.99824267e-01 1.22945283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88255784400002 meters Centerline goodness : 0.148423 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99820187e-01 3.69144817e-03 -1.86001602e-02 2.72383745e+00] [-3.71783114e-03 9.99992131e-01 -1.38404780e-03 3.50198886e-01] [ 1.85949047e-02 1.45295119e-03 9.99826044e-01 1.22921082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91255784400002 meters Centerline goodness : 0.152931 Centerline is valid? [False, False] Translation: X:2.72, Y:0.35, Z:1.23 [[ 9.99821728e-01 3.63418541e-03 -1.85284664e-02 2.72372282e+00] [-3.65755069e-03 9.99992558e-01 -1.22731608e-03 3.49035490e-01] [ 1.85238682e-02 1.29486608e-03 9.99827580e-01 1.22900556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94255784400002 meters Centerline goodness : 0.112141 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99798779e-01 -6.03561070e-03 -1.91304252e-02 2.70244263e+00] [ 6.01673677e-03 9.99981354e-01 -1.04399635e-03 3.51806219e-01] [ 1.91363696e-02 9.28683546e-04 9.99816452e-01 1.22834340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97255784400002 meters Centerline goodness : 0.147633 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99795003e-01 -5.95960360e-03 -1.93503272e-02 2.70314096e+00] [ 5.94531760e-03 9.99982010e-01 -7.95726352e-04 3.50722345e-01] [ 1.93547213e-02 6.80519390e-04 9.99812448e-01 1.22801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00255784400002 meters Centerline goodness : 0.129757 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99789908e-01 -5.89667564e-03 -1.96307993e-02 2.70414786e+00] [ 5.88523549e-03 9.99982477e-01 -6.40486362e-04 3.50196469e-01] [ 1.96342320e-02 5.24819925e-04 9.99807092e-01 1.22746937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03255784400002 meters Centerline goodness : 0.129757 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99789908e-01 -5.89667564e-03 -1.96307993e-02 2.70414786e+00] [ 5.88523549e-03 9.99982477e-01 -6.40486362e-04 3.50196469e-01] [ 1.96342320e-02 5.24819925e-04 9.99807092e-01 1.22746937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06255784400003 meters Centerline goodness : 0.146008 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99780407e-01 -5.88783196e-03 -2.01114859e-02 2.70574543e+00] [ 5.87503146e-03 9.99982500e-01 -6.95501895e-04 3.50799304e-01] [ 2.01152290e-02 5.77193555e-04 9.99797502e-01 1.22683467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092557844 meters Centerline goodness : 0.144051 Centerline is valid? [False, False] Translation: X:2.71, Y:0.35, Z:1.23 [[ 9.99776583e-01 -5.89736972e-03 -2.02979167e-02 2.70629840e+00] [ 5.88277382e-03 9.99982393e-01 -7.78719300e-04 3.51277020e-01] [ 2.03021517e-02 6.59137268e-04 9.99793673e-01 1.22669954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters Centerline goodness : 0.169667 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99784288e-01 2.60135935e-03 -2.06060639e-02 2.68591903e+00] [-2.64301362e-03 9.99994518e-01 -1.99448071e-03 3.49179270e-01] [ 2.06007626e-02 2.04851258e-03 9.99785683e-01 1.22477182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152557844 meters Centerline goodness : 0.112763 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99786889e-01 2.53306266e-03 -2.04880353e-02 2.68551919e+00] [-2.57878635e-03 9.99994243e-01 -2.20561452e-03 3.50111607e-01] [ 2.04823303e-02 2.25797874e-03 9.99787665e-01 1.22497411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.182557844 meters Centerline goodness : 0.113007 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99790664e-01 2.47878769e-03 -2.03096725e-02 2.68495931e+00] [-2.52755291e-03 9.99993984e-01 -2.37576587e-03 3.50929741e-01] [ 2.03036613e-02 2.42660231e-03 9.99790915e-01 1.22515115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.212557844 meters Centerline goodness : 0.115081 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99787749e-01 2.49924404e-03 -2.04501814e-02 2.68555279e+00] [-2.54753323e-03 9.99994028e-01 -2.33559818e-03 3.50832703e-01] [ 2.04442220e-02 2.38719996e-03 9.99788145e-01 1.22472205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.242557844 meters Centerline goodness : 0.148111 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99782790e-01 2.53400276e-03 -2.06869806e-02 2.68658418e+00] [-2.58123953e-03 9.99994122e-01 -2.25702303e-03 3.50528443e-01] [ 2.06811397e-02 2.30993083e-03 9.99783454e-01 1.22395974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.272557844 meters Centerline goodness : 0.143756 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99775307e-01 2.51991239e-03 -2.10472118e-02 2.68785086e+00] [-2.56982484e-03 9.99993949e-01 -2.34474193e-03 3.51064712e-01] [ 2.10411759e-02 2.39830273e-03 9.99775733e-01 1.22338663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302557844 meters Centerline goodness : 0.141593 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99772049e-01 2.45111236e-03 -2.12094835e-02 2.68819477e+00] [-2.50674360e-03 9.99993487e-01 -2.59675275e-03 3.52326461e-01] [ 2.12029804e-02 2.64932756e-03 9.99771681e-01 1.22355945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332557844 meters Centerline goodness : 0.115053 Centerline is valid? [False, False] Translation: X:2.69, Y:0.35, Z:1.22 [[ 9.99774824e-01 2.38311915e-03 -2.10860463e-02 2.68772217e+00] [-2.44631126e-03 9.99992593e-01 -2.97158191e-03 3.54201091e-01] [ 2.10788085e-02 3.02249582e-03 9.99773248e-01 1.22394404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362557844 meters Centerline goodness : 0.143931 Centerline is valid? [False, False] Translation: X:2.69, Y:0.36, Z:1.22 [[ 9.99777831e-01 2.30966141e-03 -2.09512414e-02 2.68713597e+00] [-2.38183302e-03 9.99991314e-01 -3.42044164e-03 3.56440395e-01] [ 2.09431593e-02 3.46958409e-03 9.99774648e-01 1.22448042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392557844 meters Centerline goodness : 0.136758 Centerline is valid? [False, False] Translation: X:2.69, Y:0.36, Z:1.23 [[ 9.99783528e-01 2.17836052e-03 -2.06918322e-02 2.68617721e+00] [-2.25971107e-03 9.99989807e-01 -3.90896214e-03 3.58720415e-01] [ 2.06831062e-02 3.95487352e-03 9.99778259e-01 1.22511893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422557844 meters Centerline goodness : 0.145814 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99792506e-01 2.00730972e-03 -2.02710442e-02 2.68460054e+00] [-2.09810148e-03 9.99987859e-01 -4.45861531e-03 3.61447026e-01] [ 2.02618483e-02 4.50022088e-03 9.99784580e-01 1.22601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452557844 meters Centerline goodness : 0.149164 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99794423e-01 1.95811489e-03 -2.01811017e-02 2.68431126e+00] [-2.05047843e-03 9.99987514e-01 -4.55705859e-03 3.61952037e-01] [ 2.01719264e-02 4.59750268e-03 9.99785955e-01 1.22609524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482557844 meters Centerline goodness : 0.131277 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99796246e-01 1.92590118e-03 -2.00937282e-02 2.68403751e+00] [-2.01835585e-03 9.99987466e-01 -4.58190516e-03 3.62036948e-01] [ 2.00846520e-02 4.62152787e-03 9.99787602e-01 1.22613544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512557844 meters Centerline goodness : 0.174805 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99813458e-01 1.59399154e-03 -1.92486051e-02 2.68167949e+00] [-1.68633096e-03 9.99987145e-01 -4.78192213e-03 3.62043014e-01] [ 1.92407353e-02 4.81348962e-03 9.99803293e-01 1.22658649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54255784400002 meters Centerline goodness : 0.180535 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99817610e-01 1.58425551e-03 -1.90325455e-02 2.68093838e+00] [-1.67369763e-03 9.99987627e-01 -4.68442115e-03 3.61459100e-01] [ 1.90248887e-02 4.71542148e-03 9.99807891e-01 1.22687832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57255784400002 meters Centerline goodness : 0.141070 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99813667e-01 1.59742708e-03 -1.92374313e-02 2.68138369e+00] [-1.68497304e-03 9.99988295e-01 -4.53546496e-03 3.60699981e-01] [ 1.92299610e-02 4.56703441e-03 9.99804656e-01 1.22696685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60255784400002 meters Centerline goodness : 0.143851 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99808874e-01 1.63301163e-03 -1.94820178e-02 2.68227573e+00] [-1.71865932e-03 9.99988929e-01 -4.38031026e-03 3.59992880e-01] [ 1.94746490e-02 4.41295602e-03 9.99800612e-01 1.22644282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63255784400002 meters Centerline goodness : 0.135786 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99805434e-01 1.65356228e-03 -1.96560437e-02 2.68304284e+00] [-1.73341389e-03 9.99990312e-01 -4.04610223e-03 3.58035615e-01] [ 1.96491628e-02 4.07938706e-03 9.99798614e-01 1.22575345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66255784400002 meters Centerline goodness : 0.138049 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99812324e-01 1.67633968e-03 -1.93004459e-02 2.68190064e+00] [-1.75105578e-03 9.99991036e-01 -3.85496241e-03 3.56876700e-01] [ 1.92938107e-02 3.88803508e-03 9.99806297e-01 1.22610298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69255784400002 meters Centerline goodness : 0.086182 Centerline is valid? [False, False] Translation: X:2.68, Y:0.36, Z:1.23 [[ 9.99819892e-01 1.73168569e-03 -1.88993577e-02 2.68052180e+00] [-1.80016853e-03 9.99991874e-01 -3.60714330e-03 3.55561816e-01] [ 1.88929576e-02 3.64051566e-03 9.99814884e-01 1.22663332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72255784400002 meters Centerline goodness : 0.162058 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99823545e-01 1.84863435e-03 -1.86939025e-02 2.67970329e+00] [-1.91042626e-03 9.99992769e-01 -3.28813980e-03 3.54150002e-01] [ 1.86876888e-02 3.32327291e-03 9.99819847e-01 1.22706990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75255784400002 meters Centerline goodness : 0.137536 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99811363e-01 2.03947453e-03 -1.93152272e-02 2.68155870e+00] [-2.08813169e-03 9.99994697e-01 -2.49927595e-03 3.50510672e-01] [ 1.93100276e-02 2.53913724e-03 9.99810320e-01 1.22634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78255784400002 meters Centerline goodness : 0.143870 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99803775e-01 2.12364602e-03 -1.96951958e-02 2.68303035e+00] [-2.16498048e-03 9.99995498e-01 -2.07762311e-03 3.48138027e-01] [ 1.96906950e-02 2.11985515e-03 9.99803872e-01 1.22537164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81255784400003 meters Centerline goodness : 0.140911 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.22 [[ 9.99797628e-01 2.24857680e-03 -1.99911676e-02 2.68409266e+00] [-2.28020616e-03 9.99996184e-01 -1.55951329e-03 3.45262442e-01] [ 1.99875847e-02 1.60478167e-03 9.99798940e-01 1.22472831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters Centerline goodness : 0.145682 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99799124e-01 2.58915351e-03 -1.98747888e-02 2.68345559e+00] [-2.60412193e-03 9.99996345e-01 -7.27292174e-04 3.41213852e-01] [ 1.98728330e-02 7.78902452e-04 9.99802212e-01 1.22517867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872557844 meters Centerline goodness : 0.118034 Centerline is valid? [False, False] Translation: X:2.66, Y:0.34, Z:1.23 [[ 9.99810856e-01 -3.44598217e-03 -1.91409726e-02 2.65941868e+00] [ 3.48829397e-03 9.99991545e-01 2.17758733e-03 3.44781347e-01] [ 1.91333069e-02 -2.24394479e-03 9.99814423e-01 1.22566762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters Centerline goodness : 0.142212 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99825326e-01 4.99893375e-03 -1.80091345e-02 2.67913211e+00] [-4.97313799e-03 9.99986543e-01 1.47687080e-03 3.38867635e-01] [ 1.80162750e-02 -1.38705091e-03 9.99836732e-01 1.22691923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.932557844 meters Centerline goodness : 0.122735 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99825287e-01 5.12636755e-03 -1.79754021e-02 2.67890179e+00] [-5.09533621e-03 9.99985449e-01 1.77169680e-03 3.37220040e-01] [ 1.79842229e-02 -1.67979654e-03 9.99836860e-01 1.22710686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.962557844 meters Centerline goodness : 0.103381 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99824345e-01 5.25750426e-03 -1.79899429e-02 2.67905841e+00] [-5.22024876e-03 9.99984133e-01 2.11724112e-03 3.35514093e-01] [ 1.80007889e-02 -2.02295724e-03 9.99835926e-01 1.22682222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.992557844 meters Centerline goodness : 0.115047 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:1.23 [[ 9.99825146e-01 5.42432786e-03 -1.78956432e-02 2.67883162e+00] [-5.37958599e-03 9.99982285e-01 2.54734733e-03 3.33526989e-01] [ 1.79091438e-02 -2.45063076e-03 9.99836615e-01 1.22670536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.022557844 meters Centerline goodness : 0.108635 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:1.23 [[ 0.99985715 -0.00290031 -0.01665128 2.69924227] [ 0.00296476 0.9999882 0.00384724 0.33336497] [ 0.01663993 -0.00389606 0.99985396 1.2278055 ] [ 0. 0. 0. 1. ]] SLAMing on 217.052557844 meters Centerline goodness : 0.173575 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99981031 -0.00388497 -0.01908519 2.65266541] [ 0.00395022 0.99998648 0.00338248 0.330872 ] [ 0.01907179 -0.00345723 0.99981214 1.2293158 ] [ 0. 0. 0. 1. ]] SLAMing on 217.082557844 meters Centerline goodness : 0.161757 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99980534 -0.00372837 -0.01937457 2.65334512] [ 0.00380393 0.9999853 0.00386436 0.32843602] [ 0.01935988 -0.0039373 0.99980483 1.22933679] [ 0. 0. 0. 1. ]] SLAMing on 217.112557844 meters Centerline goodness : 0.116041 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99980145 -0.00360212 -0.0195982 2.65396296] [ 0.00368475 0.99998447 0.00418144 0.32693364] [ 0.01958283 -0.00425282 0.99979919 1.22918382] [ 0. 0. 0. 1. ]] SLAMing on 217.142557844 meters Centerline goodness : 0.129972 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:1.23 [[ 0.99979741 -0.00346216 -0.01982795 2.65491198] [ 0.00355073 0.99998387 0.00443361 0.32583005] [ 0.01981228 -0.00450311 0.99979358 1.22852556] [ 0. 0. 0. 1. ]] SLAMing on 217.172557844 meters Centerline goodness : 0.133953 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:1.23 [[ 0.99980049 0.00479259 -0.01939124 2.67468229] [-0.00472622 0.99998282 0.00346711 0.31984219] [ 0.01940752 -0.00337477 0.99980596 1.2293076 ] [ 0. 0. 0. 1. ]] SLAMing on 217.202557844 meters Centerline goodness : 0.111332 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99818848e-01 -2.48603560e-03 -1.88703798e-02 2.65716654e+00] [ 2.57999047e-03 9.99984389e-01 4.95624937e-03 3.26588555e-01] [ 1.88577638e-02 -5.00403694e-03 9.99809654e-01 1.22675481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232557844 meters Centerline goodness : 0.107292 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99818736e-01 -2.48383415e-03 -1.88766022e-02 2.65725333e+00] [ 2.57306454e-03 9.99985625e-01 4.70421989e-03 3.28076160e-01] [ 1.88646463e-02 -4.75193789e-03 9.99810754e-01 1.22671204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262557844 meters Centerline goodness : 0.116061 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99819216e-01 -2.12670336e-03 -1.88947879e-02 2.65727058e+00] [ 2.20921052e-03 9.99988112e-01 4.34686296e-03 3.31275553e-01] [ 1.88853188e-02 -4.38781968e-03 9.99812028e-01 1.22691639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29255784400002 meters Centerline goodness : 0.181678 Centerline is valid? [False, False] Translation: X:2.66, Y:0.33, Z:1.23 [[ 9.99819999e-01 -2.27201657e-03 -1.88363192e-02 2.65705007e+00] [ 2.34443293e-03 9.99989943e-01 3.82331644e-03 3.33849889e-01] [ 1.88274431e-02 -3.86678873e-03 9.99815271e-01 1.22711083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32255784400002 meters Centerline goodness : 0.110105 Centerline is valid? [False, False] Translation: X:2.66, Y:0.34, Z:1.23 [[ 9.99823277e-01 -2.44426150e-03 -1.86397560e-02 2.65634462e+00] [ 2.50571489e-03 9.99991500e-01 3.27425695e-03 3.36519265e-01] [ 1.86315944e-02 -3.32038423e-03 9.99820903e-01 1.22757930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35255784400002 meters Centerline goodness : 0.124808 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99855122e-01 5.73021622e-03 -1.60280889e-02 2.67665172e+00] [-5.69983391e-03 9.99981873e-01 1.94060697e-03 3.39537958e-01] [ 1.60389185e-02 -1.84896837e-03 9.99869659e-01 1.22809485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38255784400002 meters Centerline goodness : 0.170415 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:1.23 [[ 9.99856178e-01 5.50906590e-03 -1.60397423e-02 2.67679708e+00] [-5.48792470e-03 9.99984014e-01 1.36176866e-03 3.42496691e-01] [ 1.60469879e-02 -1.27354791e-03 9.99870428e-01 1.22797663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41255784400002 meters Centerline goodness : 0.104021 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99858239e-01 5.29353356e-03 -1.59837443e-02 2.67690686e+00] [-5.28117987e-03 9.99985722e-01 8.15001259e-04 3.45193332e-01] [ 1.59878304e-02 -7.30472695e-04 9.99871920e-01 1.22760384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44255784400002 meters Centerline goodness : 0.170534 Centerline is valid? [False, False] Translation: X:2.68, Y:0.35, Z:1.23 [[ 9.99860163e-01 5.08745653e-03 -1.59302078e-02 2.67701131e+00] [-5.08216895e-03 9.99987016e-01 3.72386930e-04 3.47183871e-01] [ 1.59318954e-02 -2.91374849e-04 9.99873037e-01 1.22720449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47255784400002 meters Centerline goodness : 0.134747 Centerline is valid? [False, False] Translation: X:2.70, Y:0.35, Z:1.23 [[ 9.99854511e-01 -3.79525726e-03 -1.66298736e-02 2.69922653e+00] [ 3.80543214e-03 9.99992591e-01 5.80241933e-04 3.53082096e-01] [ 1.66275482e-02 -6.43441370e-04 9.99861546e-01 1.22794817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50255784400002 meters Centerline goodness : 0.111084 Centerline is valid? [False, False] Translation: X:2.65, Y:0.36, Z:1.23 [[ 9.99803380e-01 -4.00586725e-03 -1.94204571e-02 2.65393465e+00] [ 4.01543962e-03 9.99991835e-01 4.53931846e-04 3.56503444e-01] [ 1.94184801e-02 -5.31824267e-04 9.99811302e-01 1.22843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53255784400002 meters Centerline goodness : 0.104275 Centerline is valid? [False, False] Translation: X:2.65, Y:0.36, Z:1.23 [[ 9.99799146e-01 -4.02886639e-03 -1.96325221e-02 2.65449996e+00] [ 4.04036276e-03 9.99991689e-01 5.45947409e-04 3.56057801e-01] [ 1.96301594e-02 -6.25160264e-04 9.99807114e-01 1.22828749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56255784400003 meters Centerline goodness : 0.113963 Centerline is valid? [False, False] Translation: X:2.66, Y:0.36, Z:1.23 [[ 9.99793476e-01 -4.04582675e-03 -1.99157353e-02 2.65532208e+00] [ 4.06113140e-03 9.99991489e-01 7.28085719e-04 3.55010907e-01] [ 1.99126201e-02 -8.08815770e-04 9.99801397e-01 1.22800236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592557844 meters Centerline goodness : 0.113321 Centerline is valid? [False, False] Translation: X:2.66, Y:0.35, Z:1.23 [[ 9.99793167e-01 -4.05063878e-03 -1.99302640e-02 2.65546250e+00] [ 4.06935478e-03 9.99991316e-01 8.98608297e-04 3.53990375e-01] [ 1.99264510e-02 -9.79525750e-04 9.99800969e-01 1.22774896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters Centerline goodness : 0.108005 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99810251e-01 -4.22159120e-03 -1.90168581e-02 2.65304284e+00] [ 4.24071663e-03 9.99990542e-01 9.65494775e-04 3.52907087e-01] [ 1.90126023e-02 -1.04595668e-03 9.99818697e-01 1.22799809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652557844 meters Centerline goodness : 0.150622 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99813583e-01 -4.23098867e-03 -1.88387162e-02 2.65240883e+00] [ 4.25072244e-03 9.99990458e-01 1.00759193e-03 3.52471907e-01] [ 1.88342733e-02 -1.08748225e-03 9.99822028e-01 1.22827292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.682557844 meters Centerline goodness : 0.129015 Centerline is valid? [False, False] Translation: X:2.65, Y:0.35, Z:1.23 [[ 9.99810565e-01 -4.23106721e-03 -1.89982401e-02 2.65283771e+00] [ 4.25120116e-03 9.99990444e-01 1.01951819e-03 3.52316710e-01] [ 1.89937449e-02 -1.10009040e-03 9.99818997e-01 1.22821209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.712557844 meters Centerline goodness : 0.135591 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99727711e-01 -2.32393482e-03 -2.32185910e-02 2.61254825e+00] [ 2.38033792e-03 9.99994282e-01 2.40187895e-03 3.55033517e-01] [ 2.32128764e-02 -2.45649303e-03 9.99727527e-01 1.22674214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.742557844 meters Centerline goodness : 0.112959 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99721760e-01 -2.23371239e-03 -2.34821697e-02 2.61338283e+00] [ 2.29104812e-03 9.99994459e-01 2.41505117e-03 3.55329770e-01] [ 2.34766450e-02 -2.46817799e-03 9.99721339e-01 1.22647583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.772557844 meters Centerline goodness : 0.130831 Centerline is valid? [False, False] Translation: X:2.63, Y:0.35, Z:1.23 [[ 9.99725467e-01 5.80837520e-03 -2.26991944e-02 2.63314700e+00] [-5.78036436e-03 9.99982449e-01 1.29942064e-03 3.49679781e-01] [ 2.27063435e-02 -1.16785429e-03 9.99741496e-01 1.22771799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802557844 meters Centerline goodness : 0.114399 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99743263e-01 -2.43041023e-03 -2.25278081e-02 2.61302953e+00] [ 2.47058850e-03 9.99995407e-01 1.75583621e-03 3.56142113e-01] [ 2.25234372e-02 -1.81104237e-03 9.99744675e-01 1.22712827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832557844 meters Centerline goodness : 0.107067 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99743765e-01 -2.43914160e-03 -2.25045371e-02 2.61264771e+00] [ 2.47675141e-03 9.99995582e-01 1.64348893e-03 3.56620740e-01] [ 2.25004289e-02 -1.69880596e-03 9.99745390e-01 1.22767508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862557844 meters Centerline goodness : 0.143987 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99753201e-01 -1.95147593e-03 -2.21298136e-02 2.61138530e+00] [ 1.99035424e-03 9.99996514e-01 1.73494018e-03 3.57649364e-01] [ 2.21263508e-02 -1.77855816e-03 9.99753600e-01 1.22837794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892557844 meters Centerline goodness : 0.162326 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99756233e-01 -1.91661050e-03 -2.19954941e-02 2.61090880e+00] [ 1.95172115e-03 9.99996855e-01 1.57490960e-03 3.58558287e-01] [ 2.19924064e-02 -1.61745476e-03 9.99756829e-01 1.22869309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922557844 meters Centerline goodness : 0.173641 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99744301e-01 6.62133310e-03 -2.16215531e-02 2.58922296e+00] [-6.61649974e-03 9.99978067e-01 2.95074962e-04 3.56385054e-01] [ 2.16230326e-02 -1.51940512e-04 9.99766183e-01 1.22713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952557844 meters Centerline goodness : 0.173641 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99744301e-01 6.62133310e-03 -2.16215531e-02 2.58922296e+00] [-6.61649974e-03 9.99978067e-01 2.95074962e-04 3.56385054e-01] [ 2.16230326e-02 -1.51940512e-04 9.99766183e-01 1.22713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982557844 meters Centerline goodness : 0.301022 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99762093e-01 7.10596980e-03 -2.06219121e-02 2.58622123e+00] [-7.10730775e-03 9.99974743e-01 8.41114989e-06 3.59519117e-01] [ 2.06214510e-02 1.38157127e-04 9.99787346e-01 1.22817396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012557844 meters Centerline goodness : 0.111697 Centerline is valid? [False, False] Translation: X:2.61, Y:0.36, Z:1.23 [[ 9.99819091e-01 1.94853026e-03 -1.89206060e-02 2.60867418e+00] [-1.88426797e-03 9.99992398e-01 3.41365181e-03 3.62550912e-01] [ 1.89271138e-02 -3.37738275e-03 9.99815162e-01 1.22789291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04255784400002 meters Centerline goodness : 0.178236 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99824515e-01 1.92833390e-03 -1.86338783e-02 2.60809065e+00] [-1.87409414e-03 9.99993958e-01 2.92783811e-03 3.65381415e-01] [ 1.86394115e-02 -2.89240267e-03 9.99822087e-01 1.22775799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07255784400002 meters Centerline goodness : 0.177229 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99825650e-01 1.78182645e-03 -1.85874871e-02 2.60809320e+00] [-1.73825945e-03 9.99995705e-01 2.35978173e-03 3.68147017e-01] [ 1.85916120e-02 -2.32706042e-03 9.99824453e-01 1.22761716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10255784400002 meters Centerline goodness : 0.155546 Centerline is valid? [False, False] Translation: X:2.61, Y:0.37, Z:1.23 [[ 9.99834000e-01 1.57988889e-03 -1.81514990e-02 2.60712168e+00] [-1.55525933e-03 9.99997851e-01 1.37092444e-03 3.72891236e-01] [ 1.81536259e-02 -1.34246657e-03 9.99834308e-01 1.22747807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13255784400002 meters Centerline goodness : 0.181105 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99837143e-01 1.43443323e-03 -1.79897107e-02 2.60648717e+00] [-1.41958881e-03 9.99998641e-01 8.37904511e-04 3.75701948e-01] [ 1.79908882e-02 -8.12230061e-04 9.99837821e-01 1.22786471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16255784400002 meters Centerline goodness : 0.108540 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99837240e-01 1.35146973e-03 -1.79907581e-02 2.60628066e+00] [-1.34397632e-03 9.99999005e-01 4.28598587e-04 3.78277202e-01] [ 1.79913195e-02 -4.04349676e-04 9.99838061e-01 1.22821241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19255784400002 meters Centerline goodness : 0.167171 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99836420e-01 1.20129807e-03 -1.80468644e-02 2.60660905e+00] [-1.20115129e-03 9.99999278e-01 1.89727940e-05 3.80410914e-01] [ 1.80468742e-02 2.70732392e-06 9.99837142e-01 1.22790397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22255784400002 meters Centerline goodness : 0.105783 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99833056e-01 1.02304479e-03 -1.82431829e-02 2.60784869e+00] [-1.02848919e-03 9.99999429e-01 -2.89055020e-04 3.81710178e-01] [ 1.82428768e-02 3.07769680e-04 9.99833538e-01 1.22658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25255784400002 meters Centerline goodness : 0.153499 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99834090e-01 1.00056726e-03 -1.81876803e-02 2.60779067e+00] [-1.00567095e-03 9.99999457e-01 -2.71468156e-04 3.81578038e-01] [ 1.81873988e-02 2.89713938e-04 9.99834554e-01 1.22639522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28255784400002 meters Centerline goodness : 0.177778 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99835671e-01 1.04761916e-03 -1.80978887e-02 2.60757123e+00] [-1.05104438e-03 9.99999431e-01 -1.79749724e-04 3.81298381e-01] [ 1.80976901e-02 1.98741870e-04 9.99836204e-01 1.22636140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31255784400003 meters Centerline goodness : 0.109379 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99833690e-01 1.12923680e-03 -1.82021129e-02 2.60790482e+00] [-1.12937389e-03 9.99999362e-01 2.74773416e-06 3.80554808e-01] [ 1.82021044e-02 1.78097140e-05 9.99834328e-01 1.22623541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters Centerline goodness : 0.186023 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99831707e-01 1.16164107e-03 -1.83086684e-02 2.60829663e+00] [-1.16100445e-03 9.99999325e-01 4.54006308e-05 3.80276935e-01] [ 1.83087087e-02 -2.41365447e-05 9.99832381e-01 1.22606908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372557844 meters Centerline goodness : 0.130999 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99828009e-01 1.16730781e-03 -1.85092081e-02 2.60897173e+00] [-1.16843461e-03 9.99999316e-01 -5.00638639e-05 3.80761073e-01] [ 1.85091370e-02 7.16820526e-05 9.99828689e-01 1.22578457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters Centerline goodness : 0.103818 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99822408e-01 1.28585519e-03 -1.88015600e-02 2.60981589e+00] [-1.28890232e-03 9.99999158e-01 -1.49951265e-04 3.81689253e-01] [ 1.88013513e-02 1.74158009e-04 9.99823224e-01 1.22559526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.432557844 meters Centerline goodness : 0.292768 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99814598e-01 2.38764885e-03 -1.91067741e-02 2.61058632e+00] [-2.38260301e-03 9.99997120e-01 2.86845971e-04 3.83339522e-01] [ 1.91074040e-02 -2.41268932e-04 9.99817408e-01 1.22561253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.462557844 meters Centerline goodness : 0.299048 Centerline is valid? [False, False] Translation: X:2.61, Y:0.38, Z:1.23 [[ 9.99815112e-01 2.53014039e-03 -1.90614643e-02 2.61043415e+00] [-2.52893153e-03 9.99996798e-01 8.75238884e-05 3.84804728e-01] [ 1.90616247e-02 -3.93025684e-05 9.99818310e-01 1.22573706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.492557844 meters Centerline goodness : 0.167871 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99817358e-01 2.55084840e-03 -1.89405557e-02 2.61010352e+00] [-2.55517013e-03 9.99996715e-01 -2.03976472e-04 3.86343224e-01] [ 1.89399732e-02 2.52335560e-04 9.99820591e-01 1.22580348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.522557844 meters Centerline goodness : 0.391634 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99819080e-01 2.89010723e-03 -1.88003899e-02 2.60978514e+00] [-2.89918556e-03 9.99995694e-01 -4.55642782e-04 3.88412615e-01] [ 1.87989920e-02 5.10066166e-04 9.99823153e-01 1.22558232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552557844 meters Centerline goodness : 0.120951 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99814679e-01 2.92923630e-03 -1.90269996e-02 2.61057400e+00] [-2.94092662e-03 9.99995504e-01 -5.86454842e-04 3.89302772e-01] [ 1.90251962e-02 6.42303169e-04 9.99818798e-01 1.22514457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582557844 meters Centerline goodness : 0.232486 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99806544e-01 3.00755488e-03 -1.94378039e-02 2.61193405e+00] [-3.02084939e-03 9.99995223e-01 -6.54625081e-04 3.90059423e-01] [ 1.94357423e-02 7.13217118e-04 9.99810854e-01 1.22456301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612557844 meters Centerline goodness : 0.181410 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99795961e-01 3.18284926e-03 -1.99475747e-02 2.61359134e+00] [-3.20061224e-03 9.99994509e-01 -8.58620960e-04 3.91475678e-01] [ 1.99447323e-02 9.22290220e-04 9.99800659e-01 1.22378937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642557844 meters Centerline goodness : 0.183822 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99799158e-01 3.14407889e-03 -1.97929065e-02 2.61290383e+00] [-3.16500886e-03 9.99994465e-01 -1.02621165e-03 3.92130794e-01] [ 1.97895705e-02 1.08865027e-03 9.99803575e-01 1.22427239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672557844 meters Centerline goodness : 0.191227 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99804102e-01 3.14660580e-03 -1.95411737e-02 2.61193336e+00] [-3.16985158e-03 9.99994305e-01 -1.15871873e-03 3.92677539e-01] [ 1.95374164e-02 1.22043436e-03 9.99808382e-01 1.22478958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702557844 meters Centerline goodness : 0.099064 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99808058e-01 3.16770935e-03 -1.93342502e-02 2.61131717e+00] [-3.19183158e-03 9.99994166e-01 -1.21691133e-03 3.93120360e-01] [ 1.93302826e-02 1.27838942e-03 9.99812335e-01 1.22488777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732557844 meters Centerline goodness : 0.183377 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99811857e-01 3.34405333e-03 -1.91067244e-02 2.61104972e+00] [-3.36261853e-03 9.99993905e-01 -9.39613132e-04 3.91999828e-01] [ 1.91034658e-02 1.00368498e-03 9.99817008e-01 1.22433581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762557844 meters Centerline goodness : 0.198254 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99814419e-01 3.43172534e-03 -1.89565340e-02 2.61070410e+00] [-3.44611657e-03 9.99993798e-01 -7.26555978e-04 3.90955997e-01] [ 1.89539231e-02 7.91747570e-04 9.99820045e-01 1.22427606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79255784400002 meters Centerline goodness : 0.096978 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.22 [[ 9.99818677e-01 3.51200793e-03 -1.87157204e-02 2.60979406e+00] [-3.52262203e-03 9.99993653e-01 -5.34184921e-04 3.90028978e-01] [ 1.87137255e-02 6.00016470e-04 9.99824703e-01 1.22479174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82255784400002 meters Centerline goodness : 0.192753 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821969e-01 3.55914664e-03 -1.85300332e-02 2.60899610e+00] [-3.56848470e-03 9.99993522e-01 -4.70901507e-04 3.89681876e-01] [ 1.85282372e-02 5.36941812e-04 9.99828193e-01 1.22531804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85255784400002 meters Centerline goodness : 0.166031 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821227e-01 3.78012426e-03 -1.85263344e-02 2.60885970e+00] [-3.78960643e-03 9.99992706e-01 -4.76741012e-04 3.90184372e-01] [ 1.85243972e-02 5.46863300e-04 9.99828259e-01 1.22553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88255784400002 meters Centerline goodness : 0.171897 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99821403e-01 3.81000802e-03 -1.85107089e-02 2.60876771e+00] [-3.82306126e-03 9.99992468e-01 -6.69836479e-04 3.91341786e-01] [ 1.85080174e-02 7.40484422e-04 9.99828438e-01 1.22551487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91255784400002 meters Centerline goodness : 0.184900 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99824852e-01 3.78819724e-03 -1.83279675e-02 2.60825143e+00] [-3.80585935e-03 9.99992326e-01 -9.28886146e-04 3.92763808e-01] [ 1.83243080e-02 9.98477120e-04 9.99831597e-01 1.22560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94255784400002 meters Centerline goodness : 0.148501 Centerline is valid? [False, False] Translation: X:2.61, Y:0.39, Z:1.23 [[ 9.99827179e-01 3.77261406e-03 -1.82038078e-02 2.60789466e+00] [-3.79596958e-03 9.99992016e-01 -1.24861877e-03 3.94585159e-01] [ 1.81989519e-02 1.31750409e-03 9.99833517e-01 1.22561159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97255784400002 meters Centerline goodness : 0.148245 Centerline is valid? [False, False] Translation: X:2.58, Y:0.40, Z:1.23 [[ 9.99839350e-01 -1.52557916e-03 -1.78590873e-02 2.58486132e+00] [ 1.56296760e-03 9.99996616e-01 2.07975449e-03 3.99769365e-01] [ 1.78558540e-02 -2.10733355e-03 9.99838351e-01 1.22544041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.03255784400002 meters Centerline goodness : 0.212605 Centerline is valid? [False, False] Translation: X:2.61, Y:0.40, Z:1.23 [[ 9.99819981e-01 7.17210969e-03 -1.75660765e-02 2.60656897e+00] [-7.15243070e-03 9.99973721e-01 1.18285313e-03 3.98501650e-01] [ 1.75740984e-02 -1.05700005e-03 9.99845005e-01 1.22575149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06255784400003 meters Centerline goodness : 0.162898 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99788638e-01 -1.53777415e-03 -2.05015796e-02 2.58736259e+00] [ 1.57216148e-03 9.99997384e-01 1.66128949e-03 4.01798034e-01] [ 2.04989713e-02 -1.69317015e-03 9.99788440e-01 1.22445309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092557844 meters Centerline goodness : 0.162668 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99787814e-01 -1.54462519e-03 -2.05412099e-02 2.58746291e+00] [ 1.57928304e-03 9.99997357e-01 1.67112013e-03 4.01734764e-01] [ 2.05385744e-02 -1.70320593e-03 9.99787610e-01 1.22443758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122557844 meters Centerline goodness : 0.164296 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99789670e-01 -1.53580408e-03 -2.04513371e-02 2.58700999e+00] [ 1.57049867e-03 9.99997355e-01 1.68049317e-03 4.01834562e-01] [ 2.04487021e-02 -1.71225851e-03 9.99789437e-01 1.22480332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152557844 meters Centerline goodness : 0.219696 Centerline is valid? [False, False] Translation: X:2.57, Y:0.40, Z:1.22 [[ 9.99763793e-01 6.93890714e-03 -2.05963434e-02 2.56626280e+00] [-6.92079533e-03 9.99975599e-01 9.50519774e-04 3.96817125e-01] [ 2.06024364e-02 -8.07752178e-04 9.99787421e-01 1.22399676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.182557844 meters Centerline goodness : 0.104199 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99795857e-01 -1.47936268e-03 -2.01508368e-02 2.58610076e+00] [ 1.50979818e-03 9.99997742e-01 1.49525441e-03 4.01681485e-01] [ 2.01485793e-02 -1.52537286e-03 9.99795833e-01 1.22482291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.212557844 meters Centerline goodness : 0.159199 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99793107e-01 -1.49475742e-03 -2.02856912e-02 2.58679289e+00] [ 1.52483246e-03 9.99997761e-01 1.46718710e-03 4.01702920e-01] [ 2.02834527e-02 -1.49781583e-03 9.99793148e-01 1.22417248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.242557844 meters Centerline goodness : 0.159058 Centerline is valid? [False, False] Translation: X:2.59, Y:0.40, Z:1.22 [[ 9.99784173e-01 -1.45633320e-03 -2.07240600e-02 2.58832555e+00] [ 1.48733333e-03 9.99997798e-01 1.48051757e-03 4.01649922e-01] [ 2.07218583e-02 -1.51102162e-03 9.99784137e-01 1.22334587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.272557844 meters Centerline goodness : 0.156973 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99685809e-01 -2.57807823e-04 -2.50642725e-02 2.54914475e+00] [ 3.21804895e-04 9.99996699e-01 2.54931856e-03 3.99345605e-01] [ 2.50635326e-02 -2.55658339e-03 9.99682591e-01 1.22155232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302557844 meters Centerline goodness : 0.175304 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99684055e-01 -2.14497670e-04 -2.51345384e-02 2.54924505e+00] [ 2.79183796e-04 9.99996658e-01 2.57011426e-03 3.99264051e-01] [ 2.51339032e-02 -2.57631940e-03 9.99680774e-01 1.22165705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332557844 meters Centerline goodness : 0.147822 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99687914e-01 -1.74370144e-04 -2.49808646e-02 2.54836771e+00] [ 2.40005861e-04 9.99996527e-01 2.62446560e-03 3.99031563e-01] [ 2.49803203e-02 -2.62964210e-03 9.99684485e-01 1.22248122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362557844 meters Centerline goodness : 0.170779 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99693351e-01 -1.14504083e-04 -2.47627006e-02 2.54746933e+00] [ 1.81642077e-04 9.99996314e-01 2.70902261e-03 3.98756779e-01] [ 2.47622992e-02 -2.71268984e-03 9.99689687e-01 1.22310753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392557844 meters Centerline goodness : 0.111427 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99691716e-01 -4.33287587e-05 -2.48288231e-02 2.54761388e+00] [ 1.12128107e-04 9.99996158e-01 2.76956131e-03 3.98620724e-01] [ 2.48286077e-02 -2.77149150e-03 9.99687881e-01 1.22313006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422557844 meters Centerline goodness : 0.173953 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99685238e-01 1.06068317e-05 -2.50883562e-02 2.54851835e+00] [ 5.92287154e-05 9.99996126e-01 2.78283927e-03 3.98602758e-01] [ 2.50882886e-02 -2.78344929e-03 9.99681364e-01 1.22269660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452557844 meters Centerline goodness : 0.171677 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99695373e-01 1.09946765e-04 -2.46809367e-02 2.54741718e+00] [-4.03108950e-05 9.99996018e-01 2.82192338e-03 3.98413852e-01] [ 2.46811487e-02 -2.82006884e-03 9.99691396e-01 1.22277409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482557844 meters Centerline goodness : 0.164337 Centerline is valid? [False, False] Translation: X:2.55, Y:0.40, Z:1.22 [[ 9.99702572e-01 2.02939108e-04 -2.43870068e-02 2.54624101e+00] [-1.29348360e-04 9.99995434e-01 3.01916072e-03 3.97618457e-01] [ 2.43875081e-02 -3.01510832e-03 9.99698034e-01 1.22353819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512557844 meters Centerline goodness : 0.154545 Centerline is valid? [False, False] Translation: X:2.57, Y:0.39, Z:1.22 [[ 9.99720358e-01 8.47458061e-03 -2.20768348e-02 2.56551225e+00] [-8.42866460e-03 9.99962119e-01 2.17205005e-03 3.93637345e-01] [ 2.20944058e-02 -1.98536441e-03 9.99753918e-01 1.22491686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54255784400002 meters Centerline goodness : 0.164714 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99756250e-01 6.45211766e-03 -2.11142262e-02 2.56036065e+00] [-6.44239070e-03 9.99979108e-01 5.28671321e-04 3.90064065e-01] [ 2.11171961e-02 -3.92516363e-04 9.99776930e-01 1.22791628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57255784400002 meters Centerline goodness : 0.270450 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99753511e-01 6.54991341e-03 -2.12135864e-02 2.56062261e+00] [-6.53241288e-03 9.99978264e-01 8.94159650e-04 3.88152048e-01] [ 2.12189819e-02 -7.55363345e-04 9.99774567e-01 1.22792286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60255784400002 meters Centerline goodness : 0.153757 Centerline is valid? [False, False] Translation: X:2.56, Y:0.39, Z:1.23 [[ 9.99749025e-01 6.66172988e-03 -2.13894540e-02 2.56118251e+00] [-6.63536698e-03 9.99977136e-01 1.30325454e-03 3.86087680e-01] [ 2.13976469e-02 -1.16100058e-03 9.99770370e-01 1.22774421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63255784400002 meters Centerline goodness : 0.166559 Centerline is valid? [False, False] Translation: X:2.58, Y:0.39, Z:1.23 [[ 9.99792071e-01 -2.65084161e-03 -2.02184901e-02 2.58161046e+00] [ 2.69150447e-03 9.99994409e-01 1.98422504e-03 3.86006035e-01] [ 2.02131172e-02 -2.03823062e-03 9.99793616e-01 1.22830491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66255784400002 meters Centerline goodness : 0.170708 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 9.99800571e-01 -2.61410465e-03 -1.97986211e-02 2.58040564e+00] [ 2.66312100e-03 9.99993453e-01 2.44978498e-03 3.83441540e-01] [ 1.97920875e-02 -2.50202254e-03 9.99800987e-01 1.22866972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69255784400002 meters Centerline goodness : 0.153195 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 0.99981084 -0.00268362 -0.0192635 2.57872954] [ 0.00273828 0.9999923 0.00281166 0.38114284] [ 0.01925581 -0.00286388 0.99981049 1.22937272] [ 0. 0. 0. 1. ]] SLAMing on 219.72255784400002 meters Centerline goodness : 0.288362 Centerline is valid? [False, False] Translation: X:2.58, Y:0.38, Z:1.23 [[ 0.99981685 -0.00273014 -0.01894251 2.5776716 ] [ 0.00279173 0.9999909 0.00322547 0.37871426] [ 0.01893353 -0.00327776 0.99981537 1.22991396] [ 0. 0. 0. 1. ]] SLAMing on 219.75255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.78255784400002 meters Centerline goodness : 0.091950 Centerline is valid? [False, False] Translation: X:2.58, Y:0.37, Z:1.23 [[ 9.99775259e-01 -5.86670913e-03 -2.03718913e-02 2.58263010e+00] [ 5.89447013e-03 9.99981779e-01 1.30293114e-03 3.71176313e-01] [ 2.03638761e-02 -1.42271983e-03 9.99791622e-01 1.22835429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81255784400003 meters Centerline goodness : 0.392502 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99685210e-01 -7.45056278e-03 -2.39576618e-02 2.54059247e+00] [ 7.46018465e-03 9.99972124e-01 3.12266355e-04 3.67707098e-01] [ 2.39546674e-02 -4.90896638e-04 9.99712925e-01 1.22735320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842557844 meters Centerline goodness : 0.392502 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99685210e-01 -7.45056278e-03 -2.39576618e-02 2.54059247e+00] [ 7.46018465e-03 9.99972124e-01 3.12266355e-04 3.67707098e-01] [ 2.39546674e-02 -4.90896638e-04 9.99712925e-01 1.22735320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872557844 meters Centerline goodness : 0.161166 Centerline is valid? [False, False] Translation: X:2.54, Y:0.37, Z:1.23 [[ 9.99676566e-01 -7.40854325e-03 -2.43285020e-02 2.54184583e+00] [ 7.42836560e-03 9.99972147e-01 7.24504945e-04 3.65441617e-01] [ 2.43224569e-02 -9.04991624e-04 9.99703756e-01 1.22675885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902557844 meters Centerline goodness : 0.388703 Centerline is valid? [False, False] Translation: X:2.54, Y:0.36, Z:1.23 [[ 9.99689216e-01 -7.51063952e-03 -2.37710082e-02 2.54035134e+00] [ 7.54201162e-03 9.99970802e-01 1.23038417e-03 3.62450042e-01] [ 2.37610732e-02 -1.40928301e-03 9.99716673e-01 1.22709666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.932557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.962557844 meters Centerline goodness : 0.096940 Centerline is valid? [False, False] Translation: X:2.58, Y:0.36, Z:1.23 [[ 9.99731328e-01 -7.98612704e-03 -2.17598902e-02 2.58345871e+00] [ 8.01663119e-03 9.99967002e-01 1.31498057e-03 3.59130917e-01] [ 2.17486705e-02 -1.48906828e-03 9.99762361e-01 1.22839893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.992557844 meters Centerline goodness : 0.183332 Centerline is valid? [False, False] Translation: X:2.59, Y:0.36, Z:1.23 [[ 9.99718330e-01 -7.87296917e-03 -2.23892194e-02 2.58517506e+00] [ 7.91960747e-03 9.99966649e-01 1.99516392e-03 3.55542889e-01] [ 2.23727649e-02 -2.17191577e-03 9.99747339e-01 1.22816132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.022557844 meters Centerline goodness : 0.091413 Centerline is valid? [False, False] Translation: X:2.59, Y:0.35, Z:1.23 [[ 9.99717257e-01 -7.72659359e-03 -2.24879021e-02 2.58540454e+00] [ 7.78240590e-03 9.99966848e-01 2.39542323e-03 3.53618652e-01] [ 2.24686481e-02 -2.56975592e-03 9.99744245e-01 1.22822274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052557844 meters Centerline goodness : 0.090688 Centerline is valid? [False, False] Translation: X:2.59, Y:0.35, Z:1.23 [[ 0.9997196 -0.00765283 -0.02240863 2.58539943] [ 0.00771596 0.9999665 0.00273202 0.351868 ] [ 0.02238697 -0.00290416 0.99974516 1.22791435] [ 0. 0. 0. 1. ]] SLAMing on 220.082557844 meters Centerline goodness : 0.325078 Centerline is valid? [False, False] Translation: X:2.58, Y:0.35, Z:1.23 [[ 0.99972454 -0.00762275 -0.02219748 2.5847551 ] [ 0.00769716 0.99996503 0.00326866 0.3487449 ] [ 0.02217179 -0.00343861 0.99974826 1.22807152] [ 0. 0. 0. 1. ]] SLAMing on 220.112557844 meters Centerline goodness : 0.098343 Centerline is valid? [False, False] Translation: X:2.56, Y:0.34, Z:1.23 [[ 9.99759260e-01 4.94805780e-04 -2.19357602e-02 2.56434194e+00] [-4.45505898e-04 9.99997364e-01 2.25229620e-03 3.41647396e-01] [ 2.19368169e-02 -2.24198147e-03 9.99756845e-01 1.22676935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142557844 meters Centerline goodness : 0.360242 Centerline is valid? [False, False] Translation: X:2.56, Y:0.34, Z:1.23 [[ 9.99757075e-01 5.70197762e-04 -2.20333051e-02 2.56447862e+00] [-5.11986209e-04 9.99996364e-01 2.64753084e-03 3.39847347e-01] [ 2.20347346e-02 -2.63560694e-03 9.99753732e-01 1.22692872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172557844 meters Centerline goodness : 0.091807 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:1.23 [[ 9.99726847e-01 2.53655052e-04 -2.33702206e-02 2.56824196e+00] [-1.84525440e-04 9.99995602e-01 2.96013041e-03 3.37176813e-01] [ 2.33708686e-02 -2.95500944e-03 9.99722497e-01 1.22609792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202557844 meters Centerline goodness : 0.183981 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:1.23 [[ 9.99644603e-01 -3.13228513e-04 -2.66565210e-02 2.52511102e+00] [ 3.89553396e-04 9.99995840e-01 2.85812765e-03 3.36594874e-01] [ 2.66555149e-02 -2.86749602e-03 9.99640566e-01 1.22542544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232557844 meters Centerline goodness : 0.096769 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:1.23 [[ 9.99637580e-01 -3.07035324e-04 -2.69186677e-02 2.52595398e+00] [ 3.86638946e-04 9.99995568e-01 2.95203528e-03 3.36047666e-01] [ 2.69176420e-02 -2.96137321e-03 9.99633268e-01 1.22508327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262557844 meters Centerline goodness : 0.218614 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99572622e-01 -4.14806730e-04 -2.92301585e-02 2.47974112e+00] [ 5.04587224e-04 9.99995178e-01 3.06419289e-03 3.36496898e-01] [ 2.92287465e-02 -3.07763249e-03 9.99568011e-01 1.22565606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29255784400002 meters Centerline goodness : 0.120938 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575292e-01 -4.83191184e-04 -2.91376546e-02 2.47902969e+00] [ 5.68129771e-04 9.99995614e-01 2.90687147e-03 3.37288492e-01] [ 2.91361223e-02 -2.92219087e-03 9.99571182e-01 1.22648830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32255784400002 meters Centerline goodness : 0.387698 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99576230e-01 -5.26919985e-04 -2.91046733e-02 2.47886472e+00] [ 6.09385298e-04 9.99995825e-01 2.82460735e-03 3.37609072e-01] [ 2.91030635e-02 -2.84114633e-03 9.99572378e-01 1.22661794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35255784400002 meters Centerline goodness : 0.130986 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575620e-01 -5.65902676e-04 -2.91248836e-02 2.47894747e+00] [ 6.47033630e-04 9.99995937e-01 2.77627427e-03 3.37772124e-01] [ 2.91231942e-02 -2.79394086e-03 9.99571925e-01 1.22654034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38255784400002 meters Centerline goodness : 0.103977 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99575741e-01 -5.24481307e-04 -2.91215097e-02 2.47903900e+00] [ 6.06780603e-04 9.99995847e-01 2.81730044e-03 3.37923307e-01] [ 2.91199112e-02 -2.83377554e-03 9.99571909e-01 1.22631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41255784400002 meters Centerline goodness : 0.156727 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99578017e-01 -5.02673428e-04 -2.90436870e-02 2.47877283e+00] [ 5.86898862e-04 9.99995647e-01 2.89150479e-03 3.37622044e-01] [ 2.90421071e-02 -2.90733033e-03 9.99573961e-01 1.22643835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44255784400002 meters Centerline goodness : 0.324930 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99579118e-01 -5.09727220e-04 -2.90056474e-02 2.47852669e+00] [ 5.97256127e-04 9.99995294e-01 3.00906681e-03 3.36899514e-01] [ 2.90039771e-02 -3.02512415e-03 9.99574719e-01 1.22666903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47255784400002 meters Centerline goodness : 0.197403 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:1.23 [[ 9.99581517e-01 -5.53324284e-04 -2.89220287e-02 2.47817640e+00] [ 6.46475339e-04 9.99994634e-01 3.21151350e-03 3.35545819e-01] [ 2.89200965e-02 -3.22886692e-03 9.99576512e-01 1.22687245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.53255784400002 meters Centerline goodness : 0.209501 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99630762e-01 -1.50198566e-03 -2.71308455e-02 2.47275747e+00] [ 1.57969931e-03 9.99994710e-01 2.84319587e-03 3.34258640e-01] [ 2.71264316e-02 -2.88500463e-03 9.99627847e-01 1.22845838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56255784400003 meters Centerline goodness : 0.093255 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99632679e-01 -1.49242479e-03 -2.70606597e-02 2.47255381e+00] [ 1.57332129e-03 9.99994357e-01 2.96840534e-03 3.33645969e-01] [ 2.70560769e-02 -3.00989010e-03 9.99629386e-01 1.22847177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592557844 meters Centerline goodness : 0.181691 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99629884e-01 -1.47005673e-03 -2.71649292e-02 2.47307452e+00] [ 1.55376139e-03 9.99994110e-01 3.06049922e-03 3.33197499e-01] [ 2.71602701e-02 -3.10157430e-03 9.99626280e-01 1.22803205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622557844 meters Centerline goodness : 0.117520 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99625698e-01 -1.50447414e-03 -2.73166531e-02 2.47406539e+00] [ 1.58683625e-03 9.99994260e-01 2.99366068e-03 3.33495024e-01] [ 2.73119924e-02 -3.03588720e-03 9.99622348e-01 1.22701980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652557844 meters Centerline goodness : 0.096889 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99626620e-01 -1.49381715e-03 -2.72834772e-02 2.47396833e+00] [ 1.57696480e-03 9.99994177e-01 3.02628359e-03 3.33326093e-01] [ 2.72787976e-02 -3.06817872e-03 9.99623156e-01 1.22700552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.682557844 meters Centerline goodness : 0.093914 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99628126e-01 -1.47388405e-03 -2.72293525e-02 2.47368351e+00] [ 1.55970679e-03 9.99993882e-01 3.13087664e-03 3.32755348e-01] [ 2.72245713e-02 -3.17218215e-03 9.99624309e-01 1.22725645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.712557844 meters Centerline goodness : 0.111140 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99631438e-01 -1.41332167e-03 -2.71107263e-02 2.47318225e+00] [ 1.50360294e-03 9.99993392e-01 3.30999756e-03 3.31905199e-01] [ 2.71058690e-02 -3.34954139e-03 9.99626957e-01 1.22755785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.742557844 meters Centerline goodness : 0.181168 Centerline is valid? [False, False] Translation: X:2.52, Y:0.33, Z:1.23 [[ 9.99686171e-01 -1.57739728e-03 -2.50014098e-02 2.51702087e+00] [ 1.66439826e-03 9.99992631e-01 3.45941564e-03 3.28911543e-01] [ 2.49957687e-02 -3.49994228e-03 9.99681430e-01 1.22838234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.772557844 meters Centerline goodness : 0.090911 Centerline is valid? [False, False] Translation: X:2.52, Y:0.33, Z:1.23 [[ 9.99684970e-01 -1.62821178e-03 -2.50461536e-02 2.51720529e+00] [ 1.72925612e-03 9.99990452e-01 4.01319609e-03 3.25551812e-01] [ 2.50393801e-02 -4.05524302e-03 9.99678240e-01 1.22818488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802557844 meters Centerline goodness : 0.112838 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99680964e-01 -1.54817849e-03 -2.52105610e-02 2.51771199e+00] [ 1.65883611e-03 9.99989080e-01 4.36901432e-03 3.23639551e-01] [ 2.52035217e-02 -4.40944064e-03 9.99672616e-01 1.22800211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832557844 meters Centerline goodness : 0.159167 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99668372e-01 -1.39425915e-03 -2.57138418e-02 2.51937882e+00] [ 1.51978344e-03 9.99987022e-01 4.86268798e-03 3.21161236e-01] [ 2.57067283e-02 -4.90015485e-03 9.99657518e-01 1.22732015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862557844 meters Centerline goodness : 0.114628 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99663605e-01 -1.34610638e-03 -2.59010508e-02 2.51994333e+00] [ 1.47398698e-03 9.99986816e-01 4.91881619e-03 3.21022055e-01] [ 2.58940881e-02 -4.95533934e-03 9.99652410e-01 1.22719982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892557844 meters Centerline goodness : 0.117528 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99659849e-01 -1.32856116e-03 -2.60465025e-02 2.52029999e+00] [ 1.45689506e-03 9.99986891e-01 4.90874913e-03 3.21150180e-01] [ 2.60396395e-02 -4.94502644e-03 9.99648680e-01 1.22723478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922557844 meters Centerline goodness : 0.095476 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99964804 0.00687509 -0.02562288 2.53960922] [-0.00678462 0.99997045 0.00361591 0.31652098] [ 0.02564698 -0.0034408 0.99966514 1.22906439] [ 0. 0. 0. 1. ]] SLAMing on 220.952557844 meters Centerline goodness : 0.094906 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966069 0.00699858 -0.02509051 2.53787048] [-0.00691307 0.99997 0.00349356 0.31769515] [ 0.02511421 -0.00331892 0.99967908 1.22981567] [ 0. 0. 0. 1. ]] SLAMing on 220.982557844 meters Centerline goodness : 0.094822 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966164 0.00696954 -0.02506048 2.53784308] [-0.00688617 0.99997047 0.00341148 0.31809584] [ 0.02508352 -0.00323775 0.99968012 1.22972876] [ 0. 0. 0. 1. ]] SLAMing on 221.012557844 meters Centerline goodness : 0.090658 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99966341 0.00692969 -0.02500077 2.53758534] [-0.0068481 0.99997095 0.00334768 0.31829012] [ 0.02502324 -0.00317534 0.99968183 1.22989726] [ 0. 0. 0. 1. ]] SLAMing on 221.04255784400002 meters Centerline goodness : 0.092058 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99967252 0.00684342 -0.02465814 2.53629576] [-0.00676412 0.99997168 0.00329801 0.31807688] [ 0.02468001 -0.00313014 0.9996905 1.2305389 ] [ 0. 0. 0. 1. ]] SLAMing on 221.07255784400002 meters Centerline goodness : 0.095759 Centerline is valid? [False, False] Translation: X:2.54, Y:0.32, Z:1.23 [[ 0.99967441 0.00682563 -0.02458611 2.53610034] [-0.00674596 0.99997173 0.00332201 0.31795269] [ 0.02460809 -0.00315507 0.9996922 1.23050224] [ 0. 0. 0. 1. ]] SLAMing on 221.10255784400002 meters Centerline goodness : 0.092661 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99675012e-01 -1.51281558e-03 -2.54476246e-02 2.51671050e+00] [ 1.63469894e-03 9.99987290e-01 4.76945620e-03 3.23034826e-01] [ 2.54400859e-02 -4.80950539e-03 9.99664779e-01 1.22871516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13255784400002 meters Centerline goodness : 0.090779 Centerline is valid? [False, False] Translation: X:2.52, Y:0.32, Z:1.23 [[ 9.99645324e-01 -1.72049939e-03 -2.65756639e-02 2.51984500e+00] [ 1.85493937e-03 9.99985604e-01 5.03493870e-03 3.21284778e-01] [ 2.65666187e-02 -5.08244918e-03 9.99634125e-01 1.22805568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16255784400002 meters Centerline goodness : 0.202284 Centerline is valid? [False, False] Translation: X:2.50, Y:0.32, Z:1.23 [[ 9.99594671e-01 3.69412548e-03 -2.82284737e-02 2.49644653e+00] [-3.64991399e-03 9.99992031e-01 1.61756777e-03 3.19506600e-01] [ 2.82342242e-02 -1.51388062e-03 9.99600188e-01 1.22827183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19255784400002 meters Centerline goodness : 0.243422 Centerline is valid? [False, False] Translation: X:2.50, Y:0.32, Z:1.23 [[ 9.99589604e-01 3.47314319e-03 -2.84351875e-02 2.49704682e+00] [-3.42630292e-03 9.99992692e-01 1.69582240e-03 3.18196389e-01] [ 2.84408695e-02 -1.59769888e-03 9.99594200e-01 1.22800542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22255784400002 meters Centerline goodness : 0.109656 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99621532e-01 3.25011505e-03 -2.73172193e-02 2.49416549e+00] [-3.20241906e-03 9.99993271e-01 1.78957212e-03 3.17077307e-01] [ 2.73228518e-02 -1.70141364e-03 9.99625213e-01 1.22815193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25255784400002 meters Centerline goodness : 0.284304 Centerline is valid? [False, False] Translation: X:2.51, Y:0.32, Z:1.23 [[ 0.99965545 -0.00473879 -0.025817 2.51358572] [ 0.00482111 0.99998349 0.00312714 0.32037857] [ 0.02580175 -0.00325053 0.99966179 1.23000231] [ 0. 0. 0. 1. ]] SLAMing on 221.28255784400002 meters Centerline goodness : 0.167164 Centerline is valid? [False, False] Translation: X:2.47, Y:0.32, Z:1.23 [[ 0.99959768 -0.0046318 -0.02798255 2.46620325] [ 0.00472765 0.99998318 0.00336002 0.32315217] [ 0.02796652 -0.00349096 0.99960276 1.23099813] [ 0. 0. 0. 1. ]] SLAMing on 221.31255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 221.342557844 meters Centerline goodness : 0.286585 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99571914e-01 1.68773951e-03 -2.92085722e-02 2.49118863e+00] [-1.66623866e-03 9.99998323e-01 7.60438145e-04 3.21136879e-01] [ 2.92098066e-02 -7.11444160e-04 9.99573049e-01 1.23038779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372557844 meters Centerline goodness : 0.164487 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99572868e-01 1.67628093e-03 -2.91765521e-02 2.49125047e+00] [-1.65615938e-03 9.99998374e-01 7.13800282e-04 3.21416011e-01] [ 2.91777012e-02 -6.65174375e-04 9.99574019e-01 1.23012887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters Centerline goodness : 0.110763 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99580874e-01 1.59346081e-03 -2.89056752e-02 2.49030133e+00] [-1.57682087e-03 9.99998578e-01 5.98448274e-04 3.21754881e-01] [ 2.89065877e-02 -5.52618376e-04 9.99581965e-01 1.23053313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.432557844 meters Centerline goodness : 0.160805 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99542231e-01 -7.02499388e-03 -2.94274972e-02 2.46972146e+00] [ 7.07088438e-03 9.99973941e-01 1.45567016e-03 3.27385339e-01] [ 2.94165043e-02 -1.66308223e-03 9.99565857e-01 1.22966540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.462557844 meters Centerline goodness : 0.167301 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99540594e-01 -6.97404789e-03 -2.94951375e-02 2.46991098e+00] [ 7.02466276e-03 9.99974026e-01 1.61276891e-03 3.26691991e-01] [ 2.94831239e-02 -1.81922139e-03 9.99563623e-01 1.22957368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.492557844 meters Centerline goodness : 0.152886 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:1.23 [[ 9.99539417e-01 -6.90648058e-03 -2.95508713e-02 2.47012440e+00] [ 6.96317572e-03 9.99974108e-01 1.81608325e-03 3.25783673e-01] [ 2.95375634e-02 -2.02101471e-03 9.99561628e-01 1.22942492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.522557844 meters Centerline goodness : 0.159956 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99519114e-01 -6.12378510e-04 -3.10026778e-02 2.48765747e+00] [ 6.29395216e-04 9.99999657e-01 5.39122768e-04 3.17141467e-01] [ 3.10023371e-02 -5.58376448e-04 9.99519156e-01 1.23164289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552557844 meters Centerline goodness : 0.116453 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99515942e-01 -5.24351221e-04 -3.11063638e-02 2.48807251e+00] [ 5.48597410e-04 9.99999552e-01 7.70931349e-04 3.15971838e-01] [ 3.11059457e-02 -7.87623045e-04 9.99515783e-01 1.23136597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582557844 meters Centerline goodness : 0.122063 Centerline is valid? [False, False] Translation: X:2.49, Y:0.32, Z:1.23 [[ 9.99514523e-01 -4.52936766e-04 -3.11530539e-02 2.48824437e+00] [ 4.82204732e-04 9.99999449e-01 9.31982978e-04 3.15188188e-01] [ 3.11526146e-02 -9.46552672e-04 9.99514191e-01 1.23126572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612557844 meters Centerline goodness : 0.119334 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99512994e-01 -3.48923922e-04 -3.12034150e-02 2.48822733e+00] [ 3.84327630e-04 9.99999289e-01 1.12861960e-03 3.14346798e-01] [ 3.12029990e-02 -1.14006229e-03 9.99512418e-01 1.23154296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642557844 meters Centerline goodness : 0.114380 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99520295e-01 -6.28514744e-05 -3.09705545e-02 2.48713380e+00] [ 1.12955411e-04 9.99998688e-01 1.61604577e-03 3.12397006e-01] [ 3.09704123e-02 -1.61876884e-03 9.99518991e-01 1.23235862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672557844 meters Centerline goodness : 0.106106 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99524845e-01 5.43629868e-05 -3.08233993e-02 2.48660796e+00] [ 5.25213355e-06 9.99998130e-01 1.93400223e-03 3.10792480e-01] [ 3.08234468e-02 -1.93324517e-03 9.99522975e-01 1.23255443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702557844 meters Centerline goodness : 0.161772 Centerline is valid? [False, False] Translation: X:2.49, Y:0.31, Z:1.23 [[ 9.99531380e-01 1.93985393e-04 -3.06101864e-02 2.48594383e+00] [-1.23459529e-04 9.99997334e-01 2.30587300e-03 3.08924669e-01] [ 3.06105521e-02 -2.30101330e-03 9.99528739e-01 1.23272007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732557844 meters Centerline goodness : 0.090714 Centerline is valid? [False, False] Translation: X:2.48, Y:0.31, Z:1.23 [[ 9.99545867e-01 4.25058271e-04 -3.01310276e-02 2.48438336e+00] [-3.33648553e-04 9.99995327e-01 3.03870331e-03 3.05261169e-01] [ 3.01321785e-02 -3.02727016e-03 9.99541339e-01 1.23318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762557844 meters Centerline goodness : 0.090714 Centerline is valid? [False, False] Translation: X:2.48, Y:0.31, Z:1.23 [[ 9.99545867e-01 4.25058271e-04 -3.01310276e-02 2.48438336e+00] [-3.33648553e-04 9.99995327e-01 3.03870331e-03 3.05261169e-01] [ 3.01321785e-02 -3.02727016e-03 9.99541339e-01 1.23318062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79255784400002 meters Centerline goodness : 0.158248 Centerline is valid? [False, False] Translation: X:2.48, Y:0.30, Z:1.23 [[ 9.99550287e-01 5.80053005e-04 -2.99814573e-02 2.48381217e+00] [-4.76739419e-04 9.99993925e-01 3.45294951e-03 3.03283464e-01] [ 2.99832780e-02 -3.43710333e-03 9.99544491e-01 1.23344811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82255784400002 meters Centerline goodness : 0.110908 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99477589e-01 -3.26776370e-05 -3.23194660e-02 2.43730964e+00] [ 1.42178885e-04 9.99994258e-01 3.38579728e-03 3.03551889e-01] [ 3.23191698e-02 -3.38862365e-03 9.99471855e-01 1.23374472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85255784400002 meters Centerline goodness : 0.121759 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99478656e-01 1.28971181e-04 -3.22861986e-02 2.43709633e+00] [ 3.73519080e-06 9.99991553e-01 4.11021865e-03 2.99828617e-01] [ 3.22864560e-02 -4.10819640e-03 9.99470213e-01 1.23379303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88255784400002 meters Centerline goodness : 0.314093 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99477352e-01 2.48875671e-04 -3.23258524e-02 2.43721139e+00] [-1.07104203e-04 9.99990370e-01 4.38735683e-03 2.98656466e-01] [ 3.23266330e-02 -4.38160155e-03 9.99467754e-01 1.23371755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91255784400002 meters Centerline goodness : 0.115681 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99471191e-01 2.91291114e-04 -3.25154351e-02 2.43785274e+00] [-1.45320094e-04 9.99989902e-01 4.49155685e-03 2.98250757e-01] [ 3.25164151e-02 -4.48445653e-03 9.99461141e-01 1.23342354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94255784400002 meters Centerline goodness : 0.144158 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99464847e-01 2.95723653e-04 -3.27098027e-02 2.43853628e+00] [-1.48192703e-04 9.99989807e-01 4.51263014e-03 2.98163790e-01] [ 3.27108038e-02 -4.50536784e-03 9.99454704e-01 1.23309129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97255784400002 meters Centerline goodness : 0.104351 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99460217e-01 2.85269132e-04 -3.28510662e-02 2.43899905e+00] [-1.37312174e-04 9.99989838e-01 4.50603875e-03 2.98118298e-01] [ 3.28520179e-02 -4.49909562e-03 9.99450100e-01 1.23290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00255784400002 meters Centerline goodness : 0.162791 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99455450e-01 1.72793194e-04 -3.29965556e-02 2.43959860e+00] [-3.20852650e-05 9.99990905e-01 4.26480362e-03 2.99158227e-01] [ 3.29969925e-02 -4.26142252e-03 9.99446366e-01 1.23251481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03255784400002 meters Centerline goodness : 0.273577 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99456115e-01 1.02687085e-04 -3.29767010e-02 2.43961763e+00] [ 3.19373763e-05 9.99991669e-01 4.08185875e-03 3.00110399e-01] [ 3.29768454e-02 -4.08069188e-03 9.99447785e-01 1.23240178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06255784400003 meters Centerline goodness : 0.162238 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99461513e-01 -9.77738185e-05 -3.28127244e-02 2.43915725e+00] [ 2.15875022e-04 9.99993512e-01 3.59572678e-03 3.02404829e-01] [ 3.28121599e-02 -3.60087398e-03 9.99455049e-01 1.23251178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092557844 meters Centerline goodness : 0.107718 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:1.23 [[ 9.99463388e-01 -2.15669325e-04 -3.27549795e-02 2.43892610e+00] [ 3.24247784e-04 9.99994471e-01 3.30959318e-03 3.03726506e-01] [ 3.27540846e-02 -3.31843794e-03 9.99457932e-01 1.23266532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters Centerline goodness : 0.156844 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99461809e-01 -3.51697846e-04 -3.28019710e-02 2.43911035e+00] [ 4.50413450e-04 9.99995392e-01 3.00210059e-03 3.05157147e-01] [ 3.28007641e-02 -3.01525933e-03 9.99457362e-01 1.23256748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152557844 meters Centerline goodness : 0.170013 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99457736e-01 -4.59607564e-04 -3.29244914e-02 2.43952239e+00] [ 5.50673144e-04 9.99996048e-01 2.75687739e-03 3.06338415e-01] [ 3.29230942e-02 -2.77351307e-03 9.99454040e-01 1.23238190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.182557844 meters Centerline goodness : 0.165746 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99456111e-01 -7.13584534e-04 -3.29692834e-02 2.44006594e+00] [ 7.87069142e-04 9.99997235e-01 2.21595663e-03 3.08978648e-01] [ 3.29676110e-02 -2.24070050e-03 9.99453909e-01 1.23170751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.212557844 meters Centerline goodness : 0.158347 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99457046e-01 -8.47668148e-04 -3.29377264e-02 2.44010497e+00] [ 9.10590577e-04 9.99997789e-01 1.89539173e-03 3.10486757e-01] [ 3.29360469e-02 -1.92435541e-03 9.99455609e-01 1.23154218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.242557844 meters Centerline goodness : 0.158389 Centerline is valid? [False, False] Translation: X:2.44, Y:0.31, Z:1.23 [[ 9.99453643e-01 -1.00073246e-03 -3.30365642e-02 2.44045034e+00] [ 1.05233824e-03 9.99998253e-01 1.54473018e-03 3.12129813e-01] [ 3.30349606e-02 -1.57865184e-03 9.99452950e-01 1.23137990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.272557844 meters Centerline goodness : 0.163099 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99349623e-01 -6.14406321e-04 -3.60548817e-02 2.39538283e+00] [ 6.76886159e-04 9.99998290e-01 1.72072834e-03 3.17951561e-01] [ 3.60537629e-02 -1.74401426e-03 9.99348330e-01 1.23132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302557844 meters Centerline goodness : 0.159774 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99340682e-01 -8.86679464e-04 -3.62962025e-02 2.39615946e+00] [ 9.21468039e-04 9.99999132e-01 9.41746045e-04 3.21746569e-01] [ 3.62953360e-02 -9.74570926e-04 9.99340632e-01 1.23114607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332557844 meters Centerline goodness : 0.155925 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99340606e-01 -1.01246904e-03 -3.62950181e-02 2.39607044e+00] [ 1.03755355e-03 9.99999236e-01 6.72299377e-04 3.22901993e-01] [ 3.62943096e-02 -7.09514092e-04 9.99340893e-01 1.23132229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362557844 meters Centerline goodness : 0.157599 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99344759e-01 -1.09197669e-03 -3.61781778e-02 2.39565400e+00] [ 1.11160390e-03 9.99999246e-01 5.22405172e-04 3.23515703e-01] [ 3.61775800e-02 -5.62278674e-04 9.99345219e-01 1.23149229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392557844 meters Centerline goodness : 0.159879 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99345402e-01 -1.15661365e-03 -3.61584117e-02 2.39567397e+00] [ 1.17656921e-03 9.99999167e-01 5.30619145e-04 3.23472613e-01] [ 3.61577679e-02 -5.72814676e-04 9.99345930e-01 1.23125184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422557844 meters Centerline goodness : 0.160458 Centerline is valid? [False, False] Translation: X:2.38, Y:0.32, Z:1.23 [[ 9.99299034e-01 6.93924654e-03 -3.67870437e-02 2.37612454e+00] [-6.96973623e-03 9.99975466e-01 -7.00637748e-04 3.19850971e-01] [ 3.67812793e-02 9.56542616e-04 9.99322882e-01 1.22888126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452557844 meters Centerline goodness : 0.155584 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99319209e-01 -1.57577037e-03 -3.68596751e-02 2.39671308e+00] [ 1.57775648e-03 9.99998755e-01 2.47954259e-05 3.21410553e-01] [ 3.68595901e-02 -8.29341367e-05 9.99320451e-01 1.23072279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482557844 meters Centerline goodness : 0.110373 Centerline is valid? [False, False] Translation: X:2.40, Y:0.32, Z:1.23 [[ 9.99321197e-01 -1.68835349e-03 -3.68007534e-02 2.39617813e+00] [ 1.67830832e-03 9.99998545e-01 -3.03851298e-04 3.22871701e-01] [ 3.68012129e-02 2.41882032e-04 9.99322577e-01 1.23143700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512557844 meters Centerline goodness : 0.161066 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:1.23 [[ 9.99320225e-01 -1.72634372e-03 -3.68253719e-02 2.39605102e+00] [ 1.70246778e-03 9.99998320e-01 -6.79703467e-04 3.25124499e-01] [ 3.68264834e-02 6.16547412e-04 9.99321485e-01 1.23183951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54255784400002 meters Centerline goodness : 0.157890 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:1.23 [[ 9.99317601e-01 -1.73149581e-03 -3.68962745e-02 2.39621555e+00] [ 1.69135380e-03 9.99997943e-01 -1.11915420e-03 3.27809207e-01] [ 3.68981364e-02 1.05598584e-03 9.99318474e-01 1.23200926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57255784400002 meters Centerline goodness : 0.165287 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99336182e-01 -1.78535030e-03 -3.63869254e-02 2.39486561e+00] [ 1.71800983e-03 9.99996754e-01 -1.88186063e-03 3.31777654e-01] [ 3.63901671e-02 1.81809832e-03 9.99336005e-01 1.23234987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60255784400002 meters Centerline goodness : 0.254268 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99342322e-01 -1.93243395e-03 -3.62103444e-02 2.39429713e+00] [ 1.85243815e-03 9.99995770e-01 -2.24261694e-03 3.33296549e-01] [ 3.62145250e-02 2.17406460e-03 9.99341674e-01 1.23256672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63255784400002 meters Centerline goodness : 0.120991 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99347685e-01 -2.02165073e-03 -3.60571329e-02 2.39368234e+00] [ 1.93507785e-03 9.99995161e-01 -2.43572808e-03 3.34133903e-01] [ 3.60618827e-02 2.36436586e-03 9.99346762e-01 1.23292602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66255784400002 meters Centerline goodness : 0.131266 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 9.99350550e-01 -2.07390427e-03 -3.59746671e-02 2.39328684e+00] [ 1.98436246e-03 9.99994844e-01 -2.52455064e-03 3.34600076e-01] [ 3.59797173e-02 2.45152429e-03 9.99349513e-01 1.23318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69255784400002 meters Centerline goodness : 0.139112 Centerline is valid? [False, False] Translation: X:2.35, Y:0.34, Z:1.23 [[ 9.99256878e-01 -2.48566258e-03 -3.84644345e-02 2.34759952e+00] [ 2.39351956e-03 9.99994155e-01 -2.44140259e-03 3.37484569e-01] [ 3.84702782e-02 2.34752295e-03 9.99256987e-01 1.23304756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72255784400002 meters Centerline goodness : 0.153641 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932327 -0.0037683 -0.03658953 2.39217969] [ 0.00365193 0.99998806 -0.0032468 0.33355565] [ 0.03660132 0.00311098 0.9993251 1.23412715] [ 0. 0. 0. 1. ]] SLAMing on 222.75255784400002 meters Centerline goodness : 0.152362 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99933433 -0.00421244 -0.03623734 2.39117778] [ 0.00409884 0.99998645 -0.00320866 0.3319185 ] [ 0.03625036 0.00305799 0.99933806 1.23413628] [ 0. 0. 0. 1. ]] SLAMing on 222.78255784400002 meters Centerline goodness : 0.151126 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932897 -0.00411996 -0.03639541 2.39166406] [ 0.00401531 0.99998759 -0.00294812 0.33085642] [ 0.03640711 0.0028 0.99933312 1.23392124] [ 0. 0. 0. 1. ]] SLAMing on 222.81255784400003 meters Centerline goodness : 0.152687 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.23 [[ 0.99932394 -0.00405021 -0.03654126 2.39224977] [ 0.00395066 0.99998829 -0.00279612 0.33028732] [ 0.03655216 0.00264987 0.99932823 1.2335452 ] [ 0. 0. 0. 1. ]] SLAMing on 222.842557844 meters Centerline goodness : 0.139268 Centerline is valid? [False, False] Translation: X:2.37, Y:0.33, Z:1.23 [[ 0.99929958 0.00458961 -0.03713864 2.37114671] [-0.00472654 0.99998235 -0.00359999 0.32712942] [ 0.03712146 0.003773 0.99930364 1.23177625] [ 0. 0. 0. 1. ]] SLAMing on 222.872557844 meters Centerline goodness : 0.110485 Centerline is valid? [False, False] Translation: X:2.37, Y:0.33, Z:1.23 [[ 0.99930962 0.00460526 -0.03686555 2.37002188] [-0.00475301 0.99998102 -0.00392132 0.32885242] [ 0.03684679 0.00409383 0.99931254 1.23267521] [ 0. 0. 0. 1. ]] SLAMing on 222.902557844 meters Centerline goodness : 0.156107 Centerline is valid? [False, False] Translation: X:2.39, Y:0.33, Z:1.24 [[ 9.99308928e-01 -1.83151642e-03 -3.71256216e-02 2.38707585e+00] [ 1.76049121e-03 9.99996557e-01 -1.94570564e-03 3.33866174e-01] [ 3.71290574e-02 1.87900169e-03 9.99308712e-01 1.23614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.932557844 meters Centerline goodness : 0.152917 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99292963e-01 -1.81816387e-03 -3.75535486e-02 2.38829173e+00] [ 1.73393597e-03 9.99995908e-01 -2.27532212e-03 3.35844141e-01] [ 3.75575318e-02 2.20859793e-03 9.99292026e-01 1.23604430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.962557844 meters Centerline goodness : 0.169313 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99228402e-01 -1.35055920e-03 -3.92527319e-02 2.39343470e+00] [ 1.26150501e-03 9.99996574e-01 -2.29341845e-03 3.37742780e-01] [ 3.92556948e-02 2.24213134e-03 9.99226683e-01 1.23468333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.992557844 meters Centerline goodness : 0.163573 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99224257e-01 -1.44357148e-03 -3.93548069e-02 2.39387553e+00] [ 1.34164618e-03 9.99995678e-01 -2.61619448e-03 3.39335714e-01] [ 3.93584135e-02 2.56136476e-03 9.99221875e-01 1.23443321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.022557844 meters Centerline goodness : 0.110414 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99227174e-01 -1.55312796e-03 -3.92764926e-02 2.39348016e+00] [ 1.43787394e-03 9.99994578e-01 -2.96250557e-03 3.41081395e-01] [ 3.92808808e-02 2.90374142e-03 9.99223989e-01 1.23477360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052557844 meters Centerline goodness : 0.161173 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99231922e-01 -1.71931010e-03 -3.91485730e-02 2.39276216e+00] [ 1.58842198e-03 9.99993046e-01 -3.37422747e-03 3.43184385e-01] [ 3.91541021e-02 3.30945134e-03 9.99227704e-01 1.23541029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082557844 meters Centerline goodness : 0.110424 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.24 [[ 9.99227509e-01 -1.78917104e-03 -3.92579145e-02 2.39319657e+00] [ 1.65558721e-03 9.99992730e-01 -3.43496988e-03 3.43372133e-01] [ 3.92637748e-02 3.36732149e-03 9.99223207e-01 1.23512162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112557844 meters Centerline goodness : 0.117280 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99224234e-01 -1.87687405e-03 -3.93371124e-02 2.39356152e+00] [ 1.73959824e-03 9.99992279e-01 -3.52366586e-03 3.43624933e-01] [ 3.93434221e-02 3.45250154e-03 9.99219783e-01 1.23481338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142557844 meters Centerline goodness : 0.152878 Centerline is valid? [False, False] Translation: X:2.39, Y:0.34, Z:1.23 [[ 9.99223821e-01 -1.94452777e-03 -3.93443129e-02 2.39364288e+00] [ 1.80319651e-03 9.99991795e-01 -3.62733268e-03 3.44037998e-01] [ 3.93510436e-02 3.55357169e-03 9.99219129e-01 1.23469404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172557844 meters Centerline goodness : 0.153838 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99227277e-01 -2.09131629e-03 -3.92489010e-02 2.39329584e+00] [ 1.93478956e-03 9.99990025e-01 -4.02561415e-03 3.46130361e-01] [ 3.92569283e-02 3.94656510e-03 9.99221356e-01 1.23491596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202557844 meters Centerline goodness : 0.120060 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99229098e-01 -2.17397443e-03 -3.91980049e-02 2.39315764e+00] [ 2.00695249e-03 9.99988742e-01 -4.29982654e-03 3.47577835e-01] [ 3.92069114e-02 4.21784326e-03 9.99222211e-01 1.23498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232557844 meters Centerline goodness : 0.151216 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99228714e-01 -2.30661425e-03 -3.92002236e-02 2.39336056e+00] [ 2.12538747e-03 9.99986864e-01 -4.66415081e-03 3.49350737e-01] [ 3.92104670e-02 4.57723775e-03 9.99220490e-01 1.23473172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262557844 meters Centerline goodness : 0.118549 Centerline is valid? [False, False] Translation: X:2.39, Y:0.35, Z:1.23 [[ 9.99226555e-01 -2.46018260e-03 -3.92458712e-02 2.39360540e+00] [ 2.26173209e-03 9.99984436e-01 -5.10019377e-03 3.51417290e-01] [ 3.92578078e-02 5.00748540e-03 9.99216568e-01 1.23460682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29255784400002 meters Centerline goodness : 0.155949 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99267231e-01 -1.47279643e-05 -3.82753341e-02 2.38907046e+00] [-1.18546623e-04 9.99993939e-01 -3.47972484e-03 3.57696202e-01] [ 3.82751533e-02 3.48171242e-03 9.99261172e-01 1.23701572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32255784400002 meters Centerline goodness : 0.152004 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99272327e-01 -2.03713658e-04 -3.81415007e-02 2.38843013e+00] [ 4.53517121e-05 9.99991376e-01 -4.15277812e-03 3.61051783e-01] [ 3.81420178e-02 4.14802648e-03 9.99263719e-01 1.23766359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35255784400002 meters Centerline goodness : 0.160529 Centerline is valid? [False, False] Translation: X:2.39, Y:0.36, Z:1.24 [[ 9.99272556e-01 -4.34808169e-04 -3.81335793e-02 2.38838031e+00] [ 2.50499889e-04 9.99988266e-01 -4.83787271e-03 3.64347705e-01] [ 3.81352354e-02 4.82480097e-03 9.99260939e-01 1.23781192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38255784400002 meters Centerline goodness : 0.155174 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 9.99264124e-01 3.30439943e-03 -3.82137479e-02 2.38899141e+00] [-3.37271877e-03 9.99992827e-01 -1.72349331e-03 3.68441208e-01] [ 3.82077787e-02 1.85110926e-03 9.99268102e-01 1.23728873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41255784400002 meters Centerline goodness : 0.238165 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 9.99266091e-01 3.07342969e-03 -3.81815823e-02 2.38888221e+00] [-3.16317298e-03 9.99992375e-01 -2.29024693e-03 3.71132052e-01] [ 3.81742522e-02 2.40934105e-03 9.99268193e-01 1.23741370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44255784400002 meters Centerline goodness : 0.119832 Centerline is valid? [False, False] Translation: X:2.39, Y:0.37, Z:1.24 [[ 0.99927257 0.00284331 -0.03802955 2.38825077] [-0.00295288 0.99999165 -0.00282531 0.37352306] [ 0.0380212 0.00293555 0.99927262 1.23789254] [ 0. 0. 0. 1. ]] SLAMing on 223.47255784400002 meters Centerline goodness : 0.117406 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 0.9992789 0.00260095 -0.03788022 2.38750191] [-0.00273021 0.99999062 -0.00336095 0.37587479] [ 0.03787112 0.00346195 0.99927663 1.23855876] [ 0. 0. 0. 1. ]] SLAMing on 223.50255784400002 meters Centerline goodness : 0.115655 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99269928e-01 2.19885077e-03 -3.81415379e-02 2.38848355e+00] [-2.36525996e-03 9.99987879e-01 -4.31836363e-03 3.80822123e-01] [ 3.81315801e-02 4.40542557e-03 9.99263016e-01 1.23814150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53255784400002 meters Centerline goodness : 0.125752 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99256501e-01 2.08240379e-03 -3.84981726e-02 2.39003999e+00] [-2.26284416e-03 9.99986656e-01 -4.64400590e-03 3.82644397e-01] [ 3.84879882e-02 4.72766845e-03 9.99247879e-01 1.23712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56255784400003 meters Centerline goodness : 0.163299 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99247942e-01 1.93943239e-03 -3.87271022e-02 2.39119364e+00] [-2.13076627e-03 9.99985725e-01 -4.89990451e-03 3.83762926e-01] [ 3.87170464e-02 4.97873790e-03 9.99237811e-01 1.23618664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592557844 meters Centerline goodness : 0.137715 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99254220e-01 1.58567221e-03 -3.85809360e-02 2.39063729e+00] [-1.79264536e-03 9.99984185e-01 -5.33064603e-03 3.84999887e-01] [ 3.85718732e-02 5.39583248e-03 9.99241260e-01 1.23645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622557844 meters Centerline goodness : 0.137715 Centerline is valid? [False, False] Translation: X:2.39, Y:0.38, Z:1.24 [[ 9.99254220e-01 1.58567221e-03 -3.85809360e-02 2.39063729e+00] [-1.79264536e-03 9.99984185e-01 -5.33064603e-03 3.84999887e-01] [ 3.85718732e-02 5.39583248e-03 9.99241260e-01 1.23645085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652557844 meters Centerline goodness : 0.121043 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99261406e-01 1.50439321e-03 -3.83976582e-02 2.38995590e+00] [-1.71499345e-03 9.99983665e-01 -5.45236704e-03 3.85495873e-01] [ 3.83888284e-02 5.51419168e-03 9.99247663e-01 1.23678672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.682557844 meters Centerline goodness : 0.256699 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99265962e-01 1.44372504e-03 -3.82812421e-02 2.38967037e+00] [-1.65749673e-03 9.99983208e-01 -5.55309216e-03 3.86019792e-01] [ 3.82725822e-02 5.61246701e-03 9.99251575e-01 1.23673523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.712557844 meters Centerline goodness : 0.123538 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99263414e-01 1.38152541e-03 -3.83499836e-02 2.39011405e+00] [-1.59838202e-03 9.99982904e-01 -5.62458875e-03 3.86337462e-01] [ 3.83415575e-02 5.68174368e-03 9.99248539e-01 1.23628707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.742557844 meters Centerline goodness : 0.122363 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.24 [[ 9.99254636e-01 1.19274182e-03 -3.85843138e-02 2.39143915e+00] [-1.41790983e-03 9.99982123e-01 -5.80890137e-03 3.86779752e-01] [ 3.85766955e-02 5.85928070e-03 9.99238464e-01 1.23508794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.772557844 meters Centerline goodness : 0.152899 Centerline is valid? [False, False] Translation: X:2.39, Y:0.39, Z:1.23 [[ 9.99251776e-01 1.11312349e-03 -3.86606863e-02 2.39180475e+00] [-1.34543930e-03 9.99981193e-01 -5.98359928e-03 3.87625174e-01] [ 3.86532987e-02 6.03113781e-03 9.99234481e-01 1.23482118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802557844 meters Centerline goodness : 0.122155 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 0.99923819 -0.00682507 -0.0384248 2.41196078] [ 0.00665388 0.99996737 -0.00458142 0.39160559] [ 0.03845482 0.00432226 0.99925099 1.23698056] [ 0. 0. 0. 1. ]] SLAMing on 223.832557844 meters Centerline goodness : 0.123225 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99242352e-01 -3.25308004e-03 -3.87832424e-02 2.41363772e+00] [ 3.21292995e-03 9.99994236e-01 -1.09752589e-03 3.91876254e-01] [ 3.87865892e-02 9.72086512e-04 9.99247044e-01 1.23599486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862557844 meters Centerline goodness : 0.122281 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99233764e-01 -3.29213482e-03 -3.90006077e-02 2.41468108e+00] [ 3.24570654e-03 9.99993947e-01 -1.25370680e-03 3.92656658e-01] [ 3.90044990e-02 1.12616163e-03 9.99238400e-01 1.23522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892557844 meters Centerline goodness : 0.145172 Centerline is valid? [False, False] Translation: X:2.42, Y:0.39, Z:1.23 [[ 9.99227433e-01 -3.28745831e-03 -3.91628543e-02 2.41539851e+00] [ 3.23322429e-03 9.99993725e-01 -1.44808841e-03 3.93833769e-01] [ 3.91673691e-02 1.32034738e-03 9.99231792e-01 1.23473927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922557844 meters Centerline goodness : 0.156692 Centerline is valid? [False, False] Translation: X:2.41, Y:0.39, Z:1.24 [[ 9.99233717e-01 -3.31360577e-03 -3.89999733e-02 2.41473158e+00] [ 3.25279404e-03 9.99993393e-01 -1.62262645e-03 3.94848568e-01] [ 3.90050924e-02 1.49452418e-03 9.99237894e-01 1.23518216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952557844 meters Centerline goodness : 0.125722 Centerline is valid? [False, False] Translation: X:2.41, Y:0.40, Z:1.24 [[ 9.99238084e-01 -3.37394568e-03 -3.88827448e-02 2.41418162e+00] [ 3.30412369e-03 9.99992812e-01 -1.85982762e-03 3.96056495e-01] [ 3.88887403e-02 1.72993719e-03 9.99242049e-01 1.23564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982557844 meters Centerline goodness : 0.377846 Centerline is valid? [False, False] Translation: X:2.41, Y:0.40, Z:1.24 [[ 9.99236268e-01 -3.49962330e-03 -3.89182931e-02 2.41414800e+00] [ 3.41462602e-03 9.99991638e-01 -2.25024963e-03 3.97808714e-01] [ 3.89258427e-02 2.11563963e-03 9.99239863e-01 1.23595290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012557844 meters Centerline goodness : 0.160755 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.24 [[ 0.99925487 0.00539499 -0.03821767 2.43590211] [-0.00551131 0.99998049 -0.00293886 0.39755432] [ 0.03820107 0.0031473 0.99926512 1.23715188] [ 0. 0. 0. 1. ]] SLAMing on 224.04255784400002 meters Centerline goodness : 0.122676 Centerline is valid? [False, False] Translation: X:2.44, Y:0.40, Z:1.24 [[ 0.99926495 0.00534786 -0.03796005 2.43504725] [-0.00548088 0.9999792 -0.003401 0.40019943] [ 0.03794108 0.00360656 0.99927347 1.23758715] [ 0. 0. 0. 1. ]] SLAMing on 224.07255784400002 meters Centerline goodness : 0.149959 Centerline is valid? [False, False] Translation: X:2.43, Y:0.40, Z:1.24 [[ 0.99927836 0.0052624 -0.03761747 2.43397825] [-0.00541266 0.99997777 -0.00389383 0.40282007] [ 0.03759614 0.00409463 0.99928463 1.238066 ] [ 0. 0. 0. 1. ]] SLAMing on 224.10255784400002 meters Centerline goodness : 0.121854 Centerline is valid? [False, False] Translation: X:2.43, Y:0.41, Z:1.24 [[ 0.9992939 0.00510387 -0.03722433 2.43264881] [-0.00527158 0.99997639 -0.00440877 0.40523386] [ 0.03720095 0.00460189 0.99929721 1.23870299] [ 0. 0. 0. 1. ]] SLAMing on 224.13255784400002 meters Centerline goodness : 0.125517 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99461099e-01 1.16955507e-03 -3.28046329e-02 2.45799288e+00] [-1.21673640e-03 9.99998254e-01 -1.41832615e-03 4.05579777e-01] [ 3.28029168e-02 1.45747640e-03 9.99460777e-01 1.23684888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16255784400002 meters Centerline goodness : 0.130045 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99458917e-01 1.01388573e-03 -3.28762011e-02 2.45819624e+00] [-1.07372825e-03 9.99997799e-01 -1.80263431e-03 4.07472755e-01] [ 3.28743011e-02 1.83695904e-03 9.99457806e-01 1.23682091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19255784400002 meters Centerline goodness : 0.155259 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99457111e-01 9.02866594e-04 -3.29342877e-02 2.45841620e+00] [-9.72318659e-04 9.99997337e-01 -2.09285257e-03 4.08982146e-01] [ 3.29323104e-02 2.12373901e-03 9.99455328e-01 1.23673128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22255784400002 meters Centerline goodness : 0.121570 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99457468e-01 6.04914809e-04 -3.29302781e-02 2.45850877e+00] [-6.90322936e-04 9.99996428e-01 -2.58229723e-03 4.10700092e-01] [ 3.29285984e-02 2.60362878e-03 9.99454315e-01 1.23657246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25255784400002 meters Centerline goodness : 0.161388 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99456930e-01 5.00791368e-04 -3.29483464e-02 2.45851964e+00] [-5.91409468e-04 9.99996070e-01 -2.74061985e-03 4.11245233e-01] [ 3.29468444e-02 2.75861747e-03 9.99453298e-01 1.23659344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28255784400002 meters Centerline goodness : 0.122848 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99454536e-01 4.23340765e-04 -3.30219781e-02 2.45863594e+00] [-5.21079884e-04 9.99995509e-01 -2.95127050e-03 4.12416176e-01] [ 3.30205804e-02 2.96686777e-03 9.99450268e-01 1.23670834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31255784400003 meters Centerline goodness : 0.122064 Centerline is valid? [False, False] Translation: X:2.46, Y:0.41, Z:1.24 [[ 9.99462173e-01 4.26489231e-03 -3.25142495e-02 2.45738150e+00] [-4.24590973e-03 9.99990773e-01 6.52846198e-04 4.14492175e-01] [ 3.25167338e-02 -5.14442511e-04 9.99471059e-01 1.23677672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34255784400003 meters Centerline goodness : 0.144061 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99467653e-01 4.11690153e-03 -3.23645025e-02 2.45678884e+00] [-4.10876543e-03 9.99991508e-01 3.17892277e-04 4.15948555e-01] [ 3.23655364e-02 -1.84744899e-04 9.99476082e-01 1.23715822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372557844 meters Centerline goodness : 0.128239 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99505315e-01 -4.73354901e-03 -3.10920955e-02 2.47586975e+00] [ 4.76578574e-03 9.99988180e-01 9.62788714e-04 4.19694323e-01] [ 3.10871706e-02 -1.11049070e-03 9.99516060e-01 1.23900964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402557844 meters Centerline goodness : 0.124808 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99499659e-01 -4.93471855e-03 -3.12422735e-02 2.47639208e+00] [ 4.95399398e-03 9.99987583e-01 5.39589773e-04 4.21739902e-01] [ 3.12392228e-02 -6.94093829e-04 9.99511695e-01 1.23876348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.432557844 meters Centerline goodness : 0.121688 Centerline is valid? [False, False] Translation: X:2.48, Y:0.42, Z:1.24 [[ 9.99487533e-01 -4.94403223e-03 -3.16263801e-02 2.47789581e+00] [ 4.95917378e-03 9.99987623e-01 4.00340614e-04 4.22853578e-01] [ 3.16240094e-02 -5.56976167e-04 9.99499681e-01 1.23791619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.462557844 meters Centerline goodness : 0.124445 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99422835e-01 3.87618245e-03 -3.37486716e-02 2.45883998e+00] [-3.90265874e-03 9.99992126e-01 -7.18674983e-04 4.21839555e-01] [ 3.37456202e-02 8.49969737e-04 9.99430093e-01 1.23602306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.492557844 meters Centerline goodness : 0.121379 Centerline is valid? [False, False] Translation: X:2.46, Y:0.42, Z:1.24 [[ 9.99411311e-01 3.67224005e-03 -3.41108014e-02 2.46005222e+00] [-3.71425074e-03 9.99992420e-01 -1.16830988e-03 4.23859777e-01] [ 3.41062526e-02 1.29431818e-03 9.99417374e-01 1.23551388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.522557844 meters Centerline goodness : 0.149459 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99444448e-01 -4.88617835e-03 -3.29684923e-02 2.47980926e+00] [ 4.87609264e-03 9.99988037e-01 -3.86313721e-04 4.28220739e-01] [ 3.29699855e-02 2.25341681e-04 9.99456317e-01 1.23721827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552557844 meters Centerline goodness : 0.123539 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99442040e-01 -5.05464288e-03 -3.30160418e-02 2.47971169e+00] [ 5.02983487e-03 9.99987002e-01 -8.34405443e-04 4.30321368e-01] [ 3.30198303e-02 6.67874640e-04 9.99454474e-01 1.23760820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582557844 meters Centerline goodness : 0.115906 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99450897e-01 -1.26425202e-03 -3.31105149e-02 2.48045413e+00] [ 1.34803839e-03 9.99995946e-01 2.50830538e-03 4.32639064e-01] [ 3.31072095e-02 -2.55156231e-03 9.99448549e-01 1.23687519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612557844 meters Centerline goodness : 0.155987 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:1.24 [[ 9.99446438e-01 -1.34024423e-03 -3.32418604e-02 2.48081286e+00] [ 1.41014159e-03 9.99996844e-01 2.07933583e-03 4.34898052e-01] [ 3.32389687e-02 -2.12506052e-03 9.99445174e-01 1.23689232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642557844 meters Centerline goodness : 0.123139 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99457630e-01 -1.41157759e-03 -3.29006660e-02 2.47957564e+00] [ 1.47010823e-03 9.99997380e-01 1.75488823e-03 4.36527732e-01] [ 3.28981026e-02 -1.80230397e-03 9.99457086e-01 1.23752130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672557844 meters Centerline goodness : 0.121744 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99470970e-01 -1.48942569e-03 -3.24894134e-02 2.47803090e+00] [ 1.53852930e-03 9.99997712e-01 1.48642535e-03 4.37775854e-01] [ 3.24871252e-02 -1.53562490e-03 9.99470974e-01 1.23838926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702557844 meters Centerline goodness : 0.122187 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99486860e-01 -1.47540443e-03 -3.19974844e-02 2.47634803e+00] [ 1.51935809e-03 9.99997935e-01 1.34938937e-03 4.38598302e-01] [ 3.19954274e-02 -1.39731258e-03 9.99487039e-01 1.23915566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732557844 meters Centerline goodness : 0.145148 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99488166e-01 -1.47369825e-03 -3.19567673e-02 2.47621689e+00] [ 1.51519385e-03 9.99998040e-01 1.27431427e-03 4.39035403e-01] [ 3.19548267e-02 -1.32208273e-03 9.99488440e-01 1.23921453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762557844 meters Centerline goodness : 0.120758 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99484180e-01 -1.48675067e-03 -3.20805649e-02 2.47639895e+00] [ 1.52182409e-03 9.99998271e-01 1.06890277e-03 4.40116291e-01] [ 3.20789203e-02 -1.11717239e-03 9.99484715e-01 1.23946992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79255784400002 meters Centerline goodness : 0.173304 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99480575e-01 -1.04617724e-03 -3.22100396e-02 2.47657235e+00] [ 1.07379497e-03 9.99999071e-01 8.40140281e-04 4.42600257e-01] [ 3.22091308e-02 -8.74290870e-04 9.99480769e-01 1.23982899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82255784400002 meters Centerline goodness : 0.118180 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:1.24 [[ 9.99483693e-01 -8.67267185e-04 -3.21184589e-02 2.47620829e+00] [ 8.86764474e-04 9.99999431e-01 5.92803646e-04 4.44635380e-01] [ 3.21179265e-02 -6.20979085e-04 9.99483893e-01 1.24011089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85255784400002 meters Centerline goodness : 0.113786 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 9.99490810e-01 -7.39856798e-04 -3.18994399e-02 2.47549262e+00] [ 7.51003467e-04 9.99999661e-01 3.37451572e-04 4.46575418e-01] [ 3.18991794e-02 -3.61236335e-04 9.99491026e-01 1.24043964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88255784400002 meters Centerline goodness : 0.120365 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99950762 0.00257187 -0.03127138 2.47262195] [-0.00247718 0.99999223 0.00306638 0.45010765] [ 0.03127903 -0.0029874 0.99950623 1.24197238] [ 0. 0. 0. 1. ]] SLAMing on 224.91255784400002 meters Centerline goodness : 0.119544 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99513379e-01 2.46795358e-03 -3.10952356e-02 2.47203150e+00] [-2.38736868e-03 9.99993696e-01 2.62841185e-03 4.52194395e-01] [ 3.11015264e-02 -2.55289702e-03 9.99512970e-01 1.24215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94255784400002 meters Centerline goodness : 0.126150 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99511015e-01 2.35698452e-03 -3.11797296e-02 2.47227870e+00] [-2.28714938e-03 9.99994796e-01 2.27523647e-03 4.53852560e-01] [ 3.11849300e-02 -2.20281121e-03 9.99511204e-01 1.24206143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97255784400002 meters Centerline goodness : 0.120878 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99504356e-01 2.28959935e-03 -3.13974546e-02 2.47295712e+00] [-2.22701968e-03 9.99995464e-01 2.02796989e-03 4.55097624e-01] [ 3.14019554e-02 -1.95704199e-03 9.99504921e-01 1.24181794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00255784400002 meters Centerline goodness : 0.121730 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99497044e-01 2.22446538e-03 -3.16340037e-02 2.47370859e+00] [-2.16791780e-03 9.99995991e-01 1.82174298e-03 4.56220392e-01] [ 3.16379293e-02 -1.75224681e-03 9.99497859e-01 1.24153910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03255784400002 meters Centerline goodness : 0.128078 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99494761e-01 2.19137661e-03 -3.17083809e-02 2.47409710e+00] [-2.13630321e-03 9.99996151e-01 1.77064553e-03 4.56500085e-01] [ 3.17121390e-02 -1.70201221e-03 9.99495594e-01 1.24117536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06255784400003 meters Centerline goodness : 0.137997 Centerline is valid? [False, False] Translation: X:2.47, Y:0.46, Z:1.24 [[ 9.99492658e-01 2.20986955e-03 -3.17733055e-02 2.47431885e+00] [-2.15004096e-03 9.99995851e-01 1.91702516e-03 4.55709150e-01] [ 3.17774101e-02 -1.84773867e-03 9.99493263e-01 1.24109741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09255784400003 meters Centerline goodness : 0.139973 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99496262e-01 2.25662656e-03 -3.16564362e-02 2.47400131e+00] [-2.18507653e-03 9.99994980e-01 2.29461736e-03 4.53733494e-01] [ 3.16614554e-02 -2.22428974e-03 9.99496175e-01 1.24110915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122557844 meters Centerline goodness : 0.137421 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99495425e-01 2.36520139e-03 -3.16749356e-02 2.47408411e+00] [-2.28389140e-03 9.99994004e-01 2.60294794e-03 4.52310987e-01] [ 3.16809022e-02 -2.52929244e-03 9.99494834e-01 1.24103862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152557844 meters Centerline goodness : 0.130784 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99494586e-01 2.44926910e-03 -3.16950223e-02 2.47429209e+00] [-2.35951217e-03 9.99993101e-01 2.86898549e-03 4.50969170e-01] [ 3.17018305e-02 -2.79275068e-03 9.99493469e-01 1.24076569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.182557844 meters Centerline goodness : 0.139330 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 9.99490228e-01 2.51470038e-03 -3.18270260e-02 2.47469070e+00] [-2.41850187e-03 9.99992392e-01 3.06067728e-03 4.49933235e-01] [ 3.18344805e-02 -2.98214331e-03 9.99488706e-01 1.24061136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.212557844 meters Centerline goodness : 0.113167 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99947432 0.0027407 -0.03230451 2.47599821] [-0.00263639 0.99999117 0.00327116 0.44944032] [ 0.03231319 -0.00318427 0.99947272 1.24039847] [ 0. 0. 0. 1. ]] SLAMing on 225.242557844 meters Centerline goodness : 0.115744 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99946663 0.00279936 -0.0325365 2.47666041] [-0.00269448 0.99999103 0.00326697 0.44970398] [ 0.03254536 -0.00317756 0.99946521 1.24026839] [ 0. 0. 0. 1. ]] SLAMing on 225.272557844 meters Centerline goodness : 0.120798 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99946229 0.00285727 -0.03266437 2.47711256] [-0.00275126 0.9999908 0.00328978 0.44968433] [ 0.03267347 -0.00319814 0.99946096 1.24003252] [ 0. 0. 0. 1. ]] SLAMing on 225.302557844 meters Centerline goodness : 0.174280 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.9994669 0.00292165 -0.03251732 2.47668491] [-0.0028165 0.99999066 0.00327895 0.44941871] [ 0.03252659 -0.00318561 0.99946579 1.24003236] [ 0. 0. 0. 1. ]] SLAMing on 225.332557844 meters Centerline goodness : 0.168659 Centerline is valid? [False, False] Translation: X:2.48, Y:0.45, Z:1.24 [[ 0.99947714 0.00303064 -0.03219087 2.47562121] [-0.00292474 0.99999016 0.00333637 0.44938924] [ 0.03220066 -0.00324048 0.99947617 1.24032961] [ 0. 0. 0. 1. ]] SLAMing on 225.362557844 meters Centerline goodness : 0.154328 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949736 0.00358917 -0.03149839 2.47337127] [-0.0034726 0.99998692 0.00375465 0.44877483] [ 0.03151145 -0.00364338 0.99949675 1.24095438] [ 0. 0. 0. 1. ]] SLAMing on 225.392557844 meters Centerline goodness : 0.162083 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949878 0.00359077 -0.031453 2.47341985] [-0.00347725 0.99998724 0.00366329 0.44919243] [ 0.03146576 -0.00355209 0.99949852 1.24063049] [ 0. 0. 0. 1. ]] SLAMing on 225.422557844 meters Centerline goodness : 0.156116 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949828 0.00356648 -0.03147159 2.47364987] [-0.00345668 0.99998775 0.00354265 0.44971217] [ 0.03148384 -0.00343209 0.99949837 1.24028767] [ 0. 0. 0. 1. ]] SLAMing on 225.452557844 meters Centerline goodness : 0.174950 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99949559 0.00353513 -0.03156041 2.47386938] [-0.00342875 0.99998826 0.00342424 0.45025751] [ 0.03157214 -0.0033143 0.99949598 1.24025634] [ 0. 0. 0. 1. ]] SLAMing on 225.482557844 meters Centerline goodness : 0.156927 Centerline is valid? [False, False] Translation: X:2.47, Y:0.45, Z:1.24 [[ 0.99950246 0.00352832 -0.0313431 2.47291282] [-0.00342372 0.99998839 0.00339024 0.45036564] [ 0.03135469 -0.00328124 0.99950293 1.24093502] [ 0. 0. 0. 1. ]] SLAMing on 225.512557844 meters Centerline goodness : 0.159365 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99576758e-01 2.42426626e-03 -2.89901395e-02 2.51589917e+00] [-2.33596996e-03 9.99992531e-01 3.07921529e-03 4.49148781e-01] [ 2.89973878e-02 -3.01019194e-03 9.99574955e-01 1.24214331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54255784400002 meters Centerline goodness : 0.130408 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99580775e-01 2.44798193e-03 -2.88493048e-02 2.51547303e+00] [-2.35454409e-03 9.99991874e-01 3.27235029e-03 4.48007307e-01] [ 2.88570810e-02 -3.20305148e-03 9.99578416e-01 1.24222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57255784400002 meters Centerline goodness : 0.130408 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:1.24 [[ 9.99580775e-01 2.44798193e-03 -2.88493048e-02 2.51547303e+00] [-2.35454409e-03 9.99991874e-01 3.27235029e-03 4.48007307e-01] [ 2.88570810e-02 -3.20305148e-03 9.99578416e-01 1.24222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60255784400002 meters Centerline goodness : 0.128373 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.24 [[ 9.99586435e-01 2.31849941e-03 -2.86632797e-02 2.51463906e+00] [-2.21057787e-03 9.99990351e-01 3.79626451e-03 4.45327333e-01] [ 2.86718048e-02 -3.73133209e-03 9.99581915e-01 1.24315716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63255784400002 meters Centerline goodness : 0.127662 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99585715e-01 2.35518106e-03 -2.86853954e-02 2.51459521e+00] [-2.23440660e-03 9.99988508e-01 4.24163810e-03 4.43051967e-01] [ 2.86950556e-02 -4.17578601e-03 9.99579490e-01 1.24328600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66255784400002 meters Centerline goodness : 0.129597 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99582839e-01 -1.49367674e-03 -2.88429714e-02 2.51483886e+00] [ 1.51545815e-03 9.99998583e-01 7.33327308e-04 4.41606991e-01] [ 2.88418352e-02 -7.76731709e-04 9.99583686e-01 1.24360689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69255784400002 meters Centerline goodness : 0.130339 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99570848e-01 -5.53687333e-03 -2.87656668e-02 2.51485720e+00] [ 5.46628774e-03 9.99981854e-01 -2.53187221e-03 4.37152804e-01] [ 2.87791635e-02 2.37354423e-03 9.99582976e-01 1.24337642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72255784400002 meters Centerline goodness : 0.133693 Centerline is valid? [False, False] Translation: X:2.51, Y:0.43, Z:1.24 [[ 9.99572337e-01 -5.50407479e-03 -2.87201749e-02 2.51485837e+00] [ 5.44573042e-03 9.99982947e-01 -2.10929930e-03 4.34861646e-01] [ 2.87312949e-02 1.95199490e-03 9.99585265e-01 1.24317026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75255784400002 meters Centerline goodness : 0.129416 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99526693e-01 -1.36390736e-02 -2.75747447e-02 2.53442354e+00] [ 1.36397693e-02 9.99906961e-01 -1.62871065e-04 4.36410874e-01] [ 2.75744006e-02 -2.13319177e-04 9.99619731e-01 1.24517847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78255784400002 meters Centerline goodness : 0.130967 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99528024e-01 -1.36506656e-02 -2.75206881e-02 2.53392595e+00] [ 1.36497548e-02 9.99906813e-01 -2.20964630e-04 4.36742963e-01] [ 2.75211399e-02 -1.54790306e-04 9.99621210e-01 1.24578314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81255784400003 meters Centerline goodness : 0.140719 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99530088e-01 -1.37248836e-02 -2.74085938e-02 2.53334151e+00] [ 1.37191441e-02 9.99905809e-01 -3.97450390e-04 4.37445393e-01] [ 2.74114672e-02 2.12411742e-05 9.99624235e-01 1.24626729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84255784400003 meters Centerline goodness : 0.140584 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99587571e-01 -1.15052719e-02 -2.63119196e-02 2.52910509e+00] [ 1.15447342e-02 9.99932448e-01 1.34836651e-03 4.41059474e-01] [ 2.62946288e-02 -1.65157452e-03 9.99652872e-01 1.24761868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872557844 meters Centerline goodness : 0.124899 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99630706e-01 -2.67855966e-03 -2.70421185e-02 2.50918018e+00] [ 2.68413992e-03 9.99996383e-01 1.70057601e-04 4.39576158e-01] [ 2.70415652e-02 -2.42579629e-04 9.99634281e-01 1.24585111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902557844 meters Centerline goodness : 0.128506 Centerline is valid? [False, False] Translation: X:2.53, Y:0.44, Z:1.25 [[ 9.99611483e-01 5.27599892e-03 -2.73687376e-02 2.52968223e+00] [-5.30228872e-03 9.99985548e-01 -8.88094200e-04 4.35663610e-01] [ 2.73636565e-02 1.03286611e-03 9.99625011e-01 1.24652889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.932557844 meters Centerline goodness : 0.130720 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99596643e-01 -2.78844714e-03 -2.82626115e-02 2.51064537e+00] [ 2.79234786e-03 9.99996097e-01 9.85504937e-05 4.41531427e-01] [ 2.82622264e-02 -1.77429785e-04 9.99600528e-01 1.24456353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.962557844 meters Centerline goodness : 0.128781 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99588391e-01 -2.92840860e-03 -2.85389706e-02 2.51104914e+00] [ 2.93154490e-03 9.99995701e-01 6.80557130e-05 4.41488995e-01] [ 2.85386486e-02 -1.51690974e-04 9.99592678e-01 1.24509213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.992557844 meters Centerline goodness : 0.132229 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.25 [[ 9.99580064e-01 -2.92776200e-03 -2.88292226e-02 2.51174055e+00] [ 2.93315182e-03 9.99995688e-01 1.44669485e-04 4.41151910e-01] [ 2.88286748e-02 -2.29169220e-04 9.99584341e-01 1.24522219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.022557844 meters Centerline goodness : 0.144607 Centerline is valid? [False, False] Translation: X:2.51, Y:0.44, Z:1.24 [[ 9.99570380e-01 -2.95566525e-03 -2.91602334e-02 2.51284967e+00] [ 2.96306391e-03 9.99995588e-01 2.10516570e-04 4.40705828e-01] [ 2.91594825e-02 -2.96829763e-04 9.99574728e-01 1.24471127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052557844 meters Centerline goodness : 0.129938 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:1.25 [[ 9.99535092e-01 2.06620039e-03 -3.04192485e-02 2.53599156e+00] [-2.15286267e-03 9.99993716e-01 -2.81645309e-03 4.37318978e-01] [ 3.04132380e-02 2.88063216e-03 9.99533260e-01 1.24507778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082557844 meters Centerline goodness : 0.129384 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:1.24 [[ 9.99536152e-01 1.92673584e-03 -3.03935640e-02 2.53610582e+00] [-2.00731777e-03 9.99994551e-01 -2.62099349e-03 4.35818036e-01] [ 3.03883484e-02 2.68078728e-03 9.99534573e-01 1.24471517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112557844 meters Centerline goodness : 0.126952 Centerline is valid? [False, False] Translation: X:2.54, Y:0.43, Z:1.25 [[ 9.99543997e-01 1.95353035e-03 -3.01327475e-02 2.53517630e+00] [-2.02878079e-03 9.99994899e-01 -2.46692664e-03 4.34994984e-01] [ 3.01277746e-02 2.52693446e-03 9.99542861e-01 1.24515563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142557844 meters Centerline goodness : 0.130665 Centerline is valid? [False, False] Translation: X:2.53, Y:0.43, Z:1.25 [[ 9.99549531e-01 1.97488723e-03 -2.99471931e-02 2.53458632e+00] [-2.04485024e-03 9.99995251e-01 -2.30576709e-03 4.34077769e-01] [ 2.99424972e-02 2.36596594e-03 9.99548823e-01 1.24531273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172557844 meters Centerline goodness : 0.131652 Centerline is valid? [False, False] Translation: X:2.53, Y:0.43, Z:1.24 [[ 9.99548823e-01 1.95337752e-03 -2.99722466e-02 2.53490829e+00] [-2.01584685e-03 9.99995858e-01 -2.05416390e-03 4.32385799e-01] [ 2.99681099e-02 2.11365657e-03 9.99548621e-01 1.24480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202557844 meters Centerline goodness : 0.124825 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99550296e-01 -6.50381076e-03 -2.92729510e-02 2.55493606e+00] [ 6.48395935e-03 9.99978680e-01 -7.73021054e-04 4.34750603e-01] [ 2.92773544e-02 5.82868800e-04 9.99571156e-01 1.24634825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232557844 meters Centerline goodness : 0.161904 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552545e-01 -6.44863046e-03 -2.92083110e-02 2.55464828e+00] [ 6.43207576e-03 9.99979096e-01 -6.60700850e-04 4.34315004e-01] [ 2.92119611e-02 4.72535146e-04 9.99573128e-01 1.24656315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262557844 meters Centerline goodness : 0.163561 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552673e-01 -6.32649399e-03 -2.92306315e-02 2.55460129e+00] [ 6.31841493e-03 9.99979971e-01 -3.68748157e-04 4.32979783e-01] [ 2.92323789e-02 1.83891948e-04 9.99572626e-01 1.24671172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29255784400002 meters Centerline goodness : 0.124306 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:1.25 [[ 9.99552333e-01 -6.23937193e-03 -2.92609475e-02 2.55476241e+00] [ 6.23695576e-03 9.99980535e-01 -1.73842499e-04 4.32113011e-01] [ 2.92614626e-02 -8.73455911e-06 9.99571792e-01 1.24654859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32255784400002 meters Centerline goodness : 0.126069 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99549819e-01 -6.15297941e-03 -2.93649568e-02 2.55506062e+00] [ 6.15694468e-03 9.99981045e-01 4.46163466e-05 4.31081716e-01] [ 2.93641257e-02 -2.25394676e-04 9.99568756e-01 1.24646351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35255784400002 meters Centerline goodness : 0.123240 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99547912e-01 -6.03735443e-03 -2.94537302e-02 2.55543052e+00] [ 6.05700487e-03 9.99981489e-01 5.77987728e-04 4.28083446e-01] [ 2.94496955e-02 -7.56127814e-04 9.99565978e-01 1.24614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38255784400002 meters Centerline goodness : 0.124398 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99544366e-01 -5.91396543e-03 -2.95987498e-02 2.55597992e+00] [ 5.94218867e-03 9.99981970e-01 8.65658355e-04 4.26765783e-01] [ 2.95930966e-02 -1.04114529e-03 9.99561486e-01 1.24580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41255784400002 meters Centerline goodness : 0.125488 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:1.25 [[ 9.99540552e-01 -5.79340869e-03 -2.97509975e-02 2.55653081e+00] [ 5.82866908e-03 9.99982410e-01 1.09859619e-03 4.25862176e-01] [ 2.97441096e-02 -1.27150016e-03 9.99556737e-01 1.24551564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44255784400002 meters Centerline goodness : 0.137974 Centerline is valid? [False, False] Translation: X:2.58, Y:0.42, Z:1.25 [[ 9.99562814e-01 2.27944978e-03 -2.94785650e-02 2.57653777e+00] [-2.26174635e-03 9.99997241e-01 6.33882625e-04 4.19541028e-01] [ 2.94799286e-02 -5.66932464e-04 9.99565212e-01 1.24649765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47255784400002 meters Centerline goodness : 0.130748 Centerline is valid? [False, False] Translation: X:2.56, Y:0.42, Z:1.25 [[ 9.99544905e-01 -5.82334510e-03 -2.95985022e-02 2.55624943e+00] [ 5.86911112e-03 9.99981711e-01 1.45958444e-03 4.24701875e-01] [ 2.95894613e-02 -1.63263709e-03 9.99560803e-01 1.24524989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50255784400002 meters Centerline goodness : 0.139472 Centerline is valid? [False, False] Translation: X:2.57, Y:0.42, Z:1.25 [[ 9.99590930e-01 1.74315799e-03 -2.85470333e-02 2.57450738e+00] [-1.73922517e-03 9.99998474e-01 1.62595737e-04 4.19083178e-01] [ 2.85472732e-02 -1.12879505e-04 9.99592437e-01 1.24717103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53255784400002 meters Centerline goodness : 0.127506 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99517535e-01 1.75652274e-03 -3.10098644e-02 2.52700671e+00] [-1.76810950e-03 9.99998377e-01 -3.46230450e-04 4.20976831e-01] [ 3.10092059e-02 4.00892242e-04 9.99519019e-01 1.24871859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56255784400003 meters Centerline goodness : 0.122192 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99516188e-01 1.80008360e-03 -3.10507693e-02 2.52719474e+00] [-1.80599261e-03 9.99998356e-01 -1.62257140e-04 4.20106260e-01] [ 3.10504262e-02 2.18256098e-04 9.99517795e-01 1.24851319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59255784400003 meters Centerline goodness : 0.125395 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99519944e-01 1.84332212e-03 -3.09270784e-02 2.52691925e+00] [-1.84174179e-03 9.99998301e-01 7.95853594e-05 4.18801518e-01] [ 3.09271726e-02 -2.25874613e-05 9.99521640e-01 1.24841878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters Centerline goodness : 0.122806 Centerline is valid? [False, False] Translation: X:2.53, Y:0.42, Z:1.25 [[ 9.99530457e-01 1.80612723e-03 -3.05876411e-02 2.52603930e+00] [-1.79671784e-03 9.99998330e-01 3.35102786e-04 4.17093919e-01] [ 3.05881952e-02 -2.79988081e-04 9.99532032e-01 1.24837724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652557844 meters Centerline goodness : 0.150582 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99557172e-01 1.17335508e-03 -2.97335324e-02 2.52345223e+00] [-1.16112955e-03 9.99999234e-01 4.28432747e-04 4.14014621e-01] [ 2.97340124e-02 -3.93718542e-04 9.99557769e-01 1.24885794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.682557844 meters Centerline goodness : 0.153577 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99556763e-01 1.31573127e-03 -2.97413254e-02 2.52343821e+00] [-1.29067205e-03 9.99998796e-01 8.61754190e-04 4.12004720e-01] [ 2.97424235e-02 -8.22985931e-04 9.99557257e-01 1.24885296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.712557844 meters Centerline goodness : 0.125123 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99552006e-01 1.45847771e-03 -2.98941516e-02 2.52398615e+00] [-1.42147411e-03 9.99998197e-01 1.25903494e-03 4.10224066e-01] [ 2.98959340e-02 -1.21597714e-03 9.99552277e-01 1.24853609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.742557844 meters Centerline goodness : 0.150321 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99545885e-01 1.65979170e-03 -3.00876839e-02 2.52475689e+00] [-1.60525443e-03 9.99997025e-01 1.83667539e-03 4.07262205e-01] [ 3.00906428e-02 -1.78754294e-03 9.99545576e-01 1.24799629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.772557844 meters Centerline goodness : 0.124661 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99548669e-01 1.68647057e-03 -2.99935548e-02 2.52437217e+00] [-1.62955736e-03 9.99996825e-01 1.92185695e-03 4.06728619e-01] [ 2.99967008e-02 -1.87211334e-03 9.99548245e-01 1.24820328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802557844 meters Centerline goodness : 0.122644 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99551091e-01 1.71662732e-03 -2.99110453e-02 2.52396362e+00] [-1.65965107e-03 9.99996761e-01 1.92957879e-03 4.06750088e-01] [ 2.99142608e-02 -1.87907069e-03 9.99550702e-01 1.24856184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832557844 meters Centerline goodness : 0.127800 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99550765e-01 1.86085353e-03 -2.99133061e-02 2.52386940e+00] [-1.80742984e-03 9.99996723e-01 1.81289086e-03 4.08080799e-01] [ 2.99165816e-02 -1.75801025e-03 9.99550853e-01 1.24879321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862557844 meters Centerline goodness : 0.126304 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99548759e-01 1.83585703e-03 -2.99817837e-02 2.52426349e+00] [-1.78736366e-03 9.99997051e-01 1.64414777e-03 4.09068557e-01] [ 2.99847137e-02 -1.58981751e-03 9.99549093e-01 1.24842507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892557844 meters Centerline goodness : 0.151844 Centerline is valid? [False, False] Translation: X:2.52, Y:0.41, Z:1.25 [[ 9.99543737e-01 1.77374946e-03 -3.01524716e-02 2.52484723e+00] [-1.73827657e-03 9.99997766e-01 1.20262266e-03 4.11412311e-01] [ 3.01545374e-02 -1.14966062e-03 9.99544587e-01 1.24818730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922557844 meters Centerline goodness : 0.133501 Centerline is valid? [False, False] Translation: X:2.53, Y:0.41, Z:1.25 [[ 9.99540875e-01 1.67191992e-03 -3.02530089e-02 2.52512150e+00] [-1.64436856e-03 9.99998210e-01 9.35554425e-04 4.12751386e-01] [ 3.02545190e-02 -8.85377791e-04 9.99541835e-01 1.24816424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952557844 meters Centerline goodness : 0.124655 Centerline is valid? [False, False] Translation: X:2.53, Y:0.41, Z:1.25 [[ 9.99529814e-01 1.57742986e-03 -3.06212621e-02 2.52616709e+00] [-1.55907059e-03 9.99998590e-01 6.23426119e-04 4.14442819e-01] [ 3.06222024e-02 -5.75392284e-04 9.99530865e-01 1.24797858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982557844 meters Centerline goodness : 0.129446 Centerline is valid? [False, False] Translation: X:2.50, Y:0.42, Z:1.25 [[ 0.99940477 -0.00318876 -0.03435033 2.50489437] [ 0.00332181 0.9999872 0.00381677 0.42056911] [ 0.03433772 -0.00392861 0.99940257 1.24786608] [ 0. 0. 0. 1. ]] SLAMing on 227.012557844 meters Centerline goodness : 0.158914 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99421665e-01 4.37834495e-03 -3.37218731e-02 2.52428590e+00] [-4.29986749e-03 9.99987877e-01 2.39936679e-03 4.17213441e-01] [ 3.37319695e-02 -2.25297957e-03 9.99428376e-01 1.24929051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04255784400002 meters Centerline goodness : 0.144525 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99433068e-01 4.21517599e-03 -3.34032055e-02 2.52322339e+00] [-4.14810350e-03 9.99989240e-01 2.07701083e-03 4.18606448e-01] [ 3.34116010e-02 -1.93727335e-03 9.99439799e-01 1.24968005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07255784400002 meters Centerline goodness : 0.153383 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99448597e-01 4.07468951e-03 -3.29529812e-02 2.52157889e+00] [-4.01730056e-03 9.99990297e-01 1.80756230e-03 4.19761127e-01] [ 3.29600267e-02 -1.67418358e-03 9.99455269e-01 1.25049679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10255784400002 meters Centerline goodness : 0.128744 Centerline is valid? [False, False] Translation: X:2.47, Y:0.42, Z:1.25 [[ 9.99382061e-01 3.31709355e-03 -3.49927453e-02 2.47448998e+00] [-3.29305373e-03 9.99994301e-01 7.44606364e-04 4.24847763e-01] [ 3.49950158e-02 -6.28913253e-04 9.99387289e-01 1.25101547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13255784400002 meters Centerline goodness : 0.155554 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99406588e-01 1.43744241e-03 -3.44151919e-02 2.52124899e+00] [-1.43203132e-03 9.99998958e-01 1.81878249e-04 4.21154024e-01] [ 3.44154175e-02 -1.32486688e-04 9.99407605e-01 1.25101599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16255784400002 meters Centerline goodness : 0.123126 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99398221e-01 1.46188118e-03 -3.46562985e-02 2.52206120e+00] [-1.44703970e-03 9.99998850e-01 4.53325810e-04 4.19678088e-01] [ 3.46569214e-02 -4.02903968e-04 9.99399187e-01 1.25056778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19255784400002 meters Centerline goodness : 0.147580 Centerline is valid? [False, False] Translation: X:2.54, Y:0.42, Z:1.25 [[ 9.99408648e-01 -7.60212593e-03 -3.35344868e-02 2.54313743e+00] [ 7.65561681e-03 9.99969619e-01 1.46698766e-03 4.19954834e-01] [ 3.35223158e-02 -1.72284734e-03 9.99436484e-01 1.25180810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22255784400002 meters Centerline goodness : 0.119475 Centerline is valid? [False, False] Translation: X:2.54, Y:0.42, Z:1.25 [[ 9.99410324e-01 -7.58862030e-03 -3.34875606e-02 2.54294765e+00] [ 7.64280579e-03 9.99969683e-01 1.49036776e-03 4.19921824e-01] [ 3.34752355e-02 -1.74542785e-03 9.99438023e-01 1.25192937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25255784400002 meters Centerline goodness : 0.124695 Centerline is valid? [False, False] Translation: X:2.50, Y:0.42, Z:1.25 [[ 9.99341297e-01 -6.24728070e-03 -3.57483445e-02 2.49687541e+00] [ 6.31112400e-03 9.99978685e-01 1.67334489e-03 4.23498418e-01] [ 3.57371286e-02 -1.89785489e-03 9.99359423e-01 1.25153221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28255784400002 meters Centerline goodness : 0.145842 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99375162e-01 1.53798565e-03 -3.53117498e-02 2.51708182e+00] [-1.51625093e-03 9.99998644e-01 6.42280514e-04 4.18398144e-01] [ 3.53126897e-02 -5.88337719e-04 9.99376139e-01 1.25272567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31255784400003 meters Centerline goodness : 0.150768 Centerline is valid? [False, False] Translation: X:2.52, Y:0.42, Z:1.25 [[ 9.99368439e-01 1.48134447e-03 -3.55039346e-02 2.51784101e+00] [-1.46576417e-03 9.99998818e-01 4.64857410e-04 4.19258636e-01] [ 3.55045812e-02 -4.12523429e-04 9.99369428e-01 1.25230753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34255784400003 meters Centerline goodness : 0.124410 Centerline is valid? [False, False] Translation: X:2.47, Y:0.43, Z:1.25 [[ 9.99261417e-01 3.70504212e-03 -3.82477759e-02 2.47308488e+00] [-3.66189487e-03 9.99992578e-01 1.19809224e-03 4.26849704e-01] [ 3.82519310e-02 -1.05714802e-03 9.99267568e-01 1.25178771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372557844 meters Centerline goodness : 0.148701 Centerline is valid? [False, False] Translation: X:2.49, Y:0.43, Z:1.25 [[ 0.99930156 -0.00375094 -0.03717954 2.49079486] [ 0.00386414 0.99998811 0.00297325 0.43293511] [ 0.03716794 -0.00311484 0.99930418 1.2545718 ] [ 0. 0. 0. 1. ]] SLAMing on 227.402557844 meters Centerline goodness : 0.125326 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99307899e-01 -3.96253212e-03 -3.69867790e-02 2.48997677e+00] [ 4.05084643e-03 9.99989120e-01 2.31309188e-03 4.36132748e-01] [ 3.69772109e-02 -2.46131875e-03 9.99313078e-01 1.25516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.432557844 meters Centerline goodness : 0.125326 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99307899e-01 -3.96253212e-03 -3.69867790e-02 2.48997677e+00] [ 4.05084643e-03 9.99989120e-01 2.31309188e-03 4.36132748e-01] [ 3.69772109e-02 -2.46131875e-03 9.99313078e-01 1.25516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.462557844 meters Centerline goodness : 0.155274 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99310005e-01 -4.16533286e-03 -3.69075022e-02 2.48956461e+00] [ 4.23114569e-03 9.99989595e-01 1.70525498e-03 4.39124044e-01] [ 3.69000152e-02 -1.86023939e-03 9.99317231e-01 1.25556830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.492557844 meters Centerline goodness : 0.117769 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99329080e-01 -4.22903604e-04 -3.66225536e-02 2.48890678e+00] [ 6.02812733e-04 9.99987805e-01 4.90162017e-03 4.42543705e-01] [ 3.66200341e-02 -4.92040812e-03 9.99317148e-01 1.25545853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.522557844 meters Centerline goodness : 0.124623 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:1.26 [[ 9.99328518e-01 -6.07573863e-04 -3.66352961e-02 2.48895165e+00] [ 7.72205144e-04 9.99989667e-01 4.47980649e-03 4.44478002e-01] [ 3.66321957e-02 -4.50508835e-03 9.99318661e-01 1.25545433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552557844 meters Centerline goodness : 0.121638 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99324278e-01 -9.30715338e-04 -3.67440014e-02 2.48965532e+00] [ 1.07345021e-03 9.99991955e-01 3.86503915e-03 4.47108395e-01] [ 3.67401086e-02 -3.90187031e-03 9.99317237e-01 1.25473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582557844 meters Centerline goodness : 0.159505 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99319169e-01 -1.00493685e-03 -3.68807366e-02 2.49032319e+00] [ 1.14232374e-03 9.99992487e-01 3.70428375e-03 4.47994298e-01] [ 3.68767369e-02 -3.74389150e-03 9.99312809e-01 1.25419187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612557844 meters Centerline goodness : 0.119533 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99316502e-01 -1.07872473e-03 -3.69508511e-02 2.49059715e+00] [ 1.21081685e-03 9.99992956e-01 3.55261433e-03 4.48755302e-01] [ 3.69467586e-02 -3.59492684e-03 9.99310769e-01 1.25405368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642557844 meters Centerline goodness : 0.117757 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99316049e-01 -1.16500030e-03 -3.69604911e-02 2.49060924e+00] [ 1.29224376e-03 9.99993320e-01 3.41898604e-03 4.49266960e-01] [ 3.69562611e-02 -3.46440958e-03 9.99310879e-01 1.25405001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672557844 meters Centerline goodness : 0.134201 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.25 [[ 9.99321003e-01 -1.38774642e-03 -3.68185592e-02 2.48992591e+00] [ 1.50767636e-03 9.99993648e-01 3.22975837e-03 4.49399971e-01] [ 3.68138432e-02 -3.28307584e-03 9.99316748e-01 1.25452981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702557844 meters Centerline goodness : 0.160544 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.26 [[ 9.99328390e-01 -1.46252289e-03 -3.66146027e-02 2.48910725e+00] [ 1.57732589e-03 9.99993930e-01 3.10675327e-03 4.49842377e-01] [ 3.66098368e-02 -3.16241990e-03 9.99324631e-01 1.25501688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732557844 meters Centerline goodness : 0.118305 Centerline is valid? [False, False] Translation: X:2.49, Y:0.45, Z:1.26 [[ 9.99333501e-01 -1.42000004e-03 -3.64765212e-02 2.48863127e+00] [ 1.52423900e-03 9.99994834e-01 2.83005053e-03 4.52261409e-01] [ 3.64723141e-02 -2.88376324e-03 9.99330503e-01 1.25532533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762557844 meters Centerline goodness : 0.118215 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99322053e-01 6.30583261e-03 -3.62721775e-02 2.50842312e+00] [-6.24699502e-03 9.99978982e-01 1.73521927e-03 4.48402141e-01] [ 3.62823571e-02 -1.50745077e-03 9.99340442e-01 1.25681470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79255784400002 meters Centerline goodness : 0.116712 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99320548e-01 6.15033461e-03 -3.63402804e-02 2.50867324e+00] [-6.10610918e-03 9.99980476e-01 1.32784212e-03 4.50227640e-01] [ 3.63477375e-02 -1.10504219e-03 9.99338592e-01 1.25671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82255784400002 meters Centerline goodness : 0.120973 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:1.26 [[ 9.99315968e-01 6.02528173e-03 -3.64868833e-02 2.50901639e+00] [-5.99464226e-03 9.99981582e-01 9.49081285e-04 4.52002483e-01] [ 3.64919298e-02 -7.29706270e-04 9.99333681e-01 1.25677746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85255784400002 meters Centerline goodness : 0.165240 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99306863e-01 6.48298477e-03 -3.66574062e-02 2.50920194e+00] [-6.45843780e-03 9.99978834e-01 7.88008119e-04 4.55126229e-01] [ 3.66617389e-02 -5.50712343e-04 9.99327581e-01 1.25722439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88255784400002 meters Centerline goodness : 0.121112 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99298837e-01 6.43766606e-03 -3.68834885e-02 2.50982158e+00] [-6.42727909e-03 9.99979265e-01 4.00180521e-04 4.57396217e-01] [ 3.68852999e-02 -1.62839454e-04 9.99319493e-01 1.25721907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91255784400002 meters Centerline goodness : 0.120386 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99295865e-01 6.28835354e-03 -3.69896025e-02 2.51027878e+00] [-6.29677429e-03 9.99980169e-01 -1.11157550e-04 4.59882922e-01] [ 3.69881700e-02 3.43994458e-04 9.99315644e-01 1.25694412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94255784400002 meters Centerline goodness : 0.168072 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:1.26 [[ 9.99299085e-01 6.40197294e-03 -3.68829763e-02 2.50982816e+00] [-6.43454165e-03 9.99979006e-01 -7.64391972e-04 4.63984251e-01] [ 3.68773084e-02 1.00118125e-03 9.99319299e-01 1.25733781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97255784400002 meters Centerline goodness : 0.129221 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99307733e-01 6.35360314e-03 -3.66563389e-02 2.50891221e+00] [-6.40203091e-03 9.99978782e-01 -1.20390246e-03 4.66624714e-01] [ 3.66479120e-02 1.43774405e-03 9.99327205e-01 1.25794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00255784400002 meters Centerline goodness : 0.156576 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99306285e-01 6.20381361e-03 -3.67214036e-02 2.50891266e+00] [-6.27148218e-03 9.99978841e-01 -1.72785368e-03 4.69415109e-01] [ 3.67099073e-02 1.95695267e-03 9.99324048e-01 1.25828071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03255784400002 meters Centerline goodness : 0.129481 Centerline is valid? [False, False] Translation: X:2.51, Y:0.47, Z:1.26 [[ 9.99300604e-01 6.00647477e-03 -3.69083338e-02 2.50950858e+00] [-6.09292110e-03 9.99978951e-01 -2.23015756e-03 4.71869020e-01] [ 3.68941615e-02 2.45347736e-03 9.99316167e-01 1.25811928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06255784400003 meters Centerline goodness : 0.071841 Centerline is valid? [False, False] Translation: X:2.49, Y:0.48, Z:1.26 [[ 9.99253653e-01 -2.01985884e-03 -3.85753472e-02 2.49005937e+00] [ 1.95238455e-03 9.99996498e-01 -1.78674659e-03 4.80708736e-01] [ 3.85788211e-02 1.71009914e-03 9.99254097e-01 1.25639620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.122557844 meters Centerline goodness : 0.164388 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99322472e-01 -9.90609007e-03 -3.54466740e-02 2.50759129e+00] [ 9.91170829e-03 9.99950878e-01 -1.72268510e-05 4.85381040e-01] [ 3.54451034e-02 -3.34121913e-04 9.99371569e-01 1.25888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152557844 meters Centerline goodness : 0.153933 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99323789e-01 -9.93835534e-03 -3.54004647e-02 2.50714619e+00] [ 9.94277351e-03 9.99950568e-01 -5.12413633e-05 4.85499655e-01] [ 3.53992240e-02 -3.00772089e-04 9.99373206e-01 1.25942906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.182557844 meters Centerline goodness : 0.134198 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99323433e-01 -1.00347278e-02 -3.53833403e-02 2.50715475e+00] [ 1.00332643e-02 9.99949642e-01 -2.18927546e-04 4.86195447e-01] [ 3.53837554e-02 -1.36230978e-04 9.99373790e-01 1.25942187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.212557844 meters Centerline goodness : 0.138713 Centerline is valid? [False, False] Translation: X:2.51, Y:0.49, Z:1.26 [[ 9.99321473e-01 -1.03343046e-02 -3.53524471e-02 2.50698771e+00] [ 1.03107347e-02 9.99946483e-01 -8.48964475e-04 4.89063698e-01] [ 3.53593286e-02 4.83878727e-04 9.99374546e-01 1.25970338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.242557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.272557844 meters Centerline goodness : 0.270557 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99422965e-01 -1.78556552e-04 -3.39662501e-02 2.52244671e+00] [ 1.73098125e-04 9.99999972e-01 -1.63642022e-04 4.86358717e-01] [ 3.39662783e-02 1.57668101e-04 9.99422967e-01 1.26267995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302557844 meters Centerline goodness : 0.154745 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99418978e-01 -3.85378322e-04 -3.40816442e-02 2.52274724e+00] [ 3.61992741e-04 9.99999695e-01 -6.92331314e-04 4.88874646e-01] [ 3.40819006e-02 6.79591746e-04 9.99418812e-01 1.26272660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332557844 meters Centerline goodness : 0.139612 Centerline is valid? [False, False] Translation: X:2.52, Y:0.49, Z:1.26 [[ 9.99416035e-01 -8.27111501e-04 -3.41599876e-02 2.52300515e+00] [ 7.66145359e-04 9.99998091e-01 -1.79777481e-03 4.93731884e-01] [ 3.41614093e-02 1.77055346e-03 9.99414760e-01 1.26266098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362557844 meters Centerline goodness : 0.218443 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99417068e-01 -1.05612715e-03 -3.41234430e-02 2.52272208e+00] [ 9.74564292e-04 9.99996629e-01 -2.40677377e-03 4.96692867e-01] [ 3.41258698e-02 2.37211529e-03 9.99414728e-01 1.26297793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392557844 meters Centerline goodness : 0.228744 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99443373e-01 2.58625972e-03 -3.32604173e-02 2.52031750e+00] [-2.56278184e-03 9.99996436e-01 7.48492603e-04 5.00660778e-01] [ 3.32622346e-02 -6.62836778e-04 9.99446439e-01 1.26339238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422557844 meters Centerline goodness : 0.130380 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99437253e-01 2.43377443e-03 -3.34552591e-02 2.52100267e+00] [-2.42174097e-03 9.99996987e-01 4.00204846e-04 5.02478684e-01] [ 3.34561324e-02 -3.18959660e-04 9.99440136e-01 1.26312500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452557844 meters Centerline goodness : 0.138388 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99428140e-01 2.31683752e-03 -3.37346281e-02 2.52216625e+00] [-2.31255243e-03 9.99997312e-01 1.66040774e-04 5.03631376e-01] [ 3.37349222e-02 -8.79327258e-05 9.99430812e-01 1.26240422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482557844 meters Centerline goodness : 0.235686 Centerline is valid? [False, False] Translation: X:2.52, Y:0.50, Z:1.26 [[ 9.99421788e-01 2.21205506e-03 -3.39292801e-02 2.52304847e+00] [-2.21500188e-03 9.99997546e-01 -4.92644850e-05 5.04630787e-01] [ 3.39290879e-02 1.24389419e-04 9.99424235e-01 1.26177181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512557844 meters Centerline goodness : 0.146412 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99417195e-01 1.98539517e-03 -3.40782644e-02 2.52358121e+00] [-2.00611172e-03 9.99997823e-01 -5.73729445e-04 5.07274209e-01] [ 3.40770511e-02 6.41759879e-04 9.99419003e-01 1.26158420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54255784400002 meters Centerline goodness : 0.227667 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99417029e-01 1.84424118e-03 -3.40910822e-02 2.52358047e+00] [-1.87573037e-03 9.99997843e-01 -8.91719217e-04 5.08815538e-01] [ 3.40893641e-02 9.55145049e-04 9.99418332e-01 1.26166410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57255784400002 meters Centerline goodness : 0.216566 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99413907e-01 1.72188893e-03 -3.41888568e-02 2.52383158e+00] [-1.76335576e-03 9.99997746e-01 -1.18276029e-03 5.10217211e-01] [ 3.41867431e-02 1.24235420e-03 9.99414690e-01 1.26165701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60255784400002 meters Centerline goodness : 0.203661 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99404479e-01 1.52401631e-03 -3.44726782e-02 2.52456161e+00] [-1.58185891e-03 9.99997386e-01 -1.65071449e-03 5.12379420e-01] [ 3.44700724e-02 1.70426236e-03 9.99404277e-01 1.26166856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63255784400002 meters Centerline goodness : 0.128786 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99406308e-01 1.44327830e-03 -3.44230764e-02 2.52436618e+00] [-1.50736656e-03 9.99997179e-01 -1.83590273e-03 5.13151339e-01] [ 3.44203295e-02 1.88670097e-03 9.99405664e-01 1.26181258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66255784400002 meters Centerline goodness : 0.301383 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99455400e-01 -7.47957977e-03 -3.21396880e-02 2.54371718e+00] [ 7.44476269e-03 9.99971564e-01 -1.20283693e-03 5.17241466e-01] [ 3.21477708e-02 9.62909514e-04 9.99482663e-01 1.26277421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69255784400002 meters Centerline goodness : 0.145562 Centerline is valid? [False, False] Translation: X:2.52, Y:0.51, Z:1.26 [[ 9.99480004e-01 1.49381424e-03 -3.22101085e-02 2.52343888e+00] [-1.56619902e-03 9.99996305e-01 -2.22215579e-03 5.13284282e-01] [ 3.22066700e-02 2.27144771e-03 9.99478650e-01 1.26135227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72255784400002 meters Centerline goodness : 0.256527 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99475444e-01 -7.16786813e-03 -3.15825807e-02 2.54345137e+00] [ 7.13710005e-03 9.99973940e-01 -1.08683655e-03 5.17320143e-01] [ 3.15895479e-02 8.60858410e-04 9.99500555e-01 1.26298257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75255784400002 meters Centerline goodness : 0.115979 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99472474e-01 -7.24714230e-03 -3.16583754e-02 2.54366078e+00] [ 7.20873820e-03 9.99973136e-01 -1.32704895e-03 5.18509509e-01] [ 3.16671422e-02 1.09813195e-03 9.99497867e-01 1.26293716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78255784400002 meters Centerline goodness : 0.160250 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99461157e-01 -7.36063054e-03 -3.19877526e-02 2.54470185e+00] [ 7.31009997e-03 9.99971842e-01 -1.69634595e-03 5.20322357e-01] [ 3.19993381e-02 1.46159822e-03 9.99486821e-01 1.26257204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81255784400003 meters Centerline goodness : 0.137787 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99462601e-01 -7.44090335e-03 -3.19240116e-02 2.54455932e+00] [ 7.38343900e-03 9.99970904e-01 -1.91754403e-03 5.21255175e-01] [ 3.19373510e-02 1.68080455e-03 9.99488459e-01 1.26252310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84255784400003 meters Centerline goodness : 0.225549 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99465784e-01 -7.48745507e-03 -3.18132674e-02 2.54425642e+00] [ 7.42460299e-03 9.99970246e-01 -2.09332906e-03 5.22083134e-01] [ 3.18279945e-02 1.85600989e-03 9.99491638e-01 1.26251704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872557844 meters Centerline goodness : 0.150282 Centerline is valid? [False, False] Translation: X:2.54, Y:0.52, Z:1.26 [[ 9.99468830e-01 -7.53367950e-03 -3.17064867e-02 2.54388547e+00] [ 7.46666499e-03 9.99969634e-01 -2.23146192e-03 5.22744215e-01] [ 3.17223350e-02 1.99353492e-03 9.99494732e-01 1.26264164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902557844 meters Centerline goodness : 0.146477 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99547731e-01 8.28217052e-04 -3.00607243e-02 2.56221563e+00] [-9.13842175e-04 9.99995564e-01 -2.83477847e-03 5.17955227e-01] [ 3.00582432e-02 2.86096715e-03 9.99544054e-01 1.26400793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.932557844 meters Centerline goodness : 0.147590 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99547279e-01 7.47787585e-04 -3.00778763e-02 2.56221111e+00] [-8.39245867e-04 9.99995063e-01 -3.02820680e-03 5.19031009e-01] [ 3.00754634e-02 3.05207860e-03 9.99542971e-01 1.26411845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.962557844 meters Centerline goodness : 0.127214 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99554435e-01 4.80751791e-04 -2.98445929e-02 2.56191233e+00] [-5.81665259e-04 9.99994143e-01 -3.37270859e-03 5.20200419e-01] [ 2.98427967e-02 3.38856539e-03 9.99548861e-01 1.26365774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.992557844 meters Centerline goodness : 0.116864 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99561751e-01 3.57950502e-04 -2.96002980e-02 2.56130367e+00] [-4.60465988e-04 9.99993920e-01 -3.45658224e-03 5.20233445e-01] [ 2.95988808e-02 3.46869733e-03 9.99555839e-01 1.26361253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.022557844 meters Centerline goodness : 0.143819 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99563751e-01 3.25877293e-04 -2.95330470e-02 2.56119206e+00] [-4.25659387e-04 9.99994223e-01 -3.37243504e-03 5.19718230e-01] [ 2.95317774e-02 3.38353484e-03 9.99558115e-01 1.26353510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052557844 meters Centerline goodness : 0.122562 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99564180e-01 1.42098079e-04 -2.95199772e-02 2.56118399e+00] [-2.33084662e-04 9.99995233e-01 -3.07878550e-03 5.17664342e-01] [ 2.95193990e-02 3.08432436e-03 9.99559449e-01 1.26339193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082557844 meters Centerline goodness : 0.157156 Centerline is valid? [False, False] Translation: X:2.56, Y:0.52, Z:1.26 [[ 9.99562381e-01 1.89290519e-04 -2.95805674e-02 2.56158145e+00] [-2.69232452e-04 9.99996323e-01 -2.69855564e-03 5.15569587e-01] [ 2.95799479e-02 2.70533875e-03 9.99558757e-01 1.26289409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112557844 meters Centerline goodness : 0.144727 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99559407e-01 2.32091444e-04 -2.96806072e-02 2.56218266e+00] [-2.99832481e-04 9.99997361e-01 -2.27790302e-03 5.13156850e-01] [ 2.96800002e-02 2.28579860e-03 9.99556838e-01 1.26221405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142557844 meters Centerline goodness : 0.146425 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99557413e-01 4.28198992e-04 -2.97455015e-02 2.56308536e+00] [-4.73059266e-04 9.99998761e-01 -1.50111553e-03 5.09206541e-01] [ 2.97448218e-02 1.51452254e-03 9.99556377e-01 1.26085444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172557844 meters Centerline goodness : 0.120686 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99555353e-01 5.86079790e-04 -2.98119470e-02 2.56329170e+00] [-6.22463851e-04 9.99999073e-01 -1.21118652e-03 5.08071483e-01] [ 2.98112095e-02 1.22920483e-03 9.99554791e-01 1.26078502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202557844 meters Centerline goodness : 0.119198 Centerline is valid? [False, False] Translation: X:2.56, Y:0.51, Z:1.26 [[ 9.99557688e-01 7.34865836e-04 -2.97302458e-02 2.56276795e+00] [-7.66269354e-04 9.99999161e-01 -1.04490241e-03 5.07615726e-01] [ 2.97294529e-02 1.06722161e-03 9.99557412e-01 1.26136131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232557844 meters Centerline goodness : 0.144013 Centerline is valid? [False, False] Translation: X:2.58, Y:0.50, Z:1.26 [[ 9.99550490e-01 9.79991516e-03 -2.83333742e-02 2.58373293e+00] [-9.82965851e-03 9.99951273e-01 -9.10669542e-04 5.02805641e-01] [ 2.83230691e-02 1.18876758e-03 9.99598115e-01 1.26248403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262557844 meters Centerline goodness : 0.116590 Centerline is valid? [False, False] Translation: X:2.58, Y:0.50, Z:1.26 [[ 9.99540747e-01 9.94901561e-03 -2.86236296e-02 2.58447465e+00] [-9.98259833e-03 9.99949642e-01 -1.03058892e-03 5.03749427e-01] [ 2.86119348e-02 1.31585382e-03 9.99589729e-01 1.26245743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29255784400002 meters Centerline goodness : 0.116677 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99535662e-01 1.00960229e-02 -2.87494530e-02 2.58475248e+00] [-1.01351816e-02 9.99947898e-01 -1.21667122e-03 5.05085664e-01] [ 2.87356716e-02 1.50748720e-03 9.99585909e-01 1.26257369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32255784400002 meters Centerline goodness : 0.145265 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99535721e-01 1.03465163e-02 -2.86581864e-02 2.58454227e+00] [-1.03886566e-02 9.99945163e-01 -1.32193999e-03 5.06402490e-01] [ 2.86429374e-02 1.61904629e-03 9.99588396e-01 1.26263072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35255784400002 meters Centerline goodness : 0.143011 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99516890e-01 1.37654994e-02 -2.78656961e-02 2.58210131e+00] [-1.37471559e-02 9.99905142e-01 8.49757137e-04 5.12047226e-01] [ 2.78747502e-02 -4.66272541e-04 9.99611315e-01 1.26243015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38255784400002 meters Centerline goodness : 0.143011 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99516890e-01 1.37654994e-02 -2.78656961e-02 2.58210131e+00] [-1.37471559e-02 9.99905142e-01 8.49757137e-04 5.12047226e-01] [ 2.78747502e-02 -4.66272541e-04 9.99611315e-01 1.26243015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41255784400002 meters Centerline goodness : 0.117575 Centerline is valid? [False, False] Translation: X:2.58, Y:0.51, Z:1.26 [[ 9.99518999e-01 1.37351745e-02 -2.78049573e-02 2.58191314e+00] [-1.37310598e-02 9.99905667e-01 3.38919735e-04 5.14208739e-01] [ 2.78069895e-02 4.30348172e-05 9.99613310e-01 1.26218737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44255784400002 meters Centerline goodness : 0.134576 Centerline is valid? [False, False] Translation: X:2.58, Y:0.52, Z:1.26 [[ 9.99496212e-01 1.39965132e-02 -2.84854441e-02 2.58358505e+00] [-1.40086969e-02 9.99901847e-01 -2.28187956e-04 5.17220416e-01] [ 2.84794544e-02 6.27116950e-04 9.99594181e-01 1.26154293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47255784400002 meters Centerline goodness : 0.130299 Centerline is valid? [False, False] Translation: X:2.57, Y:0.53, Z:1.26 [[ 9.99596216e-01 6.54382357e-03 -2.76511136e-02 2.56562656e+00] [-6.50502123e-03 9.99977728e-01 1.49300395e-03 5.25685319e-01] [ 2.76602677e-02 -1.31253002e-03 9.99616520e-01 1.25974145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50255784400002 meters Centerline goodness : 0.219618 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99624517e-01 -1.66445337e-03 -2.73505994e-02 2.58249264e+00] [ 1.71082940e-03 9.99997138e-01 1.67229995e-03 5.33103438e-01] [ 2.73477377e-02 -1.71846424e-03 9.99624504e-01 1.26096049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53255784400002 meters Centerline goodness : 0.140734 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99638015e-01 -1.90568131e-03 -2.68366782e-02 2.58092509e+00] [ 1.94199934e-03 9.99997233e-01 1.32730018e-03 5.34130465e-01] [ 2.68340746e-02 -1.37893653e-03 9.99638950e-01 1.26138452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56255784400003 meters Centerline goodness : 0.135551 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99642395e-01 -1.96390645e-03 -2.66688064e-02 2.58036935e+00] [ 1.99837247e-03 9.99997202e-01 1.26578150e-03 5.34300032e-01] [ 2.66662459e-02 -1.31862306e-03 9.99643523e-01 1.26160911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59255784400003 meters Centerline goodness : 0.147391 Centerline is valid? [False, False] Translation: X:2.60, Y:0.53, Z:1.26 [[ 9.99649918e-01 4.96307678e-03 -2.59886323e-02 2.59836624e+00] [-4.96497744e-03 9.99987674e-01 -8.60703845e-06 5.29672099e-01] [ 2.59882693e-02 1.37636998e-04 9.99662238e-01 1.26351975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters Centerline goodness : 0.120771 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99608640e-01 -5.01367892e-03 -2.75214607e-02 2.57975514e+00] [ 5.02548848e-03 9.99987307e-01 3.59952409e-04 5.35363272e-01] [ 2.75193067e-02 -4.98120322e-04 9.99621148e-01 1.26346205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652557844 meters Centerline goodness : 0.148276 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99598774e-01 -5.03044642e-03 -2.78744496e-02 2.58067196e+00] [ 5.05070475e-03 9.99987030e-01 6.56411207e-04 5.34054451e-01] [ 2.78707860e-02 -7.96933453e-04 9.99611217e-01 1.26360918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.682557844 meters Centerline goodness : 0.148877 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99596151e-01 -5.02196470e-03 -2.79698958e-02 2.58105569e+00] [ 5.04650208e-03 9.99986941e-01 8.06758117e-04 5.33280483e-01] [ 2.79654790e-02 -9.47582446e-04 9.99608440e-01 1.26337050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.712557844 meters Centerline goodness : 0.130656 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99587151e-01 -4.94372126e-03 -2.83034980e-02 2.58212957e+00] [ 4.97834996e-03 9.99986943e-01 1.15314142e-03 5.31857807e-01] [ 2.82974276e-02 -1.29357006e-03 9.99598711e-01 1.26300885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.742557844 meters Centerline goodness : 0.147312 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99584783e-01 -4.89971769e-03 -2.83946141e-02 2.58232241e+00] [ 4.93951588e-03 9.99986914e-01 1.33163758e-03 5.31100284e-01] [ 2.83877179e-02 -1.47134031e-03 9.99595905e-01 1.26314842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.772557844 meters Centerline goodness : 0.144192 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99589851e-01 -4.87618907e-03 -2.82197141e-02 2.58193181e+00] [ 4.91753037e-03 9.99986935e-01 1.39576497e-03 5.30652429e-01] [ 2.82125394e-02 -1.53396380e-03 9.99600770e-01 1.26304651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802557844 meters Centerline goodness : 0.113217 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99592157e-01 -4.98769186e-03 -2.81183633e-02 2.58205027e+00] [ 5.02311463e-03 9.99986677e-01 1.18927897e-03 5.31165960e-01] [ 2.81120569e-02 -1.33003569e-03 9.99603893e-01 1.26241072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832557844 meters Centerline goodness : 0.136955 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99588837e-01 -5.06024198e-03 -2.82232356e-02 2.58257058e+00] [ 5.09173742e-03 9.99986492e-01 1.04418415e-03 5.31702384e-01] [ 2.82175705e-02 -1.18746012e-03 9.99601100e-01 1.26198754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862557844 meters Centerline goodness : 0.146232 Centerline is valid? [False, False] Translation: X:2.58, Y:0.53, Z:1.26 [[ 9.99583072e-01 -5.07027333e-03 -2.84249034e-02 2.58308287e+00] [ 5.10056753e-03 9.99986499e-01 9.93357340e-04 5.32177856e-01] [ 2.84194830e-02 -1.13792632e-03 9.99595437e-01 1.26202024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892557844 meters Centerline goodness : 0.119623 Centerline is valid? [False, False] Translation: X:2.59, Y:0.53, Z:1.26 [[ 9.99577645e-01 -1.44913334e-03 -2.90246587e-02 2.58529498e+00] [ 1.57253526e-03 9.99989820e-01 4.22924875e-03 5.34858692e-01] [ 2.90182345e-02 -4.27310481e-03 9.99569749e-01 1.26094511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922557844 meters Centerline goodness : 0.118616 Centerline is valid? [False, False] Translation: X:2.59, Y:0.54, Z:1.26 [[ 9.99572398e-01 -1.62167711e-03 -2.91957435e-02 2.58595320e+00] [ 1.72997354e-03 9.99991716e-01 3.68444527e-03 5.37067035e-01] [ 2.91895267e-02 -3.73337766e-03 9.99566923e-01 1.26046069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952557844 meters Centerline goodness : 0.142357 Centerline is valid? [False, False] Translation: X:2.59, Y:0.54, Z:1.26 [[ 9.99575048e-01 -1.80872086e-03 -2.90938564e-02 2.58574547e+00] [ 1.90377116e-03 9.99992940e-01 3.23965532e-03 5.39010588e-01] [ 2.90877914e-02 -3.29366667e-03 9.99571434e-01 1.26037328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982557844 meters Centerline goodness : 0.144977 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99591926e-01 -2.11009199e-03 -2.84873528e-02 2.58390317e+00] [ 2.18313983e-03 9.99994408e-01 2.53336138e-03 5.42306488e-01] [ 2.84818479e-02 -2.59451946e-03 9.99590943e-01 1.26085819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012557844 meters Centerline goodness : 0.146165 Centerline is valid? [False, False] Translation: X:2.58, Y:0.54, Z:1.26 [[ 9.99593678e-01 -2.18067828e-03 -2.84204658e-02 2.58374435e+00] [ 2.24749817e-03 9.99994785e-01 2.31938668e-03 5.43698540e-01] [ 2.84152598e-02 -2.38231921e-03 9.99593366e-01 1.26084753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04255784400002 meters Centerline goodness : 0.119691 Centerline is valid? [False, False] Translation: X:2.58, Y:0.55, Z:1.26 [[ 9.99588369e-01 -2.26672702e-03 -2.85999148e-02 2.58440376e+00] [ 2.32762011e-03 9.99995094e-01 2.09602320e-03 5.45011660e-01] [ 2.85950233e-02 -2.16173014e-03 9.99588741e-01 1.26054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07255784400002 meters Centerline goodness : 0.119726 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99578985e-01 -2.38553978e-03 -2.89164532e-02 2.58560881e+00] [ 2.44079485e-03 9.99995262e-01 1.87570579e-03 5.46021576e-01] [ 2.89118416e-02 -1.94549522e-03 9.99580072e-01 1.25989546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10255784400002 meters Centerline goodness : 0.120392 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99543621e-01 -3.23337908e-03 -3.00348983e-02 2.58927197e+00] [ 3.26525395e-03 9.99994157e-01 1.01227464e-03 5.48348703e-01] [ 3.00314497e-02 -1.10988423e-03 9.99548338e-01 1.25886444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13255784400002 meters Centerline goodness : 0.121741 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99538445e-01 -3.33586947e-03 -3.01955214e-02 2.58964520e+00] [ 3.36349143e-03 9.99993970e-01 8.64023365e-04 5.49135969e-01] [ 3.01924571e-02 -9.65186948e-04 9.99543638e-01 1.25900983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16255784400002 meters Centerline goodness : 0.140973 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99536088e-01 -3.34176269e-03 -3.02727844e-02 2.58975404e+00] [ 3.36707726e-03 9.99994023e-01 7.85276844e-04 5.49810061e-01] [ 3.02699792e-02 -8.86843349e-04 9.99541366e-01 1.25919371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19255784400002 meters Centerline goodness : 0.198012 Centerline is valid? [False, False] Translation: X:2.59, Y:0.55, Z:1.26 [[ 9.99545390e-01 -3.61336926e-03 -2.99325371e-02 2.58897623e+00] [ 3.61549270e-03 9.99993464e-01 1.68183986e-05 5.52736754e-01] [ 2.99322807e-02 -1.25031622e-04 9.99551921e-01 1.25897025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22255784400002 meters Centerline goodness : 0.140999 Centerline is valid? [False, False] Translation: X:2.61, Y:0.55, Z:1.26 [[ 9.99566621e-01 3.78136849e-03 -2.91936848e-02 2.60547504e+00] [-3.84666510e-03 9.99990224e-01 -2.18083171e-03 5.47123476e-01] [ 2.91851529e-02 2.29218491e-03 9.99571395e-01 1.26069366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25255784400002 meters Centerline goodness : 0.199286 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 9.99578717e-01 3.89045742e-03 -2.87620087e-02 2.60382502e+00] [-3.95936994e-03 9.99989425e-01 -2.33939321e-03 5.48080042e-01] [ 2.87526032e-02 2.45228710e-03 9.99583550e-01 1.26142147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28255784400002 meters Centerline goodness : 0.124036 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 9.99595831e-01 4.20403725e-03 -2.81158441e-02 2.60153885e+00] [-4.27078216e-03 9.99988202e-01 -2.31429639e-03 5.48716271e-01] [ 2.81057830e-02 2.43343767e-03 9.99601992e-01 1.26228835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31255784400003 meters Centerline goodness : 0.141195 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 0.99960809 0.00454884 -0.02762213 2.59995765] [-0.00462835 0.99998533 -0.00281528 0.55156558] [ 0.02760892 0.00294202 0.99961447 1.26229103] [ 0. 0. 0. 1. ]] SLAMing on 230.34255784400003 meters Centerline goodness : 0.125690 Centerline is valid? [False, False] Translation: X:2.60, Y:0.55, Z:1.26 [[ 0.9996097 0.00434389 -0.02759667 2.60032374] [-0.00444505 0.99998362 -0.00360537 0.55424734] [ 0.02758056 0.00372663 0.99961264 1.26122782] [ 0. 0. 0. 1. ]] SLAMing on 230.372557844 meters Centerline goodness : 0.144156 Centerline is valid? [False, False] Translation: X:2.60, Y:0.56, Z:1.26 [[ 0.99960471 0.004297 -0.02778398 2.60100042] [-0.00441481 0.99998152 -0.00418044 0.55652727] [ 0.02776551 0.00430145 0.99960521 1.26045883] [ 0. 0. 0. 1. ]] SLAMing on 230.402557844 meters Centerline goodness : 0.094796 Centerline is valid? [False, False] Translation: X:2.58, Y:0.57, Z:1.26 [[ 9.99574445e-01 -1.69091659e-03 -2.91216221e-02 2.58181693e+00] [ 1.63358900e-03 9.99996681e-01 -1.99223642e-03 5.69409939e-01] [ 2.91248942e-02 1.94381585e-03 9.99573890e-01 1.26065364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.432557844 meters Centerline goodness : 0.124405 Centerline is valid? [False, False] Translation: X:2.62, Y:0.57, Z:1.26 [[ 9.99636383e-01 -1.53628889e-03 -2.69210339e-02 2.62458685e+00] [ 1.52437237e-03 9.99998731e-01 -4.63164119e-04 5.70673431e-01] [ 2.69217112e-02 4.21958024e-04 9.99637456e-01 1.26194842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.462557844 meters Centerline goodness : 0.117313 Centerline is valid? [False, False] Translation: X:2.62, Y:0.57, Z:1.26 [[ 9.99634482e-01 -1.74927064e-03 -2.69785610e-02 2.62436382e+00] [ 1.71921837e-03 9.99997876e-01 -1.13708652e-03 5.74037237e-01] [ 2.69804927e-02 1.09028885e-03 9.99635366e-01 1.26256973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.492557844 meters Centerline goodness : 0.155152 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99634199e-01 -2.14140092e-03 -2.69607427e-02 2.62416370e+00] [ 2.08245447e-03 9.99995380e-01 -2.21426828e-03 5.79190190e-01] [ 2.69653598e-02 2.15731378e-03 9.99634041e-01 1.26281153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.522557844 meters Centerline goodness : 0.149746 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99636239e-01 -2.31219068e-03 -2.68708502e-02 2.62399784e+00] [ 2.24243201e-03 9.99994038e-01 -2.62591594e-03 5.81147285e-01] [ 2.68767616e-02 2.56470468e-03 9.99635465e-01 1.26267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552557844 meters Centerline goodness : 0.150305 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99636459e-01 -2.46688673e-03 -2.68489062e-02 2.62394859e+00] [ 2.38817061e-03 9.99992757e-01 -2.96348929e-03 5.82684428e-01] [ 2.68560223e-02 2.89829217e-03 9.99635110e-01 1.26271823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582557844 meters Centerline goodness : 0.118601 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99629030e-01 -2.65171432e-03 -2.71066733e-02 2.62461015e+00] [ 2.56260590e-03 9.99991200e-01 -3.32153405e-03 5.84332268e-01] [ 2.71152425e-02 3.25083814e-03 9.99627028e-01 1.26277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612557844 meters Centerline goodness : 0.121655 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 9.99625392e-01 -2.67251325e-03 -2.72384361e-02 2.62495307e+00] [ 2.58225910e-03 9.99991061e-01 -3.34812154e-03 5.84452847e-01] [ 2.72471405e-02 3.27653061e-03 9.99623358e-01 1.26279299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642557844 meters Centerline goodness : 0.143351 Centerline is valid? [False, False] Translation: X:2.62, Y:0.58, Z:1.26 [[ 0.99962389 -0.00272477 -0.02728833 2.62498896] [ 0.00263168 0.9999906 -0.00344681 0.5848949 ] [ 0.02729747 0.0033737 0.99962166 1.26295238] [ 0. 0. 0. 1. ]] SLAMing on 230.672557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.702557844 meters Centerline goodness : 0.094005 Centerline is valid? [False, False] Translation: X:2.62, Y:0.59, Z:1.26 [[ 0.99962805 -0.00284181 -0.0271234 2.62434208] [ 0.00273322 0.9999881 -0.00403982 0.58816958] [ 0.02713456 0.00396418 0.99962393 1.26348933] [ 0. 0. 0. 1. ]] SLAMing on 230.732557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.762557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.79255784400002 meters Centerline goodness : 0.130467 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99961614 0.00692596 -0.02682526 2.64769686] [-0.00703013 0.9999681 -0.00379096 0.58913971] [ 0.02679815 0.00397809 0.99963295 1.26360184] [ 0. 0. 0. 1. ]] SLAMing on 230.82255784400002 meters Centerline goodness : 0.133787 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960379 0.00729083 -0.0271867 2.64848278] [-0.00739512 0.99996567 -0.0037375 0.58994585] [ 0.02715852 0.00393707 0.99962339 1.26380602] [ 0. 0. 0. 1. ]] SLAMing on 230.85255784400002 meters Centerline goodness : 0.160202 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960674 0.00732746 -0.02706799 2.64791025] [-0.00743292 0.99996516 -0.00379766 0.59040073] [ 0.02703922 0.00399736 0.99962638 1.26421524] [ 0. 0. 0. 1. ]] SLAMing on 230.88255784400002 meters Centerline goodness : 0.170723 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99961057 0.00736915 -0.0269148 2.64734139] [-0.00747468 0.99996476 -0.00382245 0.59060387] [ 0.02688568 0.00402214 0.99963042 1.26449275] [ 0. 0. 0. 1. ]] SLAMing on 230.91255784400002 meters Centerline goodness : 0.120406 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960843 0.00776679 -0.02688235 2.64724743] [-0.00787197 0.99996176 -0.00380916 0.59142015] [ 0.02685174 0.00401928 0.99963135 1.26448545] [ 0. 0. 0. 1. ]] SLAMing on 230.94255784400002 meters Centerline goodness : 0.159320 Centerline is valid? [False, False] Translation: X:2.65, Y:0.59, Z:1.26 [[ 0.99960208 0.00790339 -0.02707788 2.64760658] [-0.00801237 0.99996022 -0.00391868 0.5924912 ] [ 0.02704583 0.00413408 0.99962565 1.26463378] [ 0. 0. 0. 1. ]] SLAMing on 230.97255784400002 meters Centerline goodness : 0.162714 Centerline is valid? [False, False] Translation: X:2.67, Y:0.59, Z:1.26 [[ 9.99653902e-01 1.31735194e-03 -2.62743397e-02 2.66862807e+00] [-1.33874106e-03 9.99998787e-01 -7.96495171e-04 5.94818529e-01] [ 2.62732585e-02 8.31394043e-04 9.99654453e-01 1.26469970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00255784400002 meters Centerline goodness : 0.159630 Centerline is valid? [False, False] Translation: X:2.67, Y:0.60, Z:1.26 [[ 9.99640193e-01 1.72833805e-03 -2.67674591e-02 2.66979969e+00] [-1.74909804e-03 9.99998187e-01 -7.52173985e-04 5.95561611e-01] [ 2.67661106e-02 7.98722257e-04 9.99641404e-01 1.26464187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03255784400002 meters Centerline goodness : 0.162005 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.26 [[ 9.99682222e-01 6.51111688e-04 -2.51998425e-02 2.71366947e+00] [-6.59372694e-04 9.99999732e-01 -3.19511743e-04 5.95601311e-01] [ 2.51996277e-02 3.36026297e-04 9.99682382e-01 1.26482613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06255784400003 meters Centerline goodness : 0.167989 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.26 [[ 9.99684333e-01 6.34089024e-04 -2.51163551e-02 2.71338969e+00] [-6.45242724e-04 9.99999697e-01 -4.35979265e-04 5.96148562e-01] [ 2.51160710e-02 4.52047787e-04 9.99684440e-01 1.26483567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09255784400003 meters Centerline goodness : 0.159776 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99686435e-01 6.50507613e-04 -2.50321613e-02 2.71285641e+00] [-6.65166474e-04 9.99999612e-01 -5.77278967e-04 5.97054568e-01] [ 2.50317761e-02 5.93748507e-04 9.99686480e-01 1.26532008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122557844 meters Centerline goodness : 0.124309 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99695148e-01 6.87184058e-04 -2.46807240e-02 2.71156421e+00] [-7.04293057e-04 9.99999518e-01 -6.84527144e-04 5.97846510e-01] [ 2.46802417e-02 7.01700927e-04 9.99695150e-01 1.26596910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.152557844 meters Centerline goodness : 0.160812 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99696757e-01 7.20839366e-04 -2.46145091e-02 2.71138843e+00] [-7.35535847e-04 9.99999557e-01 -5.88017185e-04 5.97355216e-01] [ 2.46140743e-02 6.05943727e-04 9.99696844e-01 1.26598937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.182557844 meters Centerline goodness : 0.207045 Centerline is valid? [False, False] Translation: X:2.71, Y:0.60, Z:1.27 [[ 9.99696252e-01 7.86462497e-04 -2.46329947e-02 2.71160747e+00] [-7.96166406e-04 9.99999609e-01 -3.84134505e-04 5.96360361e-01] [ 2.46326829e-02 4.03629788e-04 9.99696488e-01 1.26571899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.212557844 meters Centerline goodness : 0.151738 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.27 [[ 9.99693157e-01 1.00153296e-03 -2.47505384e-02 2.71227555e+00] [-9.97209715e-04 9.99999485e-01 1.87014788e-04 5.93632728e-01] [ 2.47507130e-02 -1.62275926e-04 9.99693641e-01 1.26511480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.242557844 meters Centerline goodness : 0.151738 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.27 [[ 9.99693157e-01 1.00153296e-03 -2.47505384e-02 2.71227555e+00] [-9.97209715e-04 9.99999485e-01 1.87014788e-04 5.93632728e-01] [ 2.47507130e-02 -1.62275926e-04 9.99693641e-01 1.26511480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.272557844 meters Centerline goodness : 0.132790 Centerline is valid? [False, False] Translation: X:2.71, Y:0.59, Z:1.26 [[ 9.99693168e-01 1.06796483e-03 -2.47473143e-02 2.71244662e+00] [-1.05813051e-03 9.99999356e-01 4.10480782e-04 5.92385426e-01] [ 2.47477368e-02 -3.84168945e-04 9.99693654e-01 1.26481521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302557844 meters Centerline goodness : 0.133345 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.27 [[ 9.99686128e-01 -7.89834045e-03 -2.37752178e-02 2.73221438e+00] [ 7.93507415e-03 9.99967464e-01 1.45109452e-03 5.94990391e-01] [ 2.37629830e-02 -1.63929718e-03 9.99716276e-01 1.26519770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332557844 meters Centerline goodness : 0.123149 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.26 [[ 9.99687468e-01 -7.71319777e-03 -2.37796730e-02 2.73253958e+00] [ 7.75581773e-03 9.99968477e-01 1.70057718e-03 5.94101143e-01] [ 2.37658065e-02 -1.88447651e-03 9.99715777e-01 1.26459120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362557844 meters Centerline goodness : 0.126203 Centerline is valid? [False, False] Translation: X:2.73, Y:0.59, Z:1.26 [[ 9.99685882e-01 -7.60164235e-03 -2.38820644e-02 2.73288992e+00] [ 7.64619805e-03 9.99969192e-01 1.77489170e-03 5.94042699e-01] [ 2.38678366e-02 -1.95694117e-03 9.99713207e-01 1.26438774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392557844 meters Centerline goodness : 0.147534 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99672348e-01 -6.46612112e-04 -2.55886528e-02 2.75198025e+00] [ 6.68378026e-04 9.99999422e-01 8.42064342e-04 5.91139248e-01] [ 2.55880935e-02 -8.58891331e-04 9.99672202e-01 1.26742439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422557844 meters Centerline goodness : 0.166212 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663316e-01 -4.61002597e-04 -2.59430692e-02 2.75278943e+00] [ 4.81503097e-04 9.99999577e-01 7.83969709e-04 5.91928180e-01] [ 2.59426968e-02 -7.96197427e-04 9.99663115e-01 1.26747847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452557844 meters Centerline goodness : 0.171915 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99666023e-01 1.78760540e-04 -2.58420319e-02 2.75265984e+00] [-1.59041895e-04 9.99999695e-01 7.65098779e-04 5.93475316e-01] [ 2.58421607e-02 -7.60733287e-04 9.99665746e-01 1.26712053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482557844 meters Centerline goodness : 0.163324 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663943e-01 2.37752195e-04 -2.59218943e-02 2.75300538e+00] [-2.23703213e-04 9.99999827e-01 5.44872130e-04 5.94425011e-01] [ 2.59220193e-02 -5.38890211e-04 9.99663823e-01 1.26669513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 231.54255784400002 meters Centerline goodness : 0.131299 Centerline is valid? [False, False] Translation: X:2.75, Y:0.60, Z:1.27 [[ 9.99652610e-01 1.39529179e-03 -2.63194276e-02 2.75439979e+00] [-1.36505980e-03 9.99998388e-01 1.16658888e-03 5.95385060e-01] [ 2.63210129e-02 -1.13025603e-03 9.99652903e-01 1.26583028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 231.60255784400002 meters Centerline goodness : 0.130788 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99649364e-01 1.34849011e-03 -2.64448523e-02 2.75481115e+00] [-1.31558433e-03 9.99998339e-01 1.26167587e-03 5.94316146e-01] [ 2.64465097e-02 -1.22644305e-03 9.99649478e-01 1.26569527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63255784400002 meters Centerline goodness : 0.153550 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99653656e-01 1.37409361e-03 -2.62808004e-02 2.75433403e+00] [-1.33496640e-03 9.99997974e-01 1.50630030e-03 5.92912406e-01] [ 2.62828169e-02 -1.47069462e-03 9.99653465e-01 1.26584242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66255784400002 meters Centerline goodness : 0.130045 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99657705e-01 1.43531126e-03 -2.61230465e-02 2.75380890e+00] [-1.39037278e-03 9.99997523e-01 1.73834389e-03 5.91947290e-01] [ 2.61254769e-02 -1.70142809e-03 9.99657224e-01 1.26614354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69255784400002 meters Centerline goodness : 0.173555 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99659288e-01 1.51917788e-03 -2.60576380e-02 2.75358525e+00] [-1.46939710e-03 9.99997059e-01 1.92945156e-03 5.91330048e-01] [ 2.60604925e-02 -1.89050515e-03 9.99658580e-01 1.26633106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72255784400002 meters Centerline goodness : 0.126450 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99661160e-01 1.47767435e-03 -2.59880979e-02 2.75349674e+00] [-1.42572264e-03 9.99996949e-01 2.01747333e-03 5.90638080e-01] [ 2.59909998e-02 -1.97973791e-03 9.99660217e-01 1.26627750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75255784400002 meters Centerline goodness : 0.116537 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658079e-01 1.41892114e-03 -2.61096263e-02 2.75392774e+00] [-1.36847708e-03 9.99997163e-01 1.94977682e-03 5.90648761e-01] [ 2.61123188e-02 -1.91337972e-03 9.99657184e-01 1.26603813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78255784400002 meters Centerline goodness : 0.146903 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99652532e-01 1.38189379e-03 -2.63231053e-02 2.75459515e+00] [-1.33325742e-03 9.99997372e-01 1.86512956e-03 5.91029970e-01] [ 2.63256135e-02 -1.82938601e-03 9.99651747e-01 1.26579172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81255784400003 meters Centerline goodness : 0.175342 Centerline is valid? [False, False] Translation: X:2.76, Y:0.59, Z:1.27 [[ 9.99648645e-01 1.41162188e-03 -2.64687419e-02 2.75510281e+00] [-1.36367968e-03 9.99997397e-01 1.82923936e-03 5.91469890e-01] [ 2.64712552e-02 -1.79250176e-03 9.99647968e-01 1.26547964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84255784400003 meters Centerline goodness : 0.168334 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99652136e-01 1.46634064e-03 -2.63335856e-02 2.75444391e+00] [-1.41746444e-03 9.99997238e-01 1.87461152e-03 5.91371915e-01] [ 2.63362617e-02 -1.83663249e-03 9.99651453e-01 1.26595345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872557844 meters Centerline goodness : 0.128354 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658777e-01 1.44011663e-03 -2.60817072e-02 2.75344150e+00] [-1.39154614e-03 9.99997264e-01 1.88029776e-03 5.91061881e-01] [ 2.60843437e-02 -1.84336226e-03 9.99658046e-01 1.26652525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.902557844 meters Centerline goodness : 0.126082 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99666419e-01 1.51839524e-03 -2.57826515e-02 2.75241528e+00] [-1.46233313e-03 9.99996526e-01 2.19312758e-03 5.89141222e-01] [ 2.57858920e-02 -2.15469317e-03 9.99665166e-01 1.26695369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.932557844 meters Centerline goodness : 0.059143 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99663999e-01 1.61420527e-03 -2.58705254e-02 2.75285385e+00] [-1.55064924e-03 9.99995731e-01 2.47656999e-03 5.87700726e-01] [ 2.58744126e-02 -2.43562175e-03 9.99662234e-01 1.26660436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.962557844 meters Centerline goodness : 0.060016 Centerline is valid? [False, False] Translation: X:2.75, Y:0.59, Z:1.27 [[ 9.99658538e-01 1.78014375e-03 -2.60698678e-02 2.75372990e+00] [-1.70608325e-03 9.99994447e-01 2.86281378e-03 5.85899409e-01] [ 2.60748192e-02 -2.81735887e-03 9.99656024e-01 1.26603742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.992557844 meters Centerline goodness : 0.200848 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.27 [[ 9.99654442e-01 1.93368611e-03 -2.62156022e-02 2.75448139e+00] [-1.84916418e-03 9.99993016e-01 3.24796723e-03 5.83999487e-01] [ 2.62216996e-02 -3.19836792e-03 9.99651036e-01 1.26544241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.022557844 meters Centerline goodness : 0.172620 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.27 [[ 9.99653719e-01 2.11986549e-03 -2.62287668e-02 2.75460195e+00] [-2.02399923e-03 9.99991177e-01 3.68101279e-03 5.81938717e-01] [ 2.62363386e-02 -3.62665112e-03 9.99649189e-01 1.26532694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052557844 meters Centerline goodness : 0.113728 Centerline is valid? [False, False] Translation: X:2.75, Y:0.58, Z:1.26 [[ 9.99659730e-01 2.53145774e-03 -2.59618237e-02 2.75418450e+00] [-2.40970000e-03 9.99985957e-01 4.72008994e-03 5.76753174e-01] [ 2.59734079e-02 -4.65592363e-03 9.99651792e-01 1.26495147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082557844 meters Centerline goodness : 0.170874 Centerline is valid? [False, False] Translation: X:2.75, Y:0.57, Z:1.26 [[ 9.99660343e-01 2.78747015e-03 -2.59119310e-02 2.75436208e+00] [-2.64990486e-03 9.99982222e-01 5.34177836e-03 5.73774128e-01] [ 2.59263603e-02 -5.27129984e-03 9.99649957e-01 1.26451534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 232.142557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 232.172557844 meters Centerline goodness : 0.189509 Centerline is valid? [False, False] Translation: X:2.75, Y:0.56, Z:1.26 [[ 9.99697386e-01 8.88421660e-04 -2.45834614e-02 2.75088746e+00] [-7.66182127e-04 9.99987299e-01 4.98140211e-03 5.58546600e-01] [ 2.45875747e-02 -4.96105926e-03 9.99685370e-01 1.26475130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202557844 meters Centerline goodness : 0.165266 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99698274e-01 1.45399655e-03 -2.45203230e-02 2.75088796e+00] [-1.30089750e-03 9.99979569e-01 6.25855771e-03 5.52745700e-01] [ 2.45289219e-02 -6.22477092e-03 9.99679741e-01 1.26459289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232557844 meters Centerline goodness : 0.162955 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99699402e-01 1.68314398e-03 -2.44596205e-02 2.75100118e+00] [-1.51819821e-03 9.99975994e-01 6.76060065e-03 5.50460306e-01] [ 2.44704124e-02 -6.72143387e-03 9.99677959e-01 1.26418089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262557844 meters Centerline goodness : 0.169690 Centerline is valid? [False, False] Translation: X:2.75, Y:0.55, Z:1.26 [[ 9.99699125e-01 1.90746456e-03 -2.44544728e-02 2.75124269e+00] [-1.73171071e-03 9.99972536e-01 7.20614531e-03 5.48423175e-01] [ 2.44675466e-02 -7.16162909e-03 9.99674972e-01 1.26372924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29255784400002 meters Centerline goodness : 0.108238 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99698634e-01 2.27649455e-03 -2.44429824e-02 2.75139395e+00] [-2.08194068e-03 9.99965976e-01 7.98199812e-03 5.44760181e-01] [ 2.44603218e-02 -7.92870377e-03 9.99669359e-01 1.26340087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32255784400002 meters Centerline goodness : 0.171360 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99698906e-01 2.44970757e-03 -2.44150699e-02 2.75132109e+00] [-2.24579915e-03 9.99962402e-01 8.37566761e-03 5.42962480e-01] [ 2.44346698e-02 -8.31831441e-03 9.99666821e-01 1.26339558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35255784400002 meters Centerline goodness : 0.104753 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99701534e-01 2.61227361e-03 -2.42902932e-02 2.75093749e+00] [-2.39911930e-03 9.99958399e-01 8.80029308e-03 5.40844787e-01] [ 2.43122714e-02 -8.73939119e-03 9.99666213e-01 1.26353827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38255784400002 meters Centerline goodness : 0.157700 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99706760e-01 2.75780235e-03 -2.40580128e-02 2.75017905e+00] [-2.53721678e-03 9.99954510e-01 9.19461370e-03 5.38798197e-01] [ 2.40822753e-02 -9.13087708e-03 9.99668281e-01 1.26384122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41255784400002 meters Centerline goodness : 0.183138 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 0.99971116 0.00301442 -0.02384343 2.74960704] [-0.00277939 0.99994729 0.00988435 0.53549613] [ 0.02387197 -0.00981522 0.99966684 1.26395285] [ 0. 0. 0. 1. ]] SLAMing on 232.44255784400002 meters Centerline goodness : 0.168491 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 0.99970793 0.00314839 -0.02396146 2.75028886] [-0.00290558 0.99994415 0.01016157 0.53435719] [ 0.02399212 -0.01008898 0.99966124 1.26332484] [ 0. 0. 0. 1. ]] SLAMing on 232.47255784400002 meters Centerline goodness : 0.104266 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 0.9997041 0.0032309 -0.02410972 2.75113224] [-0.00298067 0.9999414 0.01040721 0.53310616] [ 0.02414193 -0.01033227 0.99965515 1.26258376] [ 0. 0. 0. 1. ]] SLAMing on 232.50255784400002 meters Centerline goodness : 0.104948 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99695824e-01 -5.86593560e-04 -2.46559278e-02 2.75309669e+00] [ 7.50670059e-04 9.99977634e-01 6.64591836e-03 5.32310065e-01] [ 2.46514779e-02 -6.66240530e-03 9.99673905e-01 1.26156007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53255784400002 meters Centerline goodness : 0.168644 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99693252e-01 -5.30855489e-04 -2.47612427e-02 2.75340194e+00] [ 6.99216323e-04 9.99976695e-01 6.79120691e-03 5.31577504e-01] [ 2.47570605e-02 -6.80643719e-03 9.99670326e-01 1.26150399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56255784400003 meters Centerline goodness : 0.165786 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99691480e-01 -5.16669985e-04 -2.48330119e-02 2.75360327e+00] [ 6.85971161e-04 9.99976579e-01 6.80955020e-03 5.31598452e-01] [ 2.48289120e-02 -6.82448404e-03 9.99668421e-01 1.26141660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59255784400003 meters Centerline goodness : 0.168691 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99686443e-01 -4.93051060e-04 -2.50354303e-02 2.75426929e+00] [ 6.55958619e-04 9.99978664e-01 6.49928507e-03 5.33679914e-01] [ 2.50316917e-02 -6.51366938e-03 9.99665437e-01 1.26101316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622557844 meters Centerline goodness : 0.158894 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99686482e-01 -5.39335011e-04 -2.50329264e-02 2.75431005e+00] [ 6.95726171e-04 9.99980294e-01 6.23912931e-03 5.34990932e-01] [ 2.50290681e-02 -6.25458929e-03 9.99667158e-01 1.26080034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.652557844 meters Centerline goodness : 0.171232 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99688046e-01 -6.54346169e-04 -2.49676260e-02 2.75406359e+00] [ 8.01903687e-04 9.99982271e-01 5.90039929e-03 5.36611076e-01] [ 2.49633224e-02 -5.91858027e-03 9.99670847e-01 1.26079317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.682557844 meters Centerline goodness : 0.111607 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99701696e-01 -6.46077255e-04 -2.44151775e-02 2.75216836e+00] [ 7.79389706e-04 9.99984839e-01 5.45110728e-03 5.39439915e-01] [ 2.44112855e-02 -5.46851013e-03 9.99687043e-01 1.26145588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.712557844 meters Centerline goodness : 0.159158 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99705876e-01 -7.06464756e-04 -2.42417553e-02 2.75154255e+00] [ 8.34307638e-04 9.99985797e-01 5.26395569e-03 5.40429807e-01] [ 2.42376922e-02 -5.28263251e-03 9.99692267e-01 1.26169139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.742557844 meters Centerline goodness : 0.162750 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99706364e-01 -7.45999797e-04 -2.42204288e-02 2.75142709e+00] [ 8.71448457e-04 9.99986259e-01 5.16931485e-03 5.40902084e-01] [ 2.42162397e-02 -5.18890381e-03 9.99693277e-01 1.26175604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.772557844 meters Centerline goodness : 0.128352 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99702645e-01 -7.63303624e-04 -2.43729060e-02 2.75210118e+00] [ 8.90684910e-04 9.99986000e-01 5.21591981e-03 5.40531704e-01] [ 2.43685834e-02 -5.23607741e-03 9.99689330e-01 1.26130221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802557844 meters Centerline goodness : 0.158459 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99703049e-01 -7.71586576e-04 -2.43560799e-02 2.75204239e+00] [ 8.98571265e-04 9.99986060e-01 5.20316138e-03 5.40578343e-01] [ 2.43517256e-02 -5.22350197e-03 9.99689806e-01 1.26132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832557844 meters Centerline goodness : 0.165474 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99705672e-01 -7.89579082e-04 -2.42476096e-02 2.75156501e+00] [ 9.15352111e-04 9.99986184e-01 5.17636691e-03 5.40723683e-01] [ 2.42431874e-02 -5.19703846e-03 9.99692582e-01 1.26167027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862557844 meters Centerline goodness : 0.170270 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99712419e-01 -7.60602692e-04 -2.39687530e-02 2.75039470e+00] [ 8.86959915e-04 9.99985765e-01 5.26155777e-03 5.40367490e-01] [ 2.39644098e-02 -5.28130396e-03 9.99698862e-01 1.26246509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892557844 meters Centerline goodness : 0.170210 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99714723e-01 -7.49973213e-04 -2.38727803e-02 2.75008250e+00] [ 8.77422864e-04 9.99985418e-01 5.32867464e-03 5.40022429e-01] [ 2.38684358e-02 -5.34810102e-03 9.99700803e-01 1.26258450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922557844 meters Centerline goodness : 0.121095 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99714000e-01 -7.14134771e-04 -2.39041471e-02 2.75025535e+00] [ 8.43853982e-04 9.99984972e-01 5.41699313e-03 5.39578565e-01] [ 2.38999195e-02 -5.43561548e-03 9.99699579e-01 1.26242739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952557844 meters Centerline goodness : 0.167599 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99711251e-01 -6.69579187e-04 -2.40201210e-02 2.75092815e+00] [ 8.02335911e-04 9.99984456e-01 5.51768486e-03 5.39052214e-01] [ 2.40160531e-02 -5.53536384e-03 9.99696248e-01 1.26180639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982557844 meters Centerline goodness : 0.156384 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99707848e-01 -5.76479725e-04 -2.41637319e-02 2.75161336e+00] [ 7.14723775e-04 9.99983426e-01 5.71289227e-03 5.38181004e-01] [ 2.41600380e-02 -5.72849364e-03 9.99691691e-01 1.26122478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012557844 meters Centerline goodness : 0.160036 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99708996e-01 -4.87520750e-04 -2.41181569e-02 2.75138242e+00] [ 6.31108412e-04 9.99982122e-01 5.94625550e-03 5.37109360e-01] [ 2.41148268e-02 -5.95974629e-03 9.99691431e-01 1.26144838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04255784400002 meters Centerline goodness : 0.164261 Centerline is valid? [False, False] Translation: X:2.75, Y:0.54, Z:1.26 [[ 9.99710266e-01 -3.76186616e-04 -2.40674540e-02 2.75121393e+00] [ 5.26811751e-04 9.99980315e-01 6.25242312e-03 5.35658327e-01] [ 2.40646281e-02 -6.26329060e-03 9.99690785e-01 1.26157490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07255784400002 meters Centerline goodness : 0.168948 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99727352e-01 -2.19715251e-03 -2.32463617e-02 2.74703381e+00] [ 2.31019738e-03 9.99985632e-01 4.83716853e-03 5.31442117e-01] [ 2.32353997e-02 -4.88955337e-03 9.99718064e-01 1.26381884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10255784400002 meters Centerline goodness : 0.167086 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99728879e-01 -2.04106101e-03 -2.31949029e-02 2.74711703e+00] [ 2.16358558e-03 9.99983833e-01 5.25852457e-03 5.29447148e-01] [ 2.31837950e-02 -5.30728303e-03 9.99717132e-01 1.26353397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13255784400002 meters Centerline goodness : 0.168823 Centerline is valid? [False, False] Translation: X:2.75, Y:0.53, Z:1.26 [[ 9.99726321e-01 -1.88010280e-03 -2.33184084e-02 2.74774836e+00] [ 2.01243255e-03 9.99981998e-01 5.65273697e-03 5.27635331e-01] [ 2.33073609e-02 -5.69811666e-03 9.99712108e-01 1.26304216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16255784400002 meters Centerline goodness : 0.128735 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99711999e-01 -1.66806328e-03 -2.39402646e-02 2.75032300e+00] [ 1.81888565e-03 9.99978629e-01 6.27955386e-03 5.24356963e-01] [ 2.39292783e-02 -6.32128995e-03 9.99693669e-01 1.26143846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19255784400002 meters Centerline goodness : 0.128735 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99711999e-01 -1.66806328e-03 -2.39402646e-02 2.75032300e+00] [ 1.81888565e-03 9.99978629e-01 6.27955386e-03 5.24356963e-01] [ 2.39292783e-02 -6.32128995e-03 9.99693669e-01 1.26143846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22255784400002 meters Centerline goodness : 0.130613 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99708752e-01 -1.54567633e-03 -2.40836527e-02 2.75093926e+00] [ 1.70541033e-03 9.99976677e-01 6.61333861e-03 5.22641084e-01] [ 2.40728689e-02 -6.65248500e-03 9.99688072e-01 1.26106527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25255784400002 meters Centerline goodness : 0.166786 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99707700e-01 -1.41238085e-03 -2.41354619e-02 2.75096441e+00] [ 1.58030840e-03 9.99974669e-01 6.94005371e-03 5.21083065e-01] [ 2.41250485e-02 -6.97616660e-03 9.99684608e-01 1.26128677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28255784400002 meters Centerline goodness : 0.105466 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99710456e-01 -1.32559282e-03 -2.40259832e-02 2.75044561e+00] [ 1.49905292e-03 9.99972934e-01 7.20311564e-03 5.19734600e-01] [ 2.40157845e-02 -7.23704623e-03 9.99685384e-01 1.26171860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31255784400003 meters Centerline goodness : 0.103435 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99714982e-01 -1.16596742e-03 -2.38452551e-02 2.74974206e+00] [ 1.34873125e-03 9.99969829e-01 7.64993254e-03 5.17491862e-01] [ 2.38356161e-02 -7.67991301e-03 9.99686392e-01 1.26218847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34255784400003 meters Centerline goodness : 0.088511 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99714812e-01 -1.09989065e-03 -2.38554858e-02 2.74982531e+00] [ 1.28735529e-03 9.99968403e-01 7.84441177e-03 5.16488923e-01] [ 2.38461041e-02 -7.87288513e-03 9.99684641e-01 1.26210469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372557844 meters Centerline goodness : 0.147640 Centerline is valid? [False, False] Translation: X:2.75, Y:0.52, Z:1.26 [[ 9.99715062e-01 -1.00879117e-03 -2.38490287e-02 2.74999994e+00] [ 1.20212935e-03 9.99966522e-01 8.09380617e-03 5.15221244e-01] [ 2.38400653e-02 -8.12016956e-03 9.99682807e-01 1.26180983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.402557844 meters Centerline goodness : 0.098499 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968915 0.00669769 -0.0240153 2.77088442] [-0.0065222 0.99995151 0.00737799 0.51044321] [ 0.02406356 -0.00721906 0.99968437 1.26315583] [ 0. 0. 0. 1. ]] SLAMing on 233.432557844 meters Centerline goodness : 0.099447 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968932 0.00693191 -0.02394177 2.77066002] [-0.00674244 0.99994538 0.00798554 0.50767627] [ 0.02399582 -0.00782163 0.99968146 1.26331494] [ 0. 0. 0. 1. ]] SLAMing on 233.462557844 meters Centerline goodness : 0.094332 Centerline is valid? [False, False] Translation: X:2.77, Y:0.51, Z:1.26 [[ 0.99968961 0.00705587 -0.02389352 2.77034709] [-0.0068579 0.99994156 0.00835729 0.50593228] [ 0.02395109 -0.00819084 0.99967958 1.26370871] [ 0. 0. 0. 1. ]] SLAMing on 233.492557844 meters Centerline goodness : 0.096368 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 0.99971751 0.00312185 -0.02356191 2.76897873] [-0.00300851 0.99998374 0.0048443 0.50342149] [ 0.02357665 -0.00477205 0.99971064 1.26453439] [ 0. 0. 0. 1. ]] SLAMing on 233.522557844 meters Centerline goodness : 0.095464 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99727250e-01 -5.58594206e-04 -2.33476667e-02 2.76816581e+00] [ 5.88228842e-04 9.99999030e-01 1.26242755e-03 5.02668059e-01] [ 2.33469388e-02 -1.27581699e-03 9.99726609e-01 1.26479862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552557844 meters Centerline goodness : 0.103250 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99728058e-01 -3.95626030e-04 -2.33163995e-02 2.76813154e+00] [ 4.36274848e-04 9.99998394e-01 1.73829634e-03 5.00366826e-01] [ 2.33156743e-02 -1.74799599e-03 9.99726625e-01 1.26479837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582557844 meters Centerline goodness : 0.104419 Centerline is valid? [False, False] Translation: X:2.77, Y:0.50, Z:1.26 [[ 9.99724993e-01 1.32373635e-05 -2.34507653e-02 2.76874255e+00] [ 5.05515393e-05 9.99996301e-01 2.71952540e-03 4.96054555e-01] [ 2.34507145e-02 -2.71996298e-03 9.99721294e-01 1.26444974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612557844 meters Centerline goodness : 0.090919 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99723800e-01 2.50251191e-04 -2.35002192e-02 2.76901632e+00] [-1.73212978e-04 9.99994605e-01 3.28016957e-03 4.93591978e-01] [ 2.35009133e-02 -3.27519305e-03 9.99718450e-01 1.26427573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642557844 meters Centerline goodness : 0.094912 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99724082e-01 4.93147267e-04 -2.34843864e-02 2.76910122e+00] [-4.02456027e-04 9.99992445e-01 3.86633730e-03 4.90907771e-01] [ 2.34861156e-02 -3.85581907e-03 9.99716727e-01 1.26411319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672557844 meters Centerline goodness : 0.095522 Centerline is valid? [False, False] Translation: X:2.77, Y:0.49, Z:1.26 [[ 9.99719418e-01 9.05596915e-04 -2.36699242e-02 2.77014183e+00] [-7.89980074e-04 9.99987715e-01 4.89344068e-03 4.85705482e-01] [ 2.36740649e-02 -4.87336890e-03 9.99707852e-01 1.26331259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702557844 meters Centerline goodness : 0.096593 Centerline is valid? [False, False] Translation: X:2.77, Y:0.48, Z:1.26 [[ 9.99714160e-01 1.09246617e-03 -2.38831293e-02 2.77088247e+00] [-9.65375897e-04 9.99985318e-01 5.33222310e-03 4.83663622e-01] [ 2.38886039e-02 -5.30764274e-03 9.99700537e-01 1.26299122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732557844 meters Centerline goodness : 0.087920 Centerline is valid? [False, False] Translation: X:2.77, Y:0.48, Z:1.26 [[ 9.99712148e-01 1.24869836e-03 -2.39595699e-02 2.77130172e+00] [-1.11314693e-03 9.99983306e-01 5.67001040e-03 4.82101880e-01] [ 2.39662501e-02 -5.64170776e-03 9.99696849e-01 1.26261298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762557844 meters Centerline goodness : 0.183455 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967084 0.00944343 -0.02385426 2.79240864] [-0.00932626 0.99994392 0.00501862 0.47726642] [ 0.02390031 -0.0047945 0.99970285 1.26403022] [ 0. 0. 0. 1. ]] SLAMing on 233.79255784400002 meters Centerline goodness : 0.097680 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967159 0.0096877 -0.02372465 2.79241136] [-0.0095631 0.99993991 0.00535998 0.47547859] [ 0.02377515 -0.00513134 0.99970416 1.2634156 ] [ 0. 0. 0. 1. ]] SLAMing on 233.82255784400002 meters Centerline goodness : 0.099778 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967373 0.00979234 -0.02359103 2.792173 ] [-0.00966609 0.99993838 0.0054597 0.47512411] [ 0.02364304 -0.00522988 0.99970678 1.26310194] [ 0. 0. 0. 1. ]] SLAMing on 233.85255784400002 meters Centerline goodness : 0.152496 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967861 0.00987429 -0.02334889 2.7917133 ] [-0.00974922 0.99993754 0.00546463 0.47535567] [ 0.02340139 -0.00523525 0.99971244 1.26276458] [ 0. 0. 0. 1. ]] SLAMing on 233.88255784400002 meters Centerline goodness : 0.147382 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966576 0.01037976 -0.02367742 2.79287728] [-0.01025177 0.99993221 0.00552037 0.47639991] [ 0.02373311 -0.00527579 0.99970441 1.26196222] [ 0. 0. 0. 1. ]] SLAMing on 233.91255784400002 meters Centerline goodness : 0.166482 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966152 0.0103108 -0.02388586 2.79355449] [-0.01018931 0.99993455 0.00520231 0.47790289] [ 0.02393794 -0.00495716 0.99970116 1.2615304 ] [ 0. 0. 0. 1. ]] SLAMing on 233.94255784400002 meters Centerline goodness : 0.149428 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99965658 0.01025711 -0.02411445 2.79416994] [-0.01014094 0.9999364 0.00493483 0.47923866] [ 0.02416353 -0.00468859 0.99969702 1.26133066] [ 0. 0. 0. 1. ]] SLAMing on 233.97255784400002 meters Centerline goodness : 0.151096 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99965833 0.01017135 -0.02407821 2.7939035 ] [-0.01006098 0.99993834 0.00470066 0.48039975] [ 0.02412453 -0.0044568 0.99969903 1.26152928] [ 0. 0. 0. 1. ]] SLAMing on 234.00255784400002 meters Centerline goodness : 0.172834 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99966982 0.01008441 -0.02363399 2.79218675] [-0.00998066 0.99994005 0.00450378 0.48131014] [ 0.02367799 -0.00426641 0.99971053 1.26246554] [ 0. 0. 0. 1. ]] SLAMing on 234.03255784400002 meters Centerline goodness : 0.153309 Centerline is valid? [False, False] Translation: X:2.79, Y:0.48, Z:1.26 [[ 0.99967356 0.0100762 -0.02347857 2.79169837] [-0.00997262 0.99994004 0.00452453 0.48120874] [ 0.02352275 -0.00428891 0.9997141 1.262651 ] [ 0. 0. 0. 1. ]] SLAMing on 234.06255784400003 meters Centerline goodness : 0.093216 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99732983e-01 1.54301378e-03 -2.30560554e-02 2.81167539e+00] [-1.42028930e-03 9.99984743e-01 5.33830200e-03 4.86828587e-01] [ 2.30639407e-02 -5.30413031e-03 9.99719921e-01 1.26362032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09255784400003 meters Centerline goodness : 0.173890 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99730413e-01 1.55072166e-03 -2.31667001e-02 2.81218325e+00] [-1.42587072e-03 9.99984377e-01 5.40478815e-03 4.86576878e-01] [ 2.31747195e-02 -5.37029837e-03 9.99717006e-01 1.26326815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122557844 meters Centerline goodness : 0.175172 Centerline is valid? [False, False] Translation: X:2.81, Y:0.49, Z:1.26 [[ 9.99730775e-01 1.24528706e-03 -2.31695173e-02 2.81221169e+00] [-1.11932720e-03 9.99984530e-01 5.44862215e-03 4.85497826e-01] [ 2.31759440e-02 -5.42122098e-03 9.99716703e-01 1.26338481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.152557844 meters Centerline goodness : 0.171208 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99732849e-01 1.23704204e-03 -2.30802853e-02 2.81182838e+00] [-1.10659491e-03 9.99983348e-01 5.66380170e-03 4.84207413e-01] [ 2.30869073e-02 -5.63674809e-03 9.99717571e-01 1.26379993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.182557844 meters Centerline goodness : 0.180080 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99737648e-01 1.24013011e-03 -2.28713097e-02 2.81111067e+00] [-1.10296751e-03 9.99981339e-01 6.00878686e-03 4.82301642e-01] [ 2.28783346e-02 -5.98198413e-03 9.99720360e-01 1.26431081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.212557844 meters Centerline goodness : 0.088292 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99739037e-01 1.27160563e-03 -2.28088023e-02 2.81083228e+00] [-1.13256381e-03 9.99980706e-01 6.10785425e-03 4.81859799e-01] [ 2.28161290e-02 -6.08042790e-03 9.99721187e-01 1.26455425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.242557844 meters Centerline goodness : 0.168344 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99743046e-01 1.31646717e-03 -2.26298031e-02 2.81034262e+00] [-1.17560759e-03 9.99979861e-01 6.23669317e-03 4.81212996e-01] [ 2.26375577e-02 -6.20848686e-03 9.99724460e-01 1.26463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.272557844 meters Centerline goodness : 0.162950 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99744994e-01 1.33838737e-03 -2.25422997e-02 2.81016535e+00] [-1.19623124e-03 9.99979323e-01 6.31849899e-03 4.80696983e-01] [ 2.25502902e-02 -6.28992193e-03 9.99725923e-01 1.26454814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302557844 meters Centerline goodness : 0.155512 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99746087e-01 1.39867663e-03 -2.24900968e-02 2.81014130e+00] [-1.25627679e-03 9.99979084e-01 6.34455095e-03 4.80644758e-01] [ 2.24985004e-02 -6.31468620e-03 9.99726934e-01 1.26429716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332557844 meters Centerline goodness : 0.149802 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99745978e-01 1.39828676e-03 -2.24949913e-02 2.81021612e+00] [-1.25794776e-03 9.99979667e-01 6.25161894e-03 4.81249455e-01] [ 2.25032755e-02 -6.22173337e-03 9.99727409e-01 1.26412597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362557844 meters Centerline goodness : 0.094993 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99744215e-01 1.37402967e-03 -2.25747036e-02 2.81059965e+00] [-1.23757590e-03 9.99980888e-01 6.05740237e-03 4.82269734e-01] [ 2.25825952e-02 -6.02791507e-03 9.99726808e-01 1.26372442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392557844 meters Centerline goodness : 0.092344 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99743990e-01 1.31253588e-03 -2.25883070e-02 2.81070786e+00] [-1.18177950e-03 9.99982475e-01 5.80105119e-03 4.83494864e-01] [ 2.25955253e-02 -5.77287167e-03 9.99728021e-01 1.26345349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422557844 meters Centerline goodness : 0.148911 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99748381e-01 1.27363380e-03 -2.23953744e-02 2.81015835e+00] [-1.14921454e-03 9.99983841e-01 5.56757132e-03 4.84717572e-01] [ 2.24021035e-02 -5.54043332e-03 9.99733689e-01 1.26339782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452557844 meters Centerline goodness : 0.147205 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99749246e-01 1.29512258e-03 -2.23555047e-02 2.80994236e+00] [-1.16899057e-03 9.99983331e-01 5.65424746e-03 4.84374658e-01] [ 2.23624550e-02 -5.62669626e-03 9.99734095e-01 1.26358728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482557844 meters Centerline goodness : 0.131484 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99749924e-01 1.39089881e-03 -2.23193822e-02 2.80987143e+00] [-1.25903701e-03 9.99981679e-01 5.92091535e-03 4.83154987e-01] [ 2.23272087e-02 -5.89133374e-03 9.99733358e-01 1.26361504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512557844 meters Centerline goodness : 0.207595 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99735842e-01 1.07619971e-03 -2.29584024e-02 2.81173932e+00] [-9.32356516e-04 9.99979876e-01 6.27516765e-03 4.79827761e-01] [ 2.29646937e-02 -6.25210460e-03 9.99716727e-01 1.26335423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54255784400002 meters Centerline goodness : 0.086371 Centerline is valid? [False, False] Translation: X:2.81, Y:0.48, Z:1.26 [[ 9.99730717e-01 1.05661226e-03 -2.31813885e-02 2.81234590e+00] [-8.98884117e-04 9.99976384e-01 6.81345061e-03 4.76577463e-01] [ 2.31880402e-02 -6.79077848e-03 9.99708057e-01 1.26346981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57255784400002 meters Centerline goodness : 0.173646 Centerline is valid? [False, False] Translation: X:2.81, Y:0.47, Z:1.26 [[ 0.99973041 -0.00285019 -0.02304307 2.8116407 ] [ 0.00292643 0.99999035 0.00327582 0.47479073] [ 0.02303351 -0.00334237 0.99972911 1.2640209 ] [ 0. 0. 0. 1. ]] SLAMing on 234.60255784400002 meters Centerline goodness : 0.220778 Centerline is valid? [False, False] Translation: X:2.81, Y:0.47, Z:1.26 [[ 9.99718230e-01 -6.41499857e-03 -2.28540867e-02 2.81087210e+00] [ 6.43741372e-03 9.99978868e-01 9.07358310e-04 4.67054917e-01] [ 2.28477830e-02 -1.05422385e-03 9.99738399e-01 1.26475341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63255784400002 meters Centerline goodness : 0.147151 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:1.26 [[ 9.99715415e-01 -6.18723915e-03 -2.30392636e-02 2.81158978e+00] [ 6.23223807e-03 9.99978809e-01 1.88184956e-03 4.62021299e-01] [ 2.30271319e-02 -2.02490019e-03 9.99732790e-01 1.26458738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66255784400002 meters Centerline goodness : 0.170440 Centerline is valid? [False, False] Translation: X:2.81, Y:0.46, Z:1.26 [[ 0.99970964 -0.00590225 -0.02336223 2.81275126] [ 0.00597047 0.99997811 0.00285119 0.45712078] [ 0.02334489 -0.00298984 0.999723 1.26420522] [ 0. 0. 0. 1. ]] SLAMing on 234.69255784400002 meters Centerline goodness : 0.148203 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 0.99970285 -0.00561593 -0.02372052 2.81408042] [ 0.00570396 0.99997709 0.00364546 0.45315802] [ 0.02369951 -0.00377968 0.99971198 1.26364181] [ 0. 0. 0. 1. ]] SLAMing on 234.72255784400002 meters Centerline goodness : 0.147464 Centerline is valid? [False, False] Translation: X:2.82, Y:0.45, Z:1.26 [[ 0.99968721 -0.00512775 -0.02447812 2.81679913] [ 0.00524683 0.9999747 0.00480285 0.44709009] [ 0.02445288 -0.00492978 0.99968883 1.26258059] [ 0. 0. 0. 1. ]] SLAMing on 234.75255784400002 meters Centerline goodness : 0.157199 Centerline is valid? [False, False] Translation: X:2.82, Y:0.45, Z:1.26 [[ 0.9996849 -0.00491444 -0.02461585 2.81737586] [ 0.00504422 0.99997369 0.00521288 0.4452588 ] [ 0.02458958 -0.00533541 0.99968339 1.26222655] [ 0. 0. 0. 1. ]] SLAMing on 234.78255784400002 meters Centerline goodness : 0.088240 Centerline is valid? [False, False] Translation: X:2.82, Y:0.44, Z:1.26 [[ 0.99968708 -0.00473437 -0.02456271 2.81731376] [ 0.00487126 0.99997292 0.00551621 0.44394168] [ 0.02453592 -0.00563414 0.99968307 1.26211966] [ 0. 0. 0. 1. ]] SLAMing on 234.81255784400003 meters Centerline goodness : 0.086697 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99969914 0.00422119 -0.02416204 2.8377001 ] [-0.0041084 0.99998044 0.00471574 0.44004851] [ 0.02418147 -0.00461505 0.99969693 1.2639888 ] [ 0. 0. 0. 1. ]] SLAMing on 234.84255784400003 meters Centerline goodness : 0.146160 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99970052 0.00431568 -0.02408831 2.83756625] [-0.00420454 0.99998029 0.00466232 0.44052104] [ 0.02410796 -0.00455964 0.99969896 1.26378714] [ 0. 0. 0. 1. ]] SLAMing on 234.872557844 meters Centerline goodness : 0.142688 Centerline is valid? [False, False] Translation: X:2.84, Y:0.44, Z:1.26 [[ 0.99970053 0.00446032 -0.02406131 2.83752819] [-0.00435186 0.99998014 0.00455838 0.44150118] [ 0.02408116 -0.0044523 0.99970009 1.26357614] [ 0. 0. 0. 1. ]] SLAMing on 234.902557844 meters Centerline goodness : 0.141699 Centerline is valid? [False, False] Translation: X:2.79, Y:0.44, Z:1.26 [[ 0.99974916 0.00690586 -0.02130532 2.79245885] [-0.00679399 0.99996278 0.00531869 0.44007186] [ 0.02134126 -0.00517261 0.99975887 1.26214692] [ 0. 0. 0. 1. ]] SLAMing on 234.932557844 meters Centerline goodness : 0.111486 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99798259e-01 -1.13630838e-03 -2.00537035e-02 2.81020823e+00] [ 1.26365222e-03 9.99979112e-01 6.33861211e-03 4.46543164e-01] [ 2.00460820e-02 -6.36267425e-03 9.99778811e-01 1.26366204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.962557844 meters Centerline goodness : 0.110304 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99802635e-01 -1.16392394e-03 -1.98326976e-02 2.80956672e+00] [ 1.28736964e-03 9.99979872e-01 6.21272245e-03 4.47263077e-01] [ 1.98250673e-02 -6.23702829e-03 9.99784010e-01 1.26373531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.992557844 meters Centerline goodness : 0.141583 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99803610e-01 -1.21346393e-03 -1.97804990e-02 2.80973483e+00] [ 1.33320396e-03 9.99980862e-01 6.04137587e-03 4.48153949e-01] [ 1.97727894e-02 -6.06656084e-03 9.99786094e-01 1.26314332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.022557844 meters Centerline goodness : 0.139884 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99800027e-01 -1.24525324e-03 -1.99588290e-02 2.81041428e+00] [ 1.36504825e-03 9.99981130e-01 5.98960652e-03 4.48252505e-01] [ 1.99509938e-02 -6.01565352e-03 9.99782861e-01 1.26275629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052557844 meters Centerline goodness : 0.133889 Centerline is valid? [False, False] Translation: X:2.83, Y:0.45, Z:1.26 [[ 0.99975995 0.00659651 -0.02089307 2.83142397] [-0.00649459 0.9999667 0.00494218 0.44520967] [ 0.02092498 -0.0048053 0.9997695 1.26449998] [ 0. 0. 0. 1. ]] SLAMing on 235.082557844 meters Centerline goodness : 0.133889 Centerline is valid? [False, False] Translation: X:2.83, Y:0.45, Z:1.26 [[ 0.99975995 0.00659651 -0.02089307 2.83142397] [-0.00649459 0.9999667 0.00494218 0.44520967] [ 0.02092498 -0.0048053 0.9997695 1.26449998] [ 0. 0. 0. 1. ]] SLAMing on 235.112557844 meters Centerline goodness : 0.112944 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99771556e-01 -1.78222221e-03 -2.12992940e-02 2.81043916e+00] [ 1.91283959e-03 9.99979482e-01 6.11367560e-03 4.47873759e-01] [ 2.12879610e-02 -6.15302110e-03 9.99754451e-01 1.26296780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142557844 meters Centerline goodness : 0.124516 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99775562e-01 -1.75478198e-03 -2.11127104e-02 2.80981042e+00] [ 1.88681270e-03 9.99978780e-01 6.23531880e-03 4.47360708e-01] [ 2.11013207e-02 -6.27375509e-03 9.99757658e-01 1.26326065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172557844 meters Centerline goodness : 0.110202 Centerline is valid? [False, False] Translation: X:2.81, Y:0.45, Z:1.26 [[ 9.99778481e-01 -1.73689289e-03 -2.09755016e-02 2.80937907e+00] [ 1.87053614e-03 9.99978067e-01 6.35345894e-03 4.46790895e-01] [ 2.09640063e-02 -6.39128697e-03 9.99759802e-01 1.26344175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202557844 meters Centerline goodness : 0.140480 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.26 [[ 0.99977993 0.00611281 -0.02006826 2.82918189] [-0.00600979 0.99996847 0.00519003 0.44360574] [ 0.02009935 -0.00506828 0.99978514 1.26485792] [ 0. 0. 0. 1. ]] SLAMing on 235.232557844 meters Centerline goodness : 0.140235 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.26 [[ 0.99977683 0.00609313 -0.0202278 2.82953665] [-0.00598775 0.99996821 0.00526583 0.44307409] [ 0.02025925 -0.00514354 0.99978153 1.26496131] [ 0. 0. 0. 1. ]] SLAMing on 235.262557844 meters Centerline goodness : 0.108842 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.9997751 0.00612658 -0.02030306 2.82965839] [-0.00601901 0.99996755 0.00535541 0.44277892] [ 0.02033521 -0.005232 0.99977953 1.26511762] [ 0. 0. 0. 1. ]] SLAMing on 235.29255784400002 meters Centerline goodness : 0.125043 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99977471 0.00615928 -0.02031242 2.82968095] [-0.00604935 0.99996675 0.00546935 0.4422927 ] [ 0.02034543 -0.00534524 0.99977872 1.26514266] [ 0. 0. 0. 1. ]] SLAMing on 235.32255784400002 meters Centerline goodness : 0.139936 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99977444 0.00618986 -0.02031634 2.82955527] [-0.00607621 0.99996557 0.00565116 0.44131091] [ 0.02035062 -0.00552644 0.99977763 1.26543878] [ 0. 0. 0. 1. ]] SLAMing on 235.35255784400002 meters Centerline goodness : 0.143233 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99980218 0.00319629 -0.0196314 2.82587403] [-0.00313651 0.99999035 0.00307521 0.43814116] [ 0.01964104 -0.00301303 0.99980256 1.26771604] [ 0. 0. 0. 1. ]] SLAMing on 235.38255784400002 meters Centerline goodness : 0.142506 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.99980334 0.00329606 -0.01955556 2.82552042] [-0.00322992 0.99998896 0.00341246 0.43657174] [ 0.01956659 -0.00334863 0.99980295 1.26808185] [ 0. 0. 0. 1. ]] SLAMing on 235.41255784400002 meters Centerline goodness : 0.110913 Centerline is valid? [False, False] Translation: X:2.83, Y:0.44, Z:1.27 [[ 0.9998019 0.00340434 -0.01961033 2.82572847] [-0.00333187 0.9999875 0.00372702 0.43511505] [ 0.01962278 -0.00366094 0.99980075 1.26803263] [ 0. 0. 0. 1. ]] SLAMing on 235.44255784400002 meters Centerline goodness : 0.134488 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790857e-01 2.63850753e-04 -2.04492925e-02 2.82891097e+00] [-2.49416562e-04 9.99999718e-01 7.08400107e-04 4.33093891e-01] [ 2.04494737e-02 -7.03151558e-04 9.99790640e-01 1.26667178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47255784400002 meters Centerline goodness : 0.136198 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790674e-01 3.20726809e-04 -2.04574116e-02 2.82894759e+00] [-3.01951677e-04 9.99999530e-01 9.20849041e-04 4.31855942e-01] [ 2.04576973e-02 -9.14479134e-04 9.99790301e-01 1.26666201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50255784400002 meters Centerline goodness : 0.112088 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99790237e-01 3.75226438e-04 -2.04778019e-02 2.82896218e+00] [-3.53046059e-04 9.99999347e-01 1.08674705e-03 4.30930630e-01] [ 2.04781963e-02 -1.07928948e-03 9.99789717e-01 1.26672551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53255784400002 meters Centerline goodness : 0.141029 Centerline is valid? [False, False] Translation: X:2.83, Y:0.43, Z:1.27 [[ 9.99787494e-01 4.56286586e-04 -2.06096541e-02 2.82934694e+00] [-4.30261978e-04 9.99999105e-01 1.26715531e-03 4.30067889e-01] [ 2.06102138e-02 -1.25801849e-03 9.99786796e-01 1.26666244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56255784400003 meters Centerline goodness : 0.112921 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99714271e-01 8.56829168e-03 -2.23150335e-02 2.81152668e+00] [-8.56930206e-03 9.99963282e-01 5.03477647e-05 4.22437410e-01] [ 2.23146455e-02 1.40890883e-04 9.99750987e-01 1.26425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59255784400003 meters Centerline goodness : 0.142139 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99711598e-01 8.65758524e-03 -2.24001598e-02 2.81187984e+00] [-8.65537243e-03 9.99962522e-01 1.95738314e-04 4.21822390e-01] [ 2.24010150e-02 -1.80013704e-06 9.99749066e-01 1.26399651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622557844 meters Centerline goodness : 0.136564 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99714228e-01 8.69832040e-03 -2.22665812e-02 2.81146681e+00] [-8.69412908e-03 9.99962165e-01 2.85034572e-04 4.21412676e-01] [ 2.22682180e-02 -9.13645867e-05 9.99752028e-01 1.26410006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.652557844 meters Centerline goodness : 0.136026 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99713941e-01 8.84499369e-03 -2.22216404e-02 2.81114370e+00] [-8.83258608e-03 9.99960776e-01 6.56446509e-04 4.19462999e-01] [ 2.22265750e-02 -4.59984175e-04 9.99752853e-01 1.26442541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.682557844 meters Centerline goodness : 0.134089 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99708830e-01 8.94447212e-03 -2.24109508e-02 2.81178145e+00] [-8.92592323e-03 9.99959733e-01 9.27567760e-04 4.18096028e-01] [ 2.24183450e-02 -7.27259254e-04 9.99748413e-01 1.26416154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.712557844 meters Centerline goodness : 0.143347 Centerline is valid? [False, False] Translation: X:2.81, Y:0.42, Z:1.26 [[ 9.99702888e-01 9.09506569e-03 -2.26144875e-02 2.81253497e+00] [-9.06757551e-03 9.99958020e-01 1.31784834e-03 4.16274122e-01] [ 2.26255241e-02 -1.11239821e-03 9.99743391e-01 1.26381619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.742557844 meters Centerline goodness : 0.136072 Centerline is valid? [False, False] Translation: X:2.79, Y:0.42, Z:1.26 [[ 9.99729758e-01 5.94484763e-04 -2.32391393e-02 2.79216349e+00] [-5.32343401e-04 9.99996267e-01 2.68009087e-03 4.16419967e-01] [ 2.32406458e-02 -2.66699539e-03 9.99726342e-01 1.26212022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.772557844 meters Centerline goodness : 0.108240 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99736061e-01 5.47824413e-03 -2.23113703e-02 2.81266816e+00] [-5.49901681e-03 9.99984502e-01 -8.69788969e-04 4.10884130e-01] [ 2.23062596e-02 9.92249998e-04 9.99750692e-01 1.26308387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802557844 meters Centerline goodness : 0.163905 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99732802e-01 5.61424295e-03 -2.24233283e-02 2.81301403e+00] [-5.62257850e-03 9.99984146e-01 -3.08705932e-04 4.07989350e-01] [ 2.24212396e-02 4.34700370e-04 9.99748518e-01 1.26307852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832557844 meters Centerline goodness : 0.142211 Centerline is valid? [False, False] Translation: X:2.81, Y:0.41, Z:1.26 [[ 9.99724478e-01 5.75681373e-03 -2.27558337e-02 2.81398937e+00] [-5.75299348e-03 9.99983424e-01 2.33342422e-04 4.05164245e-01] [ 2.27567998e-02 -1.02363968e-04 9.99741025e-01 1.26288045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862557844 meters Centerline goodness : 0.093764 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99718549e-01 5.96305943e-03 -2.29622365e-02 2.81478422e+00] [-5.94543999e-03 9.99981977e-01 8.35516090e-04 4.02308433e-01] [ 2.29668049e-02 -6.98760334e-04 9.99735984e-01 1.26249884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892557844 meters Centerline goodness : 0.094421 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99716556e-01 6.27829689e-03 -2.29649983e-02 2.81483510e+00] [-6.24277831e-03 9.99979205e-01 1.61800596e-03 3.98743190e-01] [ 2.29746791e-02 -1.47418195e-03 9.99734960e-01 1.26254647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922557844 meters Centerline goodness : 0.112702 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99719073e-01 6.36902749e-03 -2.28300503e-02 2.81422826e+00] [-6.32813956e-03 9.99978242e-01 1.86276859e-03 3.97482164e-01] [ 2.28414175e-02 -1.71777354e-03 9.99737625e-01 1.26301049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952557844 meters Centerline goodness : 0.143877 Centerline is valid? [False, False] Translation: X:2.81, Y:0.40, Z:1.26 [[ 9.99720634e-01 6.42492401e-03 -2.27458717e-02 2.81360744e+00] [-6.38016508e-03 9.99977566e-01 2.03980717e-03 3.96523494e-01] [ 2.27584670e-02 -1.89411490e-03 9.99739198e-01 1.26371888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982557844 meters Centerline goodness : 0.089719 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99720885e-01 6.60178305e-03 -2.26841123e-02 2.81337903e+00] [-6.54830810e-03 9.99975605e-01 2.43084776e-03 3.94800229e-01] [ 2.26996069e-02 -2.28162672e-03 9.99739727e-01 1.26382916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012557844 meters Centerline goodness : 0.091442 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99718430e-01 6.70165428e-03 -2.27628659e-02 2.81364286e+00] [-6.64246270e-03 9.99974361e-01 2.67497375e-03 3.93759519e-01] [ 2.27802090e-02 -2.52301907e-03 9.99737314e-01 1.26372896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04255784400002 meters Centerline goodness : 0.092220 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 0.99971734 0.00683055 -0.02277238 2.81370663] [-0.00676366 0.99997259 0.00301309 0.39215913] [ 0.02279233 -0.00285822 0.99973614 1.26370252] [ 0. 0. 0. 1. ]] SLAMing on 236.07255784400002 meters Centerline goodness : 0.148653 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99741651e-01 2.86709592e-03 -2.25479543e-02 2.81259308e+00] [-2.87714055e-03 9.99995776e-01 -4.13049874e-04 3.88872227e-01] [ 2.25466748e-02 4.77816797e-04 9.99745677e-01 1.26457492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10255784400002 meters Centerline goodness : 0.129685 Centerline is valid? [False, False] Translation: X:2.81, Y:0.39, Z:1.26 [[ 9.99741402e-01 2.95816572e-03 -2.25472477e-02 2.81243482e+00] [-2.95308823e-03 9.99995606e-01 2.58486289e-04 3.85231505e-01] [ 2.25479133e-02 -1.91835433e-04 9.99745745e-01 1.26492901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13255784400002 meters Centerline goodness : 0.085112 Centerline is valid? [False, False] Translation: X:2.83, Y:0.39, Z:1.27 [[ 9.99747084e-01 -5.52595493e-03 -2.17997911e-02 2.83368882e+00] [ 5.55837825e-03 9.99983534e-01 1.42700976e-03 3.86020290e-01] [ 2.17915465e-02 -1.54782033e-03 9.99761338e-01 1.26559202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16255784400002 meters Centerline goodness : 0.162284 Centerline is valid? [False, False] Translation: X:2.83, Y:0.38, Z:1.27 [[ 9.99746997e-01 -5.26504008e-03 -2.18682828e-02 2.83406357e+00] [ 5.31547084e-03 9.99983345e-01 2.24862728e-03 3.82106149e-01] [ 2.18560794e-02 -2.36429859e-03 9.99758332e-01 1.26539709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19255784400002 meters Centerline goodness : 0.103887 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:1.26 [[ 9.99784213e-01 -1.38484674e-04 -2.07727851e-02 2.81277733e+00] [ 1.31005768e-04 9.99999926e-01 -3.61394241e-04 3.69984673e-01] [ 2.07728337e-02 3.58594902e-04 9.99784157e-01 1.26417936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22255784400002 meters Centerline goodness : 0.144844 Centerline is valid? [False, False] Translation: X:2.83, Y:0.36, Z:1.27 [[ 0.99974827 0.00567716 -0.0217063 2.83421547] [-0.00575307 0.99997755 -0.00343646 0.36488628] [ 0.0216863 0.00356047 0.99975848 1.26553814] [ 0. 0. 0. 1. ]] SLAMing on 236.25255784400002 meters Centerline goodness : 0.139929 Centerline is valid? [False, False] Translation: X:2.83, Y:0.36, Z:1.27 [[ 0.99974259 0.0058625 -0.02191752 2.83478269] [-0.00592867 0.99997806 -0.00295513 0.36245009] [ 0.02189971 0.00308431 0.99975541 1.26552911] [ 0. 0. 0. 1. ]] SLAMing on 236.28255784400002 meters Centerline goodness : 0.224133 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99734290e-01 -2.40209414e-03 -2.29255341e-02 2.81536967e+00] [ 2.36775473e-03 9.99996034e-01 -1.52489463e-03 3.64296060e-01] [ 2.29291061e-02 1.47020741e-03 9.99736012e-01 1.26442056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31255784400003 meters Centerline goodness : 0.085305 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99734261e-01 -1.88575336e-03 -2.29749987e-02 2.81557964e+00] [ 1.86656596e-03 9.99997891e-01 -8.56559234e-04 3.61862054e-01] [ 2.29765655e-02 8.13447263e-04 9.99735673e-01 1.26422976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34255784400003 meters Centerline goodness : 0.190718 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:1.26 [[ 9.99737743e-01 -1.73613348e-03 -2.28348637e-02 2.81519541e+00] [ 1.72453671e-03 9.99998374e-01 -5.27536306e-04 3.60215847e-01] [ 2.28357424e-02 4.88018395e-04 9.99739111e-01 1.26428028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372557844 meters Centerline goodness : 0.186675 Centerline is valid? [False, False] Translation: X:2.81, Y:0.36, Z:1.26 [[ 9.99741269e-01 -1.59504618e-03 -2.26903252e-02 2.81475591e+00] [ 1.59149624e-03 9.99998718e-01 -1.74508758e-04 3.58371568e-01] [ 2.26905745e-02 1.38352039e-04 9.99742526e-01 1.26442997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.402557844 meters Centerline goodness : 0.146061 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.26 [[ 9.99743595e-01 -1.17999206e-03 -2.26130977e-02 2.81436232e+00] [ 1.19842708e-03 9.99998961e-01 8.01701653e-04 3.53913124e-01] [ 2.26121282e-02 -8.28596241e-04 9.99743970e-01 1.26479888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.432557844 meters Centerline goodness : 0.143160 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.26 [[ 9.99740899e-01 -9.44852047e-04 -2.27429479e-02 2.81466639e+00] [ 9.76408856e-04 9.99998576e-01 1.37647794e-03 3.51234338e-01] [ 2.27416150e-02 -1.39832771e-03 9.99740398e-01 1.26491372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.462557844 meters Centerline goodness : 0.137893 Centerline is valid? [False, False] Translation: X:2.81, Y:0.35, Z:1.27 [[ 9.99739430e-01 -7.47118461e-04 -2.28147825e-02 2.81472784e+00] [ 7.91020498e-04 9.99997853e-01 1.91531627e-03 3.48539825e-01] [ 2.28133025e-02 -1.93286416e-03 9.99737874e-01 1.26520805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.492557844 meters Centerline goodness : 0.094263 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99740066e-01 -4.77648509e-04 -2.27941104e-02 2.81438183e+00] [ 5.44131077e-04 9.99995616e-01 2.91054235e-03 3.43040395e-01] [ 2.27926202e-02 -2.92218879e-03 9.99735944e-01 1.26579025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.522557844 meters Centerline goodness : 0.145677 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99739030e-01 -2.27896801e-04 -2.28433823e-02 2.81456773e+00] [ 3.08928362e-04 9.99993673e-01 3.54380018e-03 3.40181453e-01] [ 2.28424301e-02 -3.54993232e-03 9.99732775e-01 1.26573780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552557844 meters Centerline goodness : 0.140654 Centerline is valid? [False, False] Translation: X:2.81, Y:0.34, Z:1.27 [[ 9.99737674e-01 5.11442941e-05 -2.29037315e-02 2.81481300e+00] [ 4.54419897e-05 9.99991109e-01 4.21651417e-03 3.37216727e-01] [ 2.29037435e-02 -4.21644886e-03 9.99728783e-01 1.26565751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582557844 meters Centerline goodness : 0.130663 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.27 [[ 9.99735879e-01 2.69429684e-04 -2.29804365e-02 2.81511241e+00] [-1.58643328e-04 9.99988359e-01 4.82258554e-03 3.34258592e-01] [ 2.29814683e-02 -4.81766610e-03 9.99724283e-01 1.26558874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612557844 meters Centerline goodness : 0.163329 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.27 [[ 9.99721109e-01 -3.32853542e-03 -2.33800042e-02 2.81636512e+00] [ 3.36550267e-03 9.99993148e-01 1.54197762e-03 3.31208717e-01] [ 2.33747115e-02 -1.62023304e-03 9.99725461e-01 1.26512630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642557844 meters Centerline goodness : 0.163428 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99715469e-01 -3.14058478e-03 -2.36456896e-02 2.81720801e+00] [ 3.18712332e-03 9.99993057e-01 1.93073281e-03 3.29444003e-01] [ 2.36394618e-02 -2.00554518e-03 9.99718537e-01 1.26485817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672557844 meters Centerline goodness : 0.136926 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99713702e-01 -2.96670977e-03 -2.37426396e-02 2.81756711e+00] [ 3.02010067e-03 9.99992990e-01 2.21319323e-03 3.28340284e-01] [ 2.37359073e-02 -2.28426475e-03 9.99715654e-01 1.26465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702557844 meters Centerline goodness : 0.228156 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99681998e-01 5.83991916e-03 -2.45315838e-02 2.79713623e+00] [-5.80001751e-03 9.99981739e-01 1.69738048e-03 3.23010294e-01] [ 2.45410484e-02 -1.55455710e-03 9.99697614e-01 1.26303924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732557844 meters Centerline goodness : 0.154492 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99684415e-01 5.81206262e-03 -2.44395137e-02 2.79686409e+00] [-5.77663860e-03 9.99982160e-01 1.51980728e-03 3.23914642e-01] [ 2.44479109e-02 -1.37814941e-03 9.99700155e-01 1.26304215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762557844 meters Centerline goodness : 0.277544 Centerline is valid? [False, False] Translation: X:2.80, Y:0.32, Z:1.26 [[ 9.99684418e-01 5.80177205e-03 -2.44418656e-02 2.79692096e+00] [-5.76970880e-03 9.99982400e-01 1.38213476e-03 3.24669791e-01] [ 2.44494542e-02 -1.24067613e-03 9.99700298e-01 1.26291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79255784400002 meters Centerline goodness : 0.287328 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99682816e-01 -1.08604748e-03 -2.51612256e-02 2.81515628e+00] [ 1.14596135e-03 9.99996542e-01 2.36690139e-03 3.31379305e-01] [ 2.51585680e-02 -2.39498444e-03 9.99680604e-01 1.26455343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82255784400002 meters Centerline goodness : 0.157182 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99681735e-01 -1.08407283e-03 -2.52042196e-02 2.81546311e+00] [ 1.14298878e-03 9.99996648e-01 2.32325430e-03 3.31734222e-01] [ 2.52016165e-02 -2.35132303e-03 9.99679624e-01 1.26416039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85255784400002 meters Centerline goodness : 0.151627 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99682235e-01 -1.06450475e-03 -2.51852427e-02 2.81531290e+00] [ 1.12531798e-03 9.99996485e-01 2.40058761e-03 3.31389607e-01] [ 2.51825987e-02 -2.42816619e-03 9.99679919e-01 1.26433714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88255784400002 meters Centerline goodness : 0.154563 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:1.26 [[ 9.99681555e-01 -1.05023137e-03 -2.52127923e-02 2.81522230e+00] [ 1.11410859e-03 9.99996205e-01 2.51961089e-03 3.30751633e-01] [ 2.52100504e-02 -2.54689832e-03 9.99678932e-01 1.26466354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91255784400002 meters Centerline goodness : 0.154627 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99686947e-01 -1.07191470e-03 -2.49971757e-02 2.81446039e+00] [ 1.14136759e-03 9.99995528e-01 2.76432762e-03 3.29246480e-01] [ 2.49941008e-02 -2.79199321e-03 9.99683700e-01 1.26513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94255784400002 meters Centerline goodness : 0.155978 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99691525e-01 -1.01904885e-03 -2.48156355e-02 2.81373560e+00] [ 1.09301052e-03 9.99995001e-01 2.96706463e-03 3.28186214e-01] [ 2.48124879e-02 -2.99327311e-03 9.99687642e-01 1.26563359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97255784400002 meters Centerline goodness : 0.236130 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99697551e-01 -9.46269682e-04 -2.45745860e-02 2.81280926e+00] [ 1.02517084e-03 9.99994360e-01 3.19828113e-03 3.27063881e-01] [ 2.45714209e-02 -3.22250696e-03 9.99692883e-01 1.26617861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00255784400002 meters Centerline goodness : 0.236130 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.27 [[ 9.99697551e-01 -9.46269682e-04 -2.45745860e-02 2.81280926e+00] [ 1.02517084e-03 9.99994360e-01 3.19828113e-03 3.27063881e-01] [ 2.45714209e-02 -3.22250696e-03 9.99692883e-01 1.26617861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03255784400002 meters Centerline goodness : 0.158998 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99700269e-01 -7.78042923e-04 -2.44696944e-02 2.81253297e+00] [ 8.68563179e-04 9.99992819e-01 3.68886946e-03 3.24711970e-01] [ 2.44666486e-02 -3.70901727e-03 9.99693766e-01 1.26629022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06255784400003 meters Centerline goodness : 0.288661 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99695873e-01 -7.06097694e-04 -2.46508399e-02 2.81329261e+00] [ 8.03127697e-04 9.99991969e-01 3.92649589e-03 3.23477956e-01] [ 2.46478694e-02 -3.94509950e-03 9.99688411e-01 1.26578703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09255784400003 meters Centerline goodness : 0.277590 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99691789e-01 -6.06697822e-04 -2.48185392e-02 2.81410419e+00] [ 7.11019197e-04 9.99990949e-01 4.19475622e-03 3.22099389e-01] [ 2.48157696e-02 -4.21110980e-03 9.99683172e-01 1.26517250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters Centerline goodness : 0.161800 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99689593e-01 -5.25525583e-04 -2.49086780e-02 2.81469877e+00] [ 6.35953647e-04 9.99990005e-01 4.42560270e-03 3.20825911e-01] [ 2.49061033e-02 -4.44006973e-03 9.99679935e-01 1.26458087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.152557844 meters Centerline goodness : 0.315939 Centerline is valid? [False, False] Translation: X:2.83, Y:0.32, Z:1.27 [[ 0.99967463 0.00791717 -0.02424767 2.83485051] [-0.00784093 0.99996402 0.00323776 0.31685003] [ 0.02427243 -0.00304658 0.99970074 1.26585502] [ 0. 0. 0. 1. ]] SLAMing on 237.182557844 meters Centerline goodness : 0.280321 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99694925e-01 2.70463044e-04 -2.46978343e-02 2.81264227e+00] [-1.42630971e-04 9.99986587e-01 5.17745630e-03 3.19528993e-01] [ 2.46989033e-02 -5.17235412e-03 9.99681555e-01 1.26499734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.212557844 meters Centerline goodness : 0.130215 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99692900e-01 2.52229164e-04 -2.47798797e-02 2.81311502e+00] [-1.29001887e-04 9.99987620e-01 4.97434904e-03 3.20667456e-01] [ 2.47808276e-02 -4.96962477e-03 9.99680556e-01 1.26447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.242557844 meters Centerline goodness : 0.134583 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99692551e-01 2.09282612e-04 -2.47943328e-02 2.81336241e+00] [-9.10936842e-05 9.99988630e-01 4.76780544e-03 3.21715876e-01] [ 2.47950487e-02 -4.76408097e-03 9.99681204e-01 1.26404443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.272557844 meters Centerline goodness : 0.155477 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99700614e-01 1.19375849e-04 -2.44676926e-02 2.81217981e+00] [-1.02279465e-05 9.99990050e-01 4.46097547e-03 3.23118881e-01] [ 2.44679817e-02 -4.45938966e-03 9.99690668e-01 1.26447066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302557844 meters Centerline goodness : 0.136734 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99702143e-01 6.51145886e-05 -2.44053406e-02 2.81195429e+00] [ 4.08988173e-05 9.99990567e-01 4.34333663e-03 3.23641417e-01] [ 2.44053932e-02 -4.34304108e-03 9.99692710e-01 1.26454184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332557844 meters Centerline goodness : 0.135338 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99698868e-01 5.75148820e-06 -2.45392227e-02 2.81244596e+00] [ 9.86006849e-05 9.99990959e-01 4.25125240e-03 3.24023069e-01] [ 2.45390252e-02 -4.25239180e-03 9.99689829e-01 1.26426153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362557844 meters Centerline goodness : 0.165754 Centerline is valid? [False, False] Translation: X:2.77, Y:0.32, Z:1.26 [[ 9.99619455e-01 -9.62207286e-04 -2.75684315e-02 2.76843045e+00] [ 1.08231830e-03 9.99989987e-01 4.34224128e-03 3.20983289e-01] [ 2.75639773e-02 -4.37042668e-03 9.99610487e-01 1.26409651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392557844 meters Centerline goodness : 0.157845 Centerline is valid? [False, False] Translation: X:2.81, Y:0.33, Z:1.26 [[ 9.99661594e-01 -1.89819408e-03 -2.59440770e-02 2.81367084e+00] [ 1.97560632e-03 9.99993672e-01 2.95850535e-03 3.25135129e-01] [ 2.59382971e-02 -3.00875946e-03 9.99659018e-01 1.26410459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422557844 meters Centerline goodness : 0.157932 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.26 [[ 9.99664447e-01 -1.95583599e-03 -2.58295832e-02 2.81313516e+00] [ 2.03380468e-03 9.99993454e-01 2.99265528e-03 3.24806235e-01] [ 2.58235610e-02 -3.04418341e-03 9.99661881e-01 1.26453031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452557844 meters Centerline goodness : 0.258417 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99666618e-01 -1.97598895e-03 -2.57439102e-02 2.81256034e+00] [ 2.05576697e-03 9.99993166e-01 3.07281091e-03 3.24352302e-01] [ 2.57376624e-02 -3.12470997e-03 9.99663848e-01 1.26517106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482557844 meters Centerline goodness : 0.118364 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99671332e-01 -2.29560233e-03 -2.55334803e-02 2.81182083e+00] [ 2.37729378e-03 9.99992151e-01 3.16949069e-03 3.23085069e-01] [ 2.55260040e-02 -3.22914956e-03 9.99668943e-01 1.26564872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512557844 meters Centerline goodness : 0.162046 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99667469e-01 -2.29834526e-03 -2.56840379e-02 2.81217650e+00] [ 2.38444109e-03 9.99991639e-01 3.32199093e-03 3.22169430e-01] [ 2.56761880e-02 -3.38212834e-03 9.99664591e-01 1.26574129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54255784400002 meters Centerline goodness : 0.358314 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99661680e-01 -2.29701541e-03 -2.59084654e-02 2.81269085e+00] [ 2.38894501e-03 9.99990959e-01 3.51785157e-03 3.21006637e-01] [ 2.59001506e-02 -3.57855532e-03 9.99658130e-01 1.26588775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57255784400002 meters Centerline goodness : 0.160560 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99654372e-01 -2.29997783e-03 -2.61886755e-02 2.81340375e+00] [ 2.39836500e-03 9.99990182e-01 3.72606879e-03 3.19729684e-01] [ 2.61798485e-02 -3.78759096e-03 9.99650074e-01 1.26592712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60255784400002 meters Centerline goodness : 0.160990 Centerline is valid? [False, False] Translation: X:2.81, Y:0.32, Z:1.27 [[ 9.99649860e-01 -2.23512985e-03 -2.63659055e-02 2.81382480e+00] [ 2.34287714e-03 9.99989028e-01 4.05643130e-03 3.18014795e-01] [ 2.63565496e-02 -4.11678306e-03 9.99644129e-01 1.26601174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63255784400002 meters Centerline goodness : 0.145397 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:1.27 [[ 9.99675452e-01 -2.42171596e-03 -2.53599409e-02 2.81089906e+00] [ 2.53896678e-03 9.99986232e-01 4.59228788e-03 3.14513304e-01] [ 2.53484706e-02 -4.65518551e-03 9.99667837e-01 1.26698836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66255784400002 meters Centerline goodness : 0.123318 Centerline is valid? [False, False] Translation: X:2.81, Y:0.31, Z:1.27 [[ 9.99679773e-01 -2.31320515e-03 -2.51992287e-02 2.81037202e+00] [ 2.44180805e-03 9.99984147e-01 5.07387100e-03 3.12072388e-01] [ 2.51870923e-02 -5.13377789e-03 9.99669573e-01 1.26728535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69255784400002 meters Centerline goodness : 0.130872 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:1.27 [[ 9.99684502e-01 3.57517385e-03 -2.48619025e-02 2.83156779e+00] [-3.53089380e-03 9.99992102e-01 1.82471137e-03 3.08230648e-01] [ 2.48682298e-02 -1.73635094e-03 9.99689230e-01 1.26777176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72255784400002 meters Centerline goodness : 0.132065 Centerline is valid? [False, False] Translation: X:2.83, Y:0.31, Z:1.27 [[ 9.99680497e-01 3.73378290e-03 -2.49992692e-02 2.83210763e+00] [-3.67647753e-03 9.99990509e-01 2.33785165e-03 3.05587099e-01] [ 2.50077609e-02 -2.24519545e-03 9.99684736e-01 1.26745800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75255784400002 meters Centerline goodness : 0.111462 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971599 -0.00425397 -0.0234486 2.85223478] [ 0.00433996 0.99998404 0.00361769 0.3046113 ] [ 0.02343283 -0.00371843 0.9997185 1.26845094] [ 0. 0. 0. 1. ]] SLAMing on 237.78255784400002 meters Centerline goodness : 0.130571 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971777 -0.00409212 -0.02340148 2.85193076] [ 0.00418602 0.99998338 0.00396465 0.30303121] [ 0.02338487 -0.00406149 0.99971829 1.26880372] [ 0. 0. 0. 1. ]] SLAMing on 237.81255784400003 meters Centerline goodness : 0.174008 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971998 -0.00399307 -0.02332399 2.85172758] [ 0.00409041 0.99998312 0.00412716 0.30234105] [ 0.02330711 -0.00422141 0.99971944 1.26883705] [ 0. 0. 0. 1. ]] SLAMing on 237.84255784400003 meters Centerline goodness : 0.171285 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:1.27 [[ 0.99971737 -0.0039345 -0.02344573 2.85231831] [ 0.0040323 0.99998336 0.00412581 0.30244278] [ 0.02342911 -0.00421918 0.9997166 1.26832756] [ 0. 0. 0. 1. ]] SLAMing on 237.872557844 meters Centerline goodness : 0.127180 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:1.27 [[ 0.99967747 0.00608399 -0.02465637 2.87714175] [-0.00598454 0.99997367 0.00410522 0.30093728] [ 0.0246807 -0.00395634 0.99968756 1.26781694] [ 0. 0. 0. 1. ]] SLAMing on 237.902557844 meters Centerline goodness : 0.146624 Centerline is valid? [False, False] Translation: X:2.88, Y:0.30, Z:1.27 [[ 0.99967405 0.00609539 -0.02479208 2.8777702 ] [-0.00600256 0.9999747 0.00381709 0.302481 ] [ 0.02481472 -0.00366703 0.99968534 1.26726243] [ 0. 0. 0. 1. ]] SLAMing on 237.932557844 meters Centerline goodness : 0.130479 Centerline is valid? [False, False] Translation: X:2.83, Y:0.30, Z:1.27 [[ 0.99960309 0.00589528 -0.02754821 2.83201396] [-0.00578414 0.99997482 0.0041125 0.3010449 ] [ 0.02757176 -0.00395153 0.99961202 1.26784439] [ 0. 0. 0. 1. ]] SLAMing on 237.962557844 meters Centerline goodness : 0.140807 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962409 0.00748451 -0.02637529 2.87573239] [-0.00738838 0.99996571 0.00374008 0.30615657] [ 0.02640238 -0.0035438 0.99964511 1.26910273] [ 0. 0. 0. 1. ]] SLAMing on 237.992557844 meters Centerline goodness : 0.126929 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962097 0.00742295 -0.02651079 2.87633848] [-0.0073316 0.99996685 0.00354111 0.3071819 ] [ 0.02653619 -0.0033454 0.99964226 1.26861388] [ 0. 0. 0. 1. ]] SLAMing on 238.022557844 meters Centerline goodness : 0.127914 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962026 0.00735147 -0.02655742 2.87670595] [-0.00726514 0.99996801 0.00334556 0.30815028] [ 0.02658116 -0.00315134 0.99964169 1.26813797] [ 0. 0. 0. 1. ]] SLAMing on 238.052557844 meters Centerline goodness : 0.171237 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 0.99962159 0.00727835 -0.02652754 2.87663865] [-0.007196 0.99996899 0.00319856 0.30880565] [ 0.02655 -0.00300646 0.99964297 1.26810021] [ 0. 0. 0. 1. ]] SLAMing on 238.082557844 meters Centerline goodness : 0.147547 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 9.99629113e-01 7.13448283e-03 -2.62818444e-02 2.87544767e+00] [-7.06089052e-03 9.99970890e-01 2.89186006e-03 3.10267928e-01] [ 2.63017113e-02 -2.70521429e-03 9.99650390e-01 1.26901870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112557844 meters Centerline goodness : 0.124630 Centerline is valid? [False, False] Translation: X:2.88, Y:0.31, Z:1.27 [[ 9.99631918e-01 7.05138294e-03 -2.61974522e-02 2.87510030e+00] [-6.98338148e-03 9.99972008e-01 2.68631207e-03 3.11331987e-01] [ 2.62156611e-02 -2.50237648e-03 9.99653178e-01 1.26918927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142557844 meters Centerline goodness : 0.139253 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99638517e-01 9.11322661e-06 -2.68856118e-02 2.89345754e+00] [ 9.57157820e-05 9.99992399e-01 3.89778520e-03 3.18595425e-01] [ 2.68854429e-02 -3.89894959e-03 9.99630917e-01 1.27155738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172557844 meters Centerline goodness : 0.126230 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99637251e-01 -9.17307338e-05 -2.69324893e-02 2.89377651e+00] [ 1.90809504e-04 9.99993224e-01 3.67623560e-03 3.19707098e-01] [ 2.69319695e-02 -3.68004103e-03 9.99630495e-01 1.27120602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202557844 meters Centerline goodness : 0.122043 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99635320e-01 -2.12291951e-04 -2.70033838e-02 2.89427466e+00] [ 3.06204961e-04 9.99993920e-01 3.47373627e-03 3.20524483e-01] [ 2.70024822e-02 -3.48073804e-03 9.99629307e-01 1.27065834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232557844 meters Centerline goodness : 0.266986 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99635068e-01 -2.38658950e-04 -2.70124829e-02 2.89421774e+00] [ 3.32227593e-04 9.99993961e-01 3.45946887e-03 3.20504311e-01] [ 2.70114942e-02 -3.46718069e-03 9.99629110e-01 1.27079469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262557844 meters Centerline goodness : 0.282166 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99633348e-01 -2.90116546e-04 -2.70755578e-02 2.89420264e+00] [ 3.81399949e-04 9.99994261e-01 3.36632869e-03 3.20929754e-01] [ 2.70744258e-02 -3.37542103e-03 9.99627722e-01 1.27110829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29255784400002 meters Centerline goodness : 0.378573 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99631559e-01 -3.29084788e-04 -2.71410613e-02 2.89424208e+00] [ 4.18338310e-04 9.99994524e-01 3.28289267e-03 3.21403152e-01] [ 2.71398323e-02 -3.29303726e-03 9.99626223e-01 1.27125198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32255784400002 meters Centerline goodness : 0.166885 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99630713e-01 -3.83281543e-04 -2.71715031e-02 2.89448767e+00] [ 4.68812492e-04 9.99994956e-01 3.14151763e-03 3.22288250e-01] [ 2.71701619e-02 -3.15309585e-03 9.99625850e-01 1.27093419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35255784400002 meters Centerline goodness : 0.214223 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:1.27 [[ 9.99641833e-01 8.10221553e-03 -2.55060773e-02 2.91442243e+00] [-8.05209833e-03 9.99965445e-01 2.06700633e-03 3.19778386e-01] [ 2.55219432e-02 -1.86088855e-03 9.99672530e-01 1.27155785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38255784400002 meters Centerline goodness : 0.160534 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:1.27 [[ 9.99685189e-01 -6.94251622e-04 -2.50806716e-02 2.89350692e+00] [ 7.65546423e-04 9.99995694e-01 2.83312940e-03 3.24288765e-01] [ 2.50785967e-02 -2.85143792e-03 9.99681416e-01 1.27012344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41255784400002 meters Centerline goodness : 0.146330 Centerline is valid? [False, False] Translation: X:2.89, Y:0.33, Z:1.27 [[ 9.99687874e-01 -7.32002850e-04 -2.49723445e-02 2.89321838e+00] [ 7.98919308e-04 9.99996117e-01 2.66975083e-03 3.25184342e-01] [ 2.49702933e-02 -2.68886842e-03 9.99684577e-01 1.27009963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44255784400002 meters Centerline goodness : 0.327210 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99726210e-01 6.22338484e-04 -2.33905578e-02 2.93837187e+00] [-5.61609369e-04 9.99996455e-01 2.60278840e-03 3.29328770e-01] [ 2.33920947e-02 -2.58893943e-03 9.99723015e-01 1.27006709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47255784400002 meters Centerline goodness : 0.132687 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99704412e-01 8.11358292e-03 -2.29184969e-02 2.91903856e+00] [-8.08724680e-03 9.99966527e-01 1.24157447e-03 3.23608077e-01] [ 2.29278034e-02 -1.05585994e-03 9.99736566e-01 1.26780753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50255784400002 meters Centerline goodness : 0.290950 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712878e-01 8.12051396e-03 -2.25436900e-02 2.91765959e+00] [-8.09418207e-03 9.99966449e-01 1.25904200e-03 3.23334520e-01] [ 2.25531577e-02 -1.07620777e-03 9.99745066e-01 1.26849709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53255784400002 meters Centerline goodness : 0.253236 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99713385e-01 8.12624711e-03 -2.25191598e-02 2.91758448e+00] [-8.10052913e-03 9.99966430e-01 1.23303515e-03 3.23520948e-01] [ 2.25284238e-02 -1.05026464e-03 9.99745651e-01 1.26847600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56255784400003 meters Centerline goodness : 0.362959 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712690e-01 8.12169857e-03 -2.25515992e-02 2.91774293e+00] [-8.09741288e-03 9.99966533e-01 1.16800354e-03 3.23942939e-01] [ 2.25603307e-02 -9.85058353e-04 9.99744998e-01 1.26831255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59255784400003 meters Centerline goodness : 0.158847 Centerline is valid? [False, False] Translation: X:2.92, Y:0.32, Z:1.27 [[ 9.99712591e-01 8.09876506e-03 -2.25642498e-02 2.91781141e+00] [-8.07642546e-03 9.99966801e-01 1.08100044e-03 3.24417976e-01] [ 2.25722555e-02 -8.98451265e-04 9.99744810e-01 1.26820856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62255784400003 meters Centerline goodness : 0.126906 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99742922e-01 2.53017451e-04 -2.26721501e-02 2.93779002e+00] [-2.16292545e-04 9.99998661e-01 1.62226216e-03 3.29743476e-01] [ 2.26725302e-02 -1.61694130e-03 9.99741638e-01 1.26931401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.652557844 meters Centerline goodness : 0.289106 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99740772e-01 2.71047810e-04 -2.27665347e-02 2.93812172e+00] [-2.32466189e-04 9.99998533e-01 1.69729323e-03 3.29211399e-01] [ 2.27669613e-02 -1.69156079e-03 9.99739368e-01 1.26914001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.682557844 meters Centerline goodness : 0.208941 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99738961e-01 3.41709887e-04 -2.28449611e-02 2.93830025e+00] [-2.97793707e-04 9.99998101e-01 1.92573173e-03 3.28037682e-01] [ 2.28455757e-02 -1.91842595e-03 9.99737165e-01 1.26918058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.712557844 meters Centerline goodness : 0.127960 Centerline is valid? [False, False] Translation: X:2.94, Y:0.33, Z:1.27 [[ 9.99738668e-01 4.55081994e-04 -2.28558375e-02 2.93819366e+00] [-4.04360924e-04 9.99997446e-01 2.22374614e-03 3.26731159e-01] [ 2.28567911e-02 -2.21392300e-03 9.99736298e-01 1.26941741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.742557844 meters Centerline goodness : 0.123245 Centerline is valid? [False, False] Translation: X:2.96, Y:0.33, Z:1.27 [[ 0.9997463 -0.00745802 -0.02125332 2.95786692] [ 0.00753749 0.99996489 0.00366154 0.32815136] [ 0.02122526 -0.00382081 0.99976742 1.2712331 ] [ 0. 0. 0. 1. ]] SLAMing on 238.772557844 meters Centerline goodness : 0.126802 Centerline is valid? [False, False] Translation: X:2.96, Y:0.33, Z:1.27 [[ 0.99974957 -0.00731478 -0.02114937 2.95740426] [ 0.00740408 0.99996399 0.00414714 0.32567139] [ 0.02111828 -0.00430269 0.99976773 1.27164058] [ 0. 0. 0. 1. ]] SLAMing on 238.802557844 meters Centerline goodness : 0.126681 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975314 -0.00715619 -0.02103447 2.957058 ] [ 0.00725482 0.99996303 0.00461629 0.32332667] [ 0.02100066 -0.00476775 0.99976809 1.27183092] [ 0. 0. 0. 1. ]] SLAMing on 238.832557844 meters Centerline goodness : 0.128068 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975599 -0.00685891 -0.02099808 2.95709415] [ 0.00697217 0.99996151 0.00532559 0.31999941] [ 0.02096074 -0.0054707 0.99976533 1.27170108] [ 0. 0. 0. 1. ]] SLAMing on 238.862557844 meters Centerline goodness : 0.126886 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975744 -0.00676574 -0.02095908 2.95697436] [ 0.00688313 0.999961 0.00553384 0.31902504] [ 0.02092082 -0.00567676 0.99976502 1.27175163] [ 0. 0. 0. 1. ]] SLAMing on 238.892557844 meters Centerline goodness : 0.126886 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975744 -0.00676574 -0.02095908 2.95697436] [ 0.00688313 0.999961 0.00553384 0.31902504] [ 0.02092082 -0.00567676 0.99976502 1.27175163] [ 0. 0. 0. 1. ]] SLAMing on 238.922557844 meters Centerline goodness : 0.125209 Centerline is valid? [False, False] Translation: X:2.96, Y:0.32, Z:1.27 [[ 0.99975669 -0.00665392 -0.0210304 2.95707403] [ 0.00677721 0.99996023 0.0057964 0.31767779] [ 0.02099099 -0.00593751 0.99976203 1.27191318] [ 0. 0. 0. 1. ]] SLAMing on 238.952557844 meters Centerline goodness : 0.130504 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:1.27 [[ 9.99775472e-01 8.92400038e-04 -2.11709298e-02 2.93797532e+00] [-7.91495645e-04 9.99988291e-01 4.77407737e-03 3.09516892e-01] [ 2.11749422e-02 -4.75624876e-03 9.99764472e-01 1.27013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982557844 meters Centerline goodness : 0.128927 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:1.27 [[ 9.99777432e-01 1.18620113e-03 -2.10637115e-02 2.93759481e+00] [-1.06908771e-03 9.99983914e-01 5.57035175e-03 3.05682873e-01] [ 2.10699802e-02 -5.54659302e-03 9.99762617e-01 1.27040192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012557844 meters Centerline goodness : 0.127502 Centerline is valid? [False, False] Translation: X:2.94, Y:0.30, Z:1.27 [[ 9.99779542e-01 1.38742396e-03 -2.09509667e-02 2.93720258e+00] [-1.26083172e-03 9.99980878e-01 6.05431129e-03 3.03547879e-01] [ 2.09589659e-02 -6.02656093e-03 9.99762173e-01 1.27062583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04255784400002 meters Centerline goodness : 0.123478 Centerline is valid? [False, False] Translation: X:2.94, Y:0.30, Z:1.27 [[ 9.99781660e-01 1.59179642e-03 -2.08350194e-02 2.93680372e+00] [-1.45573361e-03 9.99977528e-01 6.54402472e-03 3.01372308e-01] [ 2.08449680e-02 -6.51226566e-03 9.99761510e-01 1.27083399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07255784400002 meters Centerline goodness : 0.134085 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99761781e-01 -4.41324251e-04 -2.18217149e-02 2.94127391e+00] [ 5.55070913e-04 9.99986291e-01 5.20676234e-03 2.94835465e-01] [ 2.18191179e-02 -5.21763459e-03 9.99748320e-01 1.26878561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10255784400002 meters Centerline goodness : 0.127997 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99751588e-01 -2.94278901e-04 -2.22862053e-02 2.94259781e+00] [ 4.25709084e-04 9.99982546e-01 5.89286359e-03 2.91011057e-01] [ 2.22840821e-02 -5.90088718e-03 9.99734264e-01 1.26858707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13255784400002 meters Centerline goodness : 0.130158 Centerline is valid? [False, False] Translation: X:2.94, Y:0.29, Z:1.27 [[ 9.99742310e-01 -1.66634398e-04 -2.26999222e-02 2.94361984e+00] [ 3.16812268e-04 9.99978088e-01 6.61235226e-03 2.86884865e-01] [ 2.26983230e-02 -6.61783994e-03 9.99720456e-01 1.26867884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16255784400002 meters Centerline goodness : 0.160353 Centerline is valid? [False, False] Translation: X:2.97, Y:0.28, Z:1.27 [[ 0.99974502 0.00584193 -0.02181227 2.96523379] [-0.0057687 0.99997752 0.00341829 0.28192414] [ 0.02183175 -0.00329159 0.99975624 1.26893259] [ 0. 0. 0. 1. ]] SLAMing on 239.19255784400002 meters Centerline goodness : 0.127718 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.99973366 0.00638951 -0.02217597 2.96635284] [-0.00628341 0.99996849 0.0048508 0.27471381] [ 0.02220627 -0.00471017 0.99974231 1.26868857] [ 0. 0. 0. 1. ]] SLAMing on 239.22255784400002 meters Centerline goodness : 0.131166 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.99972811 0.00669795 -0.02233479 2.96708829] [-0.00657653 0.99996322 0.00550553 0.27187907] [ 0.02237085 -0.00535715 0.99973539 1.2683097 ] [ 0. 0. 0. 1. ]] SLAMing on 239.25255784400002 meters Centerline goodness : 0.131998 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:1.27 [[ 0.9997214 0.0069455 -0.02255854 2.96779452] [-0.00681138 0.9999587 0.00601648 0.26944917] [ 0.02259939 -0.00586115 0.99972742 1.26825725] [ 0. 0. 0. 1. ]] SLAMing on 239.28255784400002 meters Centerline goodness : 0.136873 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:1.27 [[ 0.99975115 0.00769476 -0.02093868 3.01442779] [-0.00758894 0.99995805 0.00512853 0.26822091] [ 0.02097726 -0.00496835 0.99976761 1.26758356] [ 0. 0. 0. 1. ]] SLAMing on 239.31255784400003 meters Centerline goodness : 0.156239 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:1.27 [[ 0.99974798 0.00781576 -0.0210448 3.01485434] [-0.0077049 0.99995604 0.00534362 0.26720727] [ 0.02108564 -0.00518012 0.99976425 1.26732992] [ 0. 0. 0. 1. ]] SLAMing on 239.34255784400003 meters Centerline goodness : 0.124344 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.27 [[ 9.99755031e-01 -5.28024410e-04 -2.21268711e-02 2.99763622e+00] [ 6.79862006e-04 9.99976272e-01 6.85517531e-03 2.71800018e-01] [ 2.21227263e-02 -6.86853923e-03 9.99731668e-01 1.26555808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37255784400003 meters Centerline goodness : 0.121833 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99753960e-01 -4.58986450e-04 -2.21767436e-02 2.99809912e+00] [ 6.11176686e-04 9.99976308e-01 6.85631486e-03 2.71954840e-01] [ 2.21730712e-02 -6.86818185e-03 9.99730555e-01 1.26492132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.402557844 meters Centerline goodness : 0.124034 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757829e-01 -2.73064289e-04 -2.20047236e-02 2.99801872e+00] [ 4.23826236e-04 9.99976469e-01 6.84697234e-03 2.72512217e-01] [ 2.20023362e-02 -6.85464038e-03 9.99734420e-01 1.26422191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.432557844 meters Centerline goodness : 0.147820 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99762866e-01 -2.59210979e-04 -2.17748402e-02 2.99743052e+00] [ 4.06689638e-04 9.99977009e-01 6.76873758e-03 2.73079355e-01] [ 2.17725850e-02 -6.77598809e-03 9.99739986e-01 1.26419147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.462557844 meters Centerline goodness : 0.130498 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99767970e-01 -2.48612527e-04 -2.15393449e-02 2.99672013e+00] [ 3.93724505e-04 9.99977255e-01 6.73308672e-03 2.73427022e-01] [ 2.15371810e-02 -6.74000502e-03 9.99745329e-01 1.26435793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.492557844 meters Centerline goodness : 0.138647 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99769568e-01 -2.64399304e-04 -2.14648809e-02 2.99645023e+00] [ 4.08728584e-04 9.99977338e-01 6.71986437e-03 2.73447665e-01] [ 2.14626177e-02 -6.72708920e-03 9.99747019e-01 1.26450605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.522557844 meters Centerline goodness : 0.125249 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99765627e-01 -3.34228736e-04 -2.16466765e-02 2.99699885e+00] [ 4.82499702e-04 9.99976458e-01 6.84473437e-03 2.72104566e-01] [ 2.16438792e-02 -6.85357467e-03 9.99742252e-01 1.26439137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552557844 meters Centerline goodness : 0.120189 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99763303e-01 -2.86067704e-04 -2.17544329e-02 2.99737595e+00] [ 4.39576919e-04 9.99975038e-01 7.05200226e-03 2.70970042e-01] [ 2.17518725e-02 -7.05989582e-03 9.99738473e-01 1.26420894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582557844 meters Centerline goodness : 0.127736 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99758518e-01 -2.16321167e-04 -2.19740350e-02 2.99807065e+00] [ 3.76607565e-04 9.99973353e-01 7.29047801e-03 2.69804698e-01] [ 2.19718723e-02 -7.29699308e-03 9.99731959e-01 1.26398406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612557844 meters Centerline goodness : 0.127850 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99751405e-01 -1.60137346e-04 -2.22958097e-02 2.99921198e+00] [ 3.27767956e-04 9.99971708e-01 7.51502912e-03 2.68641333e-01] [ 2.22939755e-02 -7.52046877e-03 9.99723172e-01 1.26345470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642557844 meters Centerline goodness : 0.132343 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99751691e-01 -1.66979616e-04 -2.22829307e-02 2.99912264e+00] [ 3.34567866e-04 9.99971688e-01 7.51740889e-03 2.68590089e-01] [ 2.22810446e-02 -7.52299740e-03 9.99723442e-01 1.26356041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672557844 meters Centerline goodness : 0.138520 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99754667e-01 -1.96415695e-04 -2.21487661e-02 2.99867418e+00] [ 3.61172695e-04 9.99972296e-01 7.43489876e-03 2.69067135e-01] [ 2.21466922e-02 -7.44107426e-03 9.99727040e-01 1.26370287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702557844 meters Centerline goodness : 0.119948 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757451e-01 -2.47989220e-04 -2.20221895e-02 2.99819512e+00] [ 4.08115343e-04 9.99973512e-01 7.26692973e-03 2.70060476e-01] [ 2.20198040e-02 -7.27415474e-03 9.99731071e-01 1.26394690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732557844 meters Centerline goodness : 0.129186 Centerline is valid? [False, False] Translation: X:3.00, Y:0.27, Z:1.26 [[ 9.99757830e-01 -4.64397010e-04 -2.20014789e-02 2.99861547e+00] [ 6.11293223e-04 9.99977566e-01 6.67039679e-03 2.72763043e-01] [ 2.19978876e-02 -6.68223078e-03 9.99735685e-01 1.26304120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762557844 meters Centerline goodness : 0.124563 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99798773e-01 3.58280853e-04 -2.00570439e-02 3.04257149e+00] [-2.46845579e-04 9.99984523e-01 5.55811717e-03 2.78175728e-01] [ 2.00587249e-02 -5.55204773e-03 9.99783388e-01 1.26293968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79255784400002 meters Centerline goodness : 0.150576 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99802244e-01 2.90664331e-04 -1.98843715e-02 3.04189567e+00] [-1.83784458e-04 9.99985529e-01 5.37668543e-03 2.79098849e-01] [ 1.98856466e-02 -5.37196772e-03 9.99787829e-01 1.26328728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82255784400002 meters Centerline goodness : 0.125713 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99807549e-01 2.80256126e-04 -1.96159774e-02 3.04089651e+00] [-1.76554593e-04 9.99986002e-01 5.28811723e-03 2.79804879e-01] [ 1.96171848e-02 -5.28363624e-03 9.99793603e-01 1.26378309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85255784400002 meters Centerline goodness : 0.128739 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.26 [[ 0.99979574 0.00905408 -0.01806931 3.06095376] [-0.00897598 0.99995004 0.0043985 0.2777903 ] [ 0.01810823 -0.00423541 0.99982706 1.26459364] [ 0. 0. 0. 1. ]] SLAMing on 239.88255784400002 meters Centerline goodness : 0.129942 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99796658e-01 -7.53590074e-04 -2.01512981e-02 3.04135102e+00] [ 8.50027243e-04 9.99988226e-01 4.77751832e-03 2.80581194e-01] [ 2.01474605e-02 -4.79367600e-03 9.99785527e-01 1.26426876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91255784400002 meters Centerline goodness : 0.126556 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99791352e-01 -7.58073843e-04 -2.04126852e-02 3.04191887e+00] [ 8.58809684e-04 9.99987495e-01 4.92664879e-03 2.79597755e-01] [ 2.04086952e-02 -4.94315147e-03 9.99779501e-01 1.26444070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94255784400002 meters Centerline goodness : 0.142536 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99790605e-01 -7.24576973e-04 -2.04504436e-02 3.04190771e+00] [ 8.28324559e-04 9.99986829e-01 5.06510688e-03 2.78898294e-01] [ 2.04465042e-02 -5.08098588e-03 9.99778037e-01 1.26460711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97255784400002 meters Centerline goodness : 0.125409 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:1.26 [[ 9.99793338e-01 -6.45710239e-04 -2.03190412e-02 3.04138696e+00] [ 7.52184766e-04 9.99986025e-01 5.23292913e-03 2.78332446e-01] [ 2.03153783e-02 -5.24713136e-03 9.99779852e-01 1.26495355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00255784400002 meters Centerline goodness : 0.122461 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.27 [[ 0.99982846 0.00769886 -0.01684549 3.05996174] [-0.00762909 0.99996207 0.00420189 0.27515245] [ 0.0168772 -0.00407265 0.99984928 1.26548088] [ 0. 0. 0. 1. ]] SLAMing on 240.03255784400002 meters Centerline goodness : 0.152478 Centerline is valid? [False, False] Translation: X:3.06, Y:0.27, Z:1.27 [[ 0.99982859 0.00769679 -0.01683871 3.05968789] [-0.00762631 0.99996191 0.00424545 0.27475383] [ 0.01687075 -0.0041163 0.99984921 1.26591986] [ 0. 0. 0. 1. ]] SLAMing on 240.06255784400003 meters Centerline goodness : 0.122141 Centerline is valid? [False, False] Translation: X:3.06, Y:0.27, Z:1.27 [[ 0.99982775 0.00769277 -0.01689058 3.05990144] [-0.0076226 0.99996207 0.00421479 0.2748428 ] [ 0.01692237 -0.00408532 0.99984846 1.26585037] [ 0. 0. 0. 1. ]] SLAMing on 240.09255784400003 meters Centerline goodness : 0.141193 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:1.26 [[ 0.99981063 0.00806754 -0.01770935 3.06282881] [-0.00799426 0.9999592 0.00420493 0.27589864] [ 0.01774255 -0.00406256 0.99983434 1.26458167] [ 0. 0. 0. 1. ]] SLAMing on 240.12255784400003 meters Centerline goodness : 0.132475 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:1.26 [[ 0.99974377 0.00765885 -0.02130089 3.01955002] [-0.00756486 0.99996131 0.00448958 0.27442469] [ 0.02133445 -0.00432729 0.99976303 1.26487762] [ 0. 0. 0. 1. ]] SLAMing on 240.152557844 meters Centerline goodness : 0.120250 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 0.99976654 0.0091716 -0.0195639 3.06519266] [-0.00909538 0.99995071 0.00398109 0.27981928] [ 0.01959944 -0.00380222 0.99980068 1.26415946] [ 0. 0. 0. 1. ]] SLAMing on 240.182557844 meters Centerline goodness : 0.126152 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99806884e-01 7.01774349e-04 -1.96393133e-02 3.04594508e+00] [-5.98864822e-04 9.99986064e-01 5.24536655e-03 2.85619920e-01] [ 1.96427207e-02 -5.23259229e-03 9.99793370e-01 1.26202342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.212557844 meters Centerline goodness : 0.121916 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99808446e-01 5.59731006e-04 -1.95641783e-02 3.04588958e+00] [-4.65473109e-04 9.99988265e-01 4.82210348e-03 2.87655970e-01] [ 1.95666478e-02 -4.81207319e-03 9.99796975e-01 1.26170145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.242557844 meters Centerline goodness : 0.141557 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99803296e-01 2.50315746e-04 -1.98319471e-02 3.04696693e+00] [-1.69459741e-04 9.99991668e-01 4.07863392e-03 2.90894241e-01] [ 1.98328028e-02 -4.07447092e-03 9.99795008e-01 1.26093698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.272557844 meters Centerline goodness : 0.130440 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99800414e-01 1.17915594e-04 -1.99779216e-02 3.04734317e+00] [-4.16176511e-05 9.99992705e-01 3.81948586e-03 2.91906239e-01] [ 1.99782262e-02 -3.81789211e-03 9.99793126e-01 1.26089303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302557844 meters Centerline goodness : 0.160779 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99799513e-01 2.57821375e-05 -2.00233104e-02 3.04735597e+00] [ 4.74909801e-05 9.99993305e-01 3.65890666e-03 2.92581561e-01] [ 2.00232706e-02 -3.65912403e-03 9.99792818e-01 1.26102721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332557844 meters Centerline goodness : 0.131946 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99807295e-01 -9.74544927e-05 -1.96306932e-02 3.04609238e+00] [ 1.67901321e-04 9.99993553e-01 3.58699007e-03 2.92940391e-01] [ 1.96302170e-02 -3.58959486e-03 9.99800865e-01 1.26150919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362557844 meters Centerline goodness : 0.128389 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99808474e-01 -1.58398150e-04 -1.95701129e-02 3.04582081e+00] [ 2.27760707e-04 9.99993701e-01 3.54213252e-03 2.93042807e-01] [ 1.95694286e-02 -3.54591141e-03 9.99802212e-01 1.26169779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392557844 meters Centerline goodness : 0.124296 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99806139e-01 -2.51490011e-04 -1.96880953e-02 3.04622285e+00] [ 3.19118190e-04 9.99994060e-01 3.43191187e-03 2.93304488e-01] [ 1.96871153e-02 -3.43752939e-03 9.99800280e-01 1.26147789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422557844 meters Centerline goodness : 0.129139 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99787335e-01 -5.35845170e-04 -2.06154524e-02 3.04872632e+00] [ 6.05591881e-04 9.99994114e-01 3.37713068e-03 2.92763497e-01] [ 2.06135215e-02 -3.38889704e-03 9.99781775e-01 1.26115908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452557844 meters Centerline goodness : 0.132158 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99786662e-01 -4.24349600e-04 -2.06506784e-02 3.04862444e+00] [ 5.01675116e-04 9.99992883e-01 3.73941756e-03 2.91186408e-01] [ 2.06489446e-02 -3.74897973e-03 9.99779759e-01 1.26150537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482557844 meters Centerline goodness : 0.131901 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99789934e-01 -3.22248844e-04 -2.04934908e-02 3.04790031e+00] [ 4.06367036e-04 9.99991510e-01 4.10059787e-03 2.89596614e-01] [ 2.04919954e-02 -4.10806435e-03 9.99781577e-01 1.26211880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512557844 meters Centerline goodness : 0.133387 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.26 [[ 9.99794070e-01 -2.68686997e-04 -2.02915254e-02 3.04704939e+00] [ 3.58173666e-04 9.99990227e-01 4.40654581e-03 2.88065458e-01] [ 2.02901431e-02 -4.41290626e-03 9.99784395e-01 1.26278519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54255784400002 meters Centerline goodness : 0.131143 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99854861e-01 4.24301983e-03 -1.65001289e-02 3.06859266e+00] [-4.23675528e-03 9.99990939e-01 4.14604488e-04 2.86668317e-01] [ 1.65017385e-02 -3.44637305e-04 9.99863778e-01 1.26221493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57255784400002 meters Centerline goodness : 0.157103 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99857055e-01 4.30888678e-03 -1.63494086e-02 3.06783120e+00] [-4.29949459e-03 9.99990571e-01 6.09572957e-04 2.85787008e-01] [ 1.63518810e-02 -5.39191628e-04 9.99866154e-01 1.26287909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60255784400002 meters Centerline goodness : 0.127216 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99859910e-01 4.38382471e-03 -1.61536966e-02 3.06717840e+00] [-4.37158876e-03 9.99990130e-01 7.92704189e-04 2.85075445e-01] [ 1.61570122e-02 -7.21975821e-04 9.99869206e-01 1.26310997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63255784400002 meters Centerline goodness : 0.148669 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99861911e-01 4.43968446e-03 -1.60140085e-02 3.06669863e+00] [-4.42567650e-03 9.99989793e-01 9.10064811e-04 2.84681990e-01] [ 1.60178854e-02 -8.39066320e-04 9.99871353e-01 1.26333210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66255784400002 meters Centerline goodness : 0.144257 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99889513e-01 -3.64432639e-03 -1.44110983e-02 3.08568235e+00] [ 3.67060099e-03 9.99991648e-01 1.79719042e-03 2.89720122e-01] [ 1.44044284e-02 -1.84988925e-03 9.99894540e-01 1.26440649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69255784400002 meters Centerline goodness : 0.144976 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99890839e-01 -3.61843778e-03 -1.43253655e-02 3.08527162e+00] [ 3.64584137e-03 9.99991573e-01 1.88728897e-03 2.89100913e-01] [ 1.43184158e-02 -1.93931097e-03 9.99895606e-01 1.26472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72255784400002 meters Centerline goodness : 0.128336 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99891533e-01 -3.48387819e-03 -1.43103203e-02 3.08541311e+00] [ 3.51444198e-03 9.99991596e-01 2.11119465e-03 2.88104182e-01] [ 1.43028449e-02 -2.16125845e-03 9.99895373e-01 1.26445084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75255784400002 meters Centerline goodness : 0.131521 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99891005e-01 -3.39107730e-03 -1.43693625e-02 3.08574988e+00] [ 3.42455960e-03 9.99991477e-01 2.30615222e-03 2.87171011e-01] [ 1.43614197e-02 -2.35510960e-03 9.99894096e-01 1.26412918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78255784400002 meters Centerline goodness : 0.151054 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99888675e-01 -3.33984520e-03 -1.45424501e-02 3.08637123e+00] [ 3.37602040e-03 9.99991266e-01 2.46372082e-03 2.86239747e-01] [ 1.45340946e-02 -2.51254215e-03 9.99891218e-01 1.26382385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81255784400003 meters Centerline goodness : 0.151054 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99888675e-01 -3.33984520e-03 -1.45424501e-02 3.08637123e+00] [ 3.37602040e-03 9.99991266e-01 2.46372082e-03 2.86239747e-01] [ 1.45340946e-02 -2.51254215e-03 9.99891218e-01 1.26382385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84255784400003 meters Centerline goodness : 0.159049 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 9.99883760e-01 -3.28273443e-03 -1.48892432e-02 3.08742150e+00] [ 3.32239458e-03 9.99990997e-01 2.63972528e-03 2.85203683e-01] [ 1.48804436e-02 -2.68888638e-03 9.99885665e-01 1.26355630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87255784400003 meters Centerline goodness : 0.156223 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99861848e-01 4.50112081e-03 -1.60007545e-02 3.06804631e+00] [-4.47332939e-03 9.99988424e-01 1.77224831e-03 2.77562327e-01] [ 1.60085464e-02 -1.70042682e-03 9.99870409e-01 1.26218714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.902557844 meters Centerline goodness : 0.126842 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99892889e-01 5.64496886e-03 -1.35034868e-02 3.11098000e+00] [-5.62387917e-03 9.99982907e-01 1.59925912e-03 2.79213609e-01] [ 1.35122838e-02 -1.52314585e-03 9.99907545e-01 1.26246684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.932557844 meters Centerline goodness : 0.119605 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99910716e-01 -3.09406814e-03 -1.29994823e-02 3.09104188e+00] [ 3.12513393e-03 9.99992308e-01 2.37013771e-03 2.83748322e-01] [ 1.29920489e-02 -2.41055122e-03 9.99912694e-01 1.26128845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.962557844 meters Centerline goodness : 0.120588 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99911913e-01 -3.06061462e-03 -1.29150637e-02 3.09081560e+00] [ 3.09240706e-03 9.99992236e-01 2.44240397e-03 2.83356446e-01] [ 1.29074882e-02 -2.48212746e-03 9.99913614e-01 1.26132819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.992557844 meters Centerline goodness : 0.151529 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99908345e-01 -3.01250808e-03 -1.31994830e-02 3.09215394e+00] [ 3.04445141e-03 9.99992484e-01 2.40061958e-03 2.83593230e-01] [ 1.31921519e-02 -2.44058474e-03 9.99910001e-01 1.26018985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.022557844 meters Centerline goodness : 0.134680 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99903638e-01 -3.00974764e-03 -1.35519439e-02 3.09355160e+00] [ 3.04096286e-03 9.99992769e-01 2.28335857e-03 2.84327212e-01] [ 1.35449736e-02 -2.32434950e-03 9.99905561e-01 1.25924731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052557844 meters Centerline goodness : 0.119188 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:1.26 [[ 9.99898185e-01 -3.02562827e-03 -1.39450970e-02 3.09507599e+00] [ 3.05586358e-03 9.99993025e-01 2.14736933e-03 2.85061215e-01] [ 1.39385026e-02 -2.18976501e-03 9.99900457e-01 1.25823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082557844 meters Centerline goodness : 0.139140 Centerline is valid? [False, False] Translation: X:3.10, Y:0.29, Z:1.26 [[ 9.99894996e-01 -3.07239075e-03 -1.41618355e-02 3.09597169e+00] [ 3.10162706e-03 9.99993103e-01 2.04294281e-03 2.85451339e-01] [ 1.41554611e-02 -2.08665302e-03 9.99897629e-01 1.25759755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112557844 meters Centerline goodness : 0.127183 Centerline is valid? [False, False] Translation: X:3.10, Y:0.28, Z:1.26 [[ 9.99895426e-01 -3.01691480e-03 -1.41433484e-02 3.09549883e+00] [ 3.04913414e-03 9.99992804e-01 2.25704657e-03 2.84244669e-01] [ 1.41364373e-02 -2.29993551e-03 9.99897430e-01 1.25830584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142557844 meters Centerline goodness : 0.136099 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99899281e-01 -2.90114666e-03 -1.38928497e-02 3.09456826e+00] [ 2.93695253e-03 9.99992417e-01 2.55757947e-03 2.82963974e-01] [ 1.38853245e-02 -2.59812452e-03 9.99900219e-01 1.25883751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172557844 meters Centerline goodness : 0.125212 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99899228e-01 -2.78173936e-03 -1.39210641e-02 3.09458868e+00] [ 2.82230998e-03 9.99991825e-01 2.89553649e-03 2.81381101e-01] [ 1.39128956e-02 -2.93453426e-03 9.99898905e-01 1.25897372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202557844 meters Centerline goodness : 0.134826 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99898595e-01 -2.71195459e-03 -1.39801365e-02 3.09473009e+00] [ 2.75679913e-03 9.99991114e-01 3.18945960e-03 2.79808847e-01] [ 1.39713626e-02 -3.22767660e-03 9.99897186e-01 1.25900857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232557844 meters Centerline goodness : 0.218675 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99898452e-01 -2.56880888e-03 -1.40173838e-02 3.09481154e+00] [ 2.62066978e-03 9.99989785e-01 3.68264257e-03 2.77106571e-01] [ 1.40077806e-02 -3.71900354e-03 9.99894970e-01 1.25908825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262557844 meters Centerline goodness : 0.138017 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99900345e-01 -2.48629228e-03 -1.38966949e-02 3.09457890e+00] [ 2.53912727e-03 9.99989611e-01 3.78563321e-03 2.76872325e-01] [ 1.38871383e-02 -3.82054143e-03 9.99896270e-01 1.25897443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29255784400002 meters Centerline goodness : 0.121679 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99894694e-01 6.75148953e-03 -1.28459070e-02 3.11494225e+00] [-6.71181694e-03 9.99972580e-01 3.12895439e-03 2.74345104e-01] [ 1.28666798e-02 -3.04240552e-03 9.99912592e-01 1.25931051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32255784400002 meters Centerline goodness : 0.120139 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99893765e-01 6.73070023e-03 -1.29288919e-02 3.11538531e+00] [-6.69226109e-03 9.99973064e-01 3.01408569e-03 2.74896859e-01] [ 1.29488305e-02 -2.92724197e-03 9.99911876e-01 1.25894672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35255784400002 meters Centerline goodness : 0.134830 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99890705e-01 6.65097178e-03 -1.32038503e-02 3.11625306e+00] [-6.61446242e-03 9.99974185e-01 2.80680115e-03 2.75588721e-01] [ 1.32221774e-02 -2.71915801e-03 9.99908886e-01 1.25872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38255784400002 meters Centerline goodness : 0.118812 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99885008e-01 6.65040732e-03 -1.36287462e-02 3.11728245e+00] [-6.61829659e-03 9.99975219e-01 2.39985195e-03 2.77831699e-01] [ 1.36443685e-02 -2.30937691e-03 9.99904244e-01 1.25877465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41255784400002 meters Centerline goodness : 0.146063 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99885356e-01 6.63209906e-03 -1.36120967e-02 3.11725416e+00] [-6.60286702e-03 9.99975800e-01 2.19132492e-03 2.79202224e-01] [ 1.36263004e-02 -2.10119483e-03 9.99904950e-01 1.25872470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44255784400002 meters Centerline goodness : 0.122669 Centerline is valid? [False, False] Translation: X:3.10, Y:0.28, Z:1.26 [[ 9.99894369e-01 -2.27941263e-03 -1.43546071e-02 3.09659740e+00] [ 2.32564658e-03 9.99992160e-01 3.20497590e-03 2.84458630e-01] [ 1.43471891e-02 -3.23802110e-03 9.99891831e-01 1.25784580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47255784400002 meters Centerline goodness : 0.129721 Centerline is valid? [False, False] Translation: X:3.12, Y:0.29, Z:1.26 [[ 9.99935840e-01 4.26562717e-03 -1.04937931e-02 3.11583044e+00] [-4.26437105e-03 9.99990897e-01 1.42073859e-04 2.85947112e-01] [ 1.04943036e-02 -9.73153159e-05 9.99944929e-01 1.25714246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50255784400002 meters Centerline goodness : 0.122381 Centerline is valid? [False, False] Translation: X:3.11, Y:0.29, Z:1.26 [[ 9.99940961e-01 4.20830581e-03 -1.00182487e-02 3.11429795e+00] [-4.20627940e-03 9.99991129e-01 2.23333742e-04 2.85333228e-01] [ 1.00190997e-02 -1.81181003e-04 9.99949791e-01 1.25778166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53255784400002 meters Centerline goodness : 0.150686 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99944072e-01 4.15918995e-03 -9.72385762e-03 3.11332199e+00] [-4.15553997e-03 9.99991287e-01 3.95537126e-04 2.84229151e-01] [ 9.72541802e-03 -3.55107125e-04 9.99952644e-01 1.25823759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56255784400003 meters Centerline goodness : 0.135967 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99944392e-01 4.14996870e-03 -9.69489981e-03 3.11316548e+00] [-4.14376361e-03 9.99991197e-01 6.60035679e-04 2.82741079e-01] [ 9.69755359e-03 -6.19825603e-04 9.99952786e-01 1.25842840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59255784400003 meters Centerline goodness : 0.246086 Centerline is valid? [False, False] Translation: X:3.11, Y:0.28, Z:1.26 [[ 9.99949441e-01 1.82120526e-04 -1.00539290e-02 3.11459920e+00] [-2.12355707e-04 9.99995458e-01 -3.00631444e-03 2.81062191e-01] [ 1.00533358e-02 3.00829746e-03 9.99944939e-01 1.25764018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62255784400003 meters Centerline goodness : 0.149406 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99944141e-01 1.88678322e-04 -1.05678747e-02 3.11600640e+00] [-2.17702992e-04 9.99996208e-01 -2.74541715e-03 2.79299890e-01] [ 1.05673167e-02 2.74756445e-03 9.99940390e-01 1.25748905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.652557844 meters Centerline goodness : 0.123796 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99941916e-01 3.05914124e-04 -1.07736622e-02 3.11652701e+00] [-3.31613528e-04 9.99997104e-01 -2.38368608e-03 2.77462764e-01] [ 1.07729018e-02 2.38712031e-03 9.99939121e-01 1.25749166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.682557844 meters Centerline goodness : 0.123688 Centerline is valid? [False, False] Translation: X:3.12, Y:0.28, Z:1.26 [[ 9.99942567e-01 4.31913282e-04 -1.07087402e-02 3.11633802e+00] [-4.54414585e-04 9.99997694e-01 -2.09886505e-03 2.76235022e-01] [ 1.07078090e-02 2.10361071e-03 9.99940457e-01 1.25753889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.712557844 meters Centerline goodness : 0.136658 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99946863e-01 6.89952957e-04 -1.02856762e-02 3.11503683e+00] [-7.07347916e-04 9.99998326e-01 -1.68764088e-03 2.74778576e-01] [ 1.02844946e-02 1.69482676e-03 9.99945677e-01 1.25794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.742557844 meters Centerline goodness : 0.220589 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99947289e-01 7.69284254e-04 -1.02384996e-02 3.11482110e+00] [-7.84899149e-04 9.99998535e-01 -1.52118471e-03 2.73946263e-01] [ 1.02373143e-02 1.52914072e-03 9.99946428e-01 1.25811297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.772557844 meters Centerline goodness : 0.145804 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99947543e-01 8.62762370e-04 -1.02062634e-02 3.11475753e+00] [-8.75764311e-04 9.99998811e-01 -1.26951712e-03 2.72635562e-01] [ 1.02051560e-02 1.27838881e-03 9.99947109e-01 1.25810481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802557844 meters Centerline goodness : 0.127089 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99946900e-01 1.15680715e-03 -1.02400397e-02 3.11512429e+00] [-1.16162423e-03 9.99999217e-01 -4.64480853e-04 2.68634410e-01] [ 1.02394943e-02 4.76351268e-04 9.99947462e-01 1.25762334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832557844 meters Centerline goodness : 0.180669 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99945306e-01 1.29451039e-03 -1.03782933e-02 3.11561318e+00] [-1.29475735e-03 9.99999162e-01 -1.70771141e-05 2.66331645e-01] [ 1.03782625e-02 3.05135516e-05 9.99946144e-01 1.25740398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862557844 meters Centerline goodness : 0.078208 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99942514e-01 1.44388503e-03 -1.06246621e-02 3.11623074e+00] [-1.43926472e-03 9.99998866e-01 4.42499968e-04 2.63991503e-01] [ 1.06252889e-02 -4.27182829e-04 9.99943459e-01 1.25743596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892557844 meters Centerline goodness : 0.081082 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:1.26 [[ 9.99897781e-01 8.79200052e-03 -1.12751460e-02 3.09835245e+00] [-8.80523689e-03 9.99960600e-01 -1.12483794e-03 2.54035804e-01] [ 1.12648122e-02 1.22400329e-03 9.99935801e-01 1.25600868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922557844 meters Centerline goodness : 0.081754 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:1.26 [[ 9.99891783e-01 9.03931483e-03 -1.16065758e-02 3.09938057e+00] [-9.04784511e-03 9.99958834e-01 -6.82652309e-04 2.52152038e-01] [ 1.15999273e-02 7.87592935e-04 9.99932408e-01 1.25584115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952557844 meters Centerline goodness : 0.151199 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99925033e-01 1.86452284e-03 -1.21017706e-02 3.11802808e+00] [-1.85423918e-03 9.99997910e-01 8.60929345e-04 2.59209860e-01] [ 1.21033506e-02 -8.38425226e-04 9.99926400e-01 1.25689660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982557844 meters Centerline goodness : 0.161958 Centerline is valid? [False, False] Translation: X:3.07, Y:0.26, Z:1.26 [[ 9.99884936e-01 1.03727818e-03 -1.51340493e-02 3.07378694e+00] [-1.01120823e-03 9.99997992e-01 1.73015274e-03 2.55160516e-01] [ 1.51358135e-02 -1.71464998e-03 9.99883977e-01 1.25742747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012557844 meters Centerline goodness : 0.086320 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99884644e-01 1.18489657e-03 -1.51424564e-02 3.07379467e+00] [-1.15334249e-03 9.99997146e-01 2.09237796e-03 2.53408834e-01] [ 1.51448925e-02 -2.07467215e-03 9.99883157e-01 1.25745004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04255784400002 meters Centerline goodness : 0.154150 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99886115e-01 1.31089749e-03 -1.50346023e-02 3.07307489e+00] [-1.27372281e-03 9.99996109e-01 2.48191665e-03 2.51513015e-01] [ 1.50377974e-02 -2.46248408e-03 9.99883894e-01 1.25823927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07255784400002 meters Centerline goodness : 0.133534 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99887838e-01 1.44736901e-03 -1.49069321e-02 3.07245001e+00] [-1.40363317e-03 9.99994681e-01 2.94397113e-03 2.49224211e-01] [ 1.49111139e-02 -2.92271707e-03 9.99884552e-01 1.25880933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10255784400002 meters Centerline goodness : 0.153282 Centerline is valid? [False, False] Translation: X:3.07, Y:0.25, Z:1.26 [[ 9.99887475e-01 1.60143371e-03 -1.49155076e-02 3.07231829e+00] [-1.54952762e-03 9.99992706e-01 3.49091500e-03 2.46523673e-01] [ 1.49209893e-02 -3.46741020e-03 9.99882664e-01 1.25913464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13255784400002 meters Centerline goodness : 0.136037 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:1.26 [[ 9.99851408e-01 -4.30011833e-04 -1.72330005e-02 3.02768565e+00] [ 5.05059261e-04 9.99990408e-01 4.35075164e-03 2.35014304e-01] [ 1.72309643e-02 -4.35880884e-03 9.99842035e-01 1.25922924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16255784400002 meters Centerline goodness : 0.152238 Centerline is valid? [False, False] Translation: X:3.07, Y:0.23, Z:1.26 [[ 9.99869729e-01 -7.24336287e-04 -1.61245253e-02 3.06994328e+00] [ 7.91643901e-04 9.99990999e-01 4.16824710e-03 2.33463841e-01] [ 1.61213609e-02 -4.18046898e-03 9.99861303e-01 1.25902433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19255784400002 meters Centerline goodness : 0.115904 Centerline is valid? [False, False] Translation: X:3.07, Y:0.23, Z:1.26 [[ 9.99869897e-01 -6.21214011e-04 -1.61184386e-02 3.06980317e+00] [ 6.93258600e-04 9.99989794e-01 4.46449783e-03 2.32014652e-01] [ 1.61155007e-02 -4.47509122e-03 9.99860122e-01 1.25931985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22255784400002 meters Centerline goodness : 0.145524 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 0.99986173 0.00851999 -0.01428018 3.08898603] [-0.008474 0.99995872 0.00327763 0.22777121] [ 0.01430752 -0.00315617 0.99989266 1.26059257] [ 0. 0. 0. 1. ]] SLAMing on 242.25255784400002 meters Centerline goodness : 0.121880 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 0.99986564 0.00856373 -0.01397742 3.08799632] [-0.00851952 0.99995853 0.00321896 0.22821223] [ 0.01400441 -0.00309945 0.99989713 1.26106528] [ 0. 0. 0. 1. ]] SLAMing on 242.28255784400002 meters Centerline goodness : 0.145515 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99919845e-01 9.41388455e-04 -1.26260353e-02 3.10543162e+00] [-8.83492224e-04 9.99989074e-01 4.59025821e-03 2.34761364e-01] [ 1.26302186e-02 -4.57873527e-03 9.99909752e-01 1.26211983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31255784400003 meters Centerline goodness : 0.148448 Centerline is valid? [False, False] Translation: X:3.10, Y:0.23, Z:1.26 [[ 9.99923231e-01 1.03086165e-03 -1.23478876e-02 3.10449375e+00] [-9.72999209e-04 9.99988523e-01 4.69111035e-03 2.34436092e-01] [ 1.23525818e-02 -4.67873573e-03 9.99912758e-01 1.26253265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34255784400003 meters Centerline goodness : 0.140411 Centerline is valid? [False, False] Translation: X:3.10, Y:0.23, Z:1.26 [[ 9.99930332e-01 -1.37586464e-03 -1.17234141e-02 3.10197854e+00] [ 1.40136030e-03 9.99996671e-01 2.16682696e-03 2.32740470e-01] [ 1.17203938e-02 -2.18310473e-03 9.99928931e-01 1.26344881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37255784400003 meters Centerline goodness : 0.141756 Centerline is valid? [False, False] Translation: X:3.08, Y:0.23, Z:1.26 [[ 9.99916912e-01 5.59923998e-03 -1.16111134e-02 3.08370706e+00] [-5.59164192e-03 9.99984131e-01 6.86739268e-04 2.26622407e-01] [ 1.16147744e-02 -6.21757020e-04 9.99932353e-01 1.26058925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.402557844 meters Centerline goodness : 0.113016 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99912734e-01 5.68016059e-03 -1.19272757e-02 3.08509103e+00] [-5.67196413e-03 9.99983654e-01 7.20917600e-04 2.26559893e-01] [ 1.19311756e-02 -6.53203609e-04 9.99928608e-01 1.25975896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.432557844 meters Centerline goodness : 0.119790 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99906978e-01 5.74916125e-03 -1.23686447e-02 3.08682586e+00] [-5.74123480e-03 9.99983290e-01 6.76262302e-04 2.26926916e-01] [ 1.23723260e-02 -6.05188101e-04 9.99923277e-01 1.25882835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.462557844 meters Centerline goodness : 0.124651 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99889014e-01 6.03889558e-03 -1.36195188e-02 3.09105092e+00] [-6.03203600e-03 9.99981659e-01 5.44680755e-04 2.28233364e-01] [ 1.36225583e-02 -4.62466875e-04 9.99907102e-01 1.25711489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.492557844 meters Centerline goodness : 0.145117 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99871534e-01 -2.71699109e-04 -1.60262672e-02 3.11004024e+00] [ 2.93915990e-04 9.99998999e-01 1.38394012e-03 2.37022361e-01] [ 1.60258751e-02 -1.38847271e-03 9.99870613e-01 1.25873563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.522557844 meters Centerline goodness : 0.144798 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99870524e-01 -3.47731637e-04 -1.60877229e-02 3.11046904e+00] [ 3.67014485e-04 9.99999218e-01 1.19566953e-03 2.37857399e-01] [ 1.60872946e-02 -1.20141914e-03 9.99869869e-01 1.25823878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552557844 meters Centerline goodness : 0.141113 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99872706e-01 -3.84483441e-04 -1.59506484e-02 3.11008176e+00] [ 4.02200668e-04 9.99999306e-01 1.10755979e-03 2.38274819e-01] [ 1.59502115e-02 -1.11383417e-03 9.99872167e-01 1.25826692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582557844 meters Centerline goodness : 0.157838 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99875682e-01 -3.77723970e-04 -1.57631564e-02 3.10927458e+00] [ 3.95637033e-04 9.99999280e-01 1.13328512e-03 2.38194073e-01] [ 1.57627170e-02 -1.13938072e-03 9.99875111e-01 1.25882001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612557844 meters Centerline goodness : 0.145432 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99879149e-01 -3.61757436e-04 -1.55420697e-02 3.10811769e+00] [ 3.82702331e-04 9.99999023e-01 1.34467281e-03 2.37385658e-01] [ 1.55415680e-02 -1.35045830e-03 9.99878311e-01 1.25984780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642557844 meters Centerline goodness : 0.142653 Centerline is valid? [False, False] Translation: X:3.11, Y:0.24, Z:1.26 [[ 9.99875228e-01 -3.64850066e-04 -1.57922674e-02 3.10884868e+00] [ 3.88331442e-04 9.99998824e-01 1.48384980e-03 2.36571681e-01] [ 1.57917075e-02 -1.48979729e-03 9.99874193e-01 1.25971998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672557844 meters Centerline goodness : 0.119517 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99838174e-01 6.73459711e-03 -1.66814548e-02 3.09039570e+00] [-6.73171343e-03 9.99977316e-01 2.29013795e-04 2.29887617e-01] [ 1.66826187e-02 -1.16681962e-04 9.99860829e-01 1.25779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702557844 meters Centerline goodness : 0.119517 Centerline is valid? [False, False] Translation: X:3.09, Y:0.23, Z:1.26 [[ 9.99838174e-01 6.73459711e-03 -1.66814548e-02 3.09039570e+00] [-6.73171343e-03 9.99977316e-01 2.29013795e-04 2.29887617e-01] [ 1.66826187e-02 -1.16681962e-04 9.99860829e-01 1.25779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732557844 meters Centerline goodness : 0.146262 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99871905e-01 -2.34600631e-03 -1.58325538e-02 3.11120919e+00] [ 2.35253128e-03 9.99997155e-01 3.93511544e-04 2.34771730e-01] [ 1.58315856e-02 -4.30707715e-04 9.99874580e-01 1.25739589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762557844 meters Centerline goodness : 0.142765 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99871830e-01 -2.26876886e-03 -1.58485473e-02 3.11114983e+00] [ 2.27968795e-03 9.99997176e-01 6.70932719e-04 2.33436226e-01] [ 1.58469803e-02 -7.06976468e-04 9.99874179e-01 1.25758561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79255784400002 meters Centerline goodness : 0.146073 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99870821e-01 -2.19309865e-03 -1.59227068e-02 3.11118073e+00] [ 2.20795332e-03 9.99997143e-01 9.15403974e-04 2.32318295e-01] [ 1.59206537e-02 -9.50442316e-04 9.99872807e-01 1.25784393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82255784400002 meters Centerline goodness : 0.148609 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99870166e-01 -2.12987506e-03 -1.59722855e-02 3.11126686e+00] [ 2.14797891e-03 9.99997070e-01 1.11638459e-03 2.31377975e-01] [ 1.59698610e-02 -1.15054778e-03 9.99871812e-01 1.25790910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85255784400002 meters Centerline goodness : 0.151874 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99866609e-01 -2.04884694e-03 -1.62038769e-02 3.11190498e+00] [ 2.07333301e-03 9.99996734e-01 1.49446940e-03 2.29288609e-01] [ 1.62007620e-02 -1.52786609e-03 9.99867592e-01 1.25786627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88255784400002 meters Centerline goodness : 0.174096 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99865591e-01 -2.03312899e-03 -1.62685614e-02 3.11218785e+00] [ 2.05961571e-03 9.99996581e-01 1.61150281e-03 2.28489527e-01] [ 1.62652293e-02 -1.64479320e-03 9.99866360e-01 1.25768717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91255784400002 meters Centerline goodness : 0.152773 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99868382e-01 5.88004176e-03 -1.51210037e-02 3.13260044e+00] [-5.89107400e-03 9.99982413e-01 -6.85157737e-04 2.26192523e-01] [ 1.51167090e-02 7.74146510e-04 9.99885436e-01 1.25788545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94255784400002 meters Centerline goodness : 0.127728 Centerline is valid? [False, False] Translation: X:3.11, Y:0.23, Z:1.26 [[ 9.99880137e-01 -3.14484307e-03 -1.51598534e-02 3.11385516e+00] [ 3.13655733e-03 9.99994918e-01 -5.70303462e-04 2.32955033e-01] [ 1.51615698e-02 5.22685354e-04 9.99884920e-01 1.25738078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97255784400002 meters Centerline goodness : 0.154155 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99879708e-01 6.11036397e-03 -1.42560102e-02 3.13322971e+00] [-6.13884271e-03 9.99979247e-01 -1.95476097e-03 2.31773854e-01] [ 1.42437701e-02 2.04204123e-03 9.99896467e-01 1.25894489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00255784400002 meters Centerline goodness : 0.154490 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99880757e-01 6.09796929e-03 -1.41875692e-02 3.13306027e+00] [-6.12879792e-03 9.99978949e-01 -2.13046869e-03 2.32716272e-01] [ 1.41742790e-02 2.21716739e-03 9.99897082e-01 1.25900543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03255784400002 meters Centerline goodness : 0.127423 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99879049e-01 6.08503921e-03 -1.43129200e-02 3.13362248e+00] [-6.11921975e-03 9.99978527e-01 -2.34550894e-03 2.33862537e-01] [ 1.42983402e-02 2.43280915e-03 9.99894814e-01 1.25865025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06255784400003 meters Centerline goodness : 0.200507 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99876262e-01 6.04346726e-03 -1.45236727e-02 3.13446321e+00] [-6.08233668e-03 9.99978034e-01 -2.63360042e-03 2.35214399e-01] [ 1.45074376e-02 2.72161241e-03 9.99891058e-01 1.25819179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09255784400003 meters Centerline goodness : 0.095516 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99893347e-01 -1.07782146e-03 -1.45647733e-02 3.15267289e+00] [ 1.05623824e-03 9.99998333e-01 -1.48948961e-03 2.45830149e-01] [ 1.45663545e-02 1.47394688e-03 9.99892819e-01 1.25947809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12255784400003 meters Centerline goodness : 0.089902 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99896702e-01 -1.06353854e-03 -1.43336569e-02 3.15171188e+00] [ 1.04149847e-03 9.99998264e-01 -1.54502158e-03 2.46393164e-01] [ 1.43352752e-02 1.52993351e-03 9.99896074e-01 1.26008276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.152557844 meters Centerline goodness : 0.123112 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99899000e-01 -1.05288163e-03 -1.41732540e-02 3.15093444e+00] [ 1.03075806e-03 9.99998239e-01 -1.56815263e-03 2.46624698e-01] [ 1.41748801e-02 1.55338506e-03 9.99898325e-01 1.26070284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.182557844 meters Centerline goodness : 0.093795 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99898105e-01 -1.08298557e-03 -1.42340066e-02 3.15098449e+00] [ 1.06024514e-03 9.99998150e-01 -1.60506149e-03 2.46642064e-01] [ 1.42357186e-02 1.58980641e-03 9.99897403e-01 1.26086096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.212557844 meters Centerline goodness : 0.187476 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892513e-01 -1.21790517e-03 -1.46109148e-02 3.15245754e+00] [ 1.19284753e-03 9.99997803e-01 -1.72358690e-03 2.46699438e-01] [ 1.46129819e-02 1.70597304e-03 9.99891769e-01 1.25993325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.242557844 meters Centerline goodness : 0.155550 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892866e-01 -1.16853100e-03 -1.45908122e-02 3.15244747e+00] [ 1.14530250e-03 9.99998064e-01 -1.60024964e-03 2.46279057e-01] [ 1.45926539e-02 1.58336730e-03 9.99892268e-01 1.25979529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.272557844 meters Centerline goodness : 0.129914 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99894884e-01 -1.07252278e-03 -1.44593093e-02 3.15191062e+00] [ 1.05343246e-03 9.99998564e-01 -1.32783028e-03 2.45239264e-01] [ 1.44607127e-02 1.31245880e-03 9.99894577e-01 1.26012494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302557844 meters Centerline goodness : 0.144563 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:1.26 [[ 9.99874446e-01 -8.76275681e-03 -1.32025205e-02 3.17171128e+00] [ 8.76024654e-03 9.99961598e-01 -2.47955909e-04 2.48749924e-01] [ 1.32041863e-02 1.32267443e-04 9.99912812e-01 1.26152977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332557844 meters Centerline goodness : 0.131806 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:1.26 [[ 9.99868628e-01 -9.35061797e-03 -1.32397930e-02 3.17131799e+00] [ 9.35000692e-03 9.99956282e-01 -1.08052215e-04 2.45438178e-01] [ 1.32402246e-02 -1.57541358e-05 9.99912344e-01 1.26254792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362557844 meters Centerline goodness : 0.157860 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862708e-01 -9.27873591e-03 -1.37284687e-02 3.17263350e+00] [ 9.28343935e-03 9.99956869e-01 2.78915773e-04 2.43164191e-01] [ 1.37252886e-02 -4.06324887e-04 9.99905721e-01 1.26245849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392557844 meters Centerline goodness : 0.134652 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99860813e-01 -9.10220673e-03 -1.39822727e-02 3.17355996e+00] [ 9.11329716e-03 9.99958207e-01 7.29665677e-04 2.41424256e-01] [ 1.39750468e-02 -8.56988723e-04 9.99901977e-01 1.26188949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422557844 meters Centerline goodness : 0.140198 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862038e-01 -8.98117992e-03 -1.39729731e-02 3.17368158e+00] [ 8.99770324e-03 9.99958893e-01 1.12010294e-03 2.39997341e-01] [ 1.39623389e-02 -1.24567308e-03 9.99901746e-01 1.26156000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452557844 meters Centerline goodness : 0.129948 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99866390e-01 -8.87248458e-03 -1.37288383e-02 3.17272155e+00] [ 8.89377582e-03 9.99959339e-01 1.49056344e-03 2.38464016e-01] [ 1.37150550e-02 -1.61246549e-03 9.99904644e-01 1.26215992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482557844 meters Centerline goodness : 0.143248 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99865995e-01 -8.75981898e-03 -1.38295766e-02 3.17282013e+00] [ 8.78281689e-03 9.99960145e-01 1.60309210e-03 2.37909684e-01] [ 1.38149826e-02 -1.72433991e-03 9.99903082e-01 1.26252945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512557844 meters Centerline goodness : 0.157536 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:1.26 [[ 9.99862540e-01 -8.59524122e-03 -1.41782835e-02 3.17377940e+00] [ 8.62057378e-03 9.99961352e-01 1.72656742e-03 2.37388441e-01] [ 1.41628953e-02 -1.84855503e-03 9.99897992e-01 1.26253616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54255784400002 meters Centerline goodness : 0.090601 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99856727e-01 -8.42945989e-03 -1.46788674e-02 3.17527854e+00] [ 8.45707310e-03 9.99962582e-01 1.82009699e-03 2.36929948e-01] [ 1.46629757e-02 -1.94397647e-03 9.99890603e-01 1.26232436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57255784400002 meters Centerline goodness : 0.151204 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99848427e-01 9.78344121e-04 -1.73829070e-02 3.16125575e+00] [-9.68395603e-04 9.99999362e-01 5.80724328e-04 2.29744577e-01] [ 1.73834641e-02 -5.63802775e-04 9.99848737e-01 1.26146686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60255784400002 meters Centerline goodness : 0.089629 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99836740e-01 3.06297533e-03 -1.78076023e-02 3.16282119e+00] [-3.02246836e-03 9.99992785e-01 2.30116972e-03 2.33971734e-01] [ 1.78145222e-02 -2.24697112e-03 9.99838784e-01 1.26118155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63255784400002 meters Centerline goodness : 0.157887 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99861505e-01 -1.76676263e-03 -1.65484146e-02 3.18491152e+00] [ 1.85775619e-03 9.99983232e-01 5.48486927e-03 2.37572890e-01] [ 1.65384466e-02 -5.51485256e-03 9.99848022e-01 1.26108116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66255784400002 meters Centerline goodness : 0.155924 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99866748e-01 -1.78500960e-03 -1.62264921e-02 3.18383855e+00] [ 1.87070954e-03 9.99984375e-01 5.26783943e-03 2.38920990e-01] [ 1.62168354e-02 -5.29749253e-03 9.99854465e-01 1.26146842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69255784400002 meters Centerline goodness : 0.148401 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99869291e-01 -1.97956565e-03 -1.60462760e-02 3.18324683e+00] [ 2.05643114e-03 9.99986484e-01 4.77515449e-03 2.40873839e-01] [ 1.60366064e-02 -4.80752840e-03 9.99859848e-01 1.26177742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72255784400002 meters Centerline goodness : 0.146544 Centerline is valid? [False, False] Translation: X:3.18, Y:0.24, Z:1.26 [[ 9.99870757e-01 -2.09096448e-03 -1.59404067e-02 3.18309251e+00] [ 2.16229348e-03 9.99987722e-01 4.45880780e-03 2.42341676e-01] [ 1.59308878e-02 -4.49269937e-03 9.99863002e-01 1.26154352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75255784400002 meters Centerline goodness : 0.125116 Centerline is valid? [False, False] Translation: X:3.20, Y:0.24, Z:1.26 [[ 0.99987035 0.00719363 -0.01440626 3.20440662] [-0.00714491 0.99996859 0.00343041 0.24381965] [ 0.01443048 -0.00332703 0.99989034 1.26072904] [ 0. 0. 0. 1. ]] SLAMing on 243.78255784400002 meters Centerline goodness : 0.133020 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99872481e-01 7.07551464e-03 -1.43163653e-02 3.20427934e+00] [-7.03063844e-03 9.99970220e-01 3.18251423e-03 2.45081607e-01] [ 1.43384569e-02 -3.08145521e-03 9.99892451e-01 1.26047100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81255784400003 meters Centerline goodness : 0.154572 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99873894e-01 6.86715400e-03 -1.43191774e-02 3.20421908e+00] [-6.82602310e-03 9.99972441e-01 2.91933342e-03 2.46094767e-01] [ 1.43388303e-02 -2.82122223e-03 9.99893214e-01 1.26043561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84255784400003 meters Centerline goodness : 0.148451 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99870858e-01 6.52251766e-03 -1.46875702e-02 3.20479173e+00] [-6.48826521e-03 9.99976122e-01 2.37851572e-03 2.47990611e-01] [ 1.47027334e-02 -2.28291170e-03 9.99889303e-01 1.26097641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87255784400003 meters Centerline goodness : 0.130820 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99873603e-01 6.45545886e-03 -1.45294633e-02 3.20437641e+00] [-6.42203169e-03 9.99976626e-01 2.34612974e-03 2.48344122e-01] [ 1.45442690e-02 -2.25252452e-03 9.99891689e-01 1.26081810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.902557844 meters Centerline goodness : 0.125553 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99874598e-01 6.37209202e-03 -1.44977744e-02 3.20442225e+00] [-6.34185479e-03 9.99977620e-01 2.13066558e-03 2.49584850e-01] [ 1.45110268e-02 -2.03845561e-03 9.99892632e-01 1.26056725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.932557844 meters Centerline goodness : 0.148500 Centerline is valid? [False, False] Translation: X:3.20, Y:0.25, Z:1.26 [[ 9.99875535e-01 6.26920572e-03 -1.44779460e-02 3.20452771e+00] [-6.24291073e-03 9.99978782e-01 1.86069104e-03 2.51033351e-01] [ 1.44893039e-02 -1.77007492e-03 9.99893458e-01 1.26026024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.962557844 meters Centerline goodness : 0.247140 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99872564e-01 -1.04519359e-03 -1.59299218e-02 3.22237244e+00] [ 1.08564437e-03 9.99996208e-01 2.53085926e-03 2.60034120e-01] [ 1.59272161e-02 -2.54783097e-03 9.99869908e-01 1.26227997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.992557844 meters Centerline goodness : 0.168793 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99875566e-01 -1.56792004e-03 -1.56969485e-02 3.22133618e+00] [ 1.59706128e-03 9.99997024e-01 1.84412722e-03 2.61830176e-01] [ 1.56940103e-02 -1.86896673e-03 9.99875095e-01 1.26285318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.022557844 meters Centerline goodness : 0.127802 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:1.26 [[ 9.99875518e-01 -1.61465988e-03 -1.56952598e-02 3.22135641e+00] [ 1.64192406e-03 9.99997165e-01 1.72436580e-03 2.62562320e-01] [ 1.56924310e-02 -1.74992158e-03 9.99875335e-01 1.26276545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052557844 meters Centerline goodness : 0.186267 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99872196e-01 4.48873281e-04 -1.59809597e-02 3.22276867e+00] [-3.91932737e-04 9.99993565e-01 3.56597771e-03 2.66946442e-01] [ 1.59824576e-02 -3.55925850e-03 9.99865937e-01 1.26206600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082557844 meters Centerline goodness : 0.084247 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99869557e-01 3.14611367e-04 -1.61483983e-02 3.22350457e+00] [-2.61703620e-04 9.99994592e-01 3.27835501e-03 2.68261684e-01] [ 1.61493424e-02 -3.27370128e-03 9.99864232e-01 1.26156569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112557844 meters Centerline goodness : 0.172174 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:1.26 [[ 9.99864049e-01 2.75157740e-04 -1.64865912e-02 3.22447125e+00] [-2.24222775e-04 9.99995197e-01 3.09124707e-03 2.68845756e-01] [ 1.64873626e-02 -3.08713014e-03 9.99859308e-01 1.26146141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142557844 meters Centerline goodness : 0.082962 Centerline is valid? [False, False] Translation: X:3.19, Y:0.27, Z:1.26 [[ 9.99846664e-01 3.29595834e-03 -1.71983893e-02 3.19357161e+00] [-3.27186030e-03 9.99993626e-01 1.42912985e-03 2.66810666e-01] [ 1.72029901e-02 -1.37263998e-03 9.99851075e-01 1.26181564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172557844 meters Centerline goodness : 0.084763 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:1.26 [[ 9.99871531e-01 -4.00489804e-03 -1.55203839e-02 3.21211814e+00] [ 4.04662543e-03 9.99988280e-01 2.65808251e-03 2.72047551e-01] [ 1.55095566e-02 -2.72054621e-03 9.99876018e-01 1.26331112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202557844 meters Centerline goodness : 0.185334 Centerline is valid? [False, False] Translation: X:3.19, Y:0.26, Z:1.26 [[ 9.99892347e-01 4.31501200e-03 -1.40241103e-02 3.19107996e+00] [-4.28790551e-03 9.99988881e-01 1.96234342e-03 2.64690644e-01] [ 1.40324219e-02 -1.90199811e-03 9.99899732e-01 1.26243686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232557844 meters Centerline goodness : 0.142573 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:1.26 [[ 9.99916171e-01 5.50449529e-03 -1.17196657e-02 3.23517698e+00] [-5.49522725e-03 9.99984563e-01 8.22867010e-04 2.71215123e-01] [ 1.17240143e-02 -7.58395804e-04 9.99930984e-01 1.26160462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262557844 meters Centerline goodness : 0.129069 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:1.26 [[ 9.99915804e-01 5.41996844e-03 -1.17902017e-02 3.23552448e+00] [-5.41433554e-03 9.99985213e-01 5.09627585e-04 2.72769892e-01] [ 1.17927895e-02 -4.45748568e-04 9.99930363e-01 1.26128356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29255784400002 meters Centerline goodness : 0.082977 Centerline is valid? [False, False] Translation: X:3.25, Y:0.28, Z:1.26 [[ 9.99923020e-01 -1.11872410e-03 -1.23573204e-02 3.25453081e+00] [ 1.14511680e-03 9.99997078e-01 2.12892561e-03 2.82120178e-01] [ 1.23549026e-02 -2.14291230e-03 9.99921379e-01 1.26248776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32255784400002 meters Centerline goodness : 0.127094 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99884748e-01 -1.56558950e-03 -1.51009840e-02 3.20879903e+00] [ 1.61272064e-03 9.99993865e-01 3.10939130e-03 2.80074085e-01] [ 1.50960233e-02 -3.13338661e-03 9.99881139e-01 1.26369286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35255784400002 meters Centerline goodness : 0.125054 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99883601e-01 -1.66960076e-03 -1.51656737e-02 3.20908805e+00] [ 1.71273347e-03 9.99994524e-01 2.83155817e-03 2.81175440e-01] [ 1.51608631e-02 -2.85720333e-03 9.99880985e-01 1.26350316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38255784400002 meters Centerline goodness : 0.127337 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99882365e-01 -1.70062687e-03 -1.52434853e-02 3.20936292e+00] [ 1.74292141e-03 9.99994667e-01 2.76174275e-03 2.81357337e-01] [ 1.52387074e-02 -2.78798607e-03 9.99879997e-01 1.26337226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41255784400002 meters Centerline goodness : 0.128446 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99882499e-01 -1.67317037e-03 -1.52377072e-02 3.20926312e+00] [ 1.71537169e-03 9.99994729e-01 2.75688324e-03 2.81523979e-01] [ 1.52330142e-02 -2.78269764e-03 9.99880099e-01 1.26347311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44255784400002 meters Centerline goodness : 0.223893 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:1.26 [[ 9.99883385e-01 -1.67210719e-03 -1.51796145e-02 3.20904297e+00] [ 1.71260950e-03 9.99995007e-01 2.65559692e-03 2.82227685e-01] [ 1.51750982e-02 -2.68128399e-03 9.99881257e-01 1.26358423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47255784400002 meters Centerline goodness : 0.129972 Centerline is valid? [False, False] Translation: X:3.19, Y:0.28, Z:1.26 [[ 9.99873170e-01 5.76470993e-03 -1.48462590e-02 3.18949963e+00] [-5.74182163e-03 9.99982261e-01 1.58385183e-03 2.77434452e-01] [ 1.48551261e-02 -1.49840638e-03 9.99888534e-01 1.26168125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50255784400002 meters Centerline goodness : 0.223771 Centerline is valid? [False, False] Translation: X:3.19, Y:0.28, Z:1.26 [[ 9.99873796e-01 5.62143496e-03 -1.48590384e-02 3.18972308e+00] [-5.60412070e-03 9.99983569e-01 1.20661583e-03 2.79011865e-01] [ 1.48655772e-02 -1.12319171e-03 9.99888870e-01 1.26131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53255784400002 meters Centerline goodness : 0.161350 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870422e-01 -3.35451008e-03 -1.57444072e-02 3.17070500e+00] [ 3.38784151e-03 9.99992075e-01 2.09083918e-03 2.85398579e-01] [ 1.57372687e-02 -2.14390781e-03 9.99873863e-01 1.26009982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56255784400003 meters Centerline goodness : 0.126030 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870389e-01 -3.39673369e-03 -1.57374274e-02 3.17093289e+00] [ 3.42677402e-03 9.99992357e-01 1.88227329e-03 2.86607055e-01] [ 1.57309135e-02 -1.93595794e-03 9.99874387e-01 1.25961378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59255784400003 meters Centerline goodness : 0.128832 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99869835e-01 -3.46038849e-03 -1.57587819e-02 3.17095219e+00] [ 3.48693995e-03 9.99992547e-01 1.65770262e-03 2.87881500e-01] [ 1.57529281e-02 -1.71243677e-03 9.99874449e-01 1.25959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62255784400003 meters Centerline goodness : 0.128832 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99869835e-01 -3.46038849e-03 -1.57587819e-02 3.17095219e+00] [ 3.48693995e-03 9.99992547e-01 1.65770262e-03 2.87881500e-01] [ 1.57529281e-02 -1.71243677e-03 9.99874449e-01 1.25959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.652557844 meters Centerline goodness : 0.232194 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99870584e-01 -3.61618507e-03 -1.56760536e-02 3.17011377e+00] [ 3.63663863e-03 9.99992573e-01 1.27645507e-03 2.89756849e-01] [ 1.56713213e-02 -1.33329801e-03 9.99876308e-01 1.26061587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.682557844 meters Centerline goodness : 0.150564 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99881354e-01 4.61962558e-03 -1.46947770e-02 3.18929737e+00] [-4.62823599e-03 9.99989137e-01 -5.51996861e-04 2.88100418e-01] [ 1.46920674e-02 6.19942265e-04 9.99891874e-01 1.26196112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.712557844 meters Centerline goodness : 0.126434 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99880875e-01 4.53283954e-03 -1.47543251e-02 3.18958284e+00] [-4.54332289e-03 9.99989450e-01 -6.77086334e-04 2.88663921e-01] [ 1.47511003e-02 7.44039339e-04 9.99890920e-01 1.26165373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.742557844 meters Centerline goodness : 0.139867 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99863084e-01 -4.34566903e-03 -1.59664614e-02 3.16977829e+00] [ 4.35782539e-03 9.99990241e-01 7.26655336e-04 2.92789227e-01] [ 1.59631478e-02 -7.96134896e-04 9.99872264e-01 1.26036293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.772557844 meters Centerline goodness : 0.172208 Centerline is valid? [False, False] Translation: X:3.17, Y:0.29, Z:1.26 [[ 9.99864403e-01 -4.41088307e-03 -1.58656635e-02 3.16962687e+00] [ 4.41982848e-03 9.99990093e-01 5.28802099e-04 2.93927562e-01] [ 1.58631738e-02 -5.98853907e-04 9.99873993e-01 1.26013839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 244.832557844 meters Centerline goodness : 0.125321 Centerline is valid? [False, False] Translation: X:3.17, Y:0.30, Z:1.26 [[ 9.99867969e-01 -4.91859809e-03 -1.54871738e-02 3.16799598e+00] [ 4.90934666e-03 9.99987747e-01 -6.35322626e-04 2.99142984e-01] [ 1.54901089e-02 5.59206839e-04 9.99879865e-01 1.26124720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862557844 meters Centerline goodness : 0.214487 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99898064e-01 3.61975126e-03 -1.38115847e-02 3.18643422e+00] [-3.65461686e-03 9.99990197e-01 -2.49996986e-03 3.00050828e-01] [ 1.38024000e-02 2.55019107e-03 9.99901490e-01 1.26273876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892557844 meters Centerline goodness : 0.128722 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99902745e-01 3.48968663e-03 -1.35027247e-02 3.18543577e+00] [-3.53011336e-03 9.99989355e-01 -2.97129332e-03 3.02790991e-01] [ 1.34922121e-02 3.01867049e-03 9.99904419e-01 1.26296925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922557844 meters Centerline goodness : 0.127199 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 0.99991215 0.00327265 -0.01284492 3.18413716] [-0.00331668 0.99998869 -0.00340871 0.30613335] [ 0.01283362 0.00345101 0.99991169 1.261947 ] [ 0. 0. 0. 1. ]] SLAMing on 244.952557844 meters Centerline goodness : 0.130026 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99912161e-01 3.10552492e-03 -1.28851075e-02 3.18438727e+00] [-3.15425452e-03 9.99987944e-01 -3.76325709e-03 3.07634833e-01] [ 1.28732652e-02 3.80356944e-03 9.99909902e-01 1.26167239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982557844 meters Centerline goodness : 0.129391 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99912214e-01 2.93045000e-03 -1.29219240e-02 3.18442471e+00] [-2.98347597e-03 9.99987201e-01 -4.08620017e-03 3.08934067e-01] [ 1.29097842e-02 4.12439371e-03 9.99908159e-01 1.26176876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012557844 meters Centerline goodness : 0.124589 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99914611e-01 2.74564310e-03 -1.27762115e-02 3.18356024e+00] [-2.80270326e-03 9.99986169e-01 -4.45036582e-03 3.10641551e-01] [ 1.27638157e-02 4.48579373e-03 9.99908477e-01 1.26255907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04255784400002 meters Centerline goodness : 0.128100 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99915838e-01 2.71105979e-03 -1.26872585e-02 3.18325770e+00] [-2.76810698e-03 9.99986129e-01 -4.48101776e-03 3.10869248e-01] [ 1.26749342e-02 4.51576032e-03 9.99909473e-01 1.26262673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07255784400002 meters Centerline goodness : 0.124927 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:1.26 [[ 9.99915953e-01 2.69178116e-03 -1.26823522e-02 3.18331999e+00] [-2.74930708e-03 9.99986002e-01 -4.52065449e-03 3.11043417e-01] [ 1.26700061e-02 4.55514223e-03 9.99909357e-01 1.26250593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10255784400002 meters Centerline goodness : 0.172824 Centerline is valid? [False, False] Translation: X:3.16, Y:0.31, Z:1.26 [[ 0.9998896 -0.00633593 -0.01344027 3.16407238] [ 0.00629105 0.9999745 -0.00337915 0.31448683] [ 0.01346134 0.00329422 0.99990397 1.26084436] [ 0. 0. 0. 1. ]] SLAMing on 245.13255784400002 meters Centerline goodness : 0.127015 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 0.99988307 -0.00641365 -0.01388187 3.16556069] [ 0.00636642 0.9999738 -0.00344368 0.31432138] [ 0.01390359 0.0033549 0.99989771 1.26019867] [ 0. 0. 0. 1. ]] SLAMing on 245.16255784400002 meters Centerline goodness : 0.126082 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 0.99988048 -0.0063794 -0.01408292 3.16616447] [ 0.00633286 0.99997435 -0.00334636 0.31383297] [ 0.01410391 0.00325678 0.99989523 1.26001873] [ 0. 0. 0. 1. ]] SLAMing on 245.19255784400002 meters Centerline goodness : 0.141500 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879850e-01 -6.29062996e-03 -1.41673323e-02 3.16636142e+00] [ 6.24634933e-03 9.99975474e-01 -3.16762787e-03 3.13094865e-01] [ 1.41869112e-02 3.07875317e-03 9.99894621e-01 1.26003849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22255784400002 meters Centerline goodness : 0.123031 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879760e-01 -6.20043973e-03 -1.42134014e-02 3.16639800e+00] [ 6.15876420e-03 9.99976612e-01 -2.97402753e-03 3.12316737e-01] [ 1.42315093e-02 2.88613295e-03 9.99894562e-01 1.26016027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25255784400002 meters Centerline goodness : 0.123889 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99879795e-01 -6.12537278e-03 -1.42434269e-02 3.16645670e+00] [ 6.08607218e-03 9.99977557e-01 -2.80092064e-03 3.11500186e-01] [ 1.42602639e-02 2.71389743e-03 9.99894634e-01 1.26022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28255784400002 meters Centerline goodness : 0.123459 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99878087e-01 -6.09323588e-03 -1.43764867e-02 3.16691657e+00] [ 6.05525627e-03 9.99978065e-01 -2.68383880e-03 3.10763299e-01] [ 1.43925246e-02 2.59645829e-03 9.99893051e-01 1.26001256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31255784400003 meters Centerline goodness : 0.131352 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99873192e-01 -5.97427870e-03 -1.47617005e-02 3.16828351e+00] [ 5.94051963e-03 9.99979641e-01 -2.32972837e-03 3.08763346e-01] [ 1.47753184e-02 2.24174077e-03 9.99888326e-01 1.25935730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34255784400003 meters Centerline goodness : 0.108083 Centerline is valid? [False, False] Translation: X:3.17, Y:0.31, Z:1.26 [[ 9.99873534e-01 -5.81672859e-03 -1.48014106e-02 3.16848693e+00] [ 5.78801821e-03 9.99981285e-01 -1.98180477e-03 3.07246389e-01] [ 1.48126612e-02 1.89588330e-03 9.99888489e-01 1.25912773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37255784400003 meters Centerline goodness : 0.218649 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99890906e-01 2.76926399e-03 -1.45088362e-02 3.18781904e+00] [-2.81070806e-03 9.99992026e-01 -2.83685919e-03 3.01925104e-01] [ 1.45008645e-02 2.87732981e-03 9.99890717e-01 1.26040776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.402557844 meters Centerline goodness : 0.140043 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99889129e-01 2.94771468e-03 -1.45959026e-02 3.18793828e+00] [-2.98173244e-03 9.99992888e-01 -2.30942438e-03 2.99384685e-01] [ 1.45889913e-02 2.35268941e-03 9.99890807e-01 1.26061297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.432557844 meters Centerline goodness : 0.156871 Centerline is valid? [False, False] Translation: X:3.19, Y:0.30, Z:1.26 [[ 9.99896654e-01 -9.68185175e-04 -1.43437822e-02 3.18722739e+00] [ 8.84600684e-04 9.99982600e-01 -5.83242711e-03 2.96625892e-01] [ 1.43491795e-02 5.81913583e-03 9.99880112e-01 1.26071449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.462557844 meters Centerline goodness : 0.138409 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99895446e-01 -8.33732367e-04 -1.44361629e-02 3.18729664e+00] [ 7.55324057e-04 9.99984940e-01 -5.43598228e-03 2.94649887e-01] [ 1.44404777e-02 5.42450994e-03 9.99881017e-01 1.26102568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.492557844 meters Centerline goodness : 0.140995 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99896027e-01 -7.19679427e-04 -1.44019896e-02 3.18720623e+00] [ 6.44714418e-04 9.99986224e-01 -5.20915027e-03 2.93737385e-01] [ 1.44055402e-02 5.19932349e-03 9.99882717e-01 1.26100454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.522557844 meters Centerline goodness : 0.195672 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99896679e-01 -5.98432355e-04 -1.43622428e-02 3.18722047e+00] [ 5.25733640e-04 9.99987034e-01 -5.06503590e-03 2.93394256e-01] [ 1.43650877e-02 5.05696186e-03 9.99884029e-01 1.26080757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552557844 meters Centerline goodness : 0.137838 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898687e-01 -4.19268393e-04 -1.42281309e-02 3.18747269e+00] [ 3.48441989e-04 9.99987539e-01 -4.98002728e-03 2.93179414e-01] [ 1.42300416e-02 4.97456506e-03 9.99886373e-01 1.25983320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582557844 meters Centerline goodness : 0.123795 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99897442e-01 -4.25916459e-04 -1.43151411e-02 3.18786390e+00] [ 3.54196181e-04 9.99987376e-01 -5.01226125e-03 2.93063523e-01] [ 1.43170952e-02 5.00667683e-03 9.99884970e-01 1.25954432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612557844 meters Centerline goodness : 0.123263 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898143e-01 -3.79906482e-04 -1.42674464e-02 3.18778681e+00] [ 3.08469879e-04 9.99987408e-01 -5.00883187e-03 2.93136791e-01] [ 1.42691696e-02 5.00392060e-03 9.99885669e-01 1.25945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642557844 meters Centerline goodness : 0.135296 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99898715e-01 -3.07332533e-04 -1.42290450e-02 3.18761097e+00] [ 2.35620285e-04 9.99987265e-01 -5.04125179e-03 2.93659005e-01] [ 1.42304132e-02 5.03738853e-03 9.99886054e-01 1.25953581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672557844 meters Centerline goodness : 0.145181 Centerline is valid? [False, False] Translation: X:3.19, Y:0.29, Z:1.26 [[ 9.99900856e-01 -2.66263186e-04 -1.40786252e-02 3.18708149e+00] [ 1.93500816e-04 9.99986620e-01 -5.16939620e-03 2.94702172e-01] [ 1.40798132e-02 5.16615946e-03 9.99887529e-01 1.25971675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702557844 meters Centerline goodness : 0.147788 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99911095e-01 -1.55413794e-04 -1.33333321e-02 3.18468792e+00] [ 8.38218737e-05 9.99985579e-01 -5.36978533e-03 2.96261048e-01] [ 1.33339744e-02 5.36819030e-03 9.99896688e-01 1.26057165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732557844 meters Centerline goodness : 0.187622 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99916351e-01 -1.76034120e-04 -1.29328719e-02 3.18343897e+00] [ 1.04564588e-04 9.99984722e-01 -5.52666027e-03 2.97102868e-01] [ 1.29336472e-02 5.52484566e-03 9.99901094e-01 1.26097224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762557844 meters Centerline goodness : 0.169497 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99921956e-01 -1.44383247e-04 -1.24924710e-02 3.18207777e+00] [ 7.45902329e-05 9.99984389e-01 -5.58709177e-03 2.97640343e-01] [ 1.24930826e-02 5.58572391e-03 9.99906357e-01 1.26137467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79255784400002 meters Centerline goodness : 0.214773 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99926211e-01 -1.05842810e-04 -1.21474995e-02 3.18101370e+00] [ 3.75916501e-05 9.99984215e-01 -5.61862651e-03 2.98082033e-01] [ 1.21479024e-02 5.61775528e-03 9.99910431e-01 1.26166395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82255784400002 meters Centerline goodness : 0.221526 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99923245e-01 -8.18607172e-05 -1.23894266e-02 3.18211431e+00] [ 1.26808145e-05 9.99984411e-01 -5.58376124e-03 2.97950821e-01] [ 1.23896905e-02 5.58317555e-03 9.99907658e-01 1.26075186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85255784400002 meters Centerline goodness : 0.217562 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:1.26 [[ 9.99919850e-01 -4.72193190e-05 -1.26606571e-02 3.18293208e+00] [-2.04138867e-05 9.99985732e-01 -5.34181561e-03 2.96591489e-01] [ 1.26607287e-02 5.34164591e-03 9.99905582e-01 1.26051007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88255784400002 meters Centerline goodness : 0.126467 Centerline is valid? [False, False] Translation: X:3.18, Y:0.29, Z:1.26 [[ 9.99916962e-01 4.41257047e-05 -1.28867086e-02 3.18336432e+00] [-1.07499928e-04 9.99987905e-01 -4.91714619e-03 2.94395754e-01] [ 1.28863358e-02 4.91812320e-03 9.99904873e-01 1.26075105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91255784400002 meters Centerline goodness : 0.158297 Centerline is valid? [False, False] Translation: X:3.14, Y:0.29, Z:1.26 [[ 9.99878513e-01 -2.10571901e-03 -1.54442564e-02 3.13749384e+00] [ 2.03235108e-03 9.99986584e-01 -4.76465709e-03 2.87696371e-01] [ 1.54540822e-02 4.73269010e-03 9.99869378e-01 1.26236036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94255784400002 meters Centerline goodness : 0.138128 Centerline is valid? [False, False] Translation: X:3.18, Y:0.29, Z:1.26 [[ 9.99911309e-01 -1.97574539e-03 -1.31707867e-02 3.18108916e+00] [ 1.90203873e-03 9.99982475e-01 -5.60640191e-03 2.87671531e-01] [ 1.31816327e-02 5.58085333e-03 9.99897544e-01 1.26263034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97255784400002 meters Centerline goodness : 0.136467 Centerline is valid? [False, False] Translation: X:3.18, Y:0.28, Z:1.26 [[ 9.99911386e-01 -2.13121823e-03 -1.31407349e-02 3.18080767e+00] [ 2.06801330e-03 9.99986238e-01 -4.82156070e-03 2.82495808e-01] [ 1.31508298e-02 4.79395823e-03 9.99902032e-01 1.26321093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00255784400002 meters Centerline goodness : 0.240438 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:1.26 [[ 0.99987028 -0.0037424 -0.01566596 3.13566735] [ 0.00367566 0.99998406 -0.00428705 0.27611676] [ 0.01568175 0.00422891 0.99986809 1.26391564] [ 0. 0. 0. 1. ]] SLAMing on 246.03255784400002 meters Centerline goodness : 0.102146 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 0.9998685 -0.00361018 -0.01580969 3.13616842] [ 0.00354841 0.99998597 -0.00393332 0.27436899] [ 0.01582367 0.00387671 0.99986728 1.26371394] [ 0. 0. 0. 1. ]] SLAMing on 246.06255784400003 meters Centerline goodness : 0.124192 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 0.99986807 -0.00351713 -0.01585768 3.13646228] [ 0.00345762 0.99998689 -0.00377818 0.27372217] [ 0.01587076 0.00372285 0.99986712 1.26339766] [ 0. 0. 0. 1. ]] SLAMing on 246.09255784400003 meters Centerline goodness : 0.160931 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99871306e-01 -3.16916148e-03 -1.57266913e-02 3.13618286e+00] [ 3.11424090e-03 9.99988971e-01 -3.51545082e-03 2.73426367e-01] [ 1.57376589e-02 3.46602170e-03 9.99870148e-01 1.26327921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12255784400003 meters Centerline goodness : 0.123495 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99868447e-01 -3.10173552e-03 -1.59206596e-02 3.13666665e+00] [ 3.04673191e-03 9.99989311e-01 -3.47795045e-03 2.73339007e-01] [ 1.59312771e-02 3.42898694e-03 9.99867209e-01 1.26327820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.152557844 meters Centerline goodness : 0.149430 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99865417e-01 -3.08964268e-03 -1.61121851e-02 3.13723864e+00] [ 3.03469202e-03 9.99989500e-01 -3.43383806e-03 2.72888591e-01] [ 1.61226253e-02 3.38448041e-03 9.99864294e-01 1.26315315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.182557844 meters Centerline goodness : 0.245704 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99861995e-01 -3.07345338e-03 -1.63262256e-02 3.13785649e+00] [ 3.01944601e-03 9.99989892e-01 -3.33163366e-03 2.72094195e-01] [ 1.63363002e-02 3.28187772e-03 9.99861168e-01 1.26302410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.212557844 meters Centerline goodness : 0.165240 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99865533e-01 -2.92790280e-03 -1.61351507e-02 3.13711742e+00] [ 2.88258113e-03 9.99991837e-01 -2.83141950e-03 2.69632834e-01] [ 1.61433091e-02 2.78452789e-03 9.99865811e-01 1.26342905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.242557844 meters Centerline goodness : 0.274879 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99869727e-01 -2.79101493e-03 -1.58977537e-02 3.13625187e+00] [ 2.75106599e-03 9.99993005e-01 -2.53418219e-03 2.68502969e-01] [ 1.59047155e-02 2.49011629e-03 9.99870411e-01 1.26386248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.272557844 meters Centerline goodness : 0.224031 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99876867e-01 4.54864405e-03 -1.50186543e-02 3.11604039e+00] [-4.59436315e-03 9.99984913e-01 -3.01105632e-03 2.61543077e-01] [ 1.50047315e-02 3.07968671e-03 9.99882680e-01 1.26269206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302557844 meters Centerline goodness : 0.184773 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99875969e-01 4.61201659e-03 -1.50590927e-02 3.11613934e+00] [-4.65377293e-03 9.99985420e-01 -2.73896765e-03 2.60252087e-01] [ 1.50462410e-02 2.80870953e-03 9.99882854e-01 1.26269277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332557844 meters Centerline goodness : 0.196059 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99867388e-01 4.73571030e-03 -1.55814139e-02 3.11799839e+00] [-4.77513968e-03 9.99985488e-01 -2.49430903e-03 2.59016155e-01] [ 1.55693755e-02 2.56838168e-03 9.99875491e-01 1.26186714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362557844 meters Centerline goodness : 0.148330 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99866930e-01 4.74866971e-03 -1.56067880e-02 3.11808294e+00] [-4.78845968e-03 9.99985377e-01 -2.51315051e-03 2.59183027e-01] [ 1.55946257e-02 2.58754856e-03 9.99875048e-01 1.26183785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392557844 meters Centerline goodness : 0.164865 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99866571e-01 4.75454312e-03 -1.56280246e-02 3.11813558e+00] [-4.79564987e-03 9.99985137e-01 -2.59389993e-03 2.59683800e-01] [ 1.56154595e-02 2.66850036e-03 9.99874510e-01 1.26185178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422557844 meters Centerline goodness : 0.364098 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99867405e-01 4.72803769e-03 -1.55826445e-02 3.11826628e+00] [-4.77261071e-03 9.99984622e-01 -2.82448206e-03 2.61016984e-01] [ 1.55690506e-02 2.89847744e-03 9.99874594e-01 1.26145468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452557844 meters Centerline goodness : 0.286855 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.9998896 0.0059053 -0.013635 3.16405852] [-0.00595363 0.99997613 -0.00350642 0.26625657] [ 0.01361396 0.00358721 0.99990089 1.26018818] [ 0. 0. 0. 1. ]] SLAMing on 246.482557844 meters Centerline goodness : 0.123578 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.99988935 0.00584911 -0.01367786 3.16431572] [-0.00589971 0.99997589 -0.00366152 0.26695393] [ 0.01365611 0.00374181 0.99989975 1.25994325] [ 0. 0. 0. 1. ]] SLAMing on 246.512557844 meters Centerline goodness : 0.123578 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:1.26 [[ 0.99988935 0.00584911 -0.01367786 3.16431572] [-0.00589971 0.99997589 -0.00366152 0.26695393] [ 0.01365611 0.00374181 0.99989975 1.25994325] [ 0. 0. 0. 1. ]] SLAMing on 246.54255784400002 meters Centerline goodness : 0.145946 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99854937e-01 4.78747940e-03 -1.63457706e-02 3.11887053e+00] [-4.83824144e-03 9.99983591e-01 -3.06738364e-03 2.63870513e-01] [ 1.63308174e-02 3.14602347e-03 9.99861694e-01 1.26100698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57255784400002 meters Centerline goodness : 0.183976 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99855525e-01 4.80297921e-03 -1.63052284e-02 3.11899681e+00] [-4.85275670e-03 9.99983681e-01 -3.01466300e-03 2.63859454e-01] [ 1.62904830e-02 3.09335276e-03 9.99862516e-01 1.26055387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60255784400002 meters Centerline goodness : 0.413193 Centerline is valid? [False, False] Translation: X:3.12, Y:0.26, Z:1.26 [[ 9.99855606e-01 4.80635475e-03 -1.62992791e-02 3.11899256e+00] [-4.85569308e-03 9.99983745e-01 -2.98880281e-03 2.63721847e-01] [ 1.62846489e-02 3.06751554e-03 9.99862691e-01 1.26052349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63255784400002 meters Centerline goodness : 0.267699 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99866170e-01 -3.21563967e-03 -1.60406309e-02 3.13853822e+00] [ 3.18138866e-03 9.99992606e-01 -2.16032641e-03 2.70942905e-01] [ 1.60474591e-02 2.10900581e-03 9.99869007e-01 1.26120831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66255784400002 meters Centerline goodness : 0.189242 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 0.99986726 0.00398111 -0.01579914 3.11952503] [-0.00403252 0.99998667 -0.00322368 0.26508523] [ 0.01578609 0.00328696 0.99986999 1.25923019] [ 0. 0. 0. 1. ]] SLAMing on 246.69255784400002 meters Centerline goodness : 0.146596 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 0.99986874 0.00398134 -0.01570508 3.11928306] [-0.00403205 0.99998676 -0.00319834 0.26506635] [ 0.01569214 0.00326124 0.99987155 1.2592131 ] [ 0. 0. 0. 1. ]] SLAMing on 246.72255784400002 meters Centerline goodness : 0.179993 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99890313e-01 -3.37407433e-03 -1.44214517e-02 3.13725892e+00] [ 3.34870949e-03 9.99992804e-01 -1.78261316e-03 2.73904524e-01] [ 1.44273626e-02 1.73412437e-03 9.99894416e-01 1.26018971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75255784400002 meters Centerline goodness : 0.143133 Centerline is valid? [False, False] Translation: X:3.14, Y:0.27, Z:1.26 [[ 9.99892233e-01 -3.39670070e-03 -1.42823466e-02 3.13682003e+00] [ 3.36923654e-03 9.99992430e-01 -1.94656669e-03 2.74843479e-01] [ 1.42888504e-02 1.89823631e-03 9.99896107e-01 1.26033744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78255784400002 meters Centerline goodness : 0.217118 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99902664e-01 4.02944378e-03 -1.33576569e-02 3.11672534e+00] [-4.06821241e-03 9.99987588e-01 -2.87645180e-03 2.70669766e-01] [ 1.33459006e-02 2.93051360e-03 9.99906645e-01 1.25851732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81255784400003 meters Centerline goodness : 0.269898 Centerline is valid? [False, False] Translation: X:3.14, Y:0.28, Z:1.26 [[ 9.99917615e-01 -3.30865401e-03 -1.24022826e-02 3.13507273e+00] [ 3.28895195e-03 9.99993298e-01 -1.60864261e-03 2.79515508e-01] [ 1.24075219e-02 1.56771957e-03 9.99921795e-01 1.25936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84255784400003 meters Centerline goodness : 0.138076 Centerline is valid? [False, False] Translation: X:3.13, Y:0.28, Z:1.26 [[ 9.99920608e-01 -3.32005094e-03 -1.21554241e-02 3.13421547e+00] [ 3.29630622e-03 9.99992621e-01 -1.97293989e-03 2.81688000e-01] [ 1.21618846e-02 1.93271525e-03 9.99924174e-01 1.25965276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87255784400003 meters Centerline goodness : 0.144689 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872195e-01 -4.41889489e-03 -1.53644744e-02 3.08931108e+00] [ 4.39621629e-03 9.99989197e-01 -1.50950276e-03 2.78570682e-01] [ 1.53709788e-02 1.44176429e-03 9.99880820e-01 1.26069066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.902557844 meters Centerline goodness : 0.144542 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99869969e-01 -4.48671994e-03 -1.54891611e-02 3.08979125e+00] [ 4.46140072e-03 9.99988655e-01 -1.66880798e-03 2.79244858e-01] [ 1.54964728e-02 1.59948763e-03 9.99878643e-01 1.26036245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.932557844 meters Centerline goodness : 0.272224 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99867752e-01 -4.53337197e-03 -1.56181399e-02 3.09020232e+00] [ 4.50599703e-03 9.99988250e-01 -1.78751035e-03 2.79851125e-01] [ 1.56260598e-02 1.71689866e-03 9.99876432e-01 1.26016121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.962557844 meters Centerline goodness : 0.136928 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99874421e-01 -4.49214169e-03 -1.51974466e-02 3.08856761e+00] [ 4.46441454e-03 9.99988309e-01 -1.85789502e-03 2.80886358e-01] [ 1.52056148e-02 1.78981400e-03 9.99882786e-01 1.26102722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.992557844 meters Centerline goodness : 0.211437 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99877461e-01 -4.53591419e-03 -1.49829553e-02 3.08777238e+00] [ 4.50661982e-03 9.99987868e-01 -1.98836497e-03 2.81561581e-01] [ 1.49917925e-02 1.92059884e-03 9.99885772e-01 1.26144956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.022557844 meters Centerline goodness : 0.269841 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99878231e-01 -4.58275719e-03 -1.49171862e-02 3.08744078e+00] [ 4.55214331e-03 9.99987464e-01 -2.08556372e-03 2.81920316e-01] [ 1.49265568e-02 2.01740459e-03 9.99886558e-01 1.26175141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052557844 meters Centerline goodness : 0.273964 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99878770e-01 -4.62173330e-03 -1.48688987e-02 3.08730011e+00] [ 4.59019778e-03 9.99987144e-01 -2.15433405e-03 2.82140490e-01] [ 1.48786644e-02 2.08582169e-03 9.99887131e-01 1.26174620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082557844 meters Centerline goodness : 0.147613 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99870601e-01 3.02981205e-03 -1.57987661e-02 3.06775402e+00] [-3.07816036e-03 9.99990651e-01 -3.03684030e-03 2.76523878e-01] [ 1.57894173e-02 3.08507847e-03 9.99870580e-01 1.26047271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112557844 meters Centerline goodness : 0.144860 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99871696e-01 -2.67118110e-03 -1.57941900e-02 3.09091460e+00] [ 2.66606632e-03 9.99996387e-01 -3.44885999e-04 2.79800117e-01] [ 1.57950541e-02 3.02733390e-04 9.99875205e-01 1.26008811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142557844 meters Centerline goodness : 0.144751 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872232e-01 -2.63256507e-03 -1.57667073e-02 3.09074555e+00] [ 2.62996691e-03 9.99996524e-01 -1.85519403e-04 2.78980903e-01] [ 1.57671409e-02 1.44029781e-04 9.99875681e-01 1.26024978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172557844 meters Centerline goodness : 0.144918 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99872631e-01 -2.62298161e-03 -1.57429717e-02 3.09050060e+00] [ 2.62231819e-03 9.99996560e-01 -6.27834692e-05 2.78180969e-01] [ 1.57430822e-02 2.14923915e-05 9.99876070e-01 1.26060290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202557844 meters Centerline goodness : 0.143378 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99873107e-01 -2.57220033e-03 -1.57211357e-02 3.09037010e+00] [ 2.57466347e-03 9.99996676e-01 1.36439366e-04 2.77222346e-01] [ 1.57207325e-02 -1.76898687e-04 9.99876406e-01 1.26073263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232557844 meters Centerline goodness : 0.140858 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99858617e-01 5.00880337e-03 -1.60517308e-02 3.07145830e+00] [-5.02347724e-03 9.99987000e-01 -8.73971406e-04 2.72520028e-01] [ 1.60471446e-02 9.54483345e-04 9.99870781e-01 1.25854565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262557844 meters Centerline goodness : 0.211303 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99853473e-01 5.06614512e-03 -1.63513817e-02 3.07272450e+00] [-5.08104552e-03 9.99986713e-01 -8.69847183e-04 2.72723517e-01] [ 1.63467576e-02 9.52801841e-04 9.99865929e-01 1.25776648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29255784400002 meters Centerline goodness : 0.223971 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99848301e-01 5.08637186e-03 -1.66584507e-02 3.07411129e+00] [-5.10215282e-03 9.99986574e-01 -9.04961715e-04 2.72948457e-01] [ 1.66536241e-02 9.89818394e-04 9.99860829e-01 1.25683502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32255784400002 meters Centerline goodness : 0.145309 Centerline is valid? [False, False] Translation: X:3.07, Y:0.27, Z:1.26 [[ 9.99845581e-01 5.05598041e-03 -1.68300894e-02 3.07497208e+00] [-5.07392585e-03 9.99986604e-01 -1.02374113e-03 2.73546606e-01] [ 1.68246879e-02 1.10897767e-03 9.99857840e-01 1.25618377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35255784400002 meters Centerline goodness : 0.260558 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99852355e-01 4.95419463e-03 -1.64536992e-02 3.07368801e+00] [-4.97467829e-03 9.99986901e-01 -1.20423203e-03 2.75172323e-01] [ 1.64475177e-02 1.28590609e-03 9.99863904e-01 1.25634816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38255784400002 meters Centerline goodness : 0.149675 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99855120e-01 4.92067705e-03 -1.62949378e-02 3.07314271e+00] [-4.94426290e-03 9.99986787e-01 -1.40746434e-03 2.76505597e-01] [ 1.62877968e-02 1.48782688e-03 9.99866238e-01 1.25655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41255784400002 meters Centerline goodness : 0.115221 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.26 [[ 9.99850029e-01 -4.11596660e-03 -1.68219827e-02 3.05354700e+00] [ 4.10677412e-03 9.99991398e-01 -5.80964229e-04 2.82652176e-01] [ 1.68242292e-02 5.11793018e-04 9.99858332e-01 1.25543267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44255784400002 meters Centerline goodness : 0.145679 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.25 [[ 9.99846405e-01 -4.31538387e-03 -1.69865870e-02 3.05428059e+00] [ 4.30023439e-03 9.99990323e-01 -9.28274686e-04 2.83826865e-01] [ 1.69904285e-02 8.55085802e-04 9.99855287e-01 1.25482661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47255784400002 meters Centerline goodness : 0.148587 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99868140e-01 4.10607053e-03 -1.57112180e-02 3.07342531e+00] [-4.14493820e-03 9.99988428e-01 -2.44211687e-03 2.81540259e-01] [ 1.57010087e-02 2.50691688e-03 9.99873589e-01 1.25556652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50255784400002 meters Centerline goodness : 0.145223 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:1.25 [[ 9.99858449e-01 -5.08620268e-03 -1.60378590e-02 3.05275907e+00] [ 5.06282591e-03 9.99986062e-01 -1.49786405e-03 2.86127819e-01] [ 1.60452539e-02 1.41645514e-03 9.99870263e-01 1.25462547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53255784400002 meters Centerline goodness : 0.133349 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99884101e-01 3.13999264e-03 -1.48971198e-02 3.07225145e+00] [-3.18222619e-03 9.99990983e-01 -2.81215750e-03 2.83248807e-01] [ 1.48881553e-02 2.85923758e-03 9.99885077e-01 1.25546528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56255784400003 meters Centerline goodness : 0.147797 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99876946e-01 2.51177792e-03 -1.54849803e-02 3.07363690e+00] [-2.55902803e-03 9.99992128e-01 -3.03229217e-03 2.82594125e-01] [ 1.54772419e-02 3.07154553e-03 9.99875503e-01 1.25574354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59255784400003 meters Centerline goodness : 0.138380 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.26 [[ 9.99845779e-01 -7.44648415e-03 -1.59049415e-02 3.05165357e+00] [ 7.40845786e-03 9.99969560e-01 -2.44843131e-03 2.84000931e-01] [ 1.59226895e-02 2.33022263e-03 9.99870511e-01 1.25549651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62255784400003 meters Centerline goodness : 0.115903 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99919153e-01 -2.43287464e-03 -1.24807617e-02 3.07385993e+00] [ 2.35682920e-03 9.99978592e-01 -6.10410616e-03 2.83684894e-01] [ 1.24953450e-02 6.07419764e-03 9.99903481e-01 1.25415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.652557844 meters Centerline goodness : 0.119520 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99930937e-01 -2.82602292e-03 -1.14076238e-02 3.07060938e+00] [ 2.75843986e-03 9.99978579e-01 -5.93576921e-03 2.82592426e-01] [ 1.14241541e-02 5.90389203e-03 9.99917313e-01 1.25460212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.682557844 meters Centerline goodness : 0.135959 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99932717e-01 -2.80208500e-03 -1.12565343e-02 3.07002984e+00] [ 2.73807097e-03 9.99980016e-01 -5.69822402e-03 2.81458300e-01] [ 1.12722763e-02 5.66701944e-03 9.99920407e-01 1.25493222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.712557844 meters Centerline goodness : 0.117977 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.25 [[ 9.99938360e-01 -2.95018162e-03 -1.07038733e-02 3.06866705e+00] [ 2.89197903e-03 9.99980973e-01 -5.44893604e-03 2.80893069e-01] [ 1.07197450e-02 5.41764479e-03 9.99927865e-01 1.25434141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.742557844 meters Centerline goodness : 0.143483 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:1.25 [[ 0.99991289 0.00602706 -0.01174211 3.0485865 ] [-0.00610091 0.99996177 -0.00626398 0.27599196] [ 0.01170391 0.00633508 0.99991144 1.2542265 ] [ 0. 0. 0. 1. ]] SLAMing on 247.772557844 meters Centerline goodness : 0.133987 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:1.26 [[ 9.99927069e-01 -9.20818487e-04 -1.20419352e-02 3.06673948e+00] [ 8.56972184e-04 9.99985555e-01 -5.30608256e-03 2.83327536e-01] [ 1.20466472e-02 5.29537598e-03 9.99913415e-01 1.25651200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802557844 meters Centerline goodness : 0.240677 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99989791 -0.00807038 -0.01179183 3.08529214] [ 0.00801776 0.99995772 -0.00450367 0.29124338] [ 0.01182768 0.00440867 0.99992033 1.25821554] [ 0. 0. 0. 1. ]] SLAMing on 247.832557844 meters Centerline goodness : 0.120904 Centerline is valid? [False, False] Translation: X:3.08, Y:0.29, Z:1.26 [[ 0.99990033 -0.00829269 -0.01142621 3.08426646] [ 0.00823394 0.99995269 -0.00517941 0.29446284] [ 0.01146862 0.00508481 0.9999213 1.25835349] [ 0. 0. 0. 1. ]] SLAMing on 247.862557844 meters Centerline goodness : 0.199358 Centerline is valid? [False, False] Translation: X:3.08, Y:0.30, Z:1.26 [[ 0.99989794 -0.00834687 -0.01159441 3.08483612] [ 0.00828425 0.9999509 -0.00543848 0.29567636] [ 0.01163923 0.00534188 0.99991799 1.25808707] [ 0. 0. 0. 1. ]] SLAMing on 247.892557844 meters Centerline goodness : 0.117172 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:1.26 [[ 0.99989578 -0.00839404 -0.01174615 3.08541709] [ 0.00832832 0.99994946 -0.0056322 0.29657428] [ 0.01179284 0.00553379 0.99991515 1.25775179] [ 0. 0. 0. 1. ]] SLAMing on 247.922557844 meters Centerline goodness : 0.119709 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:1.26 [[ 0.99989198 -0.00847932 -0.01200544 3.08631806] [ 0.00840924 0.99994738 -0.00587587 0.29765349] [ 0.01205463 0.00577428 0.99991067 1.25726697] [ 0. 0. 0. 1. ]] SLAMing on 247.952557844 meters Centerline goodness : 0.120546 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99939982e-01 -1.08090111e-05 -1.09558839e-02 3.06650299e+00] [-6.35357816e-05 9.99976976e-01 -6.78546170e-03 2.90942905e-01] [ 1.09557050e-02 6.78575055e-03 9.99916960e-01 1.25593022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982557844 meters Centerline goodness : 0.119656 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99941099e-01 -4.22362209e-05 -1.08534330e-02 3.06601292e+00] [-3.22521390e-05 9.99976450e-01 -6.86284842e-03 2.91366737e-01] [ 1.08534673e-02 6.86279424e-03 9.99917549e-01 1.25631925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012557844 meters Centerline goodness : 0.121558 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99942683e-01 -5.25758862e-05 -1.07064684e-02 3.06541972e+00] [-2.10687560e-05 9.99976344e-01 -6.87828963e-03 2.91464229e-01] [ 1.07065768e-02 6.87812096e-03 9.99919027e-01 1.25669167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04255784400002 meters Centerline goodness : 0.148426 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99943334e-01 -6.71182099e-05 -1.06453449e-02 3.06516338e+00] [-6.33523034e-06 9.99976196e-01 -6.89986882e-03 2.91558295e-01] [ 1.06455546e-02 6.89954528e-03 9.99919531e-01 1.25685137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07255784400002 meters Centerline goodness : 0.118868 Centerline is valid? [False, False] Translation: X:3.08, Y:0.30, Z:1.26 [[ 0.99991418 -0.00739884 -0.01081133 3.08452122] [ 0.0073372 0.99995666 -0.00573019 0.29624385] [ 0.01085326 0.00565037 0.99992514 1.25867238] [ 0. 0. 0. 1. ]] SLAMing on 248.10255784400002 meters Centerline goodness : 0.117208 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99991089 -0.00706132 -0.01132916 3.08653381] [ 0.00700264 0.9999619 -0.00521079 0.29486225] [ 0.01136552 0.00513099 0.99992225 1.2574367 ] [ 0. 0. 0. 1. ]] SLAMing on 248.13255784400002 meters Centerline goodness : 0.121408 Centerline is valid? [False, False] Translation: X:3.07, Y:0.29, Z:1.26 [[ 9.99915647e-01 2.00144994e-03 -1.28332661e-02 3.06949260e+00] [-2.08115252e-03 9.99978612e-01 -6.20027993e-03 2.87509017e-01] [ 1.28205820e-02 6.22646490e-03 9.99898427e-01 1.25622267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16255784400002 meters Centerline goodness : 0.118481 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99989668 -0.00538251 -0.01332881 3.08961794] [ 0.00531221 0.99997182 -0.00530419 0.29154818] [ 0.01335699 0.00523283 0.9998971 1.25740454] [ 0. 0. 0. 1. ]] SLAMing on 248.19255784400002 meters Centerline goodness : 0.119430 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990255 -0.0054374 -0.01285818 3.08802789] [ 0.00537007 0.99997172 -0.00526527 0.29104983] [ 0.01288645 0.00519571 0.99990347 1.2581265 ] [ 0. 0. 0. 1. ]] SLAMing on 248.22255784400002 meters Centerline goodness : 0.160780 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990555 -0.00548828 -0.01260031 3.08693976] [ 0.00542144 0.99997108 -0.00533309 0.2910684 ] [ 0.01262922 0.00526428 0.99990639 1.25893314] [ 0. 0. 0. 1. ]] SLAMing on 248.25255784400002 meters Centerline goodness : 0.120658 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990729 -0.0054824 -0.01246399 3.08630947] [ 0.00541682 0.99997134 -0.00528975 0.29070867] [ 0.01249264 0.00522174 0.99990833 1.25950052] [ 0. 0. 0. 1. ]] SLAMing on 248.28255784400002 meters Centerline goodness : 0.118909 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990684 -0.0053861 -0.01254207 3.08623909] [ 0.00532184 0.99997257 -0.00515094 0.28992702] [ 0.01256947 0.00508371 0.99990808 1.26001488] [ 0. 0. 0. 1. ]] SLAMing on 248.31255784400003 meters Centerline goodness : 0.148866 Centerline is valid? [False, False] Translation: X:3.09, Y:0.29, Z:1.26 [[ 0.99990314 -0.00486731 -0.01303955 3.08824302] [ 0.00481431 0.99998003 -0.00409325 0.28593924] [ 0.01305921 0.00403008 0.9999066 1.25873945] [ 0. 0. 0. 1. ]] SLAMing on 248.34255784400003 meters Centerline goodness : 0.122515 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 0.99989928 -0.00450163 -0.01345992 3.0899109 ] [ 0.00445608 0.99998425 -0.00341243 0.28351795] [ 0.01347507 0.00335211 0.99990359 1.25774333] [ 0. 0. 0. 1. ]] SLAMing on 248.37255784400003 meters Centerline goodness : 0.153080 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894997e-01 -4.19786391e-03 -1.38698408e-02 3.09134187e+00] [ 4.15851127e-03 9.99987249e-01 -2.86490480e-03 2.81432294e-01] [ 1.38816905e-02 2.80692609e-03 9.99899705e-01 1.25712863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.402557844 meters Centerline goodness : 0.153080 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894997e-01 -4.19786391e-03 -1.38698408e-02 3.09134187e+00] [ 4.15851127e-03 9.99987249e-01 -2.86490480e-03 2.81432294e-01] [ 1.38816905e-02 2.80692609e-03 9.99899705e-01 1.25712863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.432557844 meters Centerline goodness : 0.141644 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:1.26 [[ 9.99894558e-01 -4.03179507e-03 -1.39505328e-02 3.09151296e+00] [ 3.99771496e-03 9.99988959e-01 -2.46995015e-03 2.79625648e-01] [ 1.39603371e-02 2.41391946e-03 9.99899636e-01 1.25720158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.462557844 meters Centerline goodness : 0.149011 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99893861e-01 4.87942160e-03 -1.37279665e-02 3.11002564e+00] [-4.91428686e-03 9.99984782e-01 -2.50713862e-03 2.72208151e-01] [ 1.37155242e-02 2.57433568e-03 9.99902624e-01 1.25837773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.492557844 meters Centerline goodness : 0.140110 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99893857e-01 5.05329779e-03 -1.36652546e-02 3.10967754e+00] [-5.08307299e-03 9.99984780e-01 -2.14504405e-03 2.70594572e-01] [ 1.36542071e-02 2.21427785e-03 9.99904325e-01 1.25872289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.522557844 meters Centerline goodness : 0.139441 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99873105e-01 5.71150303e-03 -1.48712028e-02 3.11363159e+00] [-5.73303757e-03 9.99982578e-01 -1.40584152e-03 2.67849540e-01] [ 1.48629142e-02 1.49092029e-03 9.99888429e-01 1.25757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552557844 meters Centerline goodness : 0.146951 Centerline is valid? [False, False] Translation: X:3.11, Y:0.27, Z:1.26 [[ 9.99868110e-01 5.81887749e-03 -1.51625475e-02 3.11489136e+00] [-5.83756783e-03 9.99982255e-01 -1.18869774e-03 2.66761891e-01] [ 1.51553616e-02 1.27705336e-03 9.99884335e-01 1.25673121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582557844 meters Centerline goodness : 0.141390 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99867435e-01 5.90690470e-03 -1.51730572e-02 3.11514369e+00] [-5.92309317e-03 9.99981936e-01 -1.02220540e-03 2.65970414e-01] [ 1.51667450e-02 1.11194133e-03 9.99884360e-01 1.25636384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612557844 meters Centerline goodness : 0.142634 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:1.26 [[ 9.99863970e-01 6.01030911e-03 -1.53596014e-02 3.11557621e+00] [-6.02602021e-03 9.99981366e-01 -9.76807493e-04 2.65703269e-01] [ 1.53534442e-02 1.06923189e-03 9.99881557e-01 1.25657368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642557844 meters Centerline goodness : 0.135892 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99877980e-01 -1.25361874e-03 -1.55708903e-02 3.13286564e+00] [ 1.25424366e-03 9.99999213e-01 3.03682989e-05 2.73145921e-01] [ 1.55708400e-02 -4.98942838e-05 9.99878766e-01 1.25872986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672557844 meters Centerline goodness : 0.136063 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99880739e-01 -1.18200012e-03 -1.53983708e-02 3.13224657e+00] [ 1.18413246e-03 9.99999291e-01 1.29361473e-04 2.72767015e-01] [ 1.53982069e-02 -1.47579756e-04 9.99881430e-01 1.25902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702557844 meters Centerline goodness : 0.132013 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99886348e-01 -9.78237350e-04 -1.50444292e-02 3.13103027e+00] [ 9.84516371e-04 9.99999431e-01 4.09964657e-04 2.72207153e-01] [ 1.50440196e-02 -4.24729551e-04 9.99886742e-01 1.25947348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732557844 meters Centerline goodness : 0.133029 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99888287e-01 -9.14284086e-04 -1.49190191e-02 3.13082241e+00] [ 9.23051091e-04 9.99999405e-01 5.80764147e-04 2.71467917e-01] [ 1.49184793e-02 -5.94470286e-04 9.99888537e-01 1.25927675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762557844 meters Centerline goodness : 0.135860 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99888212e-01 -8.53467574e-04 -1.49276579e-02 3.13082949e+00] [ 8.66627224e-04 9.99999242e-01 8.75115138e-04 2.69836158e-01] [ 1.49268997e-02 -8.87954025e-04 9.99888193e-01 1.25930377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79255784400002 meters Centerline goodness : 0.139071 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99887051e-01 -8.44971668e-04 -1.50056867e-02 3.13085797e+00] [ 8.62963139e-04 9.99998917e-01 1.19254226e-03 2.67796965e-01] [ 1.50046628e-02 -1.20535692e-03 9.99886697e-01 1.25964168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82255784400002 meters Centerline goodness : 0.135549 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:1.26 [[ 9.99876026e-01 -9.38869564e-04 -1.57178852e-02 3.13241007e+00] [ 9.62496660e-04 9.99998418e-01 1.49570102e-03 2.65691644e-01] [ 1.57164561e-02 -1.51064401e-03 9.99875348e-01 1.25976300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85255784400002 meters Centerline goodness : 0.144439 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99872058e-01 -8.58328019e-04 -1.59728061e-02 3.13325237e+00] [ 8.86287121e-04 9.99998087e-01 1.74342255e-03 2.64484272e-01] [ 1.59712791e-02 -1.75735598e-03 9.99870907e-01 1.25939197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88255784400002 meters Centerline goodness : 0.114241 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99869605e-01 -6.75501728e-04 -1.61343538e-02 3.13388762e+00] [ 7.12558865e-04 9.99997121e-01 2.29114645e-03 2.62593145e-01] [ 1.61327597e-02 -2.30234437e-03 9.99867208e-01 1.25878016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91255784400002 meters Centerline goodness : 0.116498 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:1.26 [[ 9.99834107e-01 7.76299449e-03 -1.64770748e-02 3.11523418e+00] [-7.74690799e-03 9.99969452e-01 1.03990003e-03 2.54539029e-01] [ 1.64846442e-02 -9.12081137e-04 9.99863703e-01 1.25800746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94255784400002 meters Centerline goodness : 0.146930 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99881289e-01 -1.77742169e-03 -1.53051824e-02 3.13299923e+00] [ 1.79727773e-03 9.99997561e-01 1.28368404e-03 2.58534380e-01] [ 1.53028634e-02 -1.31103932e-03 9.99882045e-01 1.25863118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97255784400002 meters Centerline goodness : 0.202642 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99892058e-01 6.77130142e-03 -1.30392076e-02 3.15054686e+00] [-6.77319689e-03 9.99977057e-01 -1.01211301e-04 2.52612877e-01] [ 1.30382231e-02 1.89517496e-04 9.99914981e-01 1.26074609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00255784400002 meters Centerline goodness : 0.150427 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99898464e-01 -1.93216795e-03 -1.41183773e-02 3.13090611e+00] [ 1.95427791e-03 9.99996885e-01 1.55241258e-03 2.55773020e-01] [ 1.41153338e-02 -1.57984619e-03 9.99899126e-01 1.25980488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03255784400002 meters Centerline goodness : 0.117129 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99892987e-01 -1.72752021e-03 -1.45268954e-02 3.13208458e+00] [ 1.75126791e-03 9.99997151e-01 1.62217821e-03 2.55607860e-01] [ 1.45240517e-02 -1.64744510e-03 9.99893163e-01 1.25972336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06255784400003 meters Centerline goodness : 0.210859 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:1.26 [[ 9.99876077e-01 7.13100745e-03 -1.40349688e-02 3.15217565e+00] [-7.12867383e-03 9.99974567e-01 2.16293722e-04 2.51792825e-01] [ 1.40361542e-02 -1.16216204e-04 9.99901482e-01 1.26087520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09255784400003 meters Centerline goodness : 0.163000 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:1.26 [[ 9.99844356e-01 7.75878700e-03 -1.58450203e-02 3.11618380e+00] [-7.77885073e-03 9.99969018e-01 -1.20500850e-03 2.51973040e-01] [ 1.58351800e-02 1.32807699e-03 9.99873734e-01 1.26147662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12255784400003 meters Centerline goodness : 0.130853 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99860703e-01 1.12280714e-03 -1.66527198e-02 3.13205497e+00] [-1.11016184e-03 9.99999088e-01 7.68578566e-04 2.58319130e-01] [ 1.66535676e-02 -7.49984292e-04 9.99861038e-01 1.26386014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.152557844 meters Centerline goodness : 0.129884 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99859525e-01 1.25018498e-03 -1.67142749e-02 3.13205997e+00] [-1.23563907e-03 9.99998849e-01 8.80567382e-04 2.57894202e-01] [ 1.67153565e-02 -8.59790873e-04 9.99859919e-01 1.26422588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.182557844 meters Centerline goodness : 0.136539 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99856366e-01 1.34723841e-03 -1.68947375e-02 3.13258837e+00] [-1.33121598e-03 9.99998654e-01 9.59578573e-04 2.57584666e-01] [ 1.68960075e-02 -9.36950200e-04 9.99856813e-01 1.26422963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.212557844 meters Centerline goodness : 0.130188 Centerline is valid? [False, False] Translation: X:3.13, Y:0.26, Z:1.26 [[ 9.99850254e-01 1.36153906e-03 -1.72515547e-02 3.13328703e+00] [-1.34194652e-03 9.99998442e-01 1.14722225e-03 2.55982493e-01] [ 1.72530898e-02 -1.12389980e-03 9.99850523e-01 1.26458941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.242557844 meters Centerline goodness : 0.156784 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99846404e-01 1.47412237e-03 -1.74641417e-02 3.13388632e+00] [-1.44888679e-03 9.99997888e-01 1.45755822e-03 2.54453295e-01] [ 1.74662534e-02 -1.43203078e-03 9.99846428e-01 1.26452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.272557844 meters Centerline goodness : 0.272008 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99841658e-01 1.59897835e-03 -1.77229110e-02 3.13474242e+00] [-1.56770965e-03 9.99997190e-01 1.77806210e-03 2.52982946e-01] [ 1.77257043e-02 -1.74999618e-03 9.99841356e-01 1.26419699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302557844 meters Centerline goodness : 0.130812 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99837259e-01 1.72804862e-03 -1.79574596e-02 3.13557117e+00] [-1.68980348e-03 9.99996272e-01 2.14471824e-03 2.51188596e-01] [ 1.79610988e-02 -2.11402462e-03 9.99836452e-01 1.26381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332557844 meters Centerline goodness : 0.213442 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99842778e-01 -1.95896455e-03 -1.76233169e-02 3.13499275e+00] [ 1.93813366e-03 9.99997403e-01 -1.19900935e-03 2.48335755e-01] [ 1.76256200e-02 1.16466449e-03 9.99843978e-01 1.26348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362557844 meters Centerline goodness : 0.185225 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99841434e-01 -1.79812928e-03 -1.77164931e-02 3.13499305e+00] [ 1.78510648e-03 9.99998125e-01 -7.50852819e-04 2.46075762e-01] [ 1.77178100e-02 7.19107932e-04 9.99842769e-01 1.26393543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392557844 meters Centerline goodness : 0.116891 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99838092e-01 -1.67776454e-03 -1.79157969e-02 3.13544644e+00] [ 1.66921992e-03 9.99998486e-01 -4.91875227e-04 2.44879436e-01] [ 1.79165950e-02 4.61890183e-04 9.99839378e-01 1.26402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422557844 meters Centerline goodness : 0.149859 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99832794e-01 -1.29661745e-03 -1.82401547e-02 3.13674805e+00] [ 1.29383441e-03 9.99999149e-01 -1.64377745e-04 2.44214001e-01] [ 1.82403523e-02 1.40750520e-04 9.99833621e-01 1.26316902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452557844 meters Centerline goodness : 0.149161 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99836619e-01 -1.24866515e-03 -1.80326524e-02 3.13628837e+00] [ 1.24595166e-03 9.99999211e-01 -1.61710728e-04 2.44291202e-01] [ 1.80328401e-02 1.39216495e-04 9.99837385e-01 1.26311359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482557844 meters Centerline goodness : 0.117210 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99841979e-01 -1.19059150e-03 -1.77369348e-02 3.13546766e+00] [ 1.18824718e-03 9.99999284e-01 -1.42709387e-04 2.44284021e-01] [ 1.77370920e-02 1.21610973e-04 9.99842678e-01 1.26329012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512557844 meters Centerline goodness : 0.093765 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99845244e-01 -1.17046246e-03 -1.75532657e-02 3.13491261e+00] [ 1.16694612e-03 9.99999297e-01 -2.10564993e-04 2.44667333e-01] [ 1.75534998e-02 1.90048691e-04 9.99845907e-01 1.26341674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54255784400002 meters Centerline goodness : 0.301865 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99845024e-01 -1.14552888e-03 -1.75674594e-02 3.13495687e+00] [ 1.13910556e-03 9.99999281e-01 -3.75639133e-04 2.45716343e-01] [ 1.75678770e-02 3.55569727e-04 9.99845610e-01 1.26332505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57255784400002 meters Centerline goodness : 0.114885 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99846587e-01 -1.11465907e-03 -1.74802939e-02 3.13487065e+00] [ 1.10471097e-03 9.99999222e-01 -5.78749214e-04 2.47138628e-01] [ 1.74809254e-02 5.59349754e-04 9.99847040e-01 1.26303772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60255784400002 meters Centerline goodness : 0.139515 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852024e-01 -1.15062115e-03 -1.71640689e-02 3.13386185e+00] [ 1.13411150e-03 9.99998885e-01 -9.71575049e-04 2.49464027e-01] [ 1.71651677e-02 9.51965311e-04 9.99852214e-01 1.26327822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63255784400002 meters Centerline goodness : 0.112958 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852827e-01 -1.20814658e-03 -1.71132625e-02 3.13366577e+00] [ 1.18991752e-03 9.99998714e-01 -1.07534299e-03 2.49794609e-01] [ 1.71145397e-02 1.05482136e-03 9.99852979e-01 1.26337827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66255784400002 meters Centerline goodness : 0.147349 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99852163e-01 -1.25890643e-03 -1.71483916e-02 3.13380630e+00] [ 1.24013651e-03 9.99998620e-01 -1.10514869e-03 2.49757429e-01] [ 1.71497592e-02 1.08371897e-03 9.99852345e-01 1.26325478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69255784400002 meters Centerline goodness : 0.139684 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:1.26 [[ 9.99851509e-01 -1.26510806e-03 -1.71860135e-02 3.13407666e+00] [ 1.24677148e-03 9.99998642e-01 -1.07762022e-03 2.49664703e-01] [ 1.71873534e-02 1.05603317e-03 9.99851729e-01 1.26292393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72255784400002 meters Centerline goodness : 0.141318 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99843002e-01 -1.39879401e-03 -1.76639605e-02 3.13549525e+00] [ 1.38117788e-03 9.99998537e-01 -1.00945251e-03 2.48893874e-01] [ 1.76653467e-02 9.84896954e-04 9.99843471e-01 1.26258853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75255784400002 meters Centerline goodness : 0.115375 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99839619e-01 -1.40573563e-03 -1.78538370e-02 3.13587663e+00] [ 1.39105902e-03 9.99998684e-01 -8.34434272e-04 2.47766316e-01] [ 1.78549865e-02 8.09464704e-04 9.99840259e-01 1.26277976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78255784400002 meters Centerline goodness : 0.116356 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:1.26 [[ 9.99837571e-01 -1.38925679e-03 -1.79694703e-02 3.13584661e+00] [ 1.37817531e-03 9.99998852e-01 -6.29052058e-04 2.46596480e-01] [ 1.79703236e-02 6.04184801e-04 9.99838338e-01 1.26332333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81255784400003 meters Centerline goodness : 0.186486 Centerline is valid? [False, False] Translation: X:3.14, Y:0.24, Z:1.26 [[ 9.99841365e-01 -1.37658609e-03 -1.77580737e-02 3.13507810e+00] [ 1.37228498e-03 9.99999026e-01 -2.54388972e-04 2.44607051e-01] [ 1.77584066e-02 2.29979479e-04 9.99842281e-01 1.26382969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84255784400003 meters Centerline goodness : 0.173751 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.26 [[ 9.99844068e-01 7.33070346e-03 -1.60654965e-02 3.15426565e+00] [-7.35527672e-03 9.99971868e-01 -1.47101415e-03 2.40603732e-01] [ 1.60542610e-02 1.58895094e-03 9.99869860e-01 1.26444395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87255784400003 meters Centerline goodness : 0.146608 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.26 [[ 9.99848384e-01 7.36506121e-03 -1.57786282e-02 3.15337906e+00] [-7.38354833e-03 9.99972121e-01 -1.11372076e-03 2.39044159e-01] [ 1.57699857e-02 1.23005417e-03 9.99874889e-01 1.26455299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.902557844 meters Centerline goodness : 0.176832 Centerline is valid? [False, False] Translation: X:3.15, Y:0.24, Z:1.27 [[ 9.99849915e-01 7.39118304e-03 -1.56690205e-02 3.15267592e+00] [-7.40525668e-03 9.99972228e-01 -8.40351430e-04 2.37650004e-01] [ 1.56623741e-02 9.56258424e-04 9.99876880e-01 1.26522357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.932557844 meters Centerline goodness : 0.108320 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:1.27 [[ 9.99864219e-01 4.64545114e-03 -1.58102268e-02 3.15284885e+00] [-4.69530882e-03 9.99984116e-01 -3.11785129e-03 2.33044008e-01] [ 1.57954919e-02 3.19166184e-03 9.99870149e-01 1.26522783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.962557844 meters Centerline goodness : 0.145355 Centerline is valid? [False, False] Translation: X:3.13, Y:0.24, Z:1.26 [[ 9.99844009e-01 -4.63115418e-03 -1.70443456e-02 3.13403615e+00] [ 4.59137854e-03 9.99986646e-01 -2.37204798e-03 2.36495831e-01] [ 1.70551033e-02 2.29342092e-03 9.99851921e-01 1.26456821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.992557844 meters Centerline goodness : 0.145521 Centerline is valid? [False, False] Translation: X:3.13, Y:0.23, Z:1.26 [[ 9.99841779e-01 -4.50795947e-03 -1.72073967e-02 3.13464467e+00] [ 4.47330365e-03 9.99987889e-01 -2.05196617e-03 2.34842062e-01] [ 1.72164385e-02 1.97466760e-03 9.99849836e-01 1.26426553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.022557844 meters Centerline goodness : 0.182048 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99870408e-01 2.77519354e-03 -1.58576434e-02 3.15654060e+00] [-2.85265654e-03 9.99984100e-01 -4.86437009e-03 2.32705329e-01] [ 1.58438917e-02 4.90897612e-03 9.99862427e-01 1.26334179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052557844 meters Centerline goodness : 0.148647 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 9.99869168e-01 2.87672735e-03 -1.59176446e-02 3.15669763e+00] [-2.95036290e-03 9.99985047e-01 -4.60448526e-03 2.31423491e-01] [ 1.59041608e-02 4.65084567e-03 9.99862704e-01 1.26336279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082557844 meters Centerline goodness : 0.136210 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99985769 0.00334637 -0.01653456 3.15858214] [-0.00341324 0.9999861 -0.00401762 0.22957355] [ 0.01652088 0.00407349 0.99985522 1.26294551] [ 0. 0. 0. 1. ]] SLAMing on 250.112557844 meters Centerline goodness : 0.147548 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99984928 0.00354984 -0.01699477 3.15985602] [-0.00361674 0.99998583 -0.00390754 0.22919686] [ 0.01698066 0.00396842 0.99984794 1.26291379] [ 0. 0. 0. 1. ]] SLAMing on 250.142557844 meters Centerline goodness : 0.152185 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99984015 0.00373198 -0.01748553 3.16125535] [-0.00379916 0.99998552 -0.00381016 0.22879867] [ 0.01747105 0.00387598 0.99983986 1.26280048] [ 0. 0. 0. 1. ]] SLAMing on 250.172557844 meters Centerline goodness : 0.148472 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.9998316 0.00385461 -0.01794181 3.16257554] [-0.00392308 0.99998515 -0.00378251 0.22862392] [ 0.01792696 0.00385226 0.99983188 1.26263004] [ 0. 0. 0. 1. ]] SLAMing on 250.202557844 meters Centerline goodness : 0.150312 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:1.26 [[ 0.99983142 0.00392981 -0.01793559 3.16253708] [-0.00399511 0.99998552 -0.0036066 0.22811518] [ 0.01792116 0.00367765 0.99983264 1.26259499] [ 0. 0. 0. 1. ]] SLAMing on 250.232557844 meters Centerline goodness : 0.147097 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99851755e-01 -4.43902704e-03 -1.66362006e-02 3.17891838e+00] [ 4.40344434e-03 9.99987940e-01 -2.17489248e-03 2.34112834e-01] [ 1.66456543e-02 2.10131348e-03 9.99859243e-01 1.26341060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262557844 meters Centerline goodness : 0.297785 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852626e-01 -4.40710137e-03 -1.65922771e-02 3.17855464e+00] [ 4.37339504e-03 9.99988300e-01 -2.06718383e-03 2.33647596e-01] [ 1.66011932e-02 1.99431459e-03 9.99860202e-01 1.26382687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29255784400002 meters Centerline goodness : 0.385711 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852455e-01 -4.40272700e-03 -1.66037225e-02 3.17841599e+00] [ 4.37070410e-03 9.99988519e-01 -1.96445256e-03 2.33045448e-01] [ 1.66121808e-02 1.89159276e-03 9.99860219e-01 1.26411438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32255784400002 meters Centerline goodness : 0.385711 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99852455e-01 -4.40272700e-03 -1.66037225e-02 3.17841599e+00] [ 4.37070410e-03 9.99988519e-01 -1.96445256e-03 2.33045448e-01] [ 1.66121808e-02 1.89159276e-03 9.99860219e-01 1.26411438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35255784400002 meters Centerline goodness : 0.162774 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99855502e-01 -4.70207452e-03 -1.63360397e-02 3.17726981e+00] [ 4.66912136e-03 9.99986989e-01 -2.05476071e-03 2.32972876e-01] [ 1.63454888e-02 1.97818885e-03 9.99864447e-01 1.26454533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38255784400002 meters Centerline goodness : 0.150169 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99860794e-01 -4.82485118e-03 -1.59722696e-02 3.17613432e+00] [ 4.79472836e-03 9.99986655e-01 -1.92370198e-03 2.32523161e-01] [ 1.59813380e-02 1.84685150e-03 9.99870585e-01 1.26459648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41255784400002 meters Centerline goodness : 0.149073 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:1.26 [[ 9.99866320e-01 -4.92354446e-03 -1.55916894e-02 3.17510094e+00] [ 4.89765218e-03 9.99986564e-01 -1.69839472e-03 2.31782192e-01] [ 1.55998421e-02 1.62180501e-03 9.99877000e-01 1.26435011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44255784400002 meters Centerline goodness : 0.181437 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99873151e-01 -5.00182710e-03 -1.51216512e-02 3.17380059e+00] [ 4.98138942e-03 9.99986628e-01 -1.38891465e-03 2.30733930e-01] [ 1.51283961e-02 1.31341163e-03 9.99884697e-01 1.26415780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47255784400002 meters Centerline goodness : 0.118100 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99882337e-01 -5.33616718e-03 -1.43818133e-02 3.17136527e+00] [ 5.32361921e-03 9.99985415e-01 -9.10631551e-04 2.28398115e-01] [ 1.43864629e-02 8.33961106e-04 9.99896162e-01 1.26437421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50255784400002 meters Centerline goodness : 0.195016 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:1.26 [[ 9.99884003e-01 -5.39046832e-03 -1.42451315e-02 3.17081215e+00] [ 5.38331676e-03 9.99985364e-01 -5.40333067e-04 2.26831688e-01] [ 1.42478357e-02 4.63584335e-04 9.99898387e-01 1.26434700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53255784400002 meters Centerline goodness : 0.153948 Centerline is valid? [False, False] Translation: X:3.15, Y:0.22, Z:1.26 [[ 9.99901669e-01 2.80166455e-03 -1.37405600e-02 3.15228617e+00] [-2.81635362e-03 9.99995483e-01 -1.04979660e-03 2.15599461e-01] [ 1.37375568e-02 1.08839164e-03 9.99905043e-01 1.26354860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56255784400003 meters Centerline goodness : 0.146894 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:1.26 [[ 9.99902264e-01 -4.64054500e-03 -1.31881765e-02 3.17263331e+00] [ 4.63974548e-03 9.99989232e-01 -9.12197675e-05 2.18085382e-01] [ 1.31884578e-02 3.00210697e-05 9.99913028e-01 1.26457843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59255784400003 meters Centerline goodness : 0.152269 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:1.26 [[ 9.99903416e-01 -4.46335937e-03 -1.31619334e-02 3.17245913e+00] [ 4.46828252e-03 9.99989958e-01 3.44661361e-04 2.16104674e-01] [ 1.31602629e-02 -4.03439310e-04 9.99913319e-01 1.26477314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62255784400003 meters Centerline goodness : 0.127770 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99905922e-01 -4.31249057e-03 -1.30211470e-02 3.17192297e+00] [ 4.32189523e-03 9.99990420e-01 6.94207688e-04 2.14538071e-01] [ 1.30180285e-02 -7.50418412e-04 9.99914980e-01 1.26511897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.652557844 meters Centerline goodness : 0.142499 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99909245e-01 -4.03671828e-03 -1.28532921e-02 3.17117939e+00] [ 4.05477895e-03 9.99990828e-01 1.37938926e-03 2.11278301e-01] [ 1.28476060e-02 -1.43138133e-03 9.99916442e-01 1.26575124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.682557844 meters Centerline goodness : 0.158725 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:1.27 [[ 9.99907795e-01 -3.89101333e-03 -1.30100922e-02 3.17152162e+00] [ 3.91444361e-03 9.99990762e-01 1.77595147e-03 2.09323847e-01] [ 1.30030618e-02 -1.82671499e-03 9.99913788e-01 1.26586315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.712557844 meters Centerline goodness : 0.153961 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99913894e-01 3.61025126e-03 -1.26163134e-02 3.19291586e+00] [-3.62102985e-03 9.99993098e-01 -8.31599047e-04 2.04972057e-01] [ 1.26132240e-02 8.77211488e-04 9.99920065e-01 1.26574979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.742557844 meters Centerline goodness : 0.117117 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99909496e-01 3.77050225e-03 -1.29144746e-02 3.19372211e+00] [-3.77442600e-03 9.99992838e-01 -2.79465998e-04 2.02162811e-01] [ 1.29133284e-02 3.28185434e-04 9.99916566e-01 1.26566907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.772557844 meters Centerline goodness : 0.153111 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:1.27 [[ 9.99902670e-01 4.07148067e-03 -1.33444499e-02 3.19473120e+00] [-4.06110804e-03 9.99991430e-01 8.04304945e-04 1.96690236e-01] [ 1.33476102e-02 -7.50033409e-04 9.99910635e-01 1.26578799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802557844 meters Centerline goodness : 0.117732 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:1.27 [[ 9.99901067e-01 4.23457630e-03 -1.34136085e-02 3.19479164e+00] [-4.21798165e-03 9.99990304e-01 1.26519873e-03 1.94463135e-01] [ 1.34188360e-02 -1.20849520e-03 9.99909233e-01 1.26598202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832557844 meters Centerline goodness : 0.130341 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:1.27 [[ 9.99898960e-01 4.36565607e-03 -1.35281838e-02 3.19517170e+00] [-4.34420878e-03 9.99989261e-01 1.61435886e-03 1.92736333e-01] [ 1.35350862e-02 -1.55542649e-03 9.99907187e-01 1.26582477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862557844 meters Centerline goodness : 0.120829 Centerline is valid? [False, False] Translation: X:3.22, Y:0.20, Z:1.27 [[ 9.99903227e-01 -2.54972254e-03 -1.36761282e-02 3.21546919e+00] [ 2.58765196e-03 9.99992853e-01 2.75642515e-03 1.95250323e-01] [ 1.36690024e-02 -2.79154746e-03 9.99902678e-01 1.26651030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892557844 meters Centerline goodness : 0.151734 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:1.27 [[ 9.99903715e-01 -2.41426780e-03 -1.36650014e-02 3.21531280e+00] [ 2.45605921e-03 9.99992356e-01 3.04232554e-03 1.94061155e-01] [ 1.36575520e-02 -3.07559466e-03 9.99902001e-01 1.26673321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922557844 meters Centerline goodness : 0.149555 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:1.27 [[ 9.99903705e-01 -2.25374391e-03 -1.36930864e-02 3.21505562e+00] [ 2.30118554e-03 9.99991401e-01 3.44987327e-03 1.92205960e-01] [ 1.36851935e-02 -3.48105140e-03 9.99900294e-01 1.26729048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952557844 meters Centerline goodness : 0.384878 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99932990e-01 -1.38237947e-03 -1.14936984e-02 3.25802771e+00] [ 1.40677888e-03 9.99996774e-01 2.11503760e-03 1.92759836e-01] [ 1.14907375e-02 -2.13106496e-03 9.99931708e-01 1.26737554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982557844 meters Centerline goodness : 0.154160 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99928597e-01 -1.48032675e-03 -1.18579239e-02 3.25872888e+00] [ 1.50969816e-03 9.99995814e-01 2.46837560e-03 1.90346047e-01] [ 1.18542203e-02 -2.48610124e-03 9.99926646e-01 1.26772630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012557844 meters Centerline goodness : 0.156492 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99928868e-01 -1.44842299e-03 -1.18389678e-02 3.25856004e+00] [ 1.48006493e-03 9.99995355e-01 2.66437017e-03 1.89339252e-01] [ 1.18350536e-02 -2.68170309e-03 9.99926367e-01 1.26788805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04255784400002 meters Centerline goodness : 0.124832 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99929011e-01 -1.43848349e-03 -1.18281175e-02 3.25837426e+00] [ 1.47241327e-03 9.99994825e-01 2.86036192e-03 1.88329311e-01] [ 1.18239418e-02 -2.87757474e-03 9.99925954e-01 1.26810183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07255784400002 meters Centerline goodness : 0.133960 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99927622e-01 -1.47558676e-03 -1.19403703e-02 3.25860027e+00] [ 1.51215829e-03 9.99994192e-01 3.05439902e-03 1.87163557e-01] [ 1.19357939e-02 -3.07223368e-03 9.99924046e-01 1.26815876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10255784400002 meters Centerline goodness : 0.134795 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99925793e-01 -1.49656822e-03 -1.20900124e-02 3.25898682e+00] [ 1.53599811e-03 9.99993530e-01 3.25273359e-03 1.85993776e-01] [ 1.20850663e-02 -3.27106245e-03 9.99921623e-01 1.26808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13255784400002 meters Centerline goodness : 0.196812 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99919792e-01 -1.96474747e-03 -1.25119321e-02 3.26009784e+00] [ 2.00342348e-03 9.99993252e-01 3.07934687e-03 1.85510684e-01] [ 1.25057975e-02 -3.10416658e-03 9.99916981e-01 1.26802111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16255784400002 meters Centerline goodness : 0.147528 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99917109e-01 -2.01410800e-03 -1.27168956e-02 3.26053276e+00] [ 2.05362849e-03 9.99993100e-01 3.09542231e-03 1.85230281e-01] [ 1.27105733e-02 -3.12128150e-03 9.99914346e-01 1.26810180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19255784400002 meters Centerline goodness : 0.145938 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99913376e-01 -2.11712757e-03 -1.29906971e-02 3.26133852e+00] [ 2.15668182e-03 9.99993079e-01 3.03156029e-03 1.85356550e-01] [ 1.29841890e-02 -3.05931449e-03 9.99911022e-01 1.26784088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22255784400002 meters Centerline goodness : 0.139094 Centerline is valid? [False, False] Translation: X:3.28, Y:0.18, Z:1.27 [[ 9.99899481e-01 5.62253783e-03 -1.30159875e-02 3.28289982e+00] [-5.61311599e-03 9.99983957e-01 7.60285782e-04 1.83149846e-01] [ 1.30200534e-02 -6.87149111e-04 9.99914999e-01 1.26747878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25255784400002 meters Centerline goodness : 0.138424 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:1.27 [[ 9.99900685e-01 -3.99046551e-03 -1.35165561e-02 3.26337096e+00] [ 4.01571716e-03 9.99990241e-01 1.84157604e-03 1.88055912e-01] [ 1.35090755e-02 -1.89567181e-03 9.99906951e-01 1.26639342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28255784400002 meters Centerline goodness : 0.158132 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99919166e-01 4.83937111e-03 -1.17576406e-02 3.28189249e+00] [-4.83510244e-03 9.99988234e-01 3.91454085e-04 1.85263281e-01] [ 1.17593967e-02 -3.34573045e-04 9.99930800e-01 1.26700858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31255784400003 meters Centerline goodness : 0.119178 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99922460e-01 4.78688085e-03 -1.14960624e-02 3.28100392e+00] [-4.78457844e-03 9.99988528e-01 2.27773006e-04 1.86182358e-01] [ 1.14970208e-02 -1.72751532e-04 9.99933892e-01 1.26737695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34255784400003 meters Centerline goodness : 0.121268 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99926216e-01 4.75440787e-03 -1.11784346e-02 3.27994093e+00] [-4.75363862e-03 9.99988697e-01 9.53840272e-05 1.87006880e-01] [ 1.11787618e-02 -4.22387509e-05 9.99937515e-01 1.26781882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37255784400003 meters Centerline goodness : 0.116597 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:1.27 [[ 9.99932108e-01 4.63980832e-03 -1.06888703e-02 3.27827978e+00] [-4.64177685e-03 9.99989214e-01 -1.59365177e-04 1.88291080e-01] [ 1.06880156e-02 2.08969708e-04 9.99942860e-01 1.26858233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.402557844 meters Centerline goodness : 0.121090 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:1.27 [[ 9.99936904e-01 -2.43624146e-03 -1.09659657e-02 3.29733146e+00] [ 2.44481262e-03 9.99996716e-01 7.68277075e-04 1.93143249e-01] [ 1.09640580e-02 -7.95038332e-04 9.99939577e-01 1.27082150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.432557844 meters Centerline goodness : 0.122419 Centerline is valid? [False, False] Translation: X:3.30, Y:0.19, Z:1.27 [[ 9.99936488e-01 -2.56976172e-03 -1.09734119e-02 3.29742303e+00] [ 2.57468078e-03 9.99996591e-01 4.34166638e-04 1.94673868e-01] [ 1.09722587e-02 -4.62392096e-04 9.99939696e-01 1.27067009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.462557844 meters Centerline goodness : 0.133925 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:1.27 [[ 9.99925853e-01 6.59044080e-03 -1.02398211e-02 3.31840663e+00] [-6.60133704e-03 9.99977680e-01 -1.03066987e-03 1.96580381e-01] [ 1.02328000e-02 1.09818996e-03 9.99947040e-01 1.27033130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.492557844 meters Centerline goodness : 0.152916 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:1.27 [[ 9.99925757e-01 6.36903951e-03 -1.03882795e-02 3.31914129e+00] [-6.38613055e-03 9.99978308e-01 -1.61288152e-03 1.99292864e-01] [ 1.03777816e-02 1.67910269e-03 9.99944740e-01 1.26981758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.522557844 meters Centerline goodness : 0.148706 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99935253e-01 -2.61289995e-03 -1.10753071e-02 3.30152958e+00] [ 2.60833868e-03 9.99996507e-01 -4.26266185e-04 2.06814771e-01] [ 1.10763822e-02 3.97350434e-04 9.99938576e-01 1.26798490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552557844 meters Centerline goodness : 0.119833 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99932827e-01 -2.79069456e-03 -1.12496342e-02 3.30215143e+00] [ 2.78008471e-03 9.99995676e-01 -9.58655452e-04 2.09436403e-01] [ 1.12522608e-02 9.27316120e-04 9.99936261e-01 1.26766213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582557844 meters Centerline goodness : 0.150397 Centerline is valid? [False, False] Translation: X:3.30, Y:0.21, Z:1.27 [[ 9.99933007e-01 -2.92132818e-03 -1.12003463e-02 3.30211590e+00] [ 2.90571683e-03 9.99994785e-01 -1.40984702e-03 2.11777121e-01] [ 1.12044065e-02 1.37720753e-03 9.99936280e-01 1.26748995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612557844 meters Centerline goodness : 0.137731 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99934629e-01 -3.13869557e-03 -1.09948363e-02 3.30138416e+00] [ 3.11514755e-03 9.99992819e-01 -2.15820618e-03 2.15713445e-01] [ 1.10015313e-02 2.12381456e-03 9.99937226e-01 1.26787118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642557844 meters Centerline goodness : 0.239563 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99934237e-01 -3.33346914e-03 -1.09731646e-02 3.30132780e+00] [ 3.30509465e-03 9.99991151e-01 -2.60292712e-03 2.17559092e-01] [ 1.09817443e-02 2.56648860e-03 9.99936405e-01 1.26792472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672557844 meters Centerline goodness : 0.143533 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99933252e-01 -3.47764838e-03 -1.10180601e-02 3.30143853e+00] [ 3.44528582e-03 9.99989699e-01 -2.95484886e-03 2.19140253e-01] [ 1.10282226e-02 2.91669126e-03 9.99934933e-01 1.26790459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702557844 meters Centerline goodness : 0.151288 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 9.99933156e-01 -3.58772917e-03 -1.09914050e-02 3.30138612e+00] [ 3.55205956e-03 9.99988368e-01 -3.26303159e-03 2.20689475e-01] [ 1.10029840e-02 3.22377135e-03 9.99934269e-01 1.26784706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732557844 meters Centerline goodness : 0.153221 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 0.99993167 -0.0037885 -0.01105926 3.30177955] [ 0.00374659 0.99998573 -0.00380849 0.22342428] [ 0.01107353 0.00376679 0.99993159 1.2674952 ] [ 0. 0. 0. 1. ]] SLAMing on 251.762557844 meters Centerline goodness : 0.172556 Centerline is valid? [False, False] Translation: X:3.30, Y:0.22, Z:1.27 [[ 0.99992794 -0.00391164 -0.01134929 3.3027656 ] [ 0.00386546 0.99998418 -0.00408748 0.22455283] [ 0.0113651 0.00404332 0.99992724 1.26707374] [ 0. 0. 0. 1. ]] SLAMing on 251.79255784400002 meters Centerline goodness : 0.152571 Centerline is valid? [False, False] Translation: X:3.30, Y:0.23, Z:1.27 [[ 0.99992236 -0.0040449 -0.01178637 3.30423073] [ 0.00399368 0.99998249 -0.00436626 0.2255964 ] [ 0.01180382 0.00431885 0.99992101 1.26645404] [ 0. 0. 0. 1. ]] SLAMing on 251.82255784400002 meters Centerline goodness : 0.179109 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:1.27 [[ 0.99991901 -0.00413908 -0.01203521 3.3051594 ] [ 0.00408367 0.99998097 -0.00462514 0.22678584] [ 0.01205413 0.00457562 0.99991688 1.26593376] [ 0. 0. 0. 1. ]] SLAMing on 251.85255784400002 meters Centerline goodness : 0.134246 Centerline is valid? [False, False] Translation: X:3.31, Y:0.23, Z:1.27 [[ 9.99924846e-01 -1.09769414e-04 -1.22592861e-02 3.30501948e+00] [ 1.03373085e-04 9.99999858e-01 -5.22386235e-04 2.25945234e-01] [ 1.22593417e-02 5.21079695e-04 9.99924716e-01 1.26691436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88255784400002 meters Centerline goodness : 0.156279 Centerline is valid? [False, False] Translation: X:3.30, Y:0.23, Z:1.27 [[ 9.99927510e-01 -5.39531049e-05 -1.20404204e-02 3.30417737e+00] [ 4.84197493e-05 9.99999893e-01 -4.59856017e-04 2.25767319e-01] [ 1.20404440e-02 4.59239688e-04 9.99927406e-01 1.26747957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91255784400002 meters Centerline goodness : 0.165357 Centerline is valid? [False, False] Translation: X:3.35, Y:0.23, Z:1.27 [[ 9.99952202e-01 9.42781999e-04 -9.73164795e-03 3.34643282e+00] [-9.57332654e-04 9.99998431e-01 -1.49063917e-03 2.25458921e-01] [ 9.73022733e-03 1.49988434e-03 9.99951535e-01 1.26761756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94255784400002 meters Centerline goodness : 0.146402 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:1.27 [[ 9.99952941e-01 1.20516307e-03 -9.62617368e-03 3.34588881e+00] [-1.21329904e-03 9.99998912e-01 -8.39397273e-04 2.22276300e-01] [ 9.62515159e-03 8.51037200e-04 9.99953315e-01 1.26811593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97255784400002 meters Centerline goodness : 0.161352 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:1.27 [[ 9.99953909e-01 1.33898959e-03 -9.50718596e-03 3.34534692e+00] [-1.34439030e-03 9.99998939e-01 -5.61698022e-04 2.21135208e-01] [ 9.50642376e-03 5.74453501e-04 9.99954648e-01 1.26853584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00255784400002 meters Centerline goodness : 0.143707 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99955654e-01 1.46121758e-03 -9.30348652e-03 3.34468604e+00] [-1.46433618e-03 9.99998874e-01 -3.28404708e-04 2.20155013e-01] [ 9.30299617e-03 3.42013576e-04 9.99956668e-01 1.26882898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03255784400002 meters Centerline goodness : 0.152751 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99956404e-01 1.51623987e-03 -9.21368134e-03 3.34435404e+00] [-1.51839899e-03 9.99998821e-01 -2.27348011e-04 2.19644175e-01] [ 9.21332576e-03 2.41328144e-04 9.99957527e-01 1.26908947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06255784400003 meters Centerline goodness : 0.124656 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99959247e-01 1.76331872e-03 -8.85410861e-03 3.34326346e+00] [-1.76278032e-03 9.99998444e-01 6.86115866e-05 2.18738886e-01] [ 8.85421581e-03 -5.30009421e-05 9.99960799e-01 1.26948270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09255784400003 meters Centerline goodness : 0.154918 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:1.27 [[ 9.99958183e-01 1.81179467e-03 -8.96378603e-03 3.34373127e+00] [-1.81080092e-03 9.99998353e-01 1.18977177e-04 2.18624546e-01] [ 8.96398683e-03 -1.02740570e-04 9.99959817e-01 1.26913958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12255784400003 meters Centerline goodness : 0.132925 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99934736e-01 -4.60463344e-03 -1.04556837e-02 3.36306176e+00] [ 4.61465589e-03 9.99988916e-01 9.34641449e-04 2.22919660e-01] [ 1.04512641e-02 -9.82829833e-04 9.99944901e-01 1.27056366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.152557844 meters Centerline goodness : 0.149018 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99931831e-01 -4.50995838e-03 -1.07700165e-02 3.36386691e+00] [ 4.52350271e-03 9.99989008e-01 1.23356801e-03 2.21021592e-01] [ 1.07643348e-02 -1.28220212e-03 9.99941241e-01 1.27059887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.182557844 meters Centerline goodness : 0.156334 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99932574e-01 -4.36898561e-03 -1.07591229e-02 3.36362131e+00] [ 4.38602351e-03 9.99989164e-01 1.56049100e-03 2.19527330e-01] [ 1.07521886e-02 -1.60757555e-03 9.99940901e-01 1.27098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.212557844 meters Centerline goodness : 0.156334 Centerline is valid? [False, False] Translation: X:3.36, Y:0.22, Z:1.27 [[ 9.99932574e-01 -4.36898561e-03 -1.07591229e-02 3.36362131e+00] [ 4.38602351e-03 9.99989164e-01 1.56049100e-03 2.19527330e-01] [ 1.07521886e-02 -1.60757555e-03 9.99940901e-01 1.27098805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.242557844 meters Centerline goodness : 0.139938 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99939671e-01 4.81772784e-03 -9.87133289e-03 3.38279220e+00] [-4.81061984e-03 9.99988152e-01 7.43682365e-04 2.14277293e-01] [ 9.87479880e-03 -6.96150270e-04 9.99951001e-01 1.27188147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.272557844 meters Centerline goodness : 0.162927 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99939576e-01 4.98825631e-03 -9.79601905e-03 3.38251205e+00] [-4.97743660e-03 9.99986976e-01 1.12857044e-03 2.12659463e-01] [ 9.80152106e-03 -1.07974319e-03 9.99951381e-01 1.27201030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302557844 meters Centerline goodness : 0.173075 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.27 [[ 9.99938477e-01 5.13685267e-03 -9.83129923e-03 3.38236127e+00] [-5.12188613e-03 9.99985687e-01 1.54690871e-03 2.10608087e-01] [ 9.83910475e-03 -1.49645874e-03 9.99950475e-01 1.27242899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332557844 meters Centerline goodness : 0.045019 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99955400e-01 -2.74399182e-03 -9.03702867e-03 3.40292928e+00] [ 2.76319599e-03 9.99993949e-01 2.11325358e-03 2.09004919e-01] [ 9.03117524e-03 -2.13813041e-03 9.99956932e-01 1.27306854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362557844 meters Centerline goodness : 0.125016 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99956680e-01 -2.59631791e-03 -8.93851486e-03 3.40256564e+00] [ 2.61863462e-03 9.99993482e-01 2.48589346e-03 2.07231591e-01] [ 8.93200242e-03 -2.50919247e-03 9.99956961e-01 1.27326800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392557844 meters Centerline goodness : 0.162265 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.27 [[ 9.99957584e-01 -2.43010452e-03 -8.88400065e-03 3.40241761e+00] [ 2.45542778e-03 9.99992951e-01 2.84063950e-03 2.05736223e-01] [ 8.87703497e-03 -2.86233303e-03 9.99956502e-01 1.27329672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422557844 meters Centerline goodness : 0.144697 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99957135e-01 -2.28860842e-03 -8.97159513e-03 3.40266342e+00] [ 2.31658264e-03 9.99992484e-01 3.10893702e-03 2.04642243e-01] [ 8.96441256e-03 -3.12958720e-03 9.99954921e-01 1.27328577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452557844 meters Centerline goodness : 0.142748 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99956493e-01 -2.05907378e-03 -9.09791656e-03 3.40283614e+00] [ 2.09129678e-03 9.99991570e-01 3.53370740e-03 2.02795966e-01] [ 9.09056370e-03 -3.55258011e-03 9.99952369e-01 1.27362702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482557844 meters Centerline goodness : 0.174601 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99955669e-01 -1.97891532e-03 -9.20565052e-03 3.40312914e+00] [ 2.01358232e-03 9.99990911e-01 3.75809645e-03 2.01546115e-01] [ 9.19812990e-03 -3.77646619e-03 9.99950565e-01 1.27363557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.54255784400002 meters Centerline goodness : 0.119869 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.27 [[ 9.99952167e-01 -1.79299849e-03 -9.61498472e-03 3.40455935e+00] [ 1.83589288e-03 9.99988395e-01 4.45423278e-03 1.97259067e-01] [ 9.60688670e-03 -4.47167181e-03 9.99943854e-01 1.27317664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57255784400002 meters Centerline goodness : 0.198163 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:1.27 [[ 9.99944688e-01 6.22264674e-03 -8.47940860e-03 3.42541315e+00] [-6.20459192e-03 9.99978432e-01 2.15389997e-03 1.94073901e-01] [ 8.49262867e-03 -2.10116956e-03 9.99961729e-01 1.27239565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60255784400002 meters Centerline goodness : 0.114897 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 9.99924140e-01 4.61675944e-03 -1.14192324e-02 3.38089632e+00] [-4.58132630e-03 9.99984616e-01 3.12714963e-03 1.90754774e-01] [ 1.14334940e-02 -3.07459718e-03 9.99929909e-01 1.27395428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63255784400002 meters Centerline goodness : 0.385467 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 9.99924407e-01 4.71886283e-03 -1.13539651e-02 3.38084995e+00] [-4.68185243e-03 9.99983647e-01 3.28406421e-03 1.90233885e-01] [ 1.13692765e-02 -3.23065837e-03 9.99930149e-01 1.27376810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66255784400002 meters Centerline goodness : 0.393806 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992473 0.00490318 -0.01124719 3.38078958] [-0.00486426 0.9999821 0.00348515 0.18964701] [ 0.01126408 -0.00343017 0.99993067 1.27344993] [ 0. 0. 0. 1. ]] SLAMing on 252.69255784400002 meters Centerline goodness : 0.116634 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992272 0.00489056 -0.01143004 3.38156414] [-0.00485089 0.99998212 0.00349551 0.18936053] [ 0.01144693 -0.0034398 0.99992857 1.27295015] [ 0. 0. 0. 1. ]] SLAMing on 252.72255784400002 meters Centerline goodness : 0.384688 Centerline is valid? [False, False] Translation: X:3.38, Y:0.19, Z:1.27 [[ 0.99992054 0.0049026 -0.0116139 3.38229526] [-0.00486105 0.9999817 0.00360242 0.18856148] [ 0.01163135 -0.00354568 0.99992607 1.27254467] [ 0. 0. 0. 1. ]] SLAMing on 252.75255784400002 meters Centerline goodness : 0.142150 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99921726e-01 -2.11807978e-03 -1.23310601e-02 3.40212603e+00] [ 2.16890218e-03 9.99989204e-01 4.10958213e-03 1.92308128e-01] [ 1.23222225e-02 -4.13600532e-03 9.99915525e-01 1.27362595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78255784400002 meters Centerline goodness : 0.387522 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99920881e-01 -2.05134652e-03 -1.24106198e-02 3.40245016e+00] [ 2.10438976e-03 9.99988701e-01 4.26247213e-03 1.91591237e-01] [ 1.24017358e-02 -4.28825167e-03 9.99913900e-01 1.27341222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81255784400003 meters Centerline goodness : 0.390141 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99926159e-01 -1.78971024e-03 -1.20196736e-02 3.40131829e+00] [ 1.84535923e-03 9.99987624e-01 4.62033160e-03 1.90637948e-01] [ 1.20112558e-02 -4.64217105e-03 9.99917087e-01 1.27365609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84255784400003 meters Centerline goodness : 0.136989 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99928464e-01 -1.67499514e-03 -1.18431670e-02 3.40066671e+00] [ 1.73247529e-03 9.99986763e-01 4.84485107e-03 1.89736331e-01] [ 1.18348951e-02 -4.86502249e-03 9.99918130e-01 1.27399900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87255784400003 meters Centerline goodness : 0.389481 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.28 [[ 9.99915952e-01 7.25948320e-03 -1.07419125e-02 3.41897760e+00] [-7.22487611e-03 9.99968596e-01 3.25699450e-03 1.85248102e-01] [ 1.07652193e-02 -3.17911177e-03 9.99937000e-01 1.27535799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.902557844 meters Centerline goodness : 0.126770 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.27 [[ 9.99934666e-01 -2.18428333e-03 -1.12201957e-02 3.39998329e+00] [ 2.23552891e-03 9.99987119e-01 4.55675266e-03 1.88060141e-01] [ 1.12100979e-02 -4.58153802e-03 9.99926669e-01 1.27432662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.932557844 meters Centerline goodness : 0.148193 Centerline is valid? [False, False] Translation: X:3.42, Y:0.18, Z:1.28 [[ 9.99929670e-01 6.74670216e-03 -9.75386444e-03 3.41916469e+00] [-6.71887231e-03 9.99973272e-01 2.88317051e-03 1.84667420e-01] [ 9.77305563e-03 -2.81743276e-03 9.99948273e-01 1.27525590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.962557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.992557844 meters Centerline goodness : 0.146203 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.28 [[ 9.99932492e-01 6.76865822e-03 -9.44437971e-03 3.41825887e+00] [-6.74330279e-03 9.99973581e-01 2.71397709e-03 1.85613738e-01] [ 9.46250018e-03 -2.65010757e-03 9.99951718e-01 1.27549857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.022557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.052557844 meters Centerline goodness : 0.095649 Centerline is valid? [False, False] Translation: X:3.38, Y:0.18, Z:1.28 [[ 0.99988174 0.00665623 -0.01386345 3.37703556] [-0.00659195 0.99996734 0.00467667 0.18469492] [ 0.01389413 -0.00458473 0.99989296 1.27594822] [ 0. 0. 0. 1. ]] SLAMing on 253.082557844 meters Centerline goodness : 0.140804 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.28 [[ 9.99890074e-01 -1.45754230e-04 -1.48262865e-02 3.39665032e+00] [ 2.21805320e-04 9.99986827e-01 5.12796161e-03 1.89882342e-01] [ 1.48253438e-02 -5.13068647e-03 9.99876935e-01 1.27706531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112557844 meters Centerline goodness : 0.147976 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.28 [[ 9.99893053e-01 -8.60037494e-05 -1.46244727e-02 3.39553582e+00] [ 1.63394643e-04 9.99985990e-01 5.29076334e-03 1.89038712e-01] [ 1.46238127e-02 -5.29258707e-03 9.99879059e-01 1.27810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142557844 meters Centerline goodness : 0.147355 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99895400e-01 -6.07888074e-05 -1.44632500e-02 3.39479173e+00] [ 1.38225698e-04 9.99985662e-01 5.35310549e-03 1.88769079e-01] [ 1.44627173e-02 -5.35454475e-03 9.99881072e-01 1.27868121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172557844 meters Centerline goodness : 0.146560 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99896482e-01 -5.55463123e-05 -1.43882439e-02 3.39453558e+00] [ 1.32522144e-04 9.99985685e-01 5.34901331e-03 1.88792966e-01] [ 1.43877408e-02 -5.35036636e-03 9.99882176e-01 1.27878123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202557844 meters Centerline goodness : 0.147652 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99895793e-01 -7.48314862e-05 -1.44359516e-02 3.39496922e+00] [ 1.51518221e-04 9.99985884e-01 5.31118448e-03 1.89021431e-01] [ 1.44353503e-02 -5.31281833e-03 9.99881690e-01 1.27823624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232557844 meters Centerline goodness : 0.095071 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:1.28 [[ 9.99838533e-01 -1.23880406e-03 -1.79268621e-02 3.35384570e+00] [ 1.36386595e-03 9.99974809e-01 6.96568477e-03 1.84219514e-01] [ 1.79177814e-02 -6.98900988e-03 9.99815036e-01 1.27792390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262557844 meters Centerline goodness : 0.120982 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:1.28 [[ 0.99983726 0.00681311 -0.01670413 3.37432821] [-0.00673708 0.99996671 0.00460344 0.18196093] [ 0.01673494 -0.00449015 0.99984988 1.27782455] [ 0. 0. 0. 1. ]] SLAMing on 253.29255784400002 meters Centerline goodness : 0.143556 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99863701e-01 -3.43788714e-04 -1.65063741e-02 3.39337024e+00] [ 4.30699009e-04 9.99986063e-01 5.26199046e-03 1.85740681e-01] [ 1.65043350e-02 -5.26838253e-03 9.99849914e-01 1.27951419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32255784400002 meters Centerline goodness : 0.094974 Centerline is valid? [False, False] Translation: X:3.37, Y:0.18, Z:1.28 [[ 0.99985176 0.00673211 -0.01584724 3.37323804] [-0.00665778 0.99996661 0.00473837 0.17943589] [ 0.01587861 -0.00463216 0.9998632 1.27842271] [ 0. 0. 0. 1. ]] SLAMing on 253.35255784400002 meters Centerline goodness : 0.139698 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99854232e-01 4.02884159e-04 -1.70690295e-02 3.39221898e+00] [-3.09345692e-04 9.99984924e-01 5.48229682e-03 1.85407923e-01] [ 1.70709809e-02 -5.47621745e-03 9.99839283e-01 1.28000186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38255784400002 meters Centerline goodness : 0.094504 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99855492e-01 3.27839334e-04 -1.69966684e-02 3.39227844e+00] [-2.38729300e-04 9.99986219e-01 5.24455803e-03 1.86602346e-01] [ 1.69981535e-02 -5.23974255e-03 9.99841791e-01 1.27958189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.44255784400002 meters Centerline goodness : 0.090712 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99876490e-01 7.05514295e-04 -1.57005434e-02 3.38851623e+00] [-6.30483608e-04 9.99988361e-01 4.78329603e-03 1.91324988e-01] [ 1.57037354e-02 -4.77280631e-03 9.99865297e-01 1.28022802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47255784400002 meters Centerline goodness : 0.115714 Centerline is valid? [False, False] Translation: X:3.39, Y:0.19, Z:1.28 [[ 9.99882172e-01 5.80911832e-04 -1.53396585e-02 3.38750588e+00] [-5.15133777e-04 9.99990658e-01 4.29170741e-03 1.94002383e-01] [ 1.53420083e-02 -4.28329974e-03 9.99873130e-01 1.28032492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.53255784400002 meters Centerline goodness : 0.116104 Centerline is valid? [False, False] Translation: X:3.43, Y:0.20, Z:1.28 [[ 9.99916210e-01 2.62236228e-03 -1.26765625e-02 3.43069655e+00] [-2.58294167e-03 9.99991781e-01 3.12509583e-03 2.03962528e-01] [ 1.26846534e-02 -3.09209116e-03 9.99914766e-01 1.27874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56255784400003 meters Centerline goodness : 0.117381 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99928630e-01 1.95462457e-03 -1.17862058e-02 3.42851032e+00] [-1.92483975e-03 9.99994927e-01 2.53790561e-03 2.06172558e-01] [ 1.17911066e-02 -2.51503792e-03 9.99927320e-01 1.27807449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59255784400003 meters Centerline goodness : 0.125341 Centerline is valid? [False, False] Translation: X:3.38, Y:0.20, Z:1.28 [[ 9.99893980e-01 -5.56653307e-04 -1.45505463e-02 3.38249816e+00] [ 5.97937876e-04 9.99995808e-01 2.83312447e-03 2.03919322e-01] [ 1.45489083e-02 -2.84152443e-03 9.99890121e-01 1.28006949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62255784400003 meters Centerline goodness : 0.118110 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99927008e-01 5.00760568e-04 -1.20718118e-02 3.42596751e+00] [-4.81241373e-04 9.99998572e-01 1.61977404e-03 2.08295980e-01] [ 1.20726057e-02 -1.61384636e-03 9.99925821e-01 1.27934400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65255784400003 meters Centerline goodness : 0.094076 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99877585e-01 -2.28042825e-03 -1.54795235e-02 3.38336024e+00] [ 2.30693882e-03 9.99995903e-01 1.69498175e-03 2.07857681e-01] [ 1.54755947e-02 -1.73048458e-03 9.99878748e-01 1.27983101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.682557844 meters Centerline goodness : 0.290178 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.28 [[ 9.99907332e-01 -8.43380747e-04 -1.35873345e-02 3.42814417e+00] [ 8.50266145e-04 9.99999513e-01 5.00982504e-04 2.12533263e-01] [ 1.35869054e-02 -5.12488930e-04 9.99907562e-01 1.27858850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.712557844 meters Centerline goodness : 0.168832 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99859711e-01 -2.67967921e-03 -1.65341184e-02 3.38319173e+00] [ 2.69699750e-03 9.99995838e-01 1.02521853e-03 2.11272746e-01] [ 1.65313023e-02 -1.06966718e-03 9.99862777e-01 1.28003742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.742557844 meters Centerline goodness : 0.146669 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99867002e-01 6.18044941e-03 -1.50923934e-02 3.40271277e+00] [-6.18921865e-03 9.99980704e-01 -5.34398318e-04 2.10147184e-01] [ 1.50887994e-02 6.27737367e-04 9.99885961e-01 1.28033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.772557844 meters Centerline goodness : 0.135183 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99871191e-01 6.08058692e-03 -1.48535139e-02 3.40195803e+00] [-6.09364419e-03 9.99981086e-01 -8.33968796e-04 2.11806576e-01] [ 1.48481620e-02 9.24373403e-04 9.99889333e-01 1.28054657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.832557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.862557844 meters Centerline goodness : 0.139191 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99864705e-01 5.96783694e-03 -1.53282876e-02 3.40240745e+00] [-5.97673795e-03 9.99981996e-01 -5.34947369e-04 2.09678282e-01] [ 1.53248191e-02 6.26488151e-04 9.99882372e-01 1.28173211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892557844 meters Centerline goodness : 0.122662 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99863111e-01 6.09767869e-03 -1.53810632e-02 3.40224642e+00] [-6.09731098e-03 9.99981409e-01 7.08008728e-05 2.06568217e-01] [ 1.53812090e-02 2.29919448e-05 9.99881702e-01 1.28223697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922557844 meters Centerline goodness : 0.115968 Centerline is valid? [False, False] Translation: X:3.40, Y:0.21, Z:1.28 [[ 9.99861600e-01 6.17350352e-03 -1.54489145e-02 3.40255775e+00] [-6.16970413e-03 9.99980924e-01 2.93581702e-04 2.05387281e-01] [ 1.54504323e-02 -1.98225838e-04 9.99880615e-01 1.28200098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952557844 meters Centerline goodness : 0.124727 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.28 [[ 9.99868016e-01 -5.68525550e-04 -1.62366094e-02 3.42182738e+00] [ 5.85966358e-04 9.99999256e-01 1.06942847e-03 2.09069908e-01] [ 1.62359893e-02 -1.07880143e-03 9.99867606e-01 1.28338925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982557844 meters Centerline goodness : 0.156666 Centerline is valid? [False, False] Translation: X:3.38, Y:0.21, Z:1.28 [[ 9.99811619e-01 -1.96213844e-03 -1.93100283e-02 3.37786934e+00] [ 2.00240965e-03 9.99995860e-01 2.06639370e-03 2.05226681e-01] [ 1.93058938e-02 -2.10467102e-03 9.99811409e-01 1.28435177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.04255784400002 meters Centerline goodness : 0.394433 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784722e-01 7.60097817e-03 -1.93063392e-02 3.39833231e+00] [-7.57780500e-03 9.99970478e-01 1.27316273e-03 1.98214265e-01] [ 1.93154465e-02 -1.12658898e-03 9.99812805e-01 1.28606049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.10255784400002 meters Centerline goodness : 0.120425 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784584e-01 7.83106247e-03 -1.92213418e-02 3.39826443e+00] [-7.79885710e-03 9.99968057e-01 1.74988899e-03 1.95898020e-01] [ 1.92344314e-02 -1.59960753e-03 9.99813722e-01 1.28586521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13255784400002 meters Centerline goodness : 0.120425 Centerline is valid? [False, False] Translation: X:3.40, Y:0.20, Z:1.29 [[ 9.99784584e-01 7.83106247e-03 -1.92213418e-02 3.39826443e+00] [-7.79885710e-03 9.99968057e-01 1.74988899e-03 1.95898020e-01] [ 1.92344314e-02 -1.59960753e-03 9.99813722e-01 1.28586521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16255784400002 meters Centerline goodness : 0.119168 Centerline is valid? [False, False] Translation: X:3.40, Y:0.19, Z:1.29 [[ 9.99784848e-01 8.05864157e-03 -1.91132442e-02 3.39786596e+00] [-8.01790828e-03 9.99965421e-01 2.20683100e-03 1.93882925e-01] [ 1.91303673e-02 -2.05310795e-03 9.99814890e-01 1.28609355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19255784400002 meters Centerline goodness : 0.118691 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99824281e-01 9.10130325e-04 -1.87237750e-02 3.41727652e+00] [-8.55599423e-04 9.99995370e-01 2.92019283e-03 1.97411242e-01] [ 1.87263461e-02 -2.90365964e-03 9.99820430e-01 1.28725750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.25255784400002 meters Centerline goodness : 0.143263 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99823407e-01 1.06552029e-03 -1.87621569e-02 3.41718917e+00] [-1.00294455e-03 9.99993905e-01 3.34430394e-03 1.95146574e-01] [ 1.87656060e-02 -3.32489595e-03 9.99818382e-01 1.28761016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28255784400002 meters Centerline goodness : 0.121459 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99824047e-01 1.11476356e-03 -1.87251703e-02 3.41698137e+00] [-1.04988921e-03 9.99993414e-01 3.47402642e-03 1.94539435e-01] [ 1.87289197e-02 -3.45375580e-03 9.99818633e-01 1.28780195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31255784400003 meters Centerline goodness : 0.159057 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99823797e-01 1.11447911e-03 -1.87385256e-02 3.41696108e+00] [-1.04947140e-03 9.99993399e-01 3.47867688e-03 1.94524223e-01] [ 1.87422789e-02 -3.45839838e-03 9.99818367e-01 1.28785494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34255784400003 meters Centerline goodness : 0.146310 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99822832e-01 1.09157120e-03 -1.87912881e-02 3.41715850e+00] [-1.02675652e-03 9.99993492e-01 3.45849063e-03 1.94554639e-01] [ 1.87949410e-02 -3.43858382e-03 9.99817447e-01 1.28774348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37255784400003 meters Centerline goodness : 0.150030 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:1.29 [[ 9.99820087e-01 1.01308249e-03 -1.89411729e-02 3.41773180e+00] [-9.49654460e-04 9.99993913e-01 3.35738013e-03 1.94886732e-01] [ 1.89444589e-02 -3.33878853e-03 9.99814963e-01 1.28737289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784400003 meters Centerline goodness : 0.120138 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99818416e-01 8.96729782e-04 -1.90349891e-02 3.41806846e+00] [-8.34459440e-04 9.99994276e-01 3.27905275e-03 1.95010468e-01] [ 1.90378206e-02 -3.26257340e-03 9.99813441e-01 1.28715595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.432557844 meters Centerline goodness : 0.393535 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99821474e-01 8.83204504e-04 -1.88743394e-02 3.41746994e+00] [-8.21655476e-04 9.99994321e-01 3.26849582e-03 1.95110841e-01] [ 1.88771190e-02 -3.25240411e-03 9.99816521e-01 1.28745915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.462557844 meters Centerline goodness : 0.109036 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99822728e-01 8.41959026e-04 -1.88096928e-02 3.41728468e+00] [-7.81693036e-04 9.99994539e-01 3.21110853e-03 1.95364511e-01] [ 1.88122937e-02 -3.19583588e-03 9.99817926e-01 1.28747684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.492557844 meters Centerline goodness : 0.120627 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99823505e-01 7.74264424e-04 -1.87712165e-02 3.41726347e+00] [-7.16892301e-04 9.99995052e-01 3.06292455e-03 1.96038247e-01] [ 1.87734951e-02 -3.04892702e-03 9.99819114e-01 1.28731953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.522557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.552557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.582557844 meters Centerline goodness : 0.150072 Centerline is valid? [False, False] Translation: X:3.42, Y:0.20, Z:1.29 [[ 9.99815912e-01 6.01135939e-04 -1.91776258e-02 3.41903979e+00] [-5.63505540e-04 9.99997906e-01 1.96754675e-03 2.01979148e-01] [ 1.91787684e-02 -1.95637785e-03 9.99814156e-01 1.28602152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.642557844 meters Centerline goodness : 0.149627 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99823361e-01 8.04160195e-04 -1.87776529e-02 3.41833342e+00] [-7.76845148e-04 9.99998630e-01 1.46190612e-03 2.06416340e-01] [ 1.87788028e-02 -1.44706056e-03 9.99822616e-01 1.28531330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672557844 meters Centerline goodness : 0.140419 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99824674e-01 7.72743829e-04 -1.87089306e-02 3.41796019e+00] [-7.46984353e-04 9.99998764e-01 1.38380361e-03 2.06844756e-01] [ 1.87099768e-02 -1.36958571e-03 9.99824015e-01 1.28563335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702557844 meters Centerline goodness : 0.155216 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99816871e-01 5.94440497e-04 -1.91277749e-02 3.41928717e+00] [-5.70125866e-04 9.99999023e-01 1.27659685e-03 2.06770280e-01] [ 1.91285151e-02 -1.26545783e-03 9.99816232e-01 1.28517882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732557844 meters Centerline goodness : 0.141524 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.28 [[ 9.99813955e-01 6.09385575e-04 -1.92791092e-02 3.41982744e+00] [-5.82667812e-04 9.99998862e-01 1.39142695e-03 2.06098383e-01] [ 1.92799352e-02 -1.37993476e-03 9.99813172e-01 1.28488941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.79255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.82255784400002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.85255784400002 meters Centerline goodness : 0.138585 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99831734e-01 9.97713868e-04 -1.83168868e-02 3.41694648e+00] [-9.70276283e-04 9.99998394e-01 1.50676518e-03 2.06883873e-01] [ 1.83183607e-02 -1.48873920e-03 9.99831096e-01 1.28569997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88255784400002 meters Centerline goodness : 0.199279 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99768170e-01 1.01326395e-03 -2.15076585e-02 3.37300685e+00] [-9.38661554e-04 9.99993510e-01 3.47845533e-03 2.05871615e-01] [ 2.15110435e-02 -3.45746051e-03 9.99762632e-01 1.28653204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91255784400002 meters Centerline goodness : 0.167325 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99770772e-01 1.38377852e-03 -2.13655996e-02 3.37254743e+00] [-1.32163212e-03 9.99994856e-01 2.92255949e-03 2.10263255e-01] [ 2.13695338e-02 -2.89365210e-03 9.99767458e-01 1.28641185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94255784400002 meters Centerline goodness : 0.101569 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:1.29 [[ 9.99778754e-01 1.32137858e-03 -2.09927688e-02 3.37144977e+00] [-1.26819736e-03 9.99995954e-01 2.54642213e-03 2.12298359e-01] [ 2.09960487e-02 -2.51923578e-03 9.99776385e-01 1.28666992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97255784400002 meters Centerline goodness : 0.132784 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99740354e-01 1.07026867e-02 -2.01165872e-02 3.39001840e+00] [-1.06652216e-02 9.99941187e-01 1.96876910e-03 2.09936148e-01] [ 2.01364752e-02 -1.75371006e-03 9.99795703e-01 1.28745610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00255784400002 meters Centerline goodness : 0.146138 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99742728e-01 1.06152191e-02 -2.00447992e-02 3.39025213e+00] [-1.05840771e-02 9.99942611e-01 1.65907155e-03 2.11771909e-01] [ 2.00612603e-02 -1.44648902e-03 9.99797706e-01 1.28664404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03255784400002 meters Centerline goodness : 0.145786 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99740144e-01 1.05658736e-02 -2.01991816e-02 3.39095390e+00] [-1.05353606e-02 9.99943195e-01 1.61642766e-03 2.12009722e-01] [ 2.02151132e-02 -1.40320196e-03 9.99794669e-01 1.28600928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06255784400003 meters Centerline goodness : 0.149410 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99767950e-01 7.81457968e-03 -2.00743472e-02 3.39068933e+00] [-7.83297629e-03 9.99968971e-01 -8.37957261e-04 2.09513315e-01] [ 2.00671760e-02 9.95004698e-04 9.99798139e-01 1.28546440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09255784400003 meters Centerline goodness : 0.151276 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99766263e-01 7.75596172e-03 -2.01808106e-02 3.39075904e+00] [-7.77333990e-03 9.99969481e-01 -7.82821213e-04 2.08994733e-01] [ 2.01741231e-02 9.39510539e-04 9.99796040e-01 1.28579490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12255784400003 meters Centerline goodness : 0.140104 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:1.29 [[ 9.99787937e-01 7.38814028e-03 -1.92222772e-02 3.38769403e+00] [-7.40437450e-03 9.99972288e-01 -7.73517321e-04 2.08123696e-01] [ 1.92160297e-02 9.15682226e-04 9.99814936e-01 1.28713958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15255784400003 meters Centerline goodness : 0.249973 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99831973e-01 3.08030337e-05 -1.83309810e-02 3.40730730e+00] [-2.74690727e-05 9.99999983e-01 1.82127514e-04 2.12570300e-01] [ 1.83309863e-02 -1.81593376e-04 9.99831957e-01 1.28872048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.182557844 meters Centerline goodness : 0.392231 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99830587e-01 7.08621622e-05 -1.84062961e-02 3.40741488e+00] [-6.50325373e-05 9.99999948e-01 3.17317431e-04 2.11978433e-01] [ 1.84063176e-02 -3.16066665e-04 9.99830539e-01 1.28882173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.212557844 meters Centerline goodness : 0.118549 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99824095e-01 3.62642702e-05 -1.87557631e-02 3.40858092e+00] [-2.90338328e-05 9.99999925e-01 3.85776992e-04 2.11328774e-01] [ 1.87557757e-02 -3.85164580e-04 9.99824021e-01 1.28834935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.242557844 meters Centerline goodness : 0.382768 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99807921e-01 -2.33176520e-04 -1.95976334e-02 3.41148483e+00] [ 2.38600229e-04 9.99999934e-01 2.74415510e-04 2.10497705e-01] [ 1.95975681e-02 -2.79038800e-04 9.99807910e-01 1.28710692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.272557844 meters Centerline goodness : 0.138624 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99811249e-01 -1.62253231e-04 -1.94277923e-02 3.41107310e+00] [ 1.70408669e-04 9.99999898e-01 4.18127252e-04 2.09855957e-01] [ 1.94277225e-02 -4.21358994e-04 9.99811175e-01 1.28709350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302557844 meters Centerline goodness : 0.386979 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99818700e-01 -4.98322176e-06 -1.90411992e-02 3.40966986e+00] [ 1.79065681e-05 9.99999770e-01 6.78533998e-04 2.08934851e-01] [ 1.90411914e-02 -6.78751943e-04 9.99818470e-01 1.28785058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332557844 meters Centerline goodness : 0.388404 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99825242e-01 1.36245621e-04 -1.86940443e-02 3.40838201e+00] [-1.19773191e-04 9.99999604e-01 8.82276015e-04 2.08304896e-01] [ 1.86941571e-02 -8.79882785e-04 9.99824862e-01 1.28859881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362557844 meters Centerline goodness : 0.388204 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99807389e-01 9.22925216e-03 -1.73206793e-02 3.42759198e+00] [-9.24155170e-03 9.99957097e-01 -6.30198631e-04 2.05222265e-01] [ 1.73141199e-02 7.90147201e-04 9.99849787e-01 1.29031088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392557844 meters Centerline goodness : 0.133424 Centerline is valid? [False, False] Translation: X:3.41, Y:0.21, Z:1.29 [[ 9.99825170e-01 -6.96183200e-05 -1.86982740e-02 3.40881918e+00] [ 7.99808175e-05 9.99999844e-01 5.53448161e-04 2.09670690e-01] [ 1.86982325e-02 -5.54846904e-04 9.99825019e-01 1.28931049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422557844 meters Centerline goodness : 0.106533 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99765891e-01 8.65196059e-03 -1.98319755e-02 3.42788429e+00] [-8.64413971e-03 9.99962523e-01 4.80048393e-04 2.05130996e-01] [ 1.98353856e-02 -3.08505642e-04 9.99803212e-01 1.28944978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452557844 meters Centerline goodness : 0.387580 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99777382e-01 8.74192343e-03 -1.92032564e-02 3.42658008e+00] [-8.73975729e-03 9.99961788e-01 1.96723329e-04 2.07052872e-01] [ 1.92042423e-02 -2.88477349e-05 9.99815581e-01 1.28897145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482557844 meters Centerline goodness : 0.158725 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.29 [[ 9.99785497e-01 8.72824012e-03 -1.87823702e-02 3.42532276e+00] [-8.72961409e-03 9.99961896e-01 8.83682566e-06 2.08178058e-01] [ 1.87817317e-02 1.55127914e-04 9.99823596e-01 1.28934352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512557844 meters Centerline goodness : 0.117239 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99843672e-01 2.27817425e-04 -1.76799490e-02 3.44187583e+00] [-2.13040094e-04 9.99999626e-01 8.37703204e-04 2.16203122e-01] [ 1.76801333e-02 -8.33805709e-04 9.99843347e-01 1.29030434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54255784400002 meters Centerline goodness : 0.120685 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99842449e-01 1.52814607e-04 -1.77497511e-02 3.44208213e+00] [-1.41912569e-04 9.99999801e-01 6.15465888e-04 2.17344239e-01] [ 1.77498416e-02 -6.12850008e-04 9.99842271e-01 1.29021873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57255784400002 meters Centerline goodness : 0.146113 Centerline is valid? [False, False] Translation: X:3.42, Y:0.21, Z:1.29 [[ 9.99778629e-01 7.32760500e-03 -1.97230523e-02 3.42306642e+00] [-7.34280596e-03 9.99972797e-01 -6.98411530e-04 2.14518011e-01] [ 1.97173981e-02 8.43079468e-04 9.99805238e-01 1.28887018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60255784400002 meters Centerline goodness : 0.164494 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99780052e-01 7.26403075e-03 -1.96743900e-02 3.42321699e+00] [-7.28053459e-03 9.99973202e-01 -7.67350942e-04 2.15002820e-01] [ 1.96682887e-02 9.10422241e-04 9.99806146e-01 1.28832704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63255784400002 meters Centerline goodness : 0.120651 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99787224e-01 7.05390858e-03 -1.93842263e-02 3.42246352e+00] [-7.07362363e-03 9.99974532e-01 -9.48689265e-04 2.15673053e-01] [ 1.93770407e-02 1.08560413e-03 9.99811658e-01 1.28819523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66255784400002 meters Centerline goodness : 0.119195 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99796752e-01 6.68766958e-03 -1.90191706e-02 3.42121383e+00] [-6.71273148e-03 9.99976683e-01 -1.25418145e-03 2.16486801e-01] [ 1.90103396e-02 1.38159712e-03 9.99818333e-01 1.28842721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69255784400002 meters Centerline goodness : 0.387448 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99798591e-01 6.59874143e-03 -1.89534829e-02 3.42104854e+00] [-6.62446289e-03 9.99977220e-01 -1.29461969e-03 2.16666183e-01] [ 1.89445083e-02 1.41991558e-03 9.99819528e-01 1.28823969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72255784400002 meters Centerline goodness : 0.154187 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99796286e-01 6.53759495e-03 -1.90957169e-02 3.42155143e+00] [-6.56432606e-03 9.99977560e-01 -1.33750200e-03 2.16861041e-01] [ 1.90865444e-02 1.46258004e-03 9.99816766e-01 1.28789599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75255784400002 meters Centerline goodness : 0.134288 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99792974e-01 6.46215354e-03 -1.92937497e-02 3.42215121e+00] [-6.49083646e-03 9.99977920e-01 -1.42439058e-03 2.17147774e-01] [ 1.92841191e-02 1.54932826e-03 9.99812844e-01 1.28770841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78255784400002 meters Centerline goodness : 0.276769 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99791083e-01 6.31286110e-03 -1.94406120e-02 3.42259085e+00] [-6.34632712e-03 9.99978484e-01 -1.66023574e-03 2.18175345e-01] [ 1.94297129e-02 1.78326538e-03 9.99809635e-01 1.28752797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81255784400003 meters Centerline goodness : 0.158589 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99795090e-01 6.28564163e-03 -1.92423670e-02 3.42188399e+00] [-6.32025539e-03 9.99978516e-01 -1.73854502e-03 2.18733794e-01] [ 1.92310257e-02 1.85980545e-03 9.99813337e-01 1.28785404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84255784400003 meters Centerline goodness : 0.148297 Centerline is valid? [False, False] Translation: X:3.42, Y:0.22, Z:1.29 [[ 9.99799475e-01 6.23686094e-03 -1.90292297e-02 3.42108455e+00] [-6.27386178e-03 9.99978542e-01 -1.88534214e-03 2.19555861e-01] [ 1.90170627e-02 2.00435084e-03 9.99817150e-01 1.28828160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87255784400003 meters Centerline goodness : 0.153843 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99828134e-01 -1.07436963e-03 -1.85080632e-02 3.44054910e+00] [ 1.05230132e-03 9.99998724e-01 -1.20205939e-03 2.25449632e-01] [ 1.85093310e-02 1.18237674e-03 9.99827989e-01 1.28955992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784400003 meters Centerline goodness : 0.134086 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824806e-01 -1.19975577e-03 -1.86793247e-02 3.44089138e+00] [ 1.17540257e-03 9.99998445e-01 -1.31467585e-03 2.25791870e-01] [ 1.86808730e-02 1.29248980e-03 9.99824662e-01 1.28965462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.932557844 meters Centerline goodness : 0.132194 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824004e-01 -1.21197194e-03 -1.87214344e-02 3.44080742e+00] [ 1.18827487e-03 9.99998479e-01 -1.27684414e-03 2.25533189e-01] [ 1.87229535e-02 1.25437321e-03 9.99823923e-01 1.28994878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.962557844 meters Centerline goodness : 0.134094 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99824189e-01 -1.23467942e-03 -1.87100860e-02 3.44044677e+00] [ 1.21153877e-03 9.99998487e-01 -1.24808511e-03 2.25305725e-01] [ 1.87115987e-02 1.22519769e-03 9.99824172e-01 1.29047695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.992557844 meters Centerline goodness : 0.133382 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99831184e-01 -1.19061535e-03 -1.83353886e-02 3.43856542e+00] [ 1.16910660e-03 9.99998616e-01 -1.18374741e-03 2.25485679e-01] [ 1.83367726e-02 1.16211155e-03 9.99831192e-01 1.29196530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02255784400006 meters Centerline goodness : 0.133845 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99832333e-01 -1.21426496e-03 -1.82710594e-02 3.43840975e+00] [ 1.19173165e-03 9.99998516e-01 -1.24411625e-03 2.25852623e-01] [ 1.82725429e-02 1.22213346e-03 9.99832296e-01 1.29191899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05255784400003 meters Centerline goodness : 0.133845 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99832333e-01 -1.21426496e-03 -1.82710594e-02 3.43840975e+00] [ 1.19173165e-03 9.99998516e-01 -1.24411625e-03 2.25852623e-01] [ 1.82725429e-02 1.22213346e-03 9.99832296e-01 1.29191899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08255784400006 meters Centerline goodness : 0.132571 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99830191e-01 -1.28997211e-03 -1.83827614e-02 3.43898397e+00] [ 1.26465476e-03 9.99998236e-01 -1.38879168e-03 2.26401042e-01] [ 1.83845205e-02 1.36530800e-03 9.99830058e-01 1.29143937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11255784400004 meters Centerline goodness : 0.137941 Centerline is valid? [False, False] Translation: X:3.40, Y:0.22, Z:1.29 [[ 9.99766132e-01 -2.86159995e-03 -2.14357644e-02 3.39505740e+00] [ 2.84448762e-03 9.99995611e-01 -8.28755237e-04 2.24390698e-01] [ 2.14380419e-02 7.67587651e-04 9.99769884e-01 1.29181412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14255784400007 meters Centerline goodness : 0.154708 Centerline is valid? [False, False] Translation: X:3.39, Y:0.23, Z:1.29 [[ 9.99770199e-01 -2.86914833e-03 -2.12442220e-02 3.39428919e+00] [ 2.84973205e-03 9.99995494e-01 -9.44172920e-04 2.25214779e-01] [ 2.12468352e-02 8.83415608e-04 9.99773870e-01 1.29226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17255784400004 meters Centerline goodness : 0.147587 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99816729e-01 -1.27652402e-03 -1.91018215e-02 3.43644190e+00] [ 1.24382034e-03 9.99997741e-01 -1.72385421e-03 2.28362498e-01] [ 1.91039789e-02 1.69977904e-03 9.99816057e-01 1.29294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20255784400007 meters Centerline goodness : 0.130960 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99816796e-01 -1.31464803e-03 -1.90956844e-02 3.43634129e+00] [ 1.28101774e-03 9.99997607e-01 -1.77327133e-03 2.28520215e-01] [ 1.90979699e-02 1.74848455e-03 9.99816088e-01 1.29307246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23255784400004 meters Centerline goodness : 0.120061 Centerline is valid? [False, False] Translation: X:3.44, Y:0.23, Z:1.29 [[ 9.99811534e-01 -1.50037559e-03 -1.93557391e-02 3.43706044e+00] [ 1.46592115e-03 9.99997316e-01 -1.79412887e-03 2.27851484e-01] [ 1.93583790e-02 1.76541675e-03 9.99811050e-01 1.29291971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26255784400007 meters Centerline goodness : 0.160895 Centerline is valid? [False, False] Translation: X:3.48, Y:0.23, Z:1.29 [[ 9.99849623e-01 -8.11620793e-04 -1.73225905e-02 3.48189751e+00] [ 7.62300217e-04 9.99995638e-01 -2.85359557e-03 2.29106213e-01] [ 1.73248310e-02 2.83996144e-03 9.99845881e-01 1.29210124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29255784400004 meters Centerline goodness : 0.168933 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99798390e-01 -3.29846710e-03 -1.98065466e-02 3.43623379e+00] [ 3.25116368e-03 9.99991787e-01 -2.41999774e-03 2.24179707e-01] [ 1.98143662e-02 2.35511552e-03 9.99800902e-01 1.29350520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters Centerline goodness : 0.164228 Centerline is valid? [False, False] Translation: X:3.44, Y:0.22, Z:1.29 [[ 9.99802678e-01 -3.32405979e-03 -1.95845854e-02 3.43511418e+00] [ 3.28790482e-03 9.99992831e-01 -1.87800317e-03 2.21056833e-01] [ 1.95906876e-02 1.81324035e-03 9.99806440e-01 1.29445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35255784400005 meters Centerline goodness : 0.147515 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 0.99979672 -0.00655483 -0.01906709 3.4323171 ] [ 0.00647943 0.99997095 -0.00401365 0.21411906] [ 0.01909284 0.00388929 0.99981015 1.2964143 ] [ 0. 0. 0. 1. ]] SLAMing on 256.382557844 meters Centerline goodness : 0.125690 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 9.99788754e-01 -6.48584733e-03 -1.95033785e-02 3.43328139e+00] [ 6.42279143e-03 9.99973948e-01 -3.29397919e-03 2.10284742e-01] [ 1.95242347e-02 3.16801721e-03 9.99804365e-01 1.29650227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41255784400005 meters Centerline goodness : 0.133428 Centerline is valid? [False, False] Translation: X:3.43, Y:0.21, Z:1.30 [[ 9.99778039e-01 -6.41162011e-03 -2.00689984e-02 3.43479418e+00] [ 6.36159391e-03 9.99976499e-01 -2.55556100e-03 2.06287405e-01] [ 2.00849120e-02 2.42732294e-03 9.99795331e-01 1.29622520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442557844 meters Centerline goodness : 0.146448 Centerline is valid? [False, False] Translation: X:3.44, Y:0.20, Z:1.30 [[ 9.99766460e-01 -6.39850076e-03 -2.06418158e-02 3.43628524e+00] [ 6.36120300e-03 9.99978015e-01 -1.87205817e-03 2.02198391e-01] [ 2.06533404e-02 1.74031419e-03 9.99785182e-01 1.29605296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47255784400005 meters Centerline goodness : 0.151564 Centerline is valid? [False, False] Translation: X:3.44, Y:0.20, Z:1.30 [[ 0.9997345 -0.01018213 -0.02066995 3.43658865] [ 0.01008744 0.99993817 -0.00467993 0.19557199] [ 0.02071632 0.00447018 0.9997754 1.29578571] [ 0. 0. 0. 1. ]] SLAMing on 256.502557844 meters Centerline goodness : 0.110840 Centerline is valid? [False, False] Translation: X:3.45, Y:0.19, Z:1.30 [[ 9.99778933e-01 -1.76458970e-03 -2.09516208e-02 3.45495037e+00] [ 1.63498784e-03 9.99979435e-01 -6.20128689e-03 1.87975955e-01] [ 2.09621327e-02 6.16566035e-03 9.99761258e-01 1.29786978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53255784400005 meters Centerline goodness : 0.138760 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99771672e-01 -1.47479506e-03 -2.13173246e-02 3.45617823e+00] [ 1.35342317e-03 9.99982800e-01 -5.70688629e-03 1.86122315e-01] [ 2.13253744e-02 5.67673189e-03 9.99756472e-01 1.29734281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562557844 meters Centerline goodness : 0.138704 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99768442e-01 -1.40527426e-03 -2.14729480e-02 3.45676601e+00] [ 1.28309115e-03 9.99982916e-01 -5.70281317e-03 1.86363297e-01] [ 2.14805951e-02 5.67394089e-03 9.99753165e-01 1.29706386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59255784400005 meters Centerline goodness : 0.134532 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99764817e-01 -1.38511159e-03 -2.16423556e-02 3.45732504e+00] [ 1.25856600e-03 9.99982040e-01 -5.85965348e-03 1.87260961e-01] [ 2.16500832e-02 5.83103705e-03 9.99748605e-01 1.29687049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622557844 meters Centerline goodness : 0.122990 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:1.30 [[ 9.99766584e-01 -1.42129269e-03 -2.15582371e-02 3.45721173e+00] [ 1.28951211e-03 9.99980408e-01 -6.12544173e-03 1.88641417e-01] [ 2.15665207e-02 6.09621235e-03 9.99748829e-01 1.29679835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65255784400006 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:3.50, Y:0.19, Z:1.30 [[ 9.99812981e-01 1.10152614e-03 -1.93077585e-02 3.49891501e+00] [-1.22459027e-03 9.99979005e-01 -6.36315345e-03 1.91632410e-01] [ 1.93003439e-02 6.38560751e-03 9.99793339e-01 1.29731728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68255784400003 meters Centerline goodness : 0.156444 Centerline is valid? [False, False] Translation: X:3.49, Y:0.20, Z:1.30 [[ 9.99837909e-01 2.77083164e-03 -1.77898205e-02 3.49267391e+00] [-2.86172316e-03 9.99982973e-01 -5.08576481e-03 1.95398502e-01] [ 1.77754258e-02 5.13585000e-03 9.99828814e-01 1.30008807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71255784400006 meters Centerline goodness : 0.134879 Centerline is valid? [False, False] Translation: X:3.49, Y:0.20, Z:1.30 [[ 9.99840381e-01 2.63637310e-03 -1.76709563e-02 3.49233896e+00] [-2.73284929e-03 9.99981481e-01 -5.43766823e-03 1.97109426e-01] [ 1.76562934e-02 5.48509233e-03 9.99829070e-01 1.30011717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74255784400003 meters Centerline goodness : 0.126353 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.99982281 -0.00452445 -0.01827242 3.51228651] [ 0.00443573 0.99997819 -0.00489278 0.20317838] [ 0.01829416 0.00481086 0.99982107 1.30182036] [ 0. 0. 0. 1. ]] SLAMing on 256.77255784400006 meters Centerline goodness : 0.132767 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.9998179 -0.00469666 -0.01849619 3.51290476] [ 0.00460206 0.99997613 -0.00515349 0.20421702] [ 0.01851995 0.00506744 0.99981565 1.30167278] [ 0. 0. 0. 1. ]] SLAMing on 256.80255784400003 meters Centerline goodness : 0.115425 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:1.30 [[ 0.99981321 -0.00482988 -0.01871433 3.51334108] [ 0.00473161 0.9999748 -0.00529203 0.2047018 ] [ 0.01873942 0.00520249 0.99981087 1.3017246 ] [ 0. 0. 0. 1. ]] SLAMing on 256.83255784400006 meters Centerline goodness : 0.161925 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981245 -0.00536376 -0.01860901 3.51279979] [ 0.00525879 0.99997001 -0.00568521 0.20580315] [ 0.01863894 0.00558628 0.99981067 1.30207825] [ 0. 0. 0. 1. ]] SLAMing on 256.86255784400004 meters Centerline goodness : 0.138481 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981247 -0.00545895 -0.01858016 3.51270204] [ 0.0053519 0.99996882 -0.00580625 0.20648706] [ 0.01861128 0.00570572 0.99981051 1.30203095] [ 0. 0. 0. 1. ]] SLAMing on 256.89255784400007 meters Centerline goodness : 0.130878 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:1.30 [[ 0.99981264 -0.00556235 -0.01854011 3.51265562] [ 0.00545211 0.99996719 -0.00599136 0.20741579] [ 0.01857283 0.00588915 0.99981017 1.30186026] [ 0. 0. 0. 1. ]] SLAMing on 256.92255784400004 meters Centerline goodness : 0.171772 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99985319 -0.00458203 -0.01651071 3.55630992] [ 0.00446642 0.9999653 -0.00703241 0.20950483] [ 0.01654236 0.00695764 0.99983896 1.30139922] [ 0. 0. 0. 1. ]] SLAMing on 256.95255784400007 meters Centerline goodness : 0.189877 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984705 -0.0049154 -0.01678456 3.55709576] [ 0.00478902 0.99995994 -0.00756162 0.21158616] [ 0.01682106 0.00748008 0.99983054 1.3011523 ] [ 0. 0. 0. 1. ]] SLAMing on 256.98255784400004 meters Centerline goodness : 0.122277 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984626 -0.00501112 -0.01680338 3.55707192] [ 0.00488063 0.99995769 -0.00779762 0.21276318] [ 0.01684174 0.00771441 0.99982841 1.30125259] [ 0. 0. 0. 1. ]] SLAMing on 257.01255784400007 meters Centerline goodness : 0.194355 Centerline is valid? [False, False] Translation: X:3.56, Y:0.21, Z:1.30 [[ 0.99984784 -0.00513344 -0.01667183 3.55672539] [ 0.00499773 0.99995412 -0.00817183 0.21467301] [ 0.01671301 0.00808726 0.99982762 1.30127575] [ 0. 0. 0. 1. ]] SLAMing on 257.04255784400004 meters Centerline goodness : 0.130964 Centerline is valid? [False, False] Translation: X:3.56, Y:0.22, Z:1.30 [[ 0.99985085 -0.00525317 -0.01645263 3.55616108] [ 0.00511249 0.99995011 -0.00858096 0.21690631] [ 0.01649689 0.00849557 0.99982782 1.3013344 ] [ 0. 0. 0. 1. ]] SLAMing on 257.072557844 meters Centerline goodness : 0.127042 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:1.30 [[ 9.99896503e-01 -2.96900087e-03 -1.40772288e-02 3.59769384e+00] [ 2.84375967e-03 9.99956276e-01 -8.90840810e-03 2.22429186e-01] [ 1.41030623e-02 8.86745385e-03 9.99861226e-01 1.30168218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10255784400005 meters Centerline goodness : 0.153734 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.30 [[ 0.99984884 -0.0038762 -0.01694931 3.5533251 ] [ 0.00373422 0.99995775 -0.0084001 0.22553649] [ 0.01698115 0.00833554 0.99982106 1.30231406] [ 0. 0. 0. 1. ]] SLAMing on 257.132557844 meters Centerline goodness : 0.160953 Centerline is valid? [False, False] Translation: X:3.56, Y:0.23, Z:1.30 [[ 9.99845456e-01 -1.00268656e-03 -1.75516152e-02 3.55597210e+00] [ 8.91144755e-04 9.99979367e-01 -6.36174137e-03 2.31698690e-01] [ 1.75576319e-02 6.34511717e-03 9.99825719e-01 1.30085860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16255784400005 meters Centerline goodness : 0.150549 Centerline is valid? [False, False] Translation: X:3.56, Y:0.23, Z:1.30 [[ 9.99837770e-01 2.76519767e-03 -1.77984963e-02 3.55636971e+00] [-2.81818587e-03 9.99991670e-01 -2.95272417e-03 2.33819677e-01] [ 1.77901832e-02 3.00240462e-03 9.99837234e-01 1.30111666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192557844 meters Centerline goodness : 0.160091 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:1.30 [[ 9.99839203e-01 2.62002612e-03 -1.77398857e-02 3.55651140e+00] [-2.68831599e-03 9.99989064e-01 -3.82675811e-03 2.38799281e-01] [ 1.77296655e-02 3.87383320e-03 9.99835313e-01 1.30075299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22255784400005 meters Centerline goodness : 0.113429 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:1.30 [[ 9.99840718e-01 2.38112310e-03 -1.76880820e-02 3.55671672e+00] [-2.46639957e-03 9.99985434e-01 -4.80087679e-03 2.43917854e-01] [ 1.76763929e-02 4.84373797e-03 9.99832028e-01 1.30024416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252557844 meters Centerline goodness : 0.162910 Centerline is valid? [False, False] Translation: X:3.56, Y:0.25, Z:1.30 [[ 9.99822065e-01 5.71698117e-03 -1.79764918e-02 3.55781943e+00] [-5.76516405e-03 9.99979924e-01 -2.62964680e-03 2.52888379e-01] [ 1.79610973e-02 2.73281632e-03 9.99834952e-01 1.29973877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28255784400005 meters Centerline goodness : 0.172427 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:1.30 [[ 0.99982702 0.00542118 -0.0177914 3.55763946] [-0.0054856 0.99997857 -0.00357431 0.25803805] [ 0.01777164 0.00367129 0.99983533 1.29929899] [ 0. 0. 0. 1. ]] SLAMing on 257.312557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 257.34255784400005 meters Centerline goodness : 0.163524 Centerline is valid? [False, False] Translation: X:3.56, Y:0.27, Z:1.30 [[ 0.99983246 0.00475247 -0.01767656 3.55779735] [-0.0048432 0.9999753 -0.00509353 0.26715227] [ 0.01765191 0.00517829 0.99983078 1.29872825] [ 0. 0. 0. 1. ]] SLAMing on 257.372557844 meters Centerline goodness : 0.171600 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 9.99808697e-01 -2.80704054e-03 -1.93569337e-02 3.57850474e+00] [ 2.70400750e-03 9.99982049e-01 -5.34691830e-03 2.77230210e-01] [ 1.93715953e-02 5.29355412e-03 9.99798339e-01 1.30048673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 257.43255784400003 meters Centerline goodness : 0.169574 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 9.99810783e-01 -3.31797659e-03 -1.91673769e-02 3.57758960e+00] [ 3.20092053e-03 9.99976061e-01 -6.13450135e-03 2.81058915e-01] [ 1.91872722e-02 6.07198735e-03 9.99797469e-01 1.30106438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46255784400006 meters Centerline goodness : 0.349347 Centerline is valid? [False, False] Translation: X:3.58, Y:0.28, Z:1.30 [[ 0.9998144 -0.0039 -0.01886691 3.57655125] [ 0.00376918 0.99996864 -0.00696468 0.28461894] [ 0.01889348 0.00689227 0.99979775 1.30146955] [ 0. 0. 0. 1. ]] SLAMing on 257.49255784400003 meters Centerline goodness : 0.215000 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 0.99981457 -0.00410531 -0.01881401 3.57637935] [ 0.00396647 0.99996467 -0.00741068 0.28693968] [ 0.01884377 0.00733468 0.99979554 1.30149651] [ 0. 0. 0. 1. ]] SLAMing on 257.52255784400006 meters Centerline goodness : 0.158348 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 9.99822032e-01 -1.29957259e-03 -1.88206289e-02 3.57636671e+00] [ 1.21264814e-03 9.99988550e-01 -4.62924898e-03 2.88994813e-01] [ 1.88264295e-02 4.60560232e-03 9.99812159e-01 1.30150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55255784400003 meters Centerline goodness : 0.174476 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:1.30 [[ 9.99820047e-01 -1.54724480e-03 -1.89071217e-02 3.57683387e+00] [ 1.44858595e-03 9.99985271e-01 -5.23066084e-03 2.91966915e-01] [ 1.89149363e-02 5.20233098e-03 9.99807562e-01 1.30108328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58255784400006 meters Centerline goodness : 0.160974 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.30 [[ 9.99808066e-01 4.52831512e-04 -1.95863936e-02 3.58054504e+00] [-5.26585859e-04 9.99992790e-01 -3.76059748e-03 2.98233223e-01] [ 1.95845495e-02 3.77018961e-03 9.99801096e-01 1.29882005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61255784400004 meters Centerline goodness : 0.155046 Centerline is valid? [False, False] Translation: X:3.53, Y:0.30, Z:1.30 [[ 9.99760624e-01 -2.03807088e-05 -2.18790757e-02 3.53408452e+00] [-4.98674500e-05 9.99994846e-01 -3.21019579e-03 3.02834995e-01] [ 2.18790284e-02 3.21051840e-03 9.99755470e-01 1.30001444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64255784400007 meters Centerline goodness : 0.131821 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99761716e-01 -2.56678692e-04 -2.18276153e-02 3.53377809e+00] [ 1.74356849e-04 9.99992866e-01 -3.77327331e-03 3.05872729e-01] [ 2.18284281e-02 3.76856840e-03 9.99754629e-01 1.30035148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67255784400004 meters Centerline goodness : 0.153708 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99764397e-01 -4.71636359e-04 -2.17008583e-02 3.53338560e+00] [ 3.78263719e-04 9.99990655e-01 -4.30662011e-03 3.08480401e-01] [ 2.17026867e-02 4.29739681e-03 9.99755233e-01 1.30050707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70255784400007 meters Centerline goodness : 0.156921 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99764710e-01 -9.24286720e-04 -2.16718649e-02 3.53339196e+00] [ 8.11717637e-04 9.99986138e-01 -5.20247144e-03 3.12381119e-01] [ 2.16763731e-02 5.18365591e-03 9.99751601e-01 1.30042951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73255784400004 meters Centerline goodness : 0.146173 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.30 [[ 9.99765840e-01 -1.05156174e-03 -2.16138623e-02 3.53327563e+00] [ 9.32753828e-04 9.99984406e-01 -5.50618510e-03 3.13931577e-01] [ 2.16193154e-02 5.48473536e-03 9.99751230e-01 1.30034315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76255784400007 meters Centerline goodness : 0.149029 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99769198e-01 -1.13007645e-03 -2.14539912e-02 3.53287148e+00] [ 1.00684171e-03 9.99982938e-01 -5.75407366e-03 3.15369675e-01] [ 2.14601277e-02 5.73114483e-03 9.99753278e-01 1.30030763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79255784400004 meters Centerline goodness : 0.136093 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99774572e-01 -1.31036381e-03 -2.11917072e-02 3.53217265e+00] [ 1.17902804e-03 9.99980030e-01 -6.20881491e-03 3.17772792e-01] [ 2.11994198e-02 6.18242965e-03 9.99756151e-01 1.30041014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters Centerline goodness : 0.136617 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99773503e-01 -1.40443538e-03 -2.12360674e-02 3.53217486e+00] [ 1.26940592e-03 9.99978902e-01 -6.37064061e-03 3.18437555e-01] [ 2.12445665e-02 6.34224049e-03 9.99754192e-01 1.30056070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85255784400005 meters Centerline goodness : 0.136798 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99772514e-01 -1.49829603e-03 -2.12761528e-02 3.53213784e+00] [ 1.35945771e-03 9.99977700e-01 -6.53850210e-03 3.19125423e-01] [ 2.12854750e-02 6.50809065e-03 9.99752256e-01 1.30075294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters Centerline goodness : 0.149072 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99769497e-01 -1.56379225e-03 -2.14127824e-02 3.53257343e+00] [ 1.42139167e-03 9.99976786e-01 -6.66386573e-03 3.19798806e-01] [ 2.14227062e-02 6.63189373e-03 9.99748511e-01 1.30054955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91255784400005 meters Centerline goodness : 0.152719 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968903 -0.01014084 -0.02278183 3.51384643] [ 0.01002273 0.99993576 -0.00529281 0.32555203] [ 0.02283404 0.00506283 0.99972645 1.29888856] [ 0. 0. 0. 1. ]] SLAMing on 257.942557844 meters Centerline goodness : 0.152719 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968903 -0.01014084 -0.02278183 3.51384643] [ 0.01002273 0.99993576 -0.00529281 0.32555203] [ 0.02283404 0.00506283 0.99972645 1.29888856] [ 0. 0. 0. 1. ]] SLAMing on 257.97255784400005 meters Centerline goodness : 0.130932 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968304 -0.01024279 -0.02299809 3.51485542] [ 0.01012185 0.99993436 -0.005369 0.32587882] [ 0.02305157 0.00513452 0.99972109 1.29802889] [ 0. 0. 0. 1. ]] SLAMing on 258.002557844 meters Centerline goodness : 0.193124 Centerline is valid? [False, False] Translation: X:3.51, Y:0.33, Z:1.30 [[ 0.99968265 -0.01029148 -0.02299303 3.51477269] [ 0.01016981 0.99993369 -0.00540227 0.32587805] [ 0.02304711 0.00516672 0.99972103 1.29809749] [ 0. 0. 0. 1. ]] SLAMing on 258.03255784400005 meters Centerline goodness : 0.115425 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99748309e-01 -1.86283182e-03 -2.23572788e-02 3.53393592e+00] [ 1.71707459e-03 9.99977160e-01 -6.53688048e-03 3.21421876e-01] [ 2.23689453e-02 6.49684609e-03 9.99728674e-01 1.29948001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters Centerline goodness : 0.109032 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99746120e-01 -1.88393798e-03 -2.24532184e-02 3.53412200e+00] [ 1.73621919e-03 9.99976735e-01 -6.59663814e-03 3.21891118e-01] [ 2.24651237e-02 6.55597968e-03 9.99726131e-01 1.29954977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09255784400005 meters Centerline goodness : 0.110458 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.30 [[ 9.99743828e-01 -1.91435765e-03 -2.25524643e-02 3.53450508e+00] [ 1.76336642e-03 9.99975912e-01 -6.71309521e-03 3.22752809e-01] [ 2.25647723e-02 6.67160724e-03 9.99723122e-01 1.29930943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters Centerline goodness : 0.120282 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.30 [[ 9.99746587e-01 -2.15732765e-03 -2.24077427e-02 3.53432159e+00] [ 1.99257760e-03 9.99970840e-01 -7.37209897e-03 3.26146134e-01] [ 2.24229934e-02 7.32558162e-03 9.99721734e-01 1.29911624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15255784400006 meters Centerline goodness : 0.190127 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.30 [[ 9.99750938e-01 -2.32547803e-03 -2.21958130e-02 3.53354215e+00] [ 2.15389698e-03 9.99967640e-01 -7.75111251e-03 3.27722220e-01] [ 2.22131198e-02 7.70137450e-03 9.99723595e-01 1.29952916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters Centerline goodness : 0.136011 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.30 [[ 9.99694699e-01 -3.27322176e-03 -2.44906983e-02 3.48636782e+00] [ 3.07693218e-03 9.99962878e-01 -8.04825839e-03 3.31253701e-01] [ 2.45161329e-02 7.97044503e-03 9.99667660e-01 1.30096794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21255784400006 meters Centerline goodness : 0.156844 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.30 [[ 9.99700069e-01 4.51558076e-04 -2.44860766e-02 3.48620649e+00] [-5.64088301e-04 9.99989312e-01 -4.58896974e-03 3.33582074e-01] [ 2.44837427e-02 4.60140567e-03 9.99689639e-01 1.30104190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters Centerline goodness : 0.111777 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99698593e-01 3.12474897e-04 -2.45484370e-02 3.48660773e+00] [-4.36464276e-04 9.99987176e-01 -5.04560975e-03 3.36145333e-01] [ 2.45465456e-02 5.05480348e-03 9.99685909e-01 1.30071714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27255784400006 meters Centerline goodness : 0.145634 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99699587e-01 8.91812877e-05 -2.45097575e-02 3.48678088e+00] [-2.26834200e-04 9.99984218e-01 -5.61352659e-03 3.38871948e-01] [ 2.45088700e-02 5.61739987e-03 9.99683830e-01 1.30037077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters Centerline goodness : 0.108312 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.30 [[ 9.99702170e-01 -1.87583416e-04 -2.44036182e-02 3.48653270e+00] [ 3.43935536e-05 9.99980295e-01 -6.27761046e-03 3.41896002e-01] [ 2.44043150e-02 6.27490147e-03 9.99682477e-01 1.30040856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33255784400006 meters Centerline goodness : 0.112694 Centerline is valid? [False, False] Translation: X:3.49, Y:0.35, Z:1.30 [[ 9.99699562e-01 3.33144893e-03 -2.42834628e-02 3.48611073e+00] [-3.42016550e-03 9.99987625e-01 -3.61275695e-03 3.47971163e-01] [ 2.42711266e-02 3.69472501e-03 9.99698585e-01 1.30064253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters Centerline goodness : 0.113267 Centerline is valid? [False, False] Translation: X:3.48, Y:0.35, Z:1.30 [[ 9.99704203e-01 5.26568087e-03 -2.37440121e-02 3.48374891e+00] [-5.32208359e-03 9.99983163e-01 -2.31288320e-03 3.54444657e-01] [ 2.37314334e-02 2.43856668e-03 9.99715396e-01 1.30174774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39255784400007 meters Centerline goodness : 0.161871 Centerline is valid? [False, False] Translation: X:3.48, Y:0.36, Z:1.30 [[ 9.99705446e-01 4.93543503e-03 -2.37626308e-02 3.48387377e+00] [-5.01449005e-03 9.99982086e-01 -3.26842587e-03 3.59401726e-01] [ 2.37460741e-02 3.38662062e-03 9.99712286e-01 1.30175629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 258.45255784400007 meters Centerline goodness : 0.099636 Centerline is valid? [False, False] Translation: X:3.46, Y:0.38, Z:1.30 [[ 9.99809709e-01 3.55176663e-05 -1.95075582e-02 3.46273060e+00] [-8.78082564e-05 9.99996406e-01 -2.67967975e-03 3.78528443e-01] [ 1.95073929e-02 2.68088275e-03 9.99806118e-01 1.30029228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 258.51255784400007 meters Centerline goodness : 0.184191 Centerline is valid? [False, False] Translation: X:3.48, Y:0.39, Z:1.30 [[ 9.99758652e-01 -7.57610829e-03 -2.06213656e-02 3.48242256e+00] [ 7.52714417e-03 9.99968667e-01 -2.45102092e-03 3.90170351e-01] [ 2.06392887e-02 2.29520938e-03 9.99784353e-01 1.30236958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54255784400004 meters Centerline goodness : 0.112699 Centerline is valid? [False, False] Translation: X:3.46, Y:0.39, Z:1.30 [[ 9.99763995e-01 3.58297273e-05 -2.17244766e-02 3.46460276e+00] [-1.24936399e-04 9.99991586e-01 -4.10032835e-03 3.89207823e-01] [ 2.17241469e-02 4.10207483e-03 9.99755587e-01 1.30014806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.572557844 meters Centerline goodness : 0.181709 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99734485e-01 -8.14767943e-04 -2.30281467e-02 3.46855977e+00] [ 6.99021517e-04 9.99987086e-01 -5.03390511e-03 3.92229204e-01] [ 2.30319508e-02 5.01647136e-03 9.99722144e-01 1.29877231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60255784400005 meters Centerline goodness : 0.179688 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99729229e-01 -9.01244871e-04 -2.32520251e-02 3.46929034e+00] [ 7.81804859e-04 9.99986457e-01 -5.14533662e-03 3.92886919e-01] [ 2.32563474e-02 5.12576487e-03 9.99716394e-01 1.29843856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.632557844 meters Centerline goodness : 0.150836 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99728586e-01 -9.55090905e-04 -2.32775052e-02 3.46938540e+00] [ 8.33665491e-04 9.99985999e-01 -5.22557331e-03 3.93426769e-01] [ 2.32821702e-02 5.20474936e-03 9.99715385e-01 1.29835099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66255784400005 meters Centerline goodness : 0.176629 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99732151e-01 -9.86083964e-04 -2.31225783e-02 3.46872520e+00] [ 8.64459797e-04 9.99985743e-01 -5.26938007e-03 3.93607743e-01] [ 2.31274447e-02 5.24798013e-03 9.99718750e-01 1.29878365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692557844 meters Centerline goodness : 0.168613 Centerline is valid? [False, False] Translation: X:3.47, Y:0.39, Z:1.30 [[ 9.99737560e-01 -1.06243323e-03 -2.28840943e-02 3.46771749e+00] [ 9.39701016e-04 9.99985122e-01 -5.37329634e-03 3.93779412e-01] [ 2.28894626e-02 5.35038196e-03 9.99723685e-01 1.29945543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72255784400005 meters Centerline goodness : 0.150690 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99744107e-01 -1.25554970e-03 -2.25863664e-02 3.46645788e+00] [ 1.12561830e-03 9.99982752e-01 -5.76444128e-03 3.95198492e-01] [ 2.25932144e-02 5.73754257e-03 9.99728277e-01 1.30034836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752557844 meters Centerline goodness : 0.114162 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99743687e-01 -1.28838879e-03 -2.26030880e-02 3.46662956e+00] [ 1.15520540e-03 9.99981902e-01 -5.90433309e-03 3.95983810e-01] [ 2.26102860e-02 5.87670853e-03 9.99727082e-01 1.30018881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78255784400005 meters Centerline goodness : 0.172623 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99738033e-01 -1.33332429e-03 -2.28492332e-02 3.46759844e+00] [ 1.19424005e-03 9.99980684e-01 -6.09960666e-03 3.97128575e-01] [ 2.28569246e-02 6.07072129e-03 9.99720315e-01 1.29965524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812557844 meters Centerline goodness : 0.145050 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99728450e-01 -1.25463312e-03 -2.32691198e-02 3.46902448e+00] [ 1.10593985e-03 9.99978896e-01 -6.40192266e-03 3.99308988e-01] [ 2.32766608e-02 6.37444997e-03 9.99708739e-01 1.29912488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84255784400005 meters Centerline goodness : 0.175648 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99734159e-01 -1.33179308e-03 -2.30181897e-02 3.46802892e+00] [ 1.17727620e-03 9.99976693e-01 -6.72506467e-03 4.00909432e-01] [ 2.30266096e-02 6.69617810e-03 9.99712427e-01 1.29983113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872557844 meters Centerline goodness : 0.152192 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.30 [[ 0.99976629 -0.00699366 -0.02045601 3.48977486] [ 0.00691692 0.99996878 -0.00381998 0.40241442] [ 0.02048208 0.0036776 0.99978346 1.29975449] [ 0. 0. 0. 1. ]] SLAMing on 258.90255784400006 meters Centerline goodness : 0.109952 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99798103e-01 1.88891467e-03 -2.00046446e-02 3.46682114e+00] [-1.97560321e-03 9.99988741e-01 -4.31454523e-03 4.01448504e-01] [ 1.99962696e-02 4.35319538e-03 9.99790578e-01 1.29900328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93255784400003 meters Centerline goodness : 0.122905 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.30 [[ 9.99794781e-01 1.76957166e-03 -2.01808158e-02 3.46746197e+00] [-1.86621680e-03 9.99986877e-01 -4.77113406e-03 4.03887759e-01] [ 2.01721081e-02 4.80781670e-03 9.99784962e-01 1.29873460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96255784400006 meters Centerline goodness : 0.177524 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.30 [[ 9.99761198e-01 3.39359656e-03 -2.15877176e-02 3.47412658e+00] [-3.47300053e-03 9.99987338e-01 -3.64177359e-03 4.07967133e-01] [ 2.15750855e-02 3.71587809e-03 9.99760325e-01 1.29505600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99255784400003 meters Centerline goodness : 0.091594 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.29 [[ 9.99759050e-01 3.22655125e-03 -2.17124666e-02 3.47469832e+00] [-3.31694160e-03 9.99985977e-01 -4.12833677e-03 4.10461495e-01] [ 2.16988418e-02 4.19936103e-03 9.99755733e-01 1.29468199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02255784400006 meters Centerline goodness : 0.174890 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.30 [[ 0.99970492 0.00366321 -0.02401363 3.42803734] [-0.00375654 0.99998556 -0.00384232 0.41631108] [ 0.02399921 0.00393139 0.99970425 1.29557237] [ 0. 0. 0. 1. ]] SLAMing on 259.05255784400003 meters Centerline goodness : 0.162321 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.30 [[ 0.99970831 0.00349575 -0.02389704 3.42749154] [-0.00360178 0.99998385 -0.00439539 0.41931709] [ 0.02388129 0.00448018 0.99970476 1.29608697] [ 0. 0. 0. 1. ]] SLAMing on 259.08255784400006 meters Centerline goodness : 0.179494 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.30 [[ 9.99746286e-01 -2.49617275e-03 -2.23860048e-02 3.44960238e+00] [ 2.45968091e-03 9.99995601e-01 -1.65750468e-03 4.23088001e-01] [ 2.23900437e-02 1.60202172e-03 9.99748028e-01 1.29629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11255784400004 meters Centerline goodness : 0.170348 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.30 [[ 9.99746947e-01 -2.71717621e-03 -2.23306799e-02 3.44939225e+00] [ 2.66887428e-03 9.99994035e-01 -2.19254803e-03 4.25655205e-01] [ 2.23365043e-02 2.13239542e-03 9.99748235e-01 1.29643909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14255784400007 meters Centerline goodness : 0.104443 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.30 [[ 9.99749637e-01 -3.20916016e-03 -2.21441566e-02 3.44912156e+00] [ 3.13826490e-03 9.99989841e-01 -3.23554244e-03 4.30249081e-01] [ 2.21543150e-02 3.16523815e-03 9.99749552e-01 1.29620073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17255784400004 meters Centerline goodness : 0.175984 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.30 [[ 9.99698866e-01 -3.14280288e-03 -2.43372250e-02 3.40256261e+00] [ 3.06088869e-03 9.99989528e-01 -3.40231975e-03 4.35257428e-01] [ 2.43476630e-02 3.32680166e-03 9.99698016e-01 1.29648128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20255784400007 meters Centerline goodness : 0.176338 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99748631e-01 -3.17947203e-03 -2.21938393e-02 3.44662535e+00] [ 3.10095848e-03 9.99988815e-01 -3.57114747e-03 4.36199692e-01] [ 2.22049454e-02 3.50142762e-03 9.99747308e-01 1.29676937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23255784400004 meters Centerline goodness : 0.106320 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99749109e-01 -3.35300669e-03 -2.21466983e-02 3.44665928e+00] [ 3.26504843e-03 9.99986643e-01 -4.00658578e-03 4.38348630e-01] [ 2.21598367e-02 3.93327052e-03 9.99746703e-01 1.29654351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26255784400007 meters Centerline goodness : 0.177091 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 9.99745110e-01 -3.54049593e-03 -2.22975451e-02 3.44723852e+00] [ 3.44263240e-03 9.99984280e-01 -4.42584007e-03 4.40359320e-01] [ 2.23128642e-02 4.34794971e-03 9.99741582e-01 1.29620551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29255784400004 meters Centerline goodness : 0.122197 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.30 [[ 0.99973626 -0.00384509 -0.02264129 3.44837498] [ 0.00372862 0.99997961 -0.00518379 0.44432553] [ 0.02266076 0.005098 0.99973021 1.29586072] [ 0. 0. 0. 1. ]] SLAMing on 259.322557844 meters Centerline goodness : 0.173517 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.30 [[ 0.99973589 -0.00402428 -0.02262654 3.44845055] [ 0.00389686 0.99997632 -0.00567266 0.44689073] [ 0.02264883 0.00558299 0.99972789 1.2957206 ] [ 0. 0. 0. 1. ]] SLAMing on 259.35255784400005 meters Centerline goodness : 0.351069 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.30 [[ 0.99975559 0.00423483 -0.02169862 3.46803815] [-0.004383 0.99996737 -0.0067855 0.4447017 ] [ 0.02166918 0.00687894 0.99974153 1.29666476] [ 0. 0. 0. 1. ]] SLAMing on 259.382557844 meters Centerline goodness : 0.177060 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.9997586 0.00404108 -0.02159651 3.46779701] [-0.00419879 0.99996482 -0.00726201 0.44686214] [ 0.02156641 0.00735093 0.99974039 1.29669471] [ 0. 0. 0. 1. ]] SLAMing on 259.41255784400005 meters Centerline goodness : 0.173572 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99975819 0.00383657 -0.02165259 3.4680303 ] [-0.00400515 0.99996197 -0.00774754 0.44905391] [ 0.02162205 0.00783239 0.99973554 1.29661237] [ 0. 0. 0. 1. ]] SLAMing on 259.442557844 meters Centerline goodness : 0.172234 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99975435 0.00365131 -0.02186118 3.46875774] [-0.00383245 0.99995863 -0.00824952 0.45162073] [ 0.02183015 0.00833127 0.99972698 1.29634057] [ 0. 0. 0. 1. ]] SLAMing on 259.47255784400005 meters Centerline goodness : 0.173948 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.30 [[ 0.99972166 0.00732919 -0.02242504 3.47075483] [-0.00744114 0.99996025 -0.00491282 0.454647 ] [ 0.02238814 0.00507832 0.99973646 1.29544916] [ 0. 0. 0. 1. ]] SLAMing on 259.502557844 meters Centerline goodness : 0.171927 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.30 [[ 0.99972344 0.00715163 -0.02240329 3.47081716] [-0.00727342 0.99995919 -0.00535923 0.45683735] [ 0.02236405 0.0055207 0.99973465 1.29533054] [ 0. 0. 0. 1. ]] SLAMing on 259.53255784400005 meters Centerline goodness : 0.130778 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:1.30 [[ 9.99751601e-01 -1.02825027e-03 -2.22638689e-02 3.49023813e+00] [ 9.28388187e-04 9.99989465e-01 -4.49525921e-03 4.62325415e-01] [ 2.22682566e-02 4.47347307e-03 9.99742023e-01 1.29716495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562557844 meters Centerline goodness : 0.175010 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:1.30 [[ 9.99757993e-01 -1.37884972e-03 -2.19557222e-02 3.48952639e+00] [ 1.26287166e-03 9.99985182e-01 -5.29535095e-03 4.65961554e-01] [ 2.19626984e-02 5.26634218e-03 9.99744920e-01 1.29713812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59255784400005 meters Centerline goodness : 0.169732 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:1.30 [[ 9.99697722e-01 -1.19548536e-03 -2.45567922e-02 3.44300153e+00] [ 1.05937046e-03 9.99984009e-01 -5.55512329e-03 4.70507868e-01] [ 2.45630406e-02 5.52742935e-03 9.99683002e-01 1.29797954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622557844 meters Centerline goodness : 0.125473 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99966668 -0.00945555 -0.02402316 3.46291099] [ 0.00934663 0.99994554 -0.00464206 0.4754092 ] [ 0.02406574 0.00441598 0.99970062 1.29965698] [ 0. 0. 0. 1. ]] SLAMing on 259.65255784400006 meters Centerline goodness : 0.128461 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:1.30 [[ 9.99682473e-01 -7.60085047e-04 -2.51868277e-02 3.44202043e+00] [ 6.19453340e-04 9.99984179e-01 -5.59087380e-03 4.73912521e-01] [ 2.51906788e-02 5.57349648e-03 9.99667128e-01 1.29862429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68255784400003 meters Centerline goodness : 0.172776 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99678783e-01 -8.84381119e-04 -2.53288076e-02 3.44259016e+00] [ 7.35365699e-04 9.99982372e-01 -5.89194899e-03 4.75375320e-01] [ 2.53335718e-02 5.87143046e-03 9.99661811e-01 1.29828475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71255784400006 meters Centerline goodness : 0.178037 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99671499e-01 -1.16668683e-03 -2.56033772e-02 3.44389371e+00] [ 1.00061416e-03 9.99978386e-01 -6.49821136e-03 4.78257263e-01] [ 2.56104051e-02 6.47045759e-03 9.99651059e-01 1.29725539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74255784400003 meters Centerline goodness : 0.131059 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99962779 -0.00949968 -0.02557405 3.46476399] [ 0.00935736 0.99994009 -0.00567912 0.48286598] [ 0.02562647 0.0054377 0.9996568 1.2986152 ] [ 0. 0. 0. 1. ]] SLAMing on 259.77255784400006 meters Centerline goodness : 0.143869 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99665733e-01 -8.03865257e-04 -2.58413560e-02 3.44317232e+00] [ 6.35545627e-04 9.99978535e-01 -6.52112901e-03 4.80804226e-01] [ 2.58460434e-02 6.50252585e-03 9.99644787e-01 1.29763204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80255784400003 meters Centerline goodness : 0.134880 Centerline is valid? [False, False] Translation: X:3.46, Y:0.48, Z:1.30 [[ 0.99965692 -0.00925339 -0.02450343 3.46291343] [ 0.00912074 0.99994317 -0.00551985 0.48437859] [ 0.02455311 0.00529446 0.99968451 1.29931396] [ 0. 0. 0. 1. ]] SLAMing on 259.83255784400006 meters Centerline goodness : 0.139501 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99709362e-01 -1.10164506e-03 -2.40827493e-02 3.44111787e+00] [ 9.41765444e-04 9.99977451e-01 -6.64909486e-03 4.81898330e-01] [ 2.40895312e-02 6.62448208e-03 9.99687857e-01 1.29789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters Centerline goodness : 0.139501 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99709362e-01 -1.10164506e-03 -2.40827493e-02 3.44111787e+00] [ 9.41765444e-04 9.99977451e-01 -6.64909486e-03 4.81898330e-01] [ 2.40895312e-02 6.62448208e-03 9.99687857e-01 1.29789928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89255784400007 meters Centerline goodness : 0.168651 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99708685e-01 -1.15919941e-03 -2.41081246e-02 3.44138075e+00] [ 9.97624627e-04 9.99976970e-01 -6.71303595e-03 4.82094379e-01] [ 2.41153512e-02 6.68702948e-03 9.99686818e-01 1.29755221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92255784400004 meters Centerline goodness : 0.140753 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99710797e-01 -1.20571932e-03 -2.40180713e-02 3.44123113e+00] [ 1.04230375e-03 9.99976233e-01 -6.81521635e-03 4.82530998e-01] [ 2.40257177e-02 6.78821124e-03 9.99688294e-01 1.29744447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95255784400007 meters Centerline goodness : 0.137078 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99714575e-01 -1.27669468e-03 -2.38566093e-02 3.44071250e+00] [ 1.11007374e-03 9.99974910e-01 -6.99620591e-03 4.83367034e-01] [ 2.38649428e-02 6.96772642e-03 9.99690910e-01 1.29765595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters Centerline goodness : 0.136822 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:1.30 [[ 9.99718107e-01 -1.34955201e-03 -2.37041277e-02 3.44014207e+00] [ 1.17866359e-03 9.99973228e-01 -7.22171896e-03 4.84461205e-01] [ 2.37132391e-02 7.19174401e-03 9.99692933e-01 1.29799690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01255784400007 meters Centerline goodness : 0.138461 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99718615e-01 -1.38043713e-03 -2.36809223e-02 3.43983496e+00] [ 1.20598472e-03 9.99972044e-01 -7.37949163e-03 4.85400305e-01] [ 2.36904472e-02 7.34885632e-03 9.99692331e-01 1.29845453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04255784400004 meters Centerline goodness : 0.170591 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99714014e-01 -1.57237295e-03 -2.38624825e-02 3.44047858e+00] [ 1.38323541e-03 9.99967516e-01 -7.94058434e-03 4.88030393e-01] [ 2.38741929e-02 7.90530601e-03 9.99683715e-01 1.29823300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.072557844 meters Centerline goodness : 0.124074 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99710973e-01 -1.65135477e-03 -2.39842493e-02 3.44102590e+00] [ 1.45483734e-03 9.99965249e-01 -8.20874270e-03 4.89368551e-01] [ 2.39969714e-02 8.17147697e-03 9.99678635e-01 1.29786928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10255784400005 meters Centerline goodness : 0.137447 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99708784e-01 -1.71000264e-03 -2.40712255e-02 3.44139160e+00] [ 1.50656601e-03 9.99963019e-01 -8.46704413e-03 4.90866817e-01] [ 2.40848140e-02 8.42831350e-03 9.99674390e-01 1.29767314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.132557844 meters Centerline goodness : 0.135840 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99710038e-01 -1.78281250e-03 -2.40137821e-02 3.44118401e+00] [ 1.57271130e-03 9.99960348e-01 -8.76523887e-03 4.92445672e-01] [ 2.40284567e-02 8.72493054e-03 9.99673201e-01 1.29783708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16255784400005 meters Centerline goodness : 0.144562 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.30 [[ 9.99711520e-01 -1.86464259e-03 -2.39457899e-02 3.44082110e+00] [ 1.64865640e-03 9.99957812e-01 -9.03637481e-03 4.93740762e-01] [ 2.39616293e-02 8.99428961e-03 9.99672418e-01 1.29820366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192557844 meters Centerline goodness : 0.111197 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.30 [[ 9.99711293e-01 -2.00222658e-03 -2.39441570e-02 3.44053968e+00] [ 1.77774437e-03 9.99954306e-01 -9.39285378e-03 4.95356448e-01] [ 2.39618695e-02 9.34757540e-03 9.99669171e-01 1.29867232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22255784400005 meters Centerline goodness : 0.135017 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 0.9996488 -0.00806558 -0.02524331 3.41873745] [ 0.00790592 0.99994815 -0.00641858 0.4996457 ] [ 0.02529377 0.00621675 0.99966073 1.29863032] [ 0. 0. 0. 1. ]] SLAMing on 260.252557844 meters Centerline goodness : 0.139871 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 9.99669831e-01 -4.84184631e-03 -2.52345931e-02 3.41894739e+00] [ 4.76689320e-03 9.99984049e-01 -3.02956154e-03 4.98902322e-01] [ 2.52488593e-02 2.90827067e-03 9.99676966e-01 1.29824503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28255784400005 meters Centerline goodness : 0.138922 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.30 [[ 9.99671591e-01 -4.88427852e-03 -2.51565755e-02 3.41874885e+00] [ 4.80564269e-03 9.99983379e-01 -3.18536467e-03 4.99714217e-01] [ 2.51717156e-02 3.06342505e-03 9.99678448e-01 1.29827541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312557844 meters Centerline goodness : 0.135433 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.30 [[ 0.99962461 -0.00453748 -0.0270195 3.37072796] [ 0.00443579 0.99998286 -0.0038223 0.50392485] [ 0.02703638 0.00370101 0.9996276 1.29941316] [ 0. 0. 0. 1. ]] SLAMing on 260.34255784400005 meters Centerline goodness : 0.135311 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.30 [[ 9.99645916e-01 -8.26264351e-04 -2.65962437e-02 3.36938252e+00] [ 8.16977441e-04 9.99999601e-01 -3.60045534e-04 5.05018194e-01] [ 2.65965306e-02 3.38189517e-04 9.99646193e-01 1.29968994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372557844 meters Centerline goodness : 0.138026 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.30 [[ 9.99632549e-01 -7.32198580e-04 -2.70967028e-02 3.37082370e+00] [ 7.16783178e-04 9.99999576e-01 -5.78611863e-04 5.07053404e-01] [ 2.70971150e-02 5.58976791e-04 9.99632649e-01 1.29943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40255784400006 meters Centerline goodness : 0.136072 Centerline is valid? [False, False] Translation: X:3.33, Y:0.51, Z:1.30 [[ 9.99541146e-01 6.79881890e-04 -3.02825841e-02 3.32715689e+00] [-6.81627389e-04 9.99999767e-01 -4.73172927e-05 5.12033310e-01] [ 3.02825448e-02 6.79370196e-05 9.99541376e-01 1.29872956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43255784400003 meters Centerline goodness : 0.137512 Centerline is valid? [False, False] Translation: X:3.33, Y:0.51, Z:1.30 [[ 9.99532540e-01 5.81035287e-04 -3.05673795e-02 3.32807011e+00] [-5.92999364e-04 9.99999751e-01 -3.82336287e-04 5.13728552e-01] [ 3.05671497e-02 4.00283997e-04 9.99532635e-01 1.29843218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46255784400006 meters Centerline goodness : 0.136787 Centerline is valid? [False, False] Translation: X:3.33, Y:0.52, Z:1.30 [[ 9.99531879e-01 4.34601991e-04 -3.05913926e-02 3.32826244e+00] [-4.56902519e-04 9.99999635e-01 -7.21993969e-04 5.15226343e-01] [ 3.05910676e-02 7.35633273e-04 9.99531713e-01 1.29819819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49255784400003 meters Centerline goodness : 0.133272 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99556451e-01 -5.82320017e-03 -2.92060050e-02 3.34997392e+00] [ 5.88860217e-03 9.99980343e-01 2.15382400e-03 5.19182261e-01] [ 2.91928887e-02 -2.32485122e-03 9.99571093e-01 1.29853499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52255784400006 meters Centerline goodness : 0.138583 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99557746e-01 -5.98382350e-03 -2.91291384e-02 3.34963353e+00] [ 6.03755926e-03 9.99980230e-01 1.75713822e-03 5.21216302e-01] [ 2.91180481e-02 -1.93223001e-03 9.99574112e-01 1.29876598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55255784400003 meters Centerline goodness : 0.133204 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99557609e-01 -6.09771223e-03 -2.91102233e-02 3.34951724e+00] [ 6.14308891e-03 9.99980051e-01 1.46960981e-03 5.22741441e-01] [ 2.91006813e-02 -1.64778636e-03 9.99575127e-01 1.29887732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58255784400006 meters Centerline goodness : 0.144815 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99556158e-01 -6.19683957e-03 -2.91390998e-02 3.34963274e+00] [ 6.23665758e-03 9.99979738e-01 1.27579342e-03 5.23613991e-01] [ 2.91306035e-02 -1.45695775e-03 9.99574552e-01 1.29878461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61255784400004 meters Centerline goodness : 0.133450 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99555272e-01 -6.30275547e-03 -2.91467565e-02 3.34978055e+00] [ 6.33885545e-03 9.99979252e-01 1.14632586e-03 5.24002621e-01] [ 2.91389267e-02 -1.33057314e-03 9.99574486e-01 1.29853491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64255784400007 meters Centerline goodness : 0.134611 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.30 [[ 9.99553550e-01 -6.34526194e-03 -2.91965379e-02 3.35007279e+00] [ 6.38022358e-03 9.99979036e-01 1.10445320e-03 5.24231247e-01] [ 2.91889178e-02 -1.29024055e-03 9.99573080e-01 1.29820952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67255784400004 meters Centerline goodness : 0.134573 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 0.99959135 -0.00385448 -0.0283244 3.34704319] [ 0.00395747 0.99998576 0.00358096 0.52694121] [ 0.02831019 -0.00369158 0.99959237 1.29901478] [ 0. 0. 0. 1. ]] SLAMing on 260.70255784400007 meters Centerline goodness : 0.169085 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99596499e-01 -3.98633140e-03 -2.81238104e-02 3.34650662e+00] [ 4.08045693e-03 9.99986262e-01 3.29023086e-03 5.28329330e-01] [ 2.81103080e-02 -3.40366125e-03 9.99599032e-01 1.29909082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73255784400004 meters Centerline goodness : 0.138223 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99594740e-01 -4.12844716e-03 -2.81657925e-02 3.34673744e+00] [ 4.21367714e-03 9.99986720e-01 2.96732904e-03 5.29736873e-01] [ 2.81531680e-02 -3.08480806e-03 9.99598861e-01 1.29888619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76255784400007 meters Centerline goodness : 0.134631 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.30 [[ 9.99589912e-01 -4.28836167e-03 -2.83128664e-02 3.34723045e+00] [ 4.36364788e-03 9.99987105e-01 2.59783060e-03 5.31348273e-01] [ 2.83013608e-02 -2.72031264e-03 9.99595735e-01 1.29867423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79255784400004 meters Centerline goodness : 0.142337 Centerline is valid? [False, False] Translation: X:3.37, Y:0.53, Z:1.30 [[ 9.99578061e-01 3.78471900e-03 -2.87988969e-02 3.36864063e+00] [-3.74964079e-03 9.99992161e-01 1.27194680e-03 5.32020274e-01] [ 2.88034851e-02 -1.16342460e-03 9.99584416e-01 1.30002970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822557844 meters Centerline goodness : 0.133359 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99576853e-01 3.58921775e-03 -2.88657719e-02 3.36879228e+00] [-3.57372078e-03 9.99993441e-01 5.88435424e-04 5.35544667e-01] [ 2.88676946e-02 -4.85028220e-04 9.99583124e-01 1.30018995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85255784400005 meters Centerline goodness : 0.134312 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99580600e-01 3.39189289e-03 -2.87596734e-02 3.36855253e+00] [-3.39601158e-03 9.99994229e-01 -9.43674678e-05 5.39056987e-01] [ 2.87591874e-02 1.91996074e-04 9.99586351e-01 1.30021066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882557844 meters Centerline goodness : 0.136790 Centerline is valid? [False, False] Translation: X:3.37, Y:0.54, Z:1.30 [[ 9.99585505e-01 3.18253330e-03 -2.86127459e-02 3.36813791e+00] [-3.20661492e-03 9.99994542e-01 -7.95794405e-04 5.42587781e-01] [ 2.86100571e-02 8.87214610e-04 9.99590255e-01 1.30036668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91255784400005 meters Centerline goodness : 0.136963 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99591150e-01 2.96579945e-03 -2.84382983e-02 3.36763449e+00] [-3.00890275e-03 9.99994388e-01 -1.47300460e-03 5.45946816e-01] [ 2.84337700e-02 1.55797044e-03 9.99594464e-01 1.30054122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters Centerline goodness : 0.156735 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99591955e-01 2.73855538e-03 -2.84328082e-02 3.36749230e+00] [-2.79839085e-03 9.99993953e-01 -2.06487387e-03 5.48810593e-01] [ 2.84269814e-02 2.14359741e-03 9.99593573e-01 1.30076609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97255784400005 meters Centerline goodness : 0.146228 Centerline is valid? [False, False] Translation: X:3.37, Y:0.55, Z:1.30 [[ 9.99586251e-01 2.41410034e-03 -2.86617863e-02 3.36835082e+00] [-2.50110689e-03 9.99992372e-01 -3.00016656e-03 5.53923878e-01] [ 2.86543250e-02 3.07061144e-03 9.99584664e-01 1.30048358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002557844 meters Centerline goodness : 0.133642 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99582865e-01 2.22007403e-03 -2.87952503e-02 3.36893946e+00] [-2.32131551e-03 9.99991240e-01 -3.48295718e-03 5.56300208e-01] [ 2.87872657e-02 3.54834718e-03 9.99579263e-01 1.30008981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03255784400005 meters Centerline goodness : 0.132524 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99574331e-01 1.85020950e-03 -2.91158686e-02 3.37027023e+00] [-1.98065699e-03 9.99988128e-01 -4.45208602e-03 5.61168801e-01] [ 2.91072856e-02 4.50785945e-03 9.99566128e-01 1.29932839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters Centerline goodness : 0.149450 Centerline is valid? [False, False] Translation: X:3.37, Y:0.56, Z:1.30 [[ 9.99568312e-01 1.65507934e-03 -2.93334489e-02 3.37093288e+00] [-1.80068548e-03 9.99986186e-01 -4.93810546e-03 5.63612142e-01] [ 2.93248707e-02 4.98879405e-03 9.99557484e-01 1.29919978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09255784400005 meters Centerline goodness : 0.143538 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99562638e-01 1.49268073e-03 -2.95347907e-02 3.37153891e+00] [-1.65233472e-03 9.99984152e-01 -5.38195706e-03 5.65963248e-01] [ 2.95262891e-02 5.42840456e-03 9.99549264e-01 1.29911124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters Centerline goodness : 0.135578 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99559492e-01 1.32142658e-03 -2.96492150e-02 3.37189443e+00] [-1.49472351e-03 9.99981926e-01 -5.82350589e-03 5.68231961e-01] [ 2.96409838e-02 5.86525796e-03 9.99543401e-01 1.29908017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15255784400006 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:3.37, Y:0.57, Z:1.30 [[ 9.99560379e-01 1.09504597e-03 -2.96285293e-02 3.37189269e+00] [-1.28429741e-03 9.99978892e-01 -6.36919713e-03 5.70799088e-01] [ 2.96209293e-02 6.40444894e-03 9.99540686e-01 1.29904531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18255784400003 meters Centerline goodness : 0.141655 Centerline is valid? [False, False] Translation: X:3.39, Y:0.58, Z:1.30 [[ 0.99954393 -0.00765666 -0.02921126 3.39235743] [ 0.00749209 0.99995546 -0.00573926 0.57660936] [ 0.0292539 0.00551779 0.99955678 1.30050509] [ 0. 0. 0. 1. ]] SLAMing on 261.21255784400006 meters Centerline goodness : 0.156078 Centerline is valid? [False, False] Translation: X:3.37, Y:0.58, Z:1.30 [[ 9.99533160e-01 1.21750234e-03 -3.05283337e-02 3.37179665e+00] [-1.43294445e-03 9.99974219e-01 -7.03623541e-03 5.79025226e-01] [ 3.05189800e-02 7.07669602e-03 9.99509136e-01 1.29988487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24255784400003 meters Centerline goodness : 0.144057 Centerline is valid? [False, False] Translation: X:3.39, Y:0.58, Z:1.30 [[ 0.99949159 -0.00729823 -0.03103717 3.39236423] [ 0.00711618 0.99995685 -0.00597168 0.58463007] [ 0.03107942 0.00574777 0.99950039 1.30177488] [ 0. 0. 0. 1. ]] SLAMing on 261.27255784400006 meters Centerline goodness : 0.146672 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99948595 -0.00745005 -0.03118212 3.39305485] [ 0.0072583 0.99995408 -0.00625819 0.58596532] [ 0.03122731 0.00602865 0.99949413 1.30135616] [ 0. 0. 0. 1. ]] SLAMing on 261.30255784400003 meters Centerline goodness : 0.140949 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99948213 -0.00760989 -0.03126586 3.39351241] [ 0.0074076 0.99995091 -0.00658081 0.58742979] [ 0.03131441 0.0063458 0.99948944 1.30095398] [ 0. 0. 0. 1. ]] SLAMing on 261.33255784400006 meters Centerline goodness : 0.140234 Centerline is valid? [False, False] Translation: X:3.37, Y:0.59, Z:1.30 [[ 9.99493655e-01 1.37561627e-03 -3.17890011e-02 3.37254942e+00] [-1.62254218e-03 9.99968705e-01 -7.74316226e-03 5.86205777e-01] [ 3.17773547e-02 7.79082054e-03 9.99464608e-01 1.29965275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters Centerline goodness : 0.139668 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99949943 -0.00744563 -0.03074834 3.39220762] [ 0.00723989 0.99995069 -0.00679709 0.59058301] [ 0.03079743 0.00657107 0.99950405 1.30146019] [ 0. 0. 0. 1. ]] SLAMing on 261.39255784400007 meters Centerline goodness : 0.140513 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950642 -0.00771261 -0.03045378 3.39105857] [ 0.00749218 0.99994495 -0.00734576 0.59319785] [ 0.03050876 0.00711397 0.99950918 1.30217752] [ 0. 0. 0. 1. ]] SLAMing on 261.42255784400004 meters Centerline goodness : 0.158869 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950688 -0.00781707 -0.03041193 3.39095203] [ 0.0075913 0.99994282 -0.00753228 0.59403895] [ 0.03046907 0.0072977 0.99950907 1.30224839] [ 0. 0. 0. 1. ]] SLAMing on 261.45255784400007 meters Centerline goodness : 0.174042 Centerline is valid? [False, False] Translation: X:3.39, Y:0.59, Z:1.30 [[ 0.99950877 -0.00790736 -0.03032642 3.39068884] [ 0.00767678 0.99994079 -0.00771237 0.59482026] [ 0.03038561 0.00747577 0.99951029 1.30234402] [ 0. 0. 0. 1. ]] SLAMing on 261.48255784400004 meters Centerline goodness : 0.145228 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99951104 -0.00801372 -0.03022361 3.39021233] [ 0.00777791 0.99993845 -0.00791175 0.59561482] [ 0.03028515 0.0076728 0.99951185 1.30273324] [ 0. 0. 0. 1. ]] SLAMing on 261.51255784400007 meters Centerline goodness : 0.158561 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.9995166 -0.0081219 -0.03000995 3.38931631] [ 0.00788191 0.99993608 -0.00810659 0.596341 ] [ 0.03007387 0.00786614 0.99951673 1.30330806] [ 0. 0. 0. 1. ]] SLAMing on 261.54255784400004 meters Centerline goodness : 0.157377 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952177 -0.00819875 -0.0298162 3.38848305] [ 0.00795525 0.99993411 -0.00827617 0.59703991] [ 0.02988209 0.00803502 0.99952113 1.30384542] [ 0. 0. 0. 1. ]] SLAMing on 261.572557844 meters Centerline goodness : 0.160129 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952325 -0.00831895 -0.02973318 3.38809877] [ 0.00806705 0.99993063 -0.00858193 0.59859073] [ 0.02980251 0.00833798 0.99952103 1.30416704] [ 0. 0. 0. 1. ]] SLAMing on 261.60255784400005 meters Centerline goodness : 0.135928 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99952142 -0.00833037 -0.02979144 3.38830272] [ 0.0080764 0.9999301 -0.00863513 0.59887251] [ 0.02986129 0.00839039 0.99951884 1.30404963] [ 0. 0. 0. 1. ]] SLAMing on 261.632557844 meters Centerline goodness : 0.125032 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99951679 -0.00833379 -0.02994567 3.38892102] [ 0.00807849 0.99993008 -0.00863613 0.59878483] [ 0.03001554 0.00839004 0.99951422 1.30369834] [ 0. 0. 0. 1. ]] SLAMing on 261.66255784400005 meters Centerline goodness : 0.153629 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 0.99950789 -0.00832258 -0.03024407 3.38988785] [ 0.00806372 0.99992989 -0.00867105 0.59885826] [ 0.03031412 0.0084229 0.99950493 1.30334933] [ 0. 0. 0. 1. ]] SLAMing on 261.692557844 meters Centerline goodness : 0.126220 Centerline is valid? [False, False] Translation: X:3.34, Y:0.60, Z:1.30 [[ 0.99943569 -0.0059727 -0.0330549 3.34483307] [ 0.00570981 0.99995136 -0.00804179 0.60246579] [ 0.03310133 0.00784851 0.99942118 1.30331055] [ 0. 0. 0. 1. ]] SLAMing on 261.72255784400005 meters Centerline goodness : 0.164734 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:1.30 [[ 9.99462471e-01 2.59566201e-03 -3.26807589e-02 3.36678654e+00] [-2.86374813e-03 9.99962614e-01 -8.15904620e-03 5.99106622e-01] [ 3.26583590e-02 8.24824994e-03 9.99432538e-01 1.30390465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752557844 meters Centerline goodness : 0.164734 Centerline is valid? [False, False] Translation: X:3.37, Y:0.60, Z:1.30 [[ 9.99462471e-01 2.59566201e-03 -3.26807589e-02 3.36678654e+00] [-2.86374813e-03 9.99962614e-01 -8.15904620e-03 5.99106622e-01] [ 3.26583590e-02 8.24824994e-03 9.99432538e-01 1.30390465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78255784400005 meters Centerline goodness : 0.037413 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 9.99496971e-01 -2.73724669e-03 -3.15960906e-02 3.38792748e+00] [ 2.60337203e-03 9.99987463e-01 -4.27742519e-03 6.00699049e-01] [ 3.16074028e-02 4.19301714e-03 9.99491566e-01 1.30419711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812557844 meters Centerline goodness : 0.188796 Centerline is valid? [False, False] Translation: X:3.39, Y:0.60, Z:1.30 [[ 9.99501307e-01 -2.68330158e-03 -3.14632752e-02 3.38758555e+00] [ 2.53779775e-03 9.99985905e-01 -4.66358293e-03 6.02963881e-01] [ 3.14753455e-02 4.58140980e-03 9.99494029e-01 1.30437067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84255784400005 meters Centerline goodness : 0.141387 Centerline is valid? [False, False] Translation: X:3.41, Y:0.60, Z:1.31 [[ 0.99952519 0.00537085 -0.03034041 3.40812186] [-0.00555115 0.99996741 -0.00586151 0.60093253] [ 0.03030794 0.00602716 0.99952244 1.30588861] [ 0. 0. 0. 1. ]] SLAMing on 261.872557844 meters Centerline goodness : 0.085258 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.31 [[ 9.99494065e-01 9.27318964e-03 -3.04240455e-02 3.40858577e+00] [-9.36133919e-03 9.99952383e-01 -2.75620397e-03 6.05262782e-01] [ 3.03970380e-02 3.03961932e-03 9.99533281e-01 1.30557283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90255784400006 meters Centerline goodness : 0.156624 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.31 [[ 9.99466757e-01 9.70787371e-03 -3.11762639e-02 3.41072020e+00] [-9.79885923e-03 9.99948162e-01 -2.76696353e-03 6.07222700e-01] [ 3.11477864e-02 3.07097989e-03 9.99510072e-01 1.30512917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93255784400003 meters Centerline goodness : 0.250955 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.30 [[ 9.99458346e-01 9.71605698e-03 -3.14422175e-02 3.41155213e+00] [-9.82281783e-03 9.99946497e-01 -3.24277766e-03 6.09953760e-01] [ 3.14090282e-02 3.54987237e-03 9.99500311e-01 1.30478654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96255784400006 meters Centerline goodness : 0.075688 Centerline is valid? [False, False] Translation: X:3.41, Y:0.61, Z:1.30 [[ 0.99945983 0.00956739 -0.03144057 3.41157541] [-0.00969626 0.99994519 -0.00394889 0.61296889] [ 0.03140106 0.00425161 0.99949782 1.304574 ] [ 0. 0. 0. 1. ]] SLAMing on 261.99255784400003 meters Centerline goodness : 0.085967 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.30 [[ 0.9994655 0.00938099 -0.0313163 3.41104173] [-0.0095282 0.99994423 -0.00455492 0.61547831] [ 0.03127183 0.00485087 0.99949915 1.30478994] [ 0. 0. 0. 1. ]] SLAMing on 262.02255784400006 meters Centerline goodness : 0.084863 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.31 [[ 0.99947231 0.00929251 -0.03112471 3.41010392] [-0.00945349 0.99994267 -0.00502918 0.6178094 ] [ 0.03107619 0.00532076 0.99950286 1.3054216 ] [ 0. 0. 0. 1. ]] SLAMing on 262.05255784400003 meters Centerline goodness : 0.165552 Centerline is valid? [False, False] Translation: X:3.41, Y:0.62, Z:1.30 [[ 9.99444736e-01 1.29690319e-02 -3.06924086e-02 3.40936678e+00] [-1.30424356e-02 9.99912540e-01 -2.19259394e-03 6.22336370e-01] [ 3.06612885e-02 2.59168023e-03 9.99526472e-01 1.30497061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08255784400006 meters Centerline goodness : 0.155003 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 9.99454418e-01 1.28330971e-02 -3.04331671e-02 3.40870454e+00] [-1.29269445e-02 9.99912270e-01 -2.88897211e-03 6.25270575e-01] [ 3.03934227e-02 3.28080380e-03 9.99532629e-01 1.30473092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11255784400004 meters Centerline goodness : 0.160441 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 0.99946687 0.01270826 -0.03007436 3.40777785] [-0.01282253 0.99991127 -0.00360964 0.62808978] [ 0.03002582 0.00399334 0.99954115 1.30448391] [ 0. 0. 0. 1. ]] SLAMing on 262.14255784400007 meters Centerline goodness : 0.160394 Centerline is valid? [False, False] Translation: X:3.41, Y:0.63, Z:1.30 [[ 0.99947488 0.0126037 -0.02985139 3.40703176] [-0.01273823 0.99990953 -0.00432089 0.63101569] [ 0.02979423 0.00469887 0.99954501 1.30447781] [ 0. 0. 0. 1. ]] SLAMing on 262.17255784400004 meters Centerline goodness : 0.182678 Centerline is valid? [False, False] Translation: X:3.39, Y:0.64, Z:1.30 [[ 9.99592619e-01 7.22255515e-03 -2.76121440e-02 3.39092092e+00] [-7.29720172e-03 9.99969986e-01 -2.60358672e-03 6.43561781e-01] [ 2.75925107e-02 2.80401745e-03 9.99615321e-01 1.30211432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 262.23255784400004 meters Centerline goodness : 0.084512 Centerline is valid? [False, False] Translation: X:3.41, Y:0.65, Z:1.30 [[ 9.99582917e-01 6.42749259e-04 -2.88717748e-02 3.41498476e+00] [-6.53651798e-04 9.99999719e-01 -3.68182862e-04 6.50074317e-01] [ 2.88715301e-02 3.86901387e-04 9.99583056e-01 1.30177100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26255784400007 meters Centerline goodness : 0.134340 Centerline is valid? [False, False] Translation: X:3.42, Y:0.65, Z:1.30 [[ 9.99581231e-01 5.55127809e-04 -2.89318979e-02 3.41526730e+00] [-5.72837915e-04 9.99999654e-01 -6.03846017e-04 6.51166949e-01] [ 2.89315527e-02 6.20166433e-04 9.99581203e-01 1.30150971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29255784400004 meters Centerline goodness : 0.085481 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99634131e-01 1.17791654e-04 -2.70479083e-02 3.45862294e+00] [-1.08592800e-04 9.99999936e-01 3.41563485e-04 6.51070848e-01] [ 2.70479468e-02 -3.38501310e-04 9.99634080e-01 1.30232409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322557844 meters Centerline goodness : 0.089567 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99631234e-01 1.68859191e-05 -2.71550356e-02 3.45880414e+00] [-1.52551094e-05 9.99999998e-01 6.02626786e-05 6.52511958e-01] [ 2.71550366e-02 -5.98262027e-05 9.99631232e-01 1.30250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35255784400005 meters Centerline goodness : 0.192814 Centerline is valid? [False, False] Translation: X:3.46, Y:0.65, Z:1.30 [[ 9.99623931e-01 -8.70294742e-05 -2.74224324e-02 3.45954269e+00] [ 7.58914494e-05 9.99999914e-01 -4.07205227e-04 6.54878269e-01] [ 2.74224655e-02 4.04970962e-04 9.99623851e-01 1.30237172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters Centerline goodness : 0.204892 Centerline is valid? [False, False] Translation: X:3.46, Y:0.66, Z:1.30 [[ 9.99622879e-01 -1.84951921e-04 -2.74602645e-02 3.45964846e+00] [ 1.66646676e-04 9.99999762e-01 -6.68895489e-04 6.56062419e-01] [ 2.74603816e-02 6.64067073e-04 9.99622672e-01 1.30231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41255784400005 meters Centerline goodness : 0.192102 Centerline is valid? [False, False] Translation: X:3.46, Y:0.66, Z:1.30 [[ 9.99623403e-01 -2.18582896e-04 -2.74409093e-02 3.45945119e+00] [ 1.96494855e-04 9.99999655e-01 -8.07625047e-04 6.56812933e-01] [ 2.74410763e-02 8.01928901e-04 9.99623101e-01 1.30251616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters Centerline goodness : 0.084913 Centerline is valid? [False, False] Translation: X:3.50, Y:0.66, Z:1.30 [[ 9.99702472e-01 -2.00237095e-04 -2.43911295e-02 3.50215285e+00] [ 2.15578024e-04 9.99999781e-01 6.26327395e-04 6.55280488e-01] [ 2.43909987e-02 -6.31399237e-04 9.99702296e-01 1.30280721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47255784400005 meters Centerline goodness : 0.179154 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99701937e-01 -1.44667154e-04 -2.44134576e-02 3.50236405e+00] [ 1.64094514e-04 9.99999672e-01 7.93762884e-04 6.54340602e-01] [ 2.44133347e-02 -7.97532407e-04 9.99701632e-01 1.30251691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters Centerline goodness : 0.085730 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99699147e-01 -5.35009230e-05 -2.45277957e-02 3.50283229e+00] [ 7.83983106e-05 9.99999483e-01 1.01410780e-03 6.53168453e-01] [ 2.45277288e-02 -1.01572564e-03 9.99698634e-01 1.30219897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53255784400005 meters Centerline goodness : 0.146277 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99696700e-01 5.70688781e-05 -2.46273364e-02 3.50302940e+00] [-2.76267615e-05 9.99999285e-01 1.19584410e-03 6.52376959e-01] [ 2.46273870e-02 -1.19480103e-03 9.99695986e-01 1.30223010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters Centerline goodness : 0.135940 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99695584e-01 1.52142459e-04 -2.46721656e-02 3.50303502e+00] [-1.20240633e-04 9.99999155e-01 1.29450737e-03 6.52097066e-01] [ 2.46723417e-02 -1.29114670e-03 9.99694758e-01 1.30240667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59255784400005 meters Centerline goodness : 0.192263 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99699712e-01 2.34924597e-04 -2.45036978e-02 3.50236367e+00] [-2.02575382e-04 9.99999105e-01 1.32265078e-03 6.52179131e-01] [ 2.45039866e-02 -1.31728976e-03 9.99698864e-01 1.30280168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters Centerline goodness : 0.157625 Centerline is valid? [False, False] Translation: X:3.50, Y:0.65, Z:1.30 [[ 9.99720443e-01 5.98414120e-04 -2.36363452e-02 3.49969471e+00] [-5.64525180e-04 9.99998803e-01 1.44041052e-03 6.52020106e-01] [ 2.36371788e-02 -1.42666454e-03 9.99719585e-01 1.30356966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65255784400006 meters Centerline goodness : 0.147162 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99696739e-01 8.45307499e-03 -2.31295452e-02 3.51965190e+00] [-8.44521403e-03 9.99964243e-01 4.37527386e-04 6.48152373e-01] [ 2.31324166e-02 -2.42060742e-04 9.99732381e-01 1.30548793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 262.71255784400006 meters Centerline goodness : 0.155645 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99686753e-01 9.29768436e-03 -2.32367940e-02 3.52007844e+00] [-9.27544184e-03 9.99956415e-01 1.06481085e-03 6.47324291e-01] [ 2.32456815e-02 -8.48945770e-04 9.99729422e-01 1.30521282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74255784400003 meters Centerline goodness : 0.136366 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.31 [[ 9.99686634e-01 9.34575828e-03 -2.32226309e-02 3.52011112e+00] [-9.32366980e-03 9.99955973e-01 1.05925711e-03 6.47358300e-01] [ 2.32315081e-02 -8.42405032e-04 9.99729757e-01 1.30504371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77255784400006 meters Centerline goodness : 0.084399 Centerline is valid? [False, False] Translation: X:3.52, Y:0.65, Z:1.30 [[ 9.99711137e-01 5.97319300e-03 -2.32801212e-02 3.52023566e+00] [-6.03576469e-03 9.99978356e-01 -2.61843375e-03 6.47172943e-01] [ 2.32639769e-02 2.75819071e-03 9.99725552e-01 1.30485632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters Centerline goodness : 0.130272 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99741460e-01 -2.74319479e-03 -2.25718203e-02 3.53917067e+00] [ 2.70718700e-03 9.99995014e-01 -1.62565654e-03 6.50856481e-01] [ 2.25761673e-02 1.56413011e-03 9.99743902e-01 1.30599757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83255784400006 meters Centerline goodness : 0.084288 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739314e-01 -2.68337950e-03 -2.26738578e-02 3.53927240e+00] [ 2.64813224e-03 9.99995239e-01 -1.58441558e-03 6.50866618e-01] [ 2.26780014e-02 1.52395918e-03 9.99741660e-01 1.30616687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters Centerline goodness : 0.163100 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99738646e-01 -2.59274674e-03 -2.27138137e-02 3.53923996e+00] [ 2.56015962e-03 9.99995652e-01 -1.46364485e-03 6.50610908e-01] [ 2.27175098e-02 1.40511133e-03 9.99740937e-01 1.30636396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89255784400007 meters Centerline goodness : 0.086375 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739085e-01 -2.42539164e-03 -2.27129595e-02 3.53933064e+00] [ 2.40225360e-03 9.99996568e-01 -1.04594476e-03 6.48785042e-01] [ 2.27154184e-02 9.91109566e-04 9.99741480e-01 1.30626884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters Centerline goodness : 0.141224 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739505e-01 -2.39157791e-03 -2.26980606e-02 3.53937970e+00] [ 2.37292329e-03 9.99996824e-01 -8.48758277e-04 6.47510104e-01] [ 2.27000184e-02 7.94676424e-04 9.99742006e-01 1.30611877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95255784400007 meters Centerline goodness : 0.083470 Centerline is valid? [False, False] Translation: X:3.54, Y:0.65, Z:1.31 [[ 9.99739743e-01 -2.30853251e-03 -2.26961800e-02 3.53954316e+00] [ 2.29563276e-03 9.99997188e-01 -5.94404470e-04 6.46175562e-01] [ 2.26974884e-02 5.42147677e-04 9.99742232e-01 1.30583489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98255784400004 meters Centerline goodness : 0.136848 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99738074e-01 -2.23364396e-03 -2.27770487e-02 3.53982492e+00] [ 2.22619201e-03 9.99997460e-01 -3.52520337e-04 6.44807399e-01] [ 2.27777782e-02 3.01721919e-04 9.99740507e-01 1.30567062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01255784400007 meters Centerline goodness : 0.112423 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99733733e-01 -2.09293290e-03 -2.29800354e-02 3.54047052e+00] [ 2.09295612e-03 9.99997809e-01 -2.30409231e-05 6.43280293e-01] [ 2.29800332e-02 -2.50614175e-05 9.99735924e-01 1.30547527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04255784400004 meters Centerline goodness : 0.083197 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99729153e-01 -1.97370162e-03 -2.31889172e-02 3.54106429e+00] [ 1.97948419e-03 9.99998015e-01 2.26416187e-04 6.42089828e-01] [ 2.31884243e-02 -2.72256958e-04 9.99731075e-01 1.30534465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.072557844 meters Centerline goodness : 0.179148 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99721243e-01 -1.75205991e-03 -2.35449765e-02 3.54210184e+00] [ 1.76598610e-03 9.99998278e-01 5.70691783e-04 6.40525724e-01] [ 2.35439360e-02 -6.12112800e-04 9.99722616e-01 1.30504973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10255784400005 meters Centerline goodness : 0.127539 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.31 [[ 9.99721933e-01 -1.64219928e-03 -2.35235964e-02 3.54202259e+00] [ 1.66060377e-03 9.99998330e-01 7.62871066e-04 6.39695775e-01] [ 2.35223043e-02 -8.01722309e-04 9.99722991e-01 1.30505759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.132557844 meters Centerline goodness : 0.157455 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99725214e-01 -1.53251191e-03 -2.33911817e-02 3.54173750e+00] [ 1.55594683e-03 9.99998306e-01 9.83702485e-04 6.38762053e-01] [ 2.33896346e-02 -1.01982761e-03 9.99725905e-01 1.30494885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16255784400005 meters Centerline goodness : 0.133666 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99729525e-01 -1.43540735e-03 -2.32124034e-02 3.54128936e+00] [ 1.46292746e-03 9.99998247e-01 1.16864020e-03 6.37937128e-01] [ 2.32106852e-02 -1.20228218e-03 9.99729873e-01 1.30493039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192557844 meters Centerline goodness : 0.143167 Centerline is valid? [False, False] Translation: X:3.56, Y:0.63, Z:1.31 [[ 9.99735086e-01 6.85059727e-03 -2.19733410e-02 3.56207487e+00] [-6.83981835e-03 9.99976448e-01 5.65664808e-04 6.32749767e-01] [ 2.19766986e-02 -4.15221295e-04 9.99758397e-01 1.30566846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22255784400005 meters Centerline goodness : 0.159864 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99747692e-01 -1.28875900e-03 -2.24252480e-02 3.54108204e+00] [ 1.31118887e-03 9.99998655e-01 9.85531391e-04 6.36052271e-01] [ 2.24239477e-02 -1.01468647e-03 9.99748037e-01 1.30496145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252557844 meters Centerline goodness : 0.139048 Centerline is valid? [False, False] Translation: X:3.54, Y:0.64, Z:1.30 [[ 9.99745670e-01 -1.20789545e-03 -2.25196787e-02 3.54128829e+00] [ 1.23333560e-03 9.99998617e-01 1.11583042e-03 6.35426536e-01] [ 2.25182997e-02 -1.14332095e-03 9.99745777e-01 1.30494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28255784400005 meters Centerline goodness : 0.115075 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99740532e-01 -1.04311913e-03 -2.27547926e-02 3.54219848e+00] [ 1.07456158e-03 9.99998485e-01 1.36961110e-03 6.34474353e-01] [ 2.27533294e-02 -1.39370716e-03 9.99740138e-01 1.30436340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312557844 meters Centerline goodness : 0.110811 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99735033e-01 -8.45170137e-04 -2.30032629e-02 3.54335521e+00] [ 8.85819623e-04 9.99998064e-01 1.75698593e-03 6.32835279e-01] [ 2.30017334e-02 -1.77689712e-03 9.99733846e-01 1.30349033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34255784400005 meters Centerline goodness : 0.110919 Centerline is valid? [False, False] Translation: X:3.54, Y:0.63, Z:1.30 [[ 9.99731280e-01 -6.61750283e-04 -2.31717630e-02 3.54428623e+00] [ 7.12028537e-04 9.99997410e-01 2.16162364e-03 6.30972671e-01] [ 2.31702725e-02 -2.17754173e-03 9.99729162e-01 1.30265334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372557844 meters Centerline goodness : 0.155856 Centerline is valid? [False, False] Translation: X:3.55, Y:0.63, Z:1.30 [[ 9.99730454e-01 -3.99626321e-04 -2.32133670e-02 3.54500463e+00] [ 4.70401004e-04 9.99995258e-01 3.04349571e-03 6.25542529e-01] [ 2.32120406e-02 -3.05359493e-03 9.99725901e-01 1.30187628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40255784400006 meters Centerline goodness : 0.114363 Centerline is valid? [False, False] Translation: X:3.54, Y:0.62, Z:1.30 [[ 9.99730972e-01 -1.87836291e-04 -2.31936995e-02 3.54498137e+00] [ 2.71724551e-04 9.99993433e-01 3.61375694e-03 6.22740112e-01] [ 2.31928684e-02 -3.61908703e-03 9.99724459e-01 1.30187392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43255784400003 meters Centerline goodness : 0.107342 Centerline is valid? [False, False] Translation: X:3.55, Y:0.62, Z:1.30 [[ 9.99730424e-01 2.29787080e-05 -2.32180773e-02 3.54501752e+00] [ 7.35261726e-05 9.99991363e-01 4.15559222e-03 6.20237705e-01] [ 2.32179722e-02 -4.15617911e-03 9.99721787e-01 1.30198117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46255784400006 meters Centerline goodness : 0.114657 Centerline is valid? [False, False] Translation: X:3.55, Y:0.62, Z:1.30 [[ 9.99730926e-01 2.25076819e-04 -2.31953777e-02 3.54508059e+00] [-1.16565971e-04 9.99989045e-01 4.67936972e-03 6.17838682e-01] [ 2.31961768e-02 -4.67540683e-03 9.99720000e-01 1.30184497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49255784400003 meters Centerline goodness : 0.159294 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99728204e-01 5.35351838e-04 -2.33073275e-02 3.54588811e+00] [-4.04600374e-04 9.99984158e-01 5.61424094e-03 6.12873833e-01] [ 2.33099638e-02 -5.60328486e-03 9.99712583e-01 1.30111769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52255784400006 meters Centerline goodness : 0.162062 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99724206e-01 6.73156547e-04 -2.34746234e-02 3.54657158e+00] [-5.32947571e-04 9.99981986e-01 5.97853396e-03 6.11055390e-01] [ 2.34782250e-02 -5.96437437e-03 9.99706557e-01 1.30072098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55255784400003 meters Centerline goodness : 0.119029 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99720395e-01 7.88471151e-04 -2.36328092e-02 3.54704052e+00] [-6.40390674e-04 9.99980121e-01 6.27279888e-03 6.09637004e-01] [ 2.36372854e-02 -6.25591074e-03 9.99701026e-01 1.30063859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58255784400006 meters Centerline goodness : 0.114093 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99717445e-01 9.13166372e-04 -2.37527956e-02 3.54734519e+00] [-7.57759453e-04 9.99978256e-01 6.55085715e-03 6.08362969e-01] [ 2.37582612e-02 -6.53100727e-03 9.99696399e-01 1.30064083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61255784400004 meters Centerline goodness : 0.180240 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99717122e-01 1.08749642e-03 -2.37590875e-02 3.54711481e+00] [-9.22599991e-04 9.99975421e-01 6.95021162e-03 6.06476302e-01] [ 2.37660619e-02 -6.92632542e-03 9.99693553e-01 1.30106035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64255784400007 meters Centerline goodness : 0.119869 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716022e-01 1.13203747e-03 -2.38032450e-02 3.54728429e+00] [-9.65757246e-04 9.99975062e-01 6.99594733e-03 6.06371268e-01] [ 2.38105710e-02 -6.97097248e-03 9.99692184e-01 1.30094704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67255784400004 meters Centerline goodness : 0.119869 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716022e-01 1.13203747e-03 -2.38032450e-02 3.54728429e+00] [-9.65757246e-04 9.99975062e-01 6.99594733e-03 6.06371268e-01] [ 2.38105710e-02 -6.97097248e-03 9.99692184e-01 1.30094704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70255784400007 meters Centerline goodness : 0.118129 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99716210e-01 1.15690425e-03 -2.37941565e-02 3.54724883e+00] [-9.90592617e-04 9.99975008e-01 7.00019920e-03 6.06495346e-01] [ 2.38016604e-02 -6.97464229e-03 9.99692370e-01 1.30092408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73255784400004 meters Centerline goodness : 0.112692 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99718797e-01 1.19281625e-03 -2.36834311e-02 3.54683000e+00] [-1.02576687e-03 9.99974521e-01 7.06432430e-03 6.06209561e-01] [ 2.36912541e-02 -7.03804411e-03 9.99694549e-01 1.30115635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76255784400007 meters Centerline goodness : 0.112141 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.999736 0.00873491 -0.02125186 3.56500894] [-0.00861472 0.99994642 0.00574047 0.6011148 ] [ 0.02130086 -0.00555588 0.99975767 1.30330305] [ 0. 0. 0. 1. ]] SLAMing on 263.79255784400004 meters Centerline goodness : 0.106162 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.30 [[ 0.9997363 0.00883587 -0.02119557 3.56477739] [-0.00870966 0.99994383 0.00603946 0.59963276] [ 0.02124774 -0.00585327 0.99975711 1.30349326] [ 0. 0. 0. 1. ]] SLAMing on 263.822557844 meters Centerline goodness : 0.108671 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.99973351 0.00896895 -0.02127124 3.56508312] [-0.0088347 0.99994051 0.00639732 0.59800719] [ 0.02132735 -0.00620769 0.99975327 1.30333152] [ 0. 0. 0. 1. ]] SLAMing on 263.85255784400005 meters Centerline goodness : 0.110609 Centerline is valid? [False, False] Translation: X:3.57, Y:0.60, Z:1.30 [[ 0.99973403 0.00909299 -0.02119415 3.56505907] [-0.00895116 0.99993697 0.0067773 0.59619158] [ 0.02125444 -0.00658579 0.99975241 1.30310044] [ 0. 0. 0. 1. ]] SLAMing on 263.882557844 meters Centerline goodness : 0.116365 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.30 [[ 0.99976958 0.00602837 -0.02060213 3.56310656] [-0.0059532 0.99997541 0.00370792 0.59542281] [ 0.02062397 -0.00358442 0.99978088 1.3036136 ] [ 0. 0. 0. 1. ]] SLAMing on 263.91255784400005 meters Centerline goodness : 0.144761 Centerline is valid? [False, False] Translation: X:3.56, Y:0.59, Z:1.31 [[ 9.99791656e-01 4.13369633e-03 -1.99889130e-02 3.55946747e+00] [-4.09409481e-03 9.99989576e-01 2.02169120e-03 5.91876365e-01] [ 1.99970617e-02 -1.93943349e-03 9.99798158e-01 1.30581799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942557844 meters Centerline goodness : 0.143827 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99793667e-01 -3.57504634e-03 -1.99960662e-02 3.57736502e+00] [ 3.64754948e-03 9.99986901e-01 3.59057403e-03 5.96480190e-01] [ 1.99829679e-02 -3.66276982e-03 9.99793611e-01 1.30778290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97255784400005 meters Centerline goodness : 0.141943 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99791857e-01 -3.49288242e-03 -2.01008192e-02 3.57779602e+00] [ 3.56564519e-03 9.99987216e-01 3.58518983e-03 5.96921548e-01] [ 2.00880396e-02 -3.65611599e-03 9.99791530e-01 1.30744121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002557844 meters Centerline goodness : 0.141518 Centerline is valid? [False, False] Translation: X:3.56, Y:0.59, Z:1.31 [[ 9.99768472e-01 5.69827697e-03 -2.07492471e-02 3.55752833e+00] [-5.64108496e-03 9.99980130e-01 2.81382968e-03 5.93163809e-01] [ 2.07648688e-02 -2.69612993e-03 9.99780752e-01 1.30596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03255784400005 meters Centerline goodness : 0.138962 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:1.31 [[ 9.99778707e-01 -1.74374853e-03 -2.09641521e-02 3.57707530e+00] [ 1.82788776e-03 9.99990349e-01 3.99498889e-03 5.99847937e-01] [ 2.09569835e-02 -4.03242495e-03 9.99772246e-01 1.30701551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters Centerline goodness : 0.146939 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.31 [[ 9.99789125e-01 2.26685414e-03 -2.04099612e-02 3.54169729e+00] [-2.21087312e-03 9.99993733e-01 2.76497490e-03 5.99432824e-01] [ 2.04161011e-02 -2.71926801e-03 9.99787872e-01 1.30508527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09255784400005 meters Centerline goodness : 0.104502 Centerline is valid? [False, False] Translation: X:3.56, Y:0.60, Z:1.31 [[ 9.99734337e-01 1.18828818e-02 -1.97497543e-02 3.56427054e+00] [-1.18370881e-02 9.99926977e-01 2.43399077e-03 6.02526425e-01] [ 1.97772350e-02 -2.19956456e-03 9.99801992e-01 1.30519233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122557844 meters Centerline goodness : 0.137885 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99817372e-01 5.97232206e-03 -1.81536386e-02 3.54789529e+00] [-5.90755058e-03 9.99976000e-01 3.61949638e-03 6.09542273e-01] [ 1.81748197e-02 -3.51159182e-03 9.99828658e-01 1.30189985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15255784400006 meters Centerline goodness : 0.103134 Centerline is valid? [False, False] Translation: X:3.55, Y:0.61, Z:1.30 [[ 9.99817591e-01 5.84058413e-03 -1.81843711e-02 3.54799581e+00] [-5.78358967e-03 9.99978202e-01 3.18526928e-03 6.11697622e-01] [ 1.82025786e-02 -3.07951731e-03 9.99829577e-01 1.30173434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18255784400003 meters Centerline goodness : 0.109849 Centerline is valid? [False, False] Translation: X:3.53, Y:0.62, Z:1.30 [[ 9.99813428e-01 -2.87655669e-03 -1.91006428e-02 3.52610827e+00] [ 2.93969344e-03 9.99990306e-01 3.27822293e-03 6.15996108e-01] [ 1.90910277e-02 -3.33376134e-03 9.99812192e-01 1.30136726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21255784400006 meters Centerline goodness : 0.104515 Centerline is valid? [False, False] Translation: X:3.53, Y:0.62, Z:1.30 [[ 9.99810697e-01 -2.92096384e-03 -1.92363929e-02 3.52642716e+00] [ 2.98567185e-03 9.99989978e-01 3.33597273e-03 6.15348158e-01] [ 1.92264559e-02 -3.39277477e-03 9.99809398e-01 1.30141382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24255784400003 meters Centerline goodness : 0.157008 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99807176e-01 -2.92440535e-03 -1.94179893e-02 3.52685779e+00] [ 2.99451308e-03 9.99989100e-01 3.58235785e-03 6.13837756e-01] [ 1.94073014e-02 -3.63981451e-03 9.99805035e-01 1.30148879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27255784400006 meters Centerline goodness : 0.183892 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99803702e-01 -3.33509093e-03 -1.95303359e-02 3.52713959e+00] [ 3.41165394e-03 9.99986621e-01 3.88820396e-03 6.10959700e-01] [ 1.95171071e-02 -3.95407147e-03 9.99801704e-01 1.30171612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30255784400003 meters Centerline goodness : 0.177534 Centerline is valid? [False, False] Translation: X:3.53, Y:0.61, Z:1.30 [[ 9.99803995e-01 -3.32652532e-03 -1.95168177e-02 3.52719511e+00] [ 3.40838964e-03 9.99985527e-01 4.16278929e-03 6.09314496e-01] [ 1.95026876e-02 -4.22849428e-03 9.99800863e-01 1.30167649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33255784400006 meters Centerline goodness : 0.176400 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99861546e-01 3.61189724e-03 -1.62432381e-02 3.54444704e+00] [-3.56895412e-03 9.99990062e-01 2.67196459e-03 6.03744953e-01] [ 1.62527275e-02 -2.61362328e-03 9.99864500e-01 1.30342608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters Centerline goodness : 0.152511 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99864235e-01 3.68892064e-03 -1.60594020e-02 3.54355430e+00] [-3.64382899e-03 9.99989339e-01 2.83615980e-03 6.03174155e-01] [ 1.60696932e-02 -2.77725704e-03 9.99867017e-01 1.30419552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39255784400007 meters Centerline goodness : 0.151044 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99865198e-01 3.74125843e-03 -1.59871560e-02 3.54306965e+00] [-3.69458655e-03 9.99988830e-01 2.94787434e-03 6.02752953e-01] [ 1.59980061e-02 -2.88841103e-03 9.99867852e-01 1.30468941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters Centerline goodness : 0.115313 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99863926e-01 3.80448756e-03 -1.60516352e-02 3.54320156e+00] [-3.75507453e-03 9.99988122e-01 3.10739734e-03 6.01973172e-01] [ 1.60632665e-02 -3.04669942e-03 9.99866336e-01 1.30475987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45255784400007 meters Centerline goodness : 0.173372 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99860459e-01 3.81188526e-03 -1.62644303e-02 3.54391920e+00] [-3.76065645e-03 9.99987875e-01 3.17916806e-03 6.01438337e-01] [ 1.62763517e-02 -3.11755950e-03 9.99862671e-01 1.30441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters Centerline goodness : 0.140398 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 9.99861322e-01 3.93916497e-03 -1.61808226e-02 3.54378873e+00] [-3.88257302e-03 9.99986241e-01 3.52739677e-03 5.99644785e-01] [ 1.61944950e-02 -3.46408437e-03 9.99862860e-01 1.30428034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51255784400007 meters Centerline goodness : 0.171427 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.30 [[ 0.99986756 0.00404127 -0.01576475 3.54231932] [-0.00398135 0.99998474 0.00383047 0.59818755] [ 0.01577999 -0.0037672 0.99986839 1.30498893] [ 0. 0. 0. 1. ]] SLAMing on 264.54255784400004 meters Centerline goodness : 0.103773 Centerline is valid? [False, False] Translation: X:3.54, Y:0.60, Z:1.31 [[ 0.99987241 0.00415061 -0.01542504 3.54105732] [-0.00408613 0.99998279 0.00420944 0.5962554 ] [ 0.01544225 -0.00414587 0.99987217 1.30574258] [ 0. 0. 0. 1. ]] SLAMing on 264.572557844 meters Centerline goodness : 0.105255 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.31 [[ 0.99987427 0.00427028 -0.01527142 3.54051967] [-0.0041998 0.9999804 0.00464374 0.59393094] [ 0.01529095 -0.00457902 0.9998726 1.30605982] [ 0. 0. 0. 1. ]] SLAMing on 264.60255784400005 meters Centerline goodness : 0.103787 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.31 [[ 9.99877943e-01 8.33179915e-04 -1.56014357e-02 3.54131087e+00] [-8.13971653e-04 9.99998903e-01 1.23749501e-03 5.93141805e-01] [ 1.56024496e-02 -1.22464483e-03 9.99877524e-01 1.30595208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632557844 meters Centerline goodness : 0.115714 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.30 [[ 9.99865480e-01 1.16146253e-03 -1.63606900e-02 3.54415747e+00] [-1.12619360e-03 9.99997023e-01 2.16476037e-03 5.88643475e-01] [ 1.63631556e-02 -2.14604387e-03 9.99863812e-01 1.30441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66255784400005 meters Centerline goodness : 0.133346 Centerline is valid? [False, False] Translation: X:3.54, Y:0.59, Z:1.30 [[ 9.99864952e-01 1.37505589e-03 -1.63764278e-02 3.54433686e+00] [-1.33231555e-03 9.99995679e-01 2.62049351e-03 5.86721398e-01] [ 1.63799603e-02 -2.59832105e-03 9.99862463e-01 1.30420588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692557844 meters Centerline goodness : 0.135834 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99866392e-01 1.53942924e-03 -1.62735429e-02 3.54393472e+00] [-1.49066053e-03 9.99994363e-01 3.00851443e-03 5.84906298e-01] [ 1.62780826e-02 -2.98385414e-03 9.99863051e-01 1.30447148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72255784400005 meters Centerline goodness : 0.105956 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99866962e-01 1.69410589e-03 -1.62230934e-02 3.54364521e+00] [-1.63916186e-03 9.99992878e-01 3.39947682e-03 5.82987432e-01] [ 1.62287370e-02 -3.37243228e-03 9.99862618e-01 1.30474574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752557844 meters Centerline goodness : 0.156472 Centerline is valid? [False, False] Translation: X:3.54, Y:0.58, Z:1.30 [[ 9.99861023e-01 1.89244853e-03 -1.65635867e-02 3.54478414e+00] [-1.82817743e-03 9.99990745e-01 3.89454654e-03 5.80346621e-01] [ 1.65708037e-02 -3.86372411e-03 9.99855230e-01 1.30425871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78255784400005 meters Centerline goodness : 0.103647 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99856707e-01 1.99116302e-03 -1.68107448e-02 3.54583546e+00] [-1.92282117e-03 9.99989826e-01 4.08055224e-03 5.79493462e-01] [ 1.68186988e-02 -4.04764346e-03 9.99850363e-01 1.30345524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812557844 meters Centerline goodness : 0.111215 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99855457e-01 2.08215048e-03 -1.68739663e-02 3.54643382e+00] [-2.01057267e-03 9.99988914e-01 4.25776316e-03 5.78640394e-01] [ 1.68826445e-02 -4.22322140e-03 9.99848559e-01 1.30266102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84255784400005 meters Centerline goodness : 0.168154 Centerline is valid? [False, False] Translation: X:3.55, Y:0.58, Z:1.30 [[ 9.99857754e-01 2.17738685e-03 -1.67251317e-02 3.54613816e+00] [-2.10222044e-03 9.99987618e-01 4.51048695e-03 5.77377197e-01] [ 1.67347457e-02 -4.47468544e-03 9.99849951e-01 1.30251820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872557844 meters Centerline goodness : 0.159430 Centerline is valid? [False, False] Translation: X:3.57, Y:0.57, Z:1.30 [[ 9.99826527e-01 1.01808609e-02 -1.55969725e-02 3.56563813e+00] [-1.01254220e-02 9.99942150e-01 3.62932089e-03 5.72273329e-01] [ 1.56330199e-02 -3.47076537e-03 9.99871773e-01 1.30400665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90255784400006 meters Centerline goodness : 0.140629 Centerline is valid? [False, False] Translation: X:3.54, Y:0.57, Z:1.30 [[ 9.99872078e-01 1.79404216e-03 -1.58936784e-02 3.54390701e+00] [-1.71092298e-03 9.99984798e-01 5.24175555e-03 5.69454315e-01] [ 1.59028407e-02 -5.21389215e-03 9.99859948e-01 1.30286932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93255784400003 meters Centerline goodness : 0.385566 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.30 [[ 9.99824396e-01 9.24401305e-04 -1.87169229e-02 3.49965533e+00] [-8.39748274e-04 9.99989386e-01 4.53016149e-03 5.63189599e-01] [ 1.87209119e-02 -4.51364848e-03 9.99814560e-01 1.30300318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96255784400006 meters Centerline goodness : 0.163662 Centerline is valid? [False, False] Translation: X:3.52, Y:0.56, Z:1.30 [[ 9.99805322e-01 6.21877496e-03 -1.87255075e-02 3.52286296e+00] [-6.19396501e-03 9.99979861e-01 1.38263484e-03 5.59040342e-01] [ 1.87337287e-02 -1.26638054e-03 9.99823706e-01 1.30305931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99255784400003 meters Centerline goodness : 0.109847 Centerline is valid? [False, False] Translation: X:3.52, Y:0.56, Z:1.30 [[ 9.99817039e-01 2.84935289e-03 -1.89147846e-02 3.52353569e+00] [-2.88506863e-03 9.99994106e-01 -1.86122526e-03 5.57460729e-01] [ 1.89093698e-02 1.91545518e-03 9.99819367e-01 1.30263872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02255784400006 meters Centerline goodness : 0.121158 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99810601e-01 3.28286411e-03 -1.91829098e-02 3.52438774e+00] [-3.29919831e-03 9.99994222e-01 -8.19912350e-04 5.52646948e-01] [ 1.91801073e-02 8.83045283e-04 9.99815655e-01 1.30239936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05255784400003 meters Centerline goodness : 0.108271 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99808043e-01 3.40199914e-03 -1.92951674e-02 3.52466434e+00] [-3.41322377e-03 9.99994024e-01 -5.48830034e-04 5.51339429e-01] [ 1.92931849e-02 6.14583407e-04 9.99813680e-01 1.30242922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08255784400006 meters Centerline goodness : 0.119681 Centerline is valid? [False, False] Translation: X:3.52, Y:0.55, Z:1.30 [[ 9.99808771e-01 3.51703952e-03 -1.92367464e-02 3.52458022e+00] [-3.52280539e-03 9.99993760e-01 -2.65853418e-04 5.49971490e-01] [ 1.92356914e-02 3.33569893e-04 9.99814921e-01 1.30229483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11255784400004 meters Centerline goodness : 0.165926 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99834670e-01 -4.11452712e-03 -1.77116647e-02 3.54274630e+00] [ 4.14433972e-03 9.99990056e-01 1.64684283e-03 5.52245153e-01] [ 1.77047126e-02 -1.71997372e-03 9.99841780e-01 1.30353924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14255784400007 meters Centerline goodness : 0.160494 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99837673e-01 -3.99215809e-03 -1.75695916e-02 3.54232834e+00] [ 4.02666753e-03 9.99990032e-01 1.92921985e-03 5.50975363e-01] [ 1.75617148e-02 -1.99965359e-03 9.99843782e-01 1.30366269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17255784400004 meters Centerline goodness : 0.103279 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99833762e-01 3.93108454e-03 -1.78043657e-02 3.52298812e+00] [-3.91945758e-03 9.99992082e-01 6.87887759e-04 5.43193203e-01] [ 1.78069289e-02 -6.17989950e-04 9.99841253e-01 1.30224335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20255784400007 meters Centerline goodness : 0.162859 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99834402e-01 -4.37904600e-03 -1.76633289e-02 3.54302204e+00] [ 4.40830839e-03 9.99988974e-01 1.61807924e-03 5.46627994e-01] [ 1.76560485e-02 -1.69567668e-03 9.99842682e-01 1.30329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23255784400004 meters Centerline goodness : 0.315577 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:1.30 [[ 9.99831601e-01 -4.24418132e-03 -1.78537467e-02 3.54364657e+00] [ 4.28052479e-03 9.99988843e-01 1.99789942e-03 5.44641473e-01] [ 1.78450680e-02 -2.07398638e-03 9.99838613e-01 1.30309203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26255784400007 meters Centerline goodness : 0.120321 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99830899e-01 4.31786299e-03 -1.78754146e-02 3.52292400e+00] [-4.29586222e-03 9.99989968e-01 1.26899936e-03 5.38879325e-01] [ 1.78807147e-02 -1.19199445e-03 9.99839417e-01 1.30203919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29255784400004 meters Centerline goodness : 0.166388 Centerline is valid? [False, False] Translation: X:3.54, Y:0.54, Z:1.30 [[ 9.99857649e-01 -3.30729693e-03 -1.65451934e-02 3.54071497e+00] [ 3.35525264e-03 9.99990248e-01 2.87154949e-03 5.44643746e-01] [ 1.65355350e-02 -2.92665403e-03 9.99858995e-01 1.30372989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322557844 meters Centerline goodness : 0.164318 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:1.31 [[ 9.99870309e-01 5.10202721e-03 -1.52753118e-02 3.56005224e+00] [-5.07581822e-03 9.99985580e-01 1.75405309e-03 5.43429523e-01] [ 1.52840408e-02 -1.67629090e-03 9.99881787e-01 1.30532441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35255784400005 meters Centerline goodness : 0.158846 Centerline is valid? [False, False] Translation: X:3.56, Y:0.54, Z:1.31 [[ 9.99873635e-01 5.06263172e-03 -1.50692811e-02 3.55926573e+00] [-5.03997565e-03 9.99986112e-01 1.54105812e-03 5.44620792e-01] [ 1.50768736e-02 -1.46491458e-03 9.99885264e-01 1.30571988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters Centerline goodness : 0.166732 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.30 [[ 9.99900117e-01 -2.84293076e-03 -1.38446253e-02 3.53615692e+00] [ 2.87587171e-03 9.99993080e-01 2.36000414e-03 5.50122744e-01] [ 1.38378202e-02 -2.39958378e-03 9.99901374e-01 1.30494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41255784400005 meters Centerline goodness : 0.107108 Centerline is valid? [False, False] Translation: X:3.54, Y:0.55, Z:1.31 [[ 9.99902318e-01 -2.81151797e-03 -1.36912008e-02 3.53555275e+00] [ 2.84474308e-03 9.99993055e-01 2.40787917e-03 5.49995934e-01] [ 1.36843360e-02 -2.44659191e-03 9.99903372e-01 1.30531498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442557844 meters Centerline goodness : 0.162387 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.31 [[ 9.99869037e-01 -3.05646487e-03 -1.58923710e-02 3.48904700e+00] [ 3.09161004e-03 9.99992829e-01 2.18735188e-03 5.46313093e-01] [ 1.58855714e-02 -2.23619843e-03 9.99871316e-01 1.30636101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47255784400005 meters Centerline goodness : 0.101516 Centerline is valid? [False, False] Translation: X:3.53, Y:0.55, Z:1.31 [[ 9.99897401e-01 -3.43611086e-03 -1.39061027e-02 3.53180592e+00] [ 3.46308370e-03 9.99992168e-01 1.91602511e-03 5.48577519e-01] [ 1.38994101e-02 -1.96398653e-03 9.99901470e-01 1.30725132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters Centerline goodness : 0.165170 Centerline is valid? [False, False] Translation: X:3.53, Y:0.55, Z:1.31 [[ 9.99895684e-01 -3.29095142e-03 -1.40638188e-02 3.53221194e+00] [ 3.32476744e-03 9.99991637e-01 2.38176492e-03 5.46415841e-01] [ 1.40558629e-02 -2.42827539e-03 9.99898263e-01 1.30730672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53255784400005 meters Centerline goodness : 0.164154 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99883345e-01 4.90943571e-03 -1.44635685e-02 3.51416604e+00] [-4.88926662e-03 9.99987026e-01 1.42950583e-03 5.39320281e-01] [ 1.44703990e-02 -1.35862283e-03 9.99894375e-01 1.30522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters Centerline goodness : 0.164154 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99883345e-01 4.90943571e-03 -1.44635685e-02 3.51416604e+00] [-4.88926662e-03 9.99987026e-01 1.42950583e-03 5.39320281e-01] [ 1.44703990e-02 -1.35862283e-03 9.99894375e-01 1.30522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59255784400005 meters Centerline goodness : 0.165098 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.30 [[ 9.99880251e-01 5.02481559e-03 -1.46367588e-02 3.51490036e+00] [-4.99884221e-03 9.99985867e-01 1.81057633e-03 5.37415197e-01] [ 1.46456497e-02 -1.73719267e-03 9.99891238e-01 1.30473054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters Centerline goodness : 0.161036 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.30 [[ 9.99886866e-01 1.52831167e-03 -1.49639301e-02 3.51605286e+00] [-1.55373932e-03 9.99997369e-01 -1.68778457e-03 5.36619083e-01] [ 1.49613112e-02 1.71084367e-03 9.99886610e-01 1.30417829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65255784400006 meters Centerline goodness : 0.161060 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99883875e-01 1.64257843e-03 -1.51505139e-02 3.51671993e+00] [-1.66217881e-03 9.99997798e-01 -1.28120861e-03 5.34324987e-01] [ 1.51483761e-02 1.30624270e-03 9.99884404e-01 1.30389957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters Centerline goodness : 0.168012 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99882819e-01 1.80225518e-03 -1.52019613e-02 3.51697597e+00] [-1.81513535e-03 9.99998005e-01 -8.33515031e-04 5.32065577e-01] [ 1.52004288e-02 8.61010976e-04 9.99884096e-01 1.30370925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71255784400006 meters Centerline goodness : 0.114728 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99878814e-01 2.15055826e-03 -1.54185576e-02 3.51783924e+00] [-2.15126733e-03 9.99997686e-01 -2.94027260e-05 5.28444422e-01] [ 1.54184587e-02 6.25686020e-05 9.99881127e-01 1.30321642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters Centerline goodness : 0.154773 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99876285e-01 2.33156612e-03 -1.55556582e-02 3.51828180e+00] [-2.32619193e-03 9.99997228e-01 3.63566470e-04 5.26778800e-01] [ 1.55564628e-02 -3.27336044e-04 9.99878937e-01 1.30304001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77255784400006 meters Centerline goodness : 0.155506 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.30 [[ 9.99875381e-01 2.50423796e-03 -1.55869176e-02 3.51854473e+00] [-2.49299075e-03 9.99996618e-01 7.40968579e-04 5.25109143e-01] [ 1.55887205e-02 -7.02018199e-04 9.99878242e-01 1.30272970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters Centerline goodness : 0.115667 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.30 [[ 9.99877059e-01 2.86391664e-03 -1.54163600e-02 3.51830530e+00] [-2.83904565e-03 9.99994633e-01 1.63492883e-03 5.20557778e-01] [ 1.54209596e-02 -1.59096008e-03 9.99879824e-01 1.30248801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83255784400006 meters Centerline goodness : 0.151576 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.30 [[ 9.99876560e-01 3.07303662e-03 -1.54084679e-02 3.51822445e+00] [-3.03956405e-03 9.99992971e-01 2.19529802e-03 5.17726715e-01] [ 1.54151058e-02 -2.14819201e-03 9.99878873e-01 1.30264341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters Centerline goodness : 0.154467 Centerline is valid? [False, False] Translation: X:3.56, Y:0.52, Z:1.30 [[ 9.99906233e-01 2.82446489e-03 -1.33995572e-02 3.56257359e+00] [-2.79899408e-03 9.99994241e-01 1.91924212e-03 5.17284798e-01] [ 1.34049009e-02 -1.88155688e-03 9.99908380e-01 1.30260054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89255784400007 meters Centerline goodness : 0.157276 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 9.99906010e-01 3.09274454e-03 -1.33568588e-02 3.56233447e+00] [-3.05885501e-03 9.99992053e-01 2.55692253e-03 5.14339128e-01] [ 1.33646605e-02 -2.51582552e-03 9.99907524e-01 1.30286228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92255784400004 meters Centerline goodness : 0.148837 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 9.99906194e-01 3.35349128e-03 -1.32799247e-02 3.56213637e+00] [-3.31135526e-03 9.99989418e-01 3.19362898e-03 5.11448187e-01] [ 1.32904940e-02 -3.14935485e-03 9.99906718e-01 1.30293320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95255784400007 meters Centerline goodness : 0.158082 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 0.99990739 0.00374728 -0.01308342 3.56176283] [-0.00369374 0.99998472 0.00411403 0.50721694] [ 0.01309863 -0.00406533 0.99990595 1.302809 ] [ 0. 0. 0. 1. ]] SLAMing on 265.98255784400004 meters Centerline goodness : 0.124689 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.30 [[ 0.99990738 0.00390825 -0.01303713 3.56165076] [-0.00384987 0.99998247 0.00449958 0.50546888] [ 0.01305449 -0.00444897 0.99990489 1.30283373] [ 0. 0. 0. 1. ]] SLAMing on 266.01255784400007 meters Centerline goodness : 0.153334 Centerline is valid? [False, False] Translation: X:3.56, Y:0.50, Z:1.30 [[ 0.99990596 0.00407051 -0.0130962 3.56202541] [-0.00400727 0.9999802 0.00485122 0.50386418] [ 0.01311569 -0.00479828 0.99990247 1.3024568 ] [ 0. 0. 0. 1. ]] SLAMing on 266.04255784400004 meters Centerline goodness : 0.152431 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986154 0.00396209 -0.0161615 3.51790342] [-0.00387978 0.99997936 0.00512102 0.49861693] [ 0.01618145 -0.00505761 0.99985628 1.30258647] [ 0. 0. 0. 1. ]] SLAMing on 266.072557844 meters Centerline goodness : 0.151206 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99985807 0.00409222 -0.01634327 3.51868589] [-0.00400477 0.99997751 0.00537988 0.49737857] [ 0.01636492 -0.00531366 0.99985197 1.30204096] [ 0. 0. 0. 1. ]] SLAMing on 266.10255784400005 meters Centerline goodness : 0.159590 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99985351 0.00429962 -0.01656722 3.51949525] [-0.00420464 0.99997455 0.00576358 0.49551705] [ 0.01659158 -0.00569308 0.99984614 1.30158673] [ 0. 0. 0. 1. ]] SLAMing on 266.132557844 meters Centerline goodness : 0.148788 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985577 0.00435417 -0.01641575 3.51897498] [-0.00425818 0.99997366 0.00587769 0.49499354] [ 0.01644091 -0.00580694 0.99984798 1.30179701] [ 0. 0. 0. 1. ]] SLAMing on 266.16255784400005 meters Centerline goodness : 0.154203 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985867 0.0044139 -0.01622231 3.51814224] [-0.00431708 0.99997269 0.00599858 0.49455053] [ 0.01624834 -0.0059277 0.99985042 1.30237628] [ 0. 0. 0. 1. ]] SLAMing on 266.192557844 meters Centerline goodness : 0.156473 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986377 0.00450561 -0.01587887 3.51708483] [-0.00440715 0.99997088 0.00623003 0.49366589] [ 0.01590648 -0.0061592 0.99985451 1.30274184] [ 0. 0. 0. 1. ]] SLAMing on 266.22255784400005 meters Centerline goodness : 0.151251 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986473 0.00452167 -0.01581385 3.51705596] [-0.00442223 0.99997027 0.00631761 0.49318304] [ 0.01584194 -0.00624682 0.99985499 1.30250652] [ 0. 0. 0. 1. ]] SLAMing on 266.252557844 meters Centerline goodness : 0.160776 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986521 0.00452609 -0.01578194 3.5170908 ] [-0.00442606 0.99996993 0.0063676 0.49291342] [ 0.01581029 -0.00629689 0.99985518 1.30231334] [ 0. 0. 0. 1. ]] SLAMing on 266.28255784400005 meters Centerline goodness : 0.153436 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986518 0.00457847 -0.01576876 3.51705195] [-0.00447641 0.99996885 0.00650158 0.4923378 ] [ 0.01579804 -0.00643011 0.99985453 1.30233243] [ 0. 0. 0. 1. ]] SLAMing on 266.312557844 meters Centerline goodness : 0.154626 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986627 0.00461268 -0.01568937 3.51668933] [-0.00450937 0.99996796 0.00661376 0.49192441] [ 0.01571937 -0.00654212 0.99985504 1.30260678] [ 0. 0. 0. 1. ]] SLAMing on 266.34255784400005 meters Centerline goodness : 0.157931 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986678 0.00457567 -0.01566772 3.51665759] [-0.00447363 0.99996859 0.00654184 0.49226295] [ 0.01569716 -0.00647088 0.99985585 1.30259705] [ 0. 0. 0. 1. ]] SLAMing on 266.372557844 meters Centerline goodness : 0.158278 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986824 0.00452652 -0.01558868 3.51636539] [-0.00442614 0.99996929 0.00646813 0.49250112] [ 0.01561747 -0.00639828 0.99985757 1.30274186] [ 0. 0. 0. 1. ]] SLAMing on 266.40255784400006 meters Centerline goodness : 0.112985 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986995 0.00445861 -0.01549846 3.51607104] [-0.0043608 0.9999704 0.00633897 0.49302504] [ 0.01552626 -0.00627056 0.9998598 1.30282242] [ 0. 0. 0. 1. ]] SLAMing on 266.43255784400003 meters Centerline goodness : 0.158647 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99987128 0.00435379 -0.01544236 3.51606881] [-0.00426002 0.99997232 0.00609992 0.4941576 ] [ 0.01546849 -0.00603335 0.99986215 1.30250555] [ 0. 0. 0. 1. ]] SLAMing on 266.46255784400006 meters Centerline goodness : 0.158727 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99987042 0.00427699 -0.01551946 3.5163827 ] [-0.00418516 0.99997357 0.00594512 0.49480618] [ 0.01554447 -0.0058794 0.99986189 1.30228364] [ 0. 0. 0. 1. ]] SLAMing on 266.49255784400003 meters Centerline goodness : 0.161447 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986983 0.00421177 -0.01557517 3.51661607] [-0.0041212 0.99997444 0.00584266 0.49512785] [ 0.01559938 -0.00577771 0.99986163 1.30214963] [ 0. 0. 0. 1. ]] SLAMing on 266.52255784400006 meters Centerline goodness : 0.135906 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986848 0.00400962 -0.01571431 3.51701913] [-0.00392179 0.99997654 0.00561607 0.49566051] [ 0.01573646 -0.0055537 0.99986075 1.30205994] [ 0. 0. 0. 1. ]] SLAMing on 266.55255784400003 meters Centerline goodness : 0.158525 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986664 0.00397007 -0.01584132 3.51753579] [-0.00388238 0.99997699 0.00556217 0.49591007] [ 0.01586304 -0.00549992 0.99985905 1.30172167] [ 0. 0. 0. 1. ]] SLAMing on 266.58255784400006 meters Centerline goodness : 0.157313 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986394 0.00393235 -0.01602011 3.51824879] [-0.00384433 0.99997737 0.00552108 0.49609273] [ 0.01604146 -0.00545875 0.99985643 1.30128118] [ 0. 0. 0. 1. ]] SLAMing on 266.61255784400004 meters Centerline goodness : 0.158486 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986264 0.00391834 -0.01610436 3.51852134] [-0.00382939 0.99997727 0.00554992 0.49584582] [ 0.01612574 -0.00548749 0.99985491 1.30121209] [ 0. 0. 0. 1. ]] SLAMing on 266.64255784400007 meters Centerline goodness : 0.154658 Centerline is valid? [False, False] Translation: X:3.52, Y:0.50, Z:1.30 [[ 0.99986247 0.00389034 -0.01612185 3.51845064] [-0.00380029 0.99997703 0.00561232 0.49530989] [ 0.01614331 -0.00555028 0.99985428 1.30143088] [ 0. 0. 0. 1. ]] SLAMing on 266.67255784400004 meters Centerline goodness : 0.164129 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99986037 0.00384678 -0.01626174 3.51847798] [-0.00375136 0.99997559 0.00589446 0.49361903] [ 0.01628401 -0.00583263 0.99985039 1.30209168] [ 0. 0. 0. 1. ]] SLAMing on 266.70255784400007 meters Centerline goodness : 0.164186 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.9998599 0.00394433 -0.01626751 3.51839653] [-0.00384398 0.99997342 0.00619565 0.4922242 ] [ 0.01629152 -0.00613225 0.99984848 1.30229481] [ 0. 0. 0. 1. ]] SLAMing on 266.73255784400004 meters Centerline goodness : 0.225707 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 0.99985937 0.00405718 -0.01627198 3.51848304] [-0.00395134 0.99997087 0.00653096 0.49062073] [ 0.016298 -0.00646574 0.99984627 1.30223292] [ 0. 0. 0. 1. ]] SLAMing on 266.76255784400007 meters Centerline goodness : 0.132533 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 9.99874730e-01 1.17863586e-03 -1.57840178e-02 3.51720298e+00] [-1.12127309e-03 9.99992737e-01 3.64258791e-03 4.89547221e-01] [ 1.57881964e-02 -3.62443341e-03 9.99868790e-01 1.30223065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79255784400004 meters Centerline goodness : 0.166612 Centerline is valid? [False, False] Translation: X:3.52, Y:0.49, Z:1.30 [[ 9.99874475e-01 1.40677995e-03 -1.57815105e-02 3.51732892e+00] [-1.34044091e-03 9.99990225e-01 4.21338297e-03 4.86958799e-01] [ 1.57872835e-02 -4.19169990e-03 9.99866587e-01 1.30204016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters Centerline goodness : 0.105820 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:1.30 [[ 9.99839798e-01 9.63332937e-03 -1.50856439e-02 3.53726391e+00] [-9.58481790e-03 9.99948670e-01 3.28474453e-03 4.82320699e-01] [ 1.51165126e-02 -3.13962516e-03 9.99880810e-01 1.30329739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85255784400005 meters Centerline goodness : 0.159291 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:1.30 [[ 9.99873587e-01 4.63069076e-04 -1.58932655e-02 3.51481047e+00] [-3.99570492e-04 9.99991927e-01 3.99825678e-03 4.82794590e-01] [ 1.58949887e-02 -3.99140087e-03 9.99865700e-01 1.30290933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters Centerline goodness : 0.163390 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:1.30 [[ 9.99874121e-01 6.29219739e-03 -1.45654172e-02 3.53726032e+00] [-6.27885271e-03 9.99979825e-01 9.61738332e-04 4.80097850e-01] [ 1.45711748e-02 -8.70163160e-04 9.99893456e-01 1.30286040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91255784400005 meters Centerline goodness : 0.167770 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99895511e-01 3.95013458e-03 -1.39055290e-02 3.53354851e+00] [-3.95811808e-03 9.99992017e-01 -5.46650055e-04 4.73543562e-01] [ 1.39032587e-02 6.01632662e-04 9.99903164e-01 1.30514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters Centerline goodness : 0.162804 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99895210e-01 4.18961183e-03 -1.38569892e-02 3.53332195e+00] [-4.18800872e-03 9.99991220e-01 1.44705563e-04 4.70244468e-01] [ 1.38574738e-02 -8.66572073e-05 9.99903977e-01 1.30541199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97255784400005 meters Centerline goodness : 0.165190 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99892676e-01 4.39456258e-03 -1.39758319e-02 3.53361705e+00] [-4.38471016e-03 9.99990117e-01 7.35524865e-04 4.67332328e-01] [ 1.39789261e-02 -6.74165954e-04 9.99902063e-01 1.30545555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters Centerline goodness : 0.171113 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:1.31 [[ 9.99890674e-01 4.55769925e-03 -1.40665504e-02 3.53394675e+00] [-4.54155588e-03 9.99988992e-01 1.17937321e-03 4.65200226e-01] [ 1.40717708e-02 -1.11536025e-03 9.99900366e-01 1.30531448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03255784400005 meters Centerline goodness : 0.161827 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99888504e-01 4.80788859e-03 -1.41373125e-02 3.53455867e+00] [-4.78366862e-03 9.99987033e-01 1.74651235e-03 4.62492256e-01] [ 1.41455262e-02 -1.67868940e-03 9.99898538e-01 1.30458620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters Centerline goodness : 0.164406 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99886132e-01 4.88606042e-03 -1.42775772e-02 3.53518407e+00] [-4.85971468e-03 9.99986425e-01 1.87936443e-03 4.61858508e-01] [ 1.42865660e-02 -1.80976548e-03 9.99896304e-01 1.30409287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09255784400005 meters Centerline goodness : 0.137699 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99883581e-01 4.93835664e-03 -1.44373361e-02 3.53577220e+00] [-4.91082673e-03 9.99986057e-01 1.94168482e-03 4.61525246e-01] [ 1.44467235e-02 -1.87055951e-03 9.99893891e-01 1.30372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters Centerline goodness : 0.164868 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:1.30 [[ 9.99883106e-01 4.97029829e-03 -1.44592524e-02 3.53599017e+00] [-4.94260079e-03 9.99985883e-01 1.95066031e-03 4.61495478e-01] [ 1.44687436e-02 -1.87896598e-03 9.99893557e-01 1.30339744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15255784400006 meters Centerline goodness : 0.122956 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99890923e-01 5.11179388e-03 -1.38568212e-02 3.53440198e+00] [-5.08441822e-03 9.99985054e-01 2.01011832e-03 4.61527880e-01] [ 1.38668894e-02 -1.93944519e-03 9.99901969e-01 1.30352261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters Centerline goodness : 0.139390 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99893526e-01 5.10685263e-03 -1.36695852e-02 3.53387504e+00] [-5.08041950e-03 9.99985159e-01 1.96774588e-03 4.61722844e-01] [ 1.36794313e-02 -1.89808913e-03 9.99904631e-01 1.30357816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21255784400006 meters Centerline goodness : 0.157033 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99893112e-01 5.09425698e-03 -1.37045062e-02 3.53406812e+00] [-5.06771060e-03 9.99985216e-01 1.97108501e-03 4.61544897e-01] [ 1.37143448e-02 -1.90142385e-03 9.99904146e-01 1.30336882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters Centerline goodness : 0.277881 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99889984e-01 5.09248160e-03 -1.39315203e-02 3.53480257e+00] [-5.06510748e-03 9.99985173e-01 1.99948435e-03 4.61273644e-01] [ 1.39414961e-02 -1.92869973e-03 9.99900952e-01 1.30305692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27255784400006 meters Centerline goodness : 0.137685 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:1.30 [[ 9.99889449e-01 5.25043625e-03 -1.39112459e-02 3.53458351e+00] [-5.21724011e-03 9.99983458e-01 2.42149851e-03 4.59421634e-01] [ 1.39237297e-02 -2.34865250e-03 9.99900302e-01 1.30336467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters Centerline goodness : 0.286560 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.30 [[ 9.99926251e-01 -2.70008208e-03 -1.18407122e-02 3.55383996e+00] [ 2.74286901e-03 9.99989763e-01 3.59879402e-03 4.62365102e-01] [ 1.18308740e-02 -3.63100614e-03 9.99923420e-01 1.30460695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33255784400006 meters Centerline goodness : 0.157855 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.31 [[ 9.99930976e-01 -2.56639369e-03 -1.14654327e-02 3.55249099e+00] [ 2.61291941e-03 9.99988406e-01 4.04477796e-03 4.60188080e-01] [ 1.14549193e-02 -4.07445703e-03 9.99926089e-01 1.30535807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters Centerline goodness : 0.314075 Centerline is valid? [False, False] Translation: X:3.55, Y:0.46, Z:1.31 [[ 9.99931970e-01 -2.41832495e-03 -1.14108675e-02 3.55224603e+00] [ 2.46977375e-03 9.99986839e-01 4.49681908e-03 4.57929060e-01] [ 1.13998425e-02 -4.52469542e-03 9.99924783e-01 1.30562375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39255784400007 meters Centerline goodness : 0.139761 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:1.30 [[ 9.99921452e-01 -2.24589918e-03 -1.23306735e-02 3.55549477e+00] [ 2.31048142e-03 9.99983676e-01 5.22578261e-03 4.53979465e-01] [ 1.23187357e-02 -5.25386193e-03 9.99910319e-01 1.30410705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters Centerline goodness : 0.269732 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:1.30 [[ 9.99917546e-01 -2.08028979e-03 -1.26717959e-02 3.55695477e+00] [ 2.15187555e-03 9.99981790e-01 5.63820723e-03 4.52021733e-01] [ 1.26598361e-02 -5.66501046e-03 9.99903813e-01 1.30311421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45255784400007 meters Centerline goodness : 0.165306 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:1.30 [[ 9.99871537e-01 -2.48690540e-03 -1.58342735e-02 3.51321628e+00] [ 2.58408711e-03 9.99977934e-01 6.11992853e-03 4.45918374e-01] [ 1.58187044e-02 -6.16005949e-03 9.99855901e-01 1.30327073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48255784400004 meters Centerline goodness : 0.165306 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:1.30 [[ 9.99871537e-01 -2.48690540e-03 -1.58342735e-02 3.51321628e+00] [ 2.58408711e-03 9.99977934e-01 6.11992853e-03 4.45918374e-01] [ 1.58187044e-02 -6.16005949e-03 9.99855901e-01 1.30327073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51255784400007 meters Centerline goodness : 0.140147 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:1.30 [[ 0.99986695 0.00582766 -0.01523556 3.53314792] [-0.00575154 0.99997078 0.00503509 0.43974828] [ 0.01526446 -0.00494679 0.99987125 1.30484252] [ 0. 0. 0. 1. ]] SLAMing on 267.54255784400004 meters Centerline goodness : 0.137079 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:1.31 [[ 9.99885996e-01 2.98463132e-03 -1.48015737e-02 3.53137221e+00] [-2.94559962e-03 9.99992129e-01 2.65809750e-03 4.34352093e-01] [ 1.48093907e-02 -2.61419496e-03 9.99886918e-01 1.30563355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572557844 meters Centerline goodness : 0.143801 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:1.31 [[ 9.99880166e-01 3.23851145e-03 -1.51381965e-02 3.53246082e+00] [-3.18993923e-03 9.99989690e-01 3.23163320e-03 4.31688380e-01] [ 1.51485061e-02 -3.18295602e-03 9.99880189e-01 1.30526695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60255784400005 meters Centerline goodness : 0.135854 Centerline is valid? [False, False] Translation: X:3.49, Y:0.43, Z:1.31 [[ 9.99819960e-01 3.01038914e-03 -1.87345903e-02 3.48944947e+00] [-2.93715915e-03 9.99987944e-01 3.93510083e-03 4.25270437e-01] [ 1.87462107e-02 -3.87936588e-03 9.99816748e-01 1.30501037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632557844 meters Centerline goodness : 0.135660 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 9.99822575e-01 3.53827253e-03 -1.85013533e-02 3.48911759e+00] [-3.44912843e-03 9.99982300e-01 4.84793919e-03 4.21366663e-01] [ 1.85181791e-02 -4.78326550e-03 9.99817082e-01 1.30464980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66255784400005 meters Centerline goodness : 0.148949 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982683 0.0037497 -0.01822751 3.48826387] [-0.00365515 0.99997971 0.0052177 0.41973576] [ 0.01824671 -0.00515017 0.99982025 1.30490256] [ 0. 0. 0. 1. ]] SLAMing on 267.692557844 meters Centerline goodness : 0.139665 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982721 0.00388844 -0.01817773 3.48812852] [-0.00378929 0.99997777 0.00548588 0.41845001] [ 0.01819865 -0.00541605 0.99981972 1.30490444] [ 0. 0. 0. 1. ]] SLAMing on 267.72255784400005 meters Centerline goodness : 0.143348 Centerline is valid? [False, False] Translation: X:3.49, Y:0.42, Z:1.30 [[ 0.99982386 0.00399293 -0.01833848 3.48880906] [-0.00388847 0.99997603 0.00572822 0.41714489] [ 0.01836091 -0.0056559 0.99981543 1.30448531] [ 0. 0. 0. 1. ]] SLAMing on 267.752557844 meters Centerline goodness : 0.132406 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99836506e-01 1.93135145e-03 -1.79786401e-02 3.48644725e+00] [-1.85905697e-03 9.99990123e-01 4.03697702e-03 4.12517352e-01] [ 1.79862593e-02 -4.00289368e-03 9.99830221e-01 1.30584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78255784400005 meters Centerline goodness : 0.145681 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99835660e-01 2.10505767e-03 -1.80061448e-02 3.48639657e+00] [-2.02389187e-03 9.99987715e-01 4.52470773e-03 4.10300098e-01] [ 1.80154484e-02 -4.48752165e-03 9.99827638e-01 1.30610209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812557844 meters Centerline goodness : 0.144580 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99833857e-01 2.25166421e-03 -1.80883441e-02 3.48664852e+00] [-2.16129760e-03 9.99985095e-01 5.01384407e-03 4.07903959e-01] [ 1.80993640e-02 -4.97391676e-03 9.99823821e-01 1.30611553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84255784400005 meters Centerline goodness : 0.161287 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.31 [[ 9.99837103e-01 -1.70824748e-03 -1.79680112e-02 3.48648666e+00] [ 1.73332926e-03 9.99997545e-01 1.38043193e-03 4.05937527e-01] [ 1.79656089e-02 -1.41135154e-03 9.99837609e-01 1.30593715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872557844 meters Centerline goodness : 0.139070 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.31 [[ 9.99779912e-01 -2.79759204e-03 -2.07918558e-02 3.44117481e+00] [ 2.83352721e-03 9.99994542e-01 1.69906945e-03 4.00485572e-01] [ 2.07869890e-02 -1.75760980e-03 9.99782382e-01 1.30677722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90255784400006 meters Centerline goodness : 0.134437 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99787193e-01 6.04529074e-03 -1.97236802e-02 3.46187674e+00] [-6.02738032e-03 9.99981367e-01 9.67387825e-04 3.97826102e-01] [ 1.97291609e-02 -8.48299835e-04 9.99805001e-01 1.30730891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93255784400003 meters Centerline goodness : 0.133416 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99787961e-01 6.05490971e-03 -1.96817614e-02 3.46196269e+00] [-6.03780533e-03 9.99981341e-01 9.28354491e-04 3.98178696e-01] [ 1.96870152e-02 -8.09323000e-04 9.99805864e-01 1.30697182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96255784400006 meters Centerline goodness : 0.135700 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99790565e-01 5.93206253e-03 -1.95866357e-02 3.46211125e+00] [-5.92491711e-03 9.99982358e-01 4.22821224e-04 4.00641809e-01] [ 1.95887984e-02 -3.06683477e-04 9.99808074e-01 1.30622191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99255784400003 meters Centerline goodness : 0.132197 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:1.31 [[ 9.99790504e-01 5.76112727e-03 -1.96407249e-02 3.46232454e+00] [-5.76424990e-03 9.99983381e-01 -1.02378366e-04 4.03104496e-01] [ 1.96398087e-02 2.15570964e-04 9.99807097e-01 1.30600545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02255784400006 meters Centerline goodness : 0.144569 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99791484e-01 5.61969465e-03 -1.96318216e-02 3.46242717e+00] [-5.63397051e-03 9.99983903e-01 -6.71947007e-04 4.05980904e-01] [ 1.96277295e-02 7.82411999e-04 9.99807051e-01 1.30564497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05255784400003 meters Centerline goodness : 0.139017 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99791560e-01 5.48828831e-03 -1.96650916e-02 3.46253632e+00] [-5.51320275e-03 9.99984067e-01 -1.21294722e-03 4.08835405e-01] [ 1.96581212e-02 1.32111203e-03 9.99805888e-01 1.30543348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08255784400006 meters Centerline goodness : 0.145490 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99793531e-01 5.35553004e-03 -1.96013620e-02 3.46238294e+00] [-5.38896093e-03 9.99984113e-01 -1.65311593e-03 4.11149735e-01] [ 1.95921973e-02 1.75840559e-03 9.99806508e-01 1.30531967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11255784400004 meters Centerline goodness : 0.142003 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99800499e-01 5.15616252e-03 -1.92970581e-02 3.46132415e+00] [-5.19757341e-03 9.99984295e-01 -2.09643067e-03 4.13161404e-01] [ 1.92859455e-02 2.19631030e-03 9.99811597e-01 1.30575966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14255784400007 meters Centerline goodness : 0.131198 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99803339e-01 5.03926350e-03 -1.91804210e-02 3.46064277e+00] [-5.08176716e-03 9.99984738e-01 -2.16789753e-03 4.13102358e-01] [ 1.91692037e-02 2.26494163e-03 9.99813688e-01 1.30642122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17255784400004 meters Centerline goodness : 0.147341 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99803043e-01 4.96366467e-03 -1.92155253e-02 3.46050798e+00] [-5.00607849e-03 9.99985137e-01 -2.15979590e-03 4.12778178e-01] [ 1.92045192e-02 2.25556494e-03 9.99813032e-01 1.30683454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20255784400007 meters Centerline goodness : 0.145977 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:1.31 [[ 9.99799519e-01 4.90997336e-03 -1.94116731e-02 3.46101575e+00] [-4.95344306e-03 9.99985329e-01 -2.19191121e-03 4.12841777e-01] [ 1.94006261e-02 2.28762639e-03 9.99809173e-01 1.30678212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23255784400004 meters Centerline goodness : 0.145060 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99819145e-01 -1.52177487e-03 -1.89568201e-02 3.48380291e+00] [ 1.52055351e-03 9.99998841e-01 -7.88421608e-05 4.18728339e-01] [ 1.89569181e-02 5.00030424e-05 9.99820300e-01 1.30606165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26255784400007 meters Centerline goodness : 0.138749 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99821167e-01 -1.63259808e-03 -1.88405991e-02 3.48340957e+00] [ 1.62645965e-03 9.99998619e-01 -3.41127226e-04 4.19968583e-01] [ 1.88411300e-02 3.10422747e-04 9.99822442e-01 1.30622387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29255784400004 meters Centerline goodness : 0.145201 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99820942e-01 -1.74691093e-03 -1.88423099e-02 3.48332117e+00] [ 1.73487351e-03 9.99998280e-01 -6.55177929e-04 4.21486835e-01] [ 1.88434220e-02 6.22371590e-04 9.99822253e-01 1.30634599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters Centerline goodness : 0.142947 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:1.31 [[ 9.99817856e-01 -1.84649702e-03 -1.89959125e-02 3.48378919e+00] [ 1.82799850e-03 9.99997838e-01 -9.91133346e-04 4.23212484e-01] [ 1.89977015e-02 9.56228318e-04 9.99819070e-01 1.30614256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35255784400005 meters Centerline goodness : 0.142442 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99812152e-01 -1.79372652e-03 -1.92987942e-02 3.48467868e+00] [ 1.76493027e-03 9.99997304e-01 -1.50905562e-03 4.26743932e-01] [ 1.93014490e-02 1.47471112e-03 9.99812622e-01 1.30569174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters Centerline goodness : 0.143427 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99813584e-01 -1.89378766e-03 -1.92148654e-02 3.48449533e+00] [ 1.85917888e-03 9.99996618e-01 -1.81885000e-03 4.28363344e-01] [ 1.92182449e-02 1.78278706e-03 9.99813723e-01 1.30556309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41255784400005 meters Centerline goodness : 0.142023 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99815871e-01 -1.98493082e-03 -1.90862227e-02 3.48416194e+00] [ 1.94542780e-03 9.99995928e-01 -2.08805805e-03 4.29759146e-01] [ 1.90902897e-02 2.05054271e-03 9.99815661e-01 1.30549847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters Centerline goodness : 0.143417 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99821588e-01 -2.20146067e-03 -1.87602407e-02 3.48270741e+00] [ 2.15197797e-03 9.99994154e-01 -2.65741637e-03 4.32573653e-01] [ 1.87659812e-02 2.61657063e-03 9.99820480e-01 1.30649897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47255784400005 meters Centerline goodness : 0.115282 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:1.31 [[ 9.99821988e-01 -2.32827491e-03 -1.87235456e-02 3.48226237e+00] [ 2.27353486e-03 9.99993081e-01 -2.94434921e-03 4.33893260e-01] [ 1.87302713e-02 2.90125644e-03 9.99820364e-01 1.30708302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters Centerline goodness : 0.144967 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99821682e-01 -2.44374429e-03 -1.87251905e-02 3.48220407e+00] [ 2.38365507e-03 9.99991941e-01 -3.23065211e-03 4.35248126e-01] [ 1.87329345e-02 3.18544163e-03 9.99819449e-01 1.30714207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53255784400005 meters Centerline goodness : 0.127841 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99823511e-01 -2.57923831e-03 -1.86090039e-02 3.48190484e+00] [ 2.51314034e-03 9.99990454e-01 -3.57444639e-03 4.36917605e-01] [ 1.86180456e-02 3.52704850e-03 9.99820448e-01 1.30707809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters Centerline goodness : 0.133900 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99826174e-01 -2.86162745e-03 -1.84237065e-02 3.48156239e+00] [ 2.78153329e-03 9.99986576e-01 -4.37150079e-03 4.40998924e-01] [ 1.84359688e-02 4.31949476e-03 9.99820712e-01 1.30674510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59255784400005 meters Centerline goodness : 0.136457 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99822958e-01 -3.06689439e-03 -1.85646495e-02 3.48223274e+00] [ 2.97664374e-03 9.99983628e-01 -4.88710706e-03 4.43382666e-01] [ 1.85793337e-02 4.83098149e-03 9.99815718e-01 1.30613873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters Centerline goodness : 0.146674 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99816259e-01 -3.29242468e-03 -1.88840980e-02 3.48340392e+00] [ 3.18979495e-03 9.99979994e-01 -5.46226540e-03 4.46028952e-01] [ 1.89017044e-02 5.40102536e-03 9.99806759e-01 1.30543964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65255784400006 meters Centerline goodness : 0.160577 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.30 [[ 0.9997734 0.00483811 -0.0207302 3.46328715] [-0.00497657 0.99996562 -0.00663277 0.44350987] [ 0.0206974 0.00673443 0.9997631 1.30468261] [ 0. 0. 0. 1. ]] SLAMing on 268.68255784400003 meters Centerline goodness : 0.134301 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99792144e-01 -2.66131533e-03 -2.02135366e-02 3.48147381e+00] [ 2.54449391e-03 9.99979926e-01 -5.80288800e-03 4.53989705e-01] [ 2.02285741e-02 5.75024861e-03 9.99778845e-01 1.30704129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71255784400006 meters Centerline goodness : 0.122149 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99793206e-01 -2.73049775e-03 -2.01516549e-02 3.48097106e+00] [ 2.61152155e-03 9.99979019e-01 -5.92799714e-03 4.54571868e-01] [ 2.01674185e-02 5.87414479e-03 9.99779360e-01 1.30763502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters Centerline goodness : 0.133082 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99793181e-01 -2.78375540e-03 -2.01455947e-02 3.48078522e+00] [ 2.66447854e-03 9.99978778e-01 -5.94516279e-03 4.54557710e-01] [ 2.01617171e-02 5.89025572e-03 9.99779381e-01 1.30793150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77255784400006 meters Centerline goodness : 0.111001 Centerline is valid? [False, False] Translation: X:3.43, Y:0.45, Z:1.31 [[ 0.99972311 -0.00432249 -0.02313036 3.43366602] [ 0.00417273 0.99997005 -0.006519 0.45058054] [ 0.02315785 0.00642067 0.9997112 1.30927441] [ 0. 0. 0. 1. ]] SLAMing on 268.80255784400003 meters Centerline goodness : 0.194077 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99774246e-01 -3.60032660e-03 -2.09402596e-02 3.47805799e+00] [ 3.46681187e-03 9.99973454e-01 -6.40879324e-03 4.53695320e-01] [ 2.09627775e-02 6.33475049e-03 9.99760188e-01 1.30933455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83255784400006 meters Centerline goodness : 0.196664 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99773672e-01 -3.57148535e-03 -2.09726071e-02 3.47801483e+00] [ 3.44021984e-03 9.99974290e-01 -6.29165020e-03 4.53058511e-01] [ 2.09945384e-02 6.21807585e-03 9.99760254e-01 1.30957968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters Centerline goodness : 0.139615 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99776093e-01 -3.53604955e-03 -2.08628672e-02 3.47758218e+00] [ 3.40943588e-03 9.99975575e-01 -6.10130407e-03 4.51979328e-01] [ 2.08839321e-02 6.02880734e-03 9.99763730e-01 1.30987044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89255784400007 meters Centerline goodness : 0.140913 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99788912e-01 -3.46583100e-03 -2.02513892e-02 3.47565762e+00] [ 3.35436484e-03 9.99979053e-01 -5.53550291e-03 4.49107376e-01] [ 2.02701501e-02 5.46640388e-03 9.99779595e-01 1.31063306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92255784400004 meters Centerline goodness : 0.112406 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99788818e-01 -3.32159388e-03 -2.02801807e-02 3.47571218e+00] [ 3.21871498e-03 9.99981797e-01 -5.10341447e-03 4.47086457e-01] [ 2.02967630e-02 5.03706060e-03 9.99781311e-01 1.31070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95255784400007 meters Centerline goodness : 0.094919 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:1.31 [[ 9.99786386e-01 -3.19353074e-03 -2.04201894e-02 3.47618427e+00] [ 3.09829325e-03 9.99984184e-01 -4.69382602e-03 4.45063833e-01] [ 2.04348563e-02 4.62955562e-03 9.99780468e-01 1.31059111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98255784400004 meters Centerline goodness : 0.114892 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:1.31 [[ 9.99776903e-01 -3.12778389e-03 -2.08892569e-02 3.47765916e+00] [ 3.03737597e-03 9.99985890e-01 -4.35828894e-03 4.43127374e-01] [ 2.09025939e-02 4.29386809e-03 9.99772296e-01 1.31016699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01255784400007 meters Centerline goodness : 0.123546 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.31 [[ 9.99699432e-01 2.33989634e-03 -2.44043017e-02 3.45610646e+00] [-2.51487762e-03 9.99971334e-01 -7.14187467e-03 4.37810334e-01] [ 2.43868909e-02 7.20110188e-03 9.99676660e-01 1.31040537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04255784400004 meters Centerline goodness : 0.142641 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99969725 -0.00502349 -0.02408669 3.47495689] [ 0.00489047 0.99997248 -0.00557856 0.44193621] [ 0.02411405 0.00545907 0.99969431 1.31215758] [ 0. 0. 0. 1. ]] SLAMing on 269.072557844 meters Centerline goodness : 0.151331 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970177 -0.00488493 -0.02392697 3.47434678] [ 0.00475963 0.99997467 -0.0052912 0.44069145] [ 0.02395221 0.00517574 0.99969971 1.31253275] [ 0. 0. 0. 1. ]] SLAMing on 269.10255784400005 meters Centerline goodness : 0.141289 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970488 -0.00469956 -0.02383405 3.4738185 ] [ 0.00458695 0.99997807 -0.00477723 0.43793817] [ 0.02385598 0.00466649 0.99970451 1.31308937] [ 0. 0. 0. 1. ]] SLAMing on 269.132557844 meters Centerline goodness : 0.146887 Centerline is valid? [False, False] Translation: X:3.47, Y:0.44, Z:1.31 [[ 0.99970427 -0.00459621 -0.02387979 3.47392521] [ 0.00448896 0.9999796 -0.00454307 0.43677507] [ 0.02390018 0.00443453 0.99970451 1.3131043 ] [ 0. 0. 0. 1. ]] SLAMing on 269.16255784400005 meters Centerline goodness : 0.148253 Centerline is valid? [False, False] Translation: X:3.49, Y:0.43, Z:1.31 [[ 0.9997178 0.00411788 -0.02339582 3.49476322] [-0.0042472 0.99997596 -0.00548058 0.4341591 ] [ 0.02337269 0.0055784 0.99971126 1.31394277] [ 0. 0. 0. 1. ]] SLAMing on 269.192557844 meters Centerline goodness : 0.137281 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99971315 0.00413758 -0.02359042 3.49559471] [-0.00427112 0.99997513 -0.00561302 0.43506021] [ 0.02356661 0.00571217 0.99970595 1.31334636] [ 0. 0. 0. 1. ]] SLAMing on 269.22255784400005 meters Centerline goodness : 0.142040 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99970443 0.00423384 -0.02393996 3.49669029] [-0.00438198 0.99997156 -0.00613899 0.43813823] [ 0.02391329 0.00624208 0.99969455 1.3128163 ] [ 0. 0. 0. 1. ]] SLAMing on 269.252557844 meters Centerline goodness : 0.154262 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.99970789 0.00407785 -0.02382233 3.49629904] [-0.0042382 0.99996868 -0.00668429 0.44071549] [ 0.02379432 0.00678331 0.99969386 1.31288137] [ 0. 0. 0. 1. ]] SLAMing on 269.28255784400005 meters Centerline goodness : 0.140068 Centerline is valid? [False, False] Translation: X:3.50, Y:0.44, Z:1.31 [[ 0.999708 0.00394997 -0.02383915 3.49620179] [-0.00412427 0.99996509 -0.00726668 0.44385795] [ 0.02380962 0.00736287 0.9996894 1.31297366] [ 0. 0. 0. 1. ]] SLAMing on 269.312557844 meters Centerline goodness : 0.162982 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 0.99970631 0.00381063 -0.02393262 3.49645834] [-0.00399902 0.99996136 -0.00782904 0.44695632] [ 0.02390186 0.00792245 0.99968292 1.31280342] [ 0. 0. 0. 1. ]] SLAMing on 269.34255784400005 meters Centerline goodness : 0.129813 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 9.99706379e-01 3.48949050e-03 -2.39787155e-02 3.49673630e+00] [-3.69744147e-03 9.99955895e-01 -8.63345785e-03 4.50783700e-01] [ 2.39475316e-02 8.71958278e-03 9.99675190e-01 1.31246058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372557844 meters Centerline goodness : 0.129813 Centerline is valid? [False, False] Translation: X:3.50, Y:0.45, Z:1.31 [[ 9.99706379e-01 3.48949050e-03 -2.39787155e-02 3.49673630e+00] [-3.69744147e-03 9.99955895e-01 -8.63345785e-03 4.50783700e-01] [ 2.39475316e-02 8.71958278e-03 9.99675190e-01 1.31246058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40255784400006 meters Centerline goodness : 0.272785 Centerline is valid? [False, False] Translation: X:3.47, Y:0.45, Z:1.31 [[ 0.99970955 -0.00577895 -0.02339691 3.47458071] [ 0.00558688 0.99995023 -0.00826604 0.45424921] [ 0.02344351 0.00813293 0.99969208 1.31147583] [ 0. 0. 0. 1. ]] SLAMing on 269.43255784400003 meters Centerline goodness : 0.151637 Centerline is valid? [False, False] Translation: X:3.52, Y:0.46, Z:1.31 [[ 0.99976879 -0.00601854 -0.02064311 3.51685466] [ 0.00583559 0.99994326 -0.00891164 0.45830092] [ 0.02069557 0.00878912 0.99974719 1.31241324] [ 0. 0. 0. 1. ]] SLAMing on 269.46255784400006 meters Centerline goodness : 0.142639 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972432 -0.007346 -0.02230055 3.46897407] [ 0.00715394 0.99993674 -0.00867979 0.4550792 ] [ 0.02236291 0.00851786 0.99971363 1.31394076] [ 0. 0. 0. 1. ]] SLAMing on 269.49255784400003 meters Centerline goodness : 0.140010 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972157 -0.00741695 -0.02240016 3.46919897] [ 0.007222 0.99993545 -0.00877163 0.45546978] [ 0.02246378 0.00860742 0.9997106 1.31402284] [ 0. 0. 0. 1. ]] SLAMing on 269.52255784400006 meters Centerline goodness : 0.144330 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99971827 -0.00755217 -0.02250203 3.46948924] [ 0.00735003 0.99993201 -0.00905255 0.4566188 ] [ 0.02256887 0.00888461 0.99970581 1.31396376] [ 0. 0. 0. 1. ]] SLAMing on 269.55255784400003 meters Centerline goodness : 0.098500 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99971401 -0.00772286 -0.02263291 3.46988611] [ 0.0075093 0.99992662 -0.0095056 0.4586677 ] [ 0.02270466 0.00933293 0.99969865 1.31378904] [ 0. 0. 0. 1. ]] SLAMing on 269.58255784400006 meters Centerline goodness : 0.181907 Centerline is valid? [False, False] Translation: X:3.47, Y:0.46, Z:1.31 [[ 0.99972532 -0.00388897 -0.02311173 3.47134963] [ 0.0037435 0.99997293 -0.00633377 0.46285692] [ 0.02313573 0.00624552 0.99971282 1.31312715] [ 0. 0. 0. 1. ]] SLAMing on 269.61255784400004 meters Centerline goodness : 0.157474 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99972524 -0.00393399 -0.02310788 3.47147127] [ 0.00377564 0.99996912 -0.00689261 0.46611108] [ 0.02313429 0.00680347 0.99970922 1.31278266] [ 0. 0. 0. 1. ]] SLAMing on 269.64255784400007 meters Centerline goodness : 0.146814 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99973004 -0.00406386 -0.02287626 3.47076144] [ 0.00389491 0.99996485 -0.00742489 0.4688513 ] [ 0.02290562 0.00733378 0.99971073 1.31286089] [ 0. 0. 0. 1. ]] SLAMing on 269.67255784400004 meters Centerline goodness : 0.133070 Centerline is valid? [False, False] Translation: X:3.47, Y:0.47, Z:1.31 [[ 0.99973775 -0.00421802 -0.0225087 3.46953839] [ 0.00404166 0.99996082 -0.00787489 0.47097046] [ 0.02254103 0.00778185 0.99971563 1.31326376] [ 0. 0. 0. 1. ]] SLAMing on 269.70255784400007 meters Centerline goodness : 0.161690 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:1.31 [[ 0.99977917 0.00445277 -0.02053762 3.48917715] [-0.0046473 0.9999447 -0.00943396 0.47474123] [ 0.02049448 0.00952732 0.99974457 1.31440456] [ 0. 0. 0. 1. ]] SLAMing on 269.73255784400004 meters Centerline goodness : 0.139558 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977777 0.00423172 -0.02065173 3.48971189] [-0.00443943 0.99993992 -0.01002235 0.47760319] [ 0.02060807 0.0101118 0.99973649 1.31392431] [ 0. 0. 0. 1. ]] SLAMing on 269.76255784400007 meters Centerline goodness : 0.319524 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977564 0.00403338 -0.02079451 3.49019835] [-0.00425297 0.99993555 -0.01052689 0.48002054] [ 0.02075071 0.01061297 0.99972835 1.31366388] [ 0. 0. 0. 1. ]] SLAMing on 269.79255784400004 meters Centerline goodness : 0.145856 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 0.99977502 0.00389607 -0.0208501 3.49024933] [-0.00412256 0.99993284 -0.01083104 0.48144206] [ 0.0208065 0.01091456 0.99972394 1.31380582] [ 0. 0. 0. 1. ]] SLAMing on 269.822557844 meters Centerline goodness : 0.160013 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.32 [[ 0.99978548 0.00364107 -0.02038982 3.48831635] [-0.00386509 0.99993249 -0.01095789 0.48174383] [ 0.02034855 0.01103435 0.99973205 1.3151874 ] [ 0. 0. 0. 1. ]] SLAMing on 269.85255784400005 meters Centerline goodness : 0.138730 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:1.32 [[ 0.99978929 -0.00455574 -0.02001536 3.50776128] [ 0.0043601 0.9999424 -0.00980709 0.48648838] [ 0.02005889 0.00971776 0.99975157 1.31736736] [ 0. 0. 0. 1. ]] SLAMing on 269.882557844 meters Centerline goodness : 0.165149 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.32 [[ 9.99803662e-01 2.61604651e-03 -1.96416500e-02 3.48999689e+00] [-2.83518873e-03 9.99933957e-01 -1.11374723e-02 4.79607976e-01] [ 1.96112167e-02 1.11909734e-02 9.99745049e-01 1.31511952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91255784400005 meters Centerline goodness : 0.167624 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99796163e-01 2.56365860e-03 -2.00264849e-02 3.49113134e+00] [-2.78421810e-03 9.99935696e-01 -1.09932834e-02 4.78567020e-01] [ 1.99970141e-02 1.10468007e-02 9.99739010e-01 1.31487815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942557844 meters Centerline goodness : 0.144120 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99787769e-01 2.49430066e-03 -2.04498443e-02 3.49286325e+00] [-2.71660428e-03 9.99937446e-01 -1.08501117e-02 4.77496487e-01] [ 2.04215016e-02 1.09033631e-02 9.99732004e-01 1.31384779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97255784400005 meters Centerline goodness : 0.145563 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99788903e-01 2.44664936e-03 -2.04000622e-02 3.49273832e+00] [-2.67114972e-03 9.99936096e-01 -1.09849095e-02 4.78180715e-01] [ 2.03718823e-02 1.10370823e-02 9.99731549e-01 1.31384076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002557844 meters Centerline goodness : 0.145030 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99791436e-01 2.37962759e-03 -2.02835307e-02 3.49228972e+00] [-2.60759874e-03 9.99933652e-01 -1.12201957e-02 4.79405886e-01] [ 2.02554850e-02 1.12707469e-02 9.99731307e-01 1.31409933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03255784400005 meters Centerline goodness : 0.164531 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:1.31 [[ 9.99793497e-01 2.42245415e-03 -2.01765822e-02 3.49200857e+00] [-2.66038360e-03 9.99927146e-01 -1.17738751e-02 4.82690991e-01] [ 2.01465906e-02 1.18251212e-02 9.99727103e-01 1.31401487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062557844 meters Centerline goodness : 0.170720 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99793178e-01 2.34784808e-03 -2.02012211e-02 3.49219131e+00] [-2.59570069e-03 9.99921576e-01 -1.22517293e-02 4.85305598e-01] [ 2.01708716e-02 1.23016317e-02 9.99720864e-01 1.31366773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09255784400005 meters Centerline goodness : 0.159652 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99790745e-01 2.28501856e-03 -2.03284493e-02 3.49277775e+00] [-2.54355651e-03 9.99916100e-01 -1.27012841e-02 4.87763620e-01] [ 2.02977211e-02 1.27503328e-02 9.99712674e-01 1.31310122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters Centerline goodness : 0.145177 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99790138e-01 2.19398197e-03 -2.03682807e-02 3.49309022e+00] [-2.46002382e-03 9.99911875e-01 -1.30457218e-02 4.89564622e-01] [ 2.03378636e-02 1.30930904e-02 9.99707428e-01 1.31267716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15255784400006 meters Centerline goodness : 0.143137 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:1.31 [[ 9.99788233e-01 2.12903285e-03 -2.04684334e-02 3.49341472e+00] [-2.40022789e-03 9.99909546e-01 -1.32340044e-02 4.90482599e-01] [ 2.04384063e-02 1.32803307e-02 9.99702908e-01 1.31250070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters Centerline goodness : 0.098092 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.99976665 -0.00694498 -0.02045524 3.47128798] [ 0.00668787 0.99989811 -0.0126113 0.4929874 ] [ 0.02054074 0.01247156 0.99971123 1.31164605] [ 0. 0. 0. 1. ]] SLAMing on 270.21255784400006 meters Centerline goodness : 0.155025 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.9997693 -0.00693475 -0.02032865 3.4706182 ] [ 0.00668382 0.99990095 -0.01238591 0.49166377] [ 0.02041253 0.01224718 0.99971663 1.31231198] [ 0. 0. 0. 1. ]] SLAMing on 270.24255784400003 meters Centerline goodness : 0.298568 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.99976723 -0.0072409 -0.02032384 3.4705189 ] [ 0.00699647 0.99990265 -0.01207222 0.48878222] [ 0.02040927 0.01192721 0.99972056 1.31261685] [ 0. 0. 0. 1. ]] SLAMing on 270.27255784400006 meters Centerline goodness : 0.146593 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:1.31 [[ 0.9997609 -0.00710179 -0.02068099 3.47160463] [ 0.00686252 0.99990896 -0.01161785 0.48656872] [ 0.02076161 0.01147315 0.99971862 1.31235495] [ 0. 0. 0. 1. ]] SLAMing on 270.30255784400003 meters Centerline goodness : 0.121628 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99975491 -0.00694387 -0.02102132 3.47263824] [ 0.00671058 0.99991534 -0.01114781 0.48425928] [ 0.02109695 0.01100402 0.99971688 1.3121176 ] [ 0. 0. 0. 1. ]] SLAMing on 270.33255784400006 meters Centerline goodness : 0.138959 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99975487 -0.00680111 -0.02107002 3.47274401] [ 0.00657493 0.99992022 -0.01078518 0.48255064] [ 0.02114169 0.010644 0.99971983 1.31219102] [ 0. 0. 0. 1. ]] SLAMing on 270.36255784400004 meters Centerline goodness : 0.159171 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99976799 -0.00660708 -0.02050161 3.4705469 ] [ 0.00639697 0.99992652 -0.01029699 0.48024807] [ 0.02056814 0.01016345 0.99973679 1.31356434] [ 0. 0. 0. 1. ]] SLAMing on 270.39255784400007 meters Centerline goodness : 0.147938 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 0.99977291 -0.00651755 -0.02028913 3.46964543] [ 0.00631227 0.99992841 -0.01016531 0.4797711 ] [ 0.02035393 0.01003493 0.99974248 1.31419876] [ 0. 0. 0. 1. ]] SLAMing on 270.42255784400004 meters Centerline goodness : 0.173066 Centerline is valid? [False, False] Translation: X:3.45, Y:0.47, Z:1.31 [[ 9.99796647e-01 1.89043725e-03 -2.00771423e-02 3.44936076e+00] [-2.10927060e-03 9.99938542e-01 -1.08840496e-02 4.74201459e-01] [ 2.00553328e-02 1.09241844e-02 9.99739189e-01 1.31276191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45255784400007 meters Centerline goodness : 0.093016 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99780446e-01 -2.86486234e-03 -2.07569907e-02 3.47168569e+00] [ 2.71159300e-03 9.99968881e-01 -7.40837291e-03 4.79022489e-01] [ 2.07775688e-02 7.35046186e-03 9.99757102e-01 1.31280849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters Centerline goodness : 0.140096 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99779705e-01 -2.91062443e-03 -2.07863095e-02 3.47194362e+00] [ 2.75280466e-03 9.99967201e-01 -7.61706772e-03 4.80130346e-01] [ 2.08077981e-02 7.55816907e-03 9.99754925e-01 1.31242383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51255784400007 meters Centerline goodness : 0.176259 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99778089e-01 -3.02903212e-03 -2.08470128e-02 3.47216880e+00] [ 2.86406535e-03 9.99964388e-01 -7.93852192e-03 4.81604213e-01] [ 2.08703165e-02 7.87705307e-03 9.99751160e-01 1.31223198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54255784400004 meters Centerline goodness : 0.144885 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99783272e-01 -3.16738351e-03 -2.05761301e-02 3.47123081e+00] [ 2.99658304e-03 9.99960845e-01 -8.32643939e-03 4.83455067e-01] [ 2.06016975e-02 8.26297674e-03 9.99753616e-01 1.31258770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.572557844 meters Centerline goodness : 0.138894 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99787411e-01 -3.16563275e-03 -2.03742804e-02 3.47043111e+00] [ 2.99607000e-03 9.99960670e-01 -8.34754248e-03 4.83724503e-01] [ 2.03999043e-02 8.28472512e-03 9.99757574e-01 1.31304068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60255784400005 meters Centerline goodness : 0.095524 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99789772e-01 -3.13769987e-03 -2.02624666e-02 3.46987988e+00] [ 2.97088068e-03 9.99961491e-01 -8.25777675e-03 4.83365247e-01] [ 2.02875967e-02 8.19584336e-03 9.99760592e-01 1.31349883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.632557844 meters Centerline goodness : 0.096602 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99781261e-01 -3.29281302e-03 -2.06539811e-02 3.47105254e+00] [ 3.12659184e-03 9.99962508e-01 -8.07503541e-03 4.81681864e-01] [ 2.06797963e-02 8.00869252e-03 9.99754073e-01 1.31327440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66255784400005 meters Centerline goodness : 0.148902 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99774406e-01 -3.26230786e-03 -2.09879783e-02 3.47222330e+00] [ 3.09815579e-03 9.99964397e-01 -7.84900996e-03 4.80319236e-01] [ 2.10128369e-02 7.78221524e-03 9.99748917e-01 1.31271170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692557844 meters Centerline goodness : 0.148790 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99767902e-01 -3.20692507e-03 -2.13039188e-02 3.47322390e+00] [ 3.04554211e-03 9.99966456e-01 -7.60340188e-03 4.78975448e-01] [ 2.13275877e-02 7.53675517e-03 9.99744133e-01 1.31238284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72255784400005 meters Centerline goodness : 0.263178 Centerline is valid? [False, False] Translation: X:3.47, Y:0.48, Z:1.31 [[ 9.99760451e-01 -3.06832268e-03 -2.16708346e-02 3.47431806e+00] [ 2.91142502e-03 9.99969350e-01 -7.26788125e-03 4.77481875e-01] [ 2.16924706e-02 7.20304723e-03 9.99738742e-01 1.31218299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752557844 meters Centerline goodness : 0.171539 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756125e-01 -3.08220925e-03 -2.18675861e-02 3.47505612e+00] [ 2.92209218e-03 9.99968717e-01 -7.35029817e-03 4.77844461e-01] [ 2.18895571e-02 7.28460651e-03 9.99733855e-01 1.31173845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78255784400005 meters Centerline goodness : 0.163685 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99750415e-01 -3.08652303e-03 -2.21264810e-02 3.47591220e+00] [ 2.92063628e-03 9.99967417e-01 -7.52560396e-03 4.78700136e-01] [ 2.21489880e-02 7.45910228e-03 9.99726855e-01 1.31133786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812557844 meters Centerline goodness : 0.154638 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756679e-01 -2.52154884e-03 -2.19140287e-02 3.47536164e+00] [ 2.35339721e-03 9.99967619e-01 -7.69564607e-03 4.81271513e-01] [ 2.19327240e-02 7.64220114e-03 9.99730240e-01 1.31114076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84255784400005 meters Centerline goodness : 0.223477 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99756158e-01 -2.40095593e-03 -2.19512926e-02 3.47543758e+00] [ 2.22389620e-03 9.99964828e-01 -8.08688466e-03 4.83872714e-01] [ 2.19699367e-02 8.03609535e-03 9.99726334e-01 1.31098000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872557844 meters Centerline goodness : 0.111410 Centerline is valid? [False, False] Translation: X:3.48, Y:0.48, Z:1.31 [[ 9.99751397e-01 1.53914595e-03 -2.22435500e-02 3.47635613e+00] [-1.63751895e-03 9.99988957e-01 -4.40500291e-03 4.84852553e-01] [ 2.22365244e-02 4.44033205e-03 9.99742877e-01 1.31067055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90255784400006 meters Centerline goodness : 0.148123 Centerline is valid? [False, False] Translation: X:3.48, Y:0.49, Z:1.31 [[ 9.99741769e-01 1.72040148e-03 -2.26591076e-02 3.47753214e+00] [-1.83065604e-03 9.99986583e-01 -4.84595039e-03 4.87983020e-01] [ 2.26504666e-02 4.88618005e-03 9.99731505e-01 1.31022675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93255784400003 meters Centerline goodness : 0.141065 Centerline is valid? [False, False] Translation: X:3.48, Y:0.49, Z:1.31 [[ 9.99748148e-01 2.17984366e-03 -2.23358069e-02 3.47634975e+00] [-2.30046771e-03 9.99982902e-01 -5.37620807e-03 4.93854632e-01] [ 2.23237057e-02 5.42623687e-03 9.99736069e-01 1.31034373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96255784400006 meters Centerline goodness : 0.147650 Centerline is valid? [False, False] Translation: X:3.47, Y:0.50, Z:1.31 [[ 9.99758453e-01 1.98391837e-03 -2.18883669e-02 3.47477865e+00] [-2.11479152e-03 9.99980017e-01 -5.95759264e-03 4.96785501e-01] [ 2.18761101e-02 6.00244293e-03 9.99742670e-01 1.31101079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99255784400003 meters Centerline goodness : 0.280770 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.31 [[ 0.99978051 -0.00556756 -0.02019754 3.49197409] [ 0.00547469 0.9999742 -0.00465051 0.50578916] [ 0.02022291 0.00453891 0.99978519 1.31326472] [ 0. 0. 0. 1. ]] SLAMing on 271.02255784400006 meters Centerline goodness : 0.163984 Centerline is valid? [False, False] Translation: X:3.47, Y:0.50, Z:1.31 [[ 9.99795428e-01 2.77995575e-03 -2.00343157e-02 3.47070506e+00] [-2.88948873e-03 9.99981026e-01 -5.44039637e-03 5.02232754e-01] [ 2.00188116e-02 5.49717235e-03 9.99784491e-01 1.31303987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05255784400003 meters Centerline goodness : 0.158989 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.32 [[ 0.99977701 -0.00501328 -0.02051317 3.48971303] [ 0.00491967 0.99997727 -0.00461134 0.51276266] [ 0.02053582 0.0045094 0.99977895 1.31529235] [ 0. 0. 0. 1. ]] SLAMing on 271.08255784400006 meters Centerline goodness : 0.168131 Centerline is valid? [False, False] Translation: X:3.49, Y:0.51, Z:1.32 [[ 0.99977498 -0.00518414 -0.02056994 3.4898671 ] [ 0.00508379 0.99997494 -0.00492784 0.51413848] [ 0.02059497 0.00482216 0.99977627 1.31527725] [ 0. 0. 0. 1. ]] SLAMing on 271.11255784400004 meters Centerline goodness : 0.148424 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:1.32 [[ 0.99981288 -0.00549104 -0.01854875 3.53409153] [ 0.00539094 0.99997066 -0.00544212 0.52011534] [ 0.01857809 0.00534111 0.99981315 1.31551809] [ 0. 0. 0. 1. ]] SLAMing on 271.14255784400007 meters Centerline goodness : 0.294097 Centerline is valid? [False, False] Translation: X:3.53, Y:0.52, Z:1.32 [[ 0.99981003 -0.00588094 -0.01858299 3.53379007] [ 0.00576605 0.99996397 -0.00623 0.52377986] [ 0.01861896 0.00612167 0.99980791 1.31608914] [ 0. 0. 0. 1. ]] SLAMing on 271.17255784400004 meters Centerline goodness : 0.125374 Centerline is valid? [False, False] Translation: X:3.53, Y:0.53, Z:1.32 [[ 0.99980802 -0.00606136 -0.01863291 3.53379292] [ 0.00593792 0.99996011 -0.00667268 0.52600324] [ 0.01867261 0.00656075 0.99980413 1.31623714] [ 0. 0. 0. 1. ]] SLAMing on 271.20255784400007 meters Centerline goodness : 0.166529 Centerline is valid? [False, False] Translation: X:3.51, Y:0.52, Z:1.32 [[ 9.99806063e-01 2.35440191e-03 -1.95523378e-02 3.51378890e+00] [-2.50741492e-03 9.99966397e-01 -7.80499241e-03 5.22930930e-01] [ 1.95333047e-02 7.85250456e-03 9.99778370e-01 1.31523756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23255784400004 meters Centerline goodness : 0.242266 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99803243e-01 2.15048989e-03 -1.97192856e-02 3.51440668e+00] [-2.31463148e-03 9.99962835e-01 -8.30486947e-03 5.25330246e-01] [ 1.97006932e-02 8.34887831e-03 9.99771063e-01 1.31485106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26255784400007 meters Centerline goodness : 0.146985 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802016e-01 1.90657952e-03 -1.98064157e-02 3.51484545e+00] [-2.08341700e-03 9.99958121e-01 -8.91149859e-03 5.28187524e-01] [ 1.97885957e-02 8.95099927e-03 9.99764118e-01 1.31444854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29255784400004 meters Centerline goodness : 0.146985 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802016e-01 1.90657952e-03 -1.98064157e-02 3.51484545e+00] [-2.08341700e-03 9.99958121e-01 -8.91149859e-03 5.28187524e-01] [ 1.97885957e-02 8.95099927e-03 9.99764118e-01 1.31444854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters Centerline goodness : 0.146752 Centerline is valid? [False, False] Translation: X:3.51, Y:0.53, Z:1.31 [[ 9.99802581e-01 1.46799959e-03 -1.98152232e-02 3.51484804e+00] [-1.66813935e-03 9.99947728e-01 -1.00875559e-02 5.33883470e-01] [ 1.97993789e-02 1.01186190e-02 9.99752769e-01 1.31435114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35255784400005 meters Centerline goodness : 0.166003 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.31 [[ 9.99806250e-01 1.26129380e-03 -1.96436014e-02 3.51418059e+00] [-1.46943910e-03 9.99942895e-01 -1.05852600e-02 5.36202876e-01] [ 1.96291286e-02 1.06120741e-02 9.99751010e-01 1.31466721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters Centerline goodness : 0.143361 Centerline is valid? [False, False] Translation: X:3.51, Y:0.54, Z:1.32 [[ 9.99809604e-01 1.12157999e-03 -1.94807180e-02 3.51338417e+00] [-1.33545458e-03 9.99938944e-01 -1.09692465e-02 5.38199445e-01] [ 1.94672257e-02 1.09931736e-02 9.99750057e-01 1.31527940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41255784400005 meters Centerline goodness : 0.172484 Centerline is valid? [False, False] Translation: X:3.47, Y:0.54, Z:1.32 [[ 9.99769686e-01 1.17427746e-03 -2.14288594e-02 3.46569996e+00] [-1.41162314e-03 9.99937793e-01 -1.10642196e-02 5.37228687e-01] [ 2.14145339e-02 1.10919209e-02 9.99709151e-01 1.31697006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters Centerline goodness : 0.167605 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.9997511 -0.00738875 -0.02105103 3.48557723] [ 0.00716777 0.99991862 -0.01055375 0.54511301] [ 0.0211273 0.01040024 0.9997227 1.31870264] [ 0. 0. 0. 1. ]] SLAMing on 271.47255784400005 meters Centerline goodness : 0.148339 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.99974937 -0.00747795 -0.02110171 3.48581314] [ 0.00725444 0.99991698 -0.01064879 0.54534702] [ 0.02117959 0.01049304 0.99972062 1.31856104] [ 0. 0. 0. 1. ]] SLAMing on 271.502557844 meters Centerline goodness : 0.151957 Centerline is valid? [False, False] Translation: X:3.49, Y:0.55, Z:1.32 [[ 0.99974816 -0.00750865 -0.02114785 3.48590227] [ 0.00728405 0.99991646 -0.01067749 0.54541447] [ 0.02122625 0.01052076 0.99971934 1.31862762] [ 0. 0. 0. 1. ]] SLAMing on 271.53255784400005 meters Centerline goodness : 0.170698 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99772690e-01 1.32633958e-03 -2.12793010e-02 3.46432491e+00] [-1.56786098e-03 9.99934500e-01 -1.13373972e-02 5.41046778e-01] [ 2.12628700e-02 1.13681831e-02 9.99709285e-01 1.31842230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562557844 meters Centerline goodness : 0.178090 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99772985e-01 1.26620033e-03 -2.12691277e-02 3.46419942e+00] [-1.51311402e-03 9.99931608e-01 -1.15969396e-02 5.42424664e-01] [ 2.12529890e-02 1.16264895e-02 9.99706525e-01 1.31854086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59255784400005 meters Centerline goodness : 0.146106 Centerline is valid? [False, False] Translation: X:3.46, Y:0.54, Z:1.32 [[ 9.99773896e-01 1.18175017e-03 -2.12311107e-02 3.46396927e+00] [-1.43405149e-03 9.99928494e-01 -1.18722747e-02 5.43817478e-01] [ 2.12155625e-02 1.19000369e-02 9.99704101e-01 1.31873731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters Centerline goodness : 0.172098 Centerline is valid? [False, False] Translation: X:3.42, Y:0.54, Z:1.32 [[ 9.99717291e-01 1.13507353e-03 -2.37497102e-02 3.41774317e+00] [-1.42614522e-03 9.99924041e-01 -1.22424537e-02 5.41661878e-01] [ 2.37340101e-02 1.22728632e-02 9.99642973e-01 1.31944581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65255784400006 meters Centerline goodness : 0.147405 Centerline is valid? [False, False] Translation: X:3.44, Y:0.55, Z:1.32 [[ 0.99967837 -0.00739849 -0.02425744 3.43789043] [ 0.00711446 0.99990537 -0.01177421 0.54648792] [ 0.02434225 0.01159785 0.99963641 1.32059975] [ 0. 0. 0. 1. ]] SLAMing on 271.68255784400003 meters Centerline goodness : 0.172908 Centerline is valid? [False, False] Translation: X:3.44, Y:0.55, Z:1.32 [[ 0.99967348 -0.00732621 -0.02447962 3.43860121] [ 0.00704569 0.99990875 -0.01152613 0.5452335 ] [ 0.02456183 0.01134989 0.99963388 1.32036324] [ 0. 0. 0. 1. ]] SLAMing on 271.71255784400006 meters Centerline goodness : 0.146100 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99966071 -0.00727912 -0.0250095 3.44005969] [ 0.00700157 0.99991313 -0.01116745 0.5433104 ] [ 0.02508862 0.01098856 0.99962484 1.32020922] [ 0. 0. 0. 1. ]] SLAMing on 271.74255784400003 meters Centerline goodness : 0.112144 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99965853 -0.00732861 -0.0250821 3.44026639] [ 0.00706971 0.99992098 -0.01039493 0.53887459] [ 0.0251563 0.01021406 0.99963135 1.32039096] [ 0. 0. 0. 1. ]] SLAMing on 271.77255784400006 meters Centerline goodness : 0.148404 Centerline is valid? [False, False] Translation: X:3.44, Y:0.54, Z:1.32 [[ 0.99966081 -0.00720591 -0.02502698 3.43995502] [ 0.00695951 0.99992659 -0.00991868 0.53640587] [ 0.02509662 0.00974114 0.99963757 1.32078374] [ 0. 0. 0. 1. ]] SLAMing on 271.80255784400003 meters Centerline goodness : 0.171329 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966529 -0.00710564 -0.02487606 3.43942021] [ 0.0068717 0.99993148 -0.00947708 0.53398594] [ 0.0249417 0.00930297 0.99964562 1.32114124] [ 0. 0. 0. 1. ]] SLAMing on 271.83255784400006 meters Centerline goodness : 0.178071 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966529 -0.00697026 -0.02491451 3.43951202] [ 0.00674589 0.99993604 -0.00907833 0.53198013] [ 0.02497619 0.00890723 0.99964836 1.32119113] [ 0. 0. 0. 1. ]] SLAMing on 271.86255784400004 meters Centerline goodness : 0.167876 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965629 -0.00671502 -0.02534196 3.4409035 ] [ 0.00649681 0.9999412 -0.00868305 0.53091601] [ 0.02539878 0.00851543 0.99964113 1.32064314] [ 0. 0. 0. 1. ]] SLAMing on 271.89255784400007 meters Centerline goodness : 0.169256 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965629 -0.00667423 -0.02535248 3.44101124] [ 0.00645557 0.99994135 -0.00869663 0.53132904] [ 0.02540903 0.00852997 0.99964075 1.32046936] [ 0. 0. 0. 1. ]] SLAMing on 271.92255784400004 meters Centerline goodness : 0.135775 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965785 -0.00667426 -0.02529086 3.44075556] [ 0.00645505 0.99994098 -0.00873942 0.53154702] [ 0.0253477 0.00857318 0.99964193 1.32061894] [ 0. 0. 0. 1. ]] SLAMing on 271.95255784400007 meters Centerline goodness : 0.111785 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966265 -0.00670495 -0.0250924 3.43996821] [ 0.00648796 0.99994094 -0.00871911 0.53106947] [ 0.02514938 0.00855337 0.99964711 1.32107458] [ 0. 0. 0. 1. ]] SLAMing on 271.98255784400004 meters Centerline goodness : 0.154222 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966961 -0.00668647 -0.02481872 3.43881229] [ 0.00647897 0.99994346 -0.00843184 0.52922907] [ 0.02487369 0.00826826 0.99965641 1.32186681] [ 0. 0. 0. 1. ]] SLAMing on 272.01255784400007 meters Centerline goodness : 0.169757 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99966667 -0.00657392 -0.02496676 3.43940794] [ 0.00637276 0.99994666 -0.00812833 0.5278667 ] [ 0.02501887 0.00796651 0.99965524 1.32148864] [ 0. 0. 0. 1. ]] SLAMing on 272.04255784400004 meters Centerline goodness : 0.276809 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.32 [[ 0.99965875 -0.0064768 -0.0253067 3.44060259] [ 0.00628157 0.99994995 -0.00778673 0.52615063] [ 0.02535587 0.00762511 0.99964941 1.32096778] [ 0. 0. 0. 1. ]] SLAMing on 272.072557844 meters Centerline goodness : 0.175211 Centerline is valid? [False, False] Translation: X:3.42, Y:0.52, Z:1.32 [[ 9.99662013e-01 -1.70083197e-03 -2.59416200e-02 3.42129940e+00] [ 1.39706080e-03 9.99930302e-01 -1.17234319e-02 5.17667914e-01] [ 2.59597515e-02 1.16832275e-02 9.99594715e-01 1.31892820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10255784400005 meters Centerline goodness : 0.179806 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.32 [[ 9.99662605e-01 -1.55874715e-03 -2.59277249e-02 3.42117271e+00] [ 1.27057081e-03 9.99937282e-01 -1.11273653e-02 5.14558608e-01] [ 2.59434435e-02 1.10906679e-02 9.99601888e-01 1.31912625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.132557844 meters Centerline goodness : 0.179624 Centerline is valid? [False, False] Translation: X:3.44, Y:0.52, Z:1.32 [[ 0.99964148 -0.00995398 -0.02485604 3.4415257 ] [ 0.00970896 0.99990327 -0.00995886 0.51637666] [ 0.02495277 0.00971396 0.99964143 1.32029925] [ 0. 0. 0. 1. ]] SLAMing on 272.16255784400005 meters Centerline goodness : 0.299816 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.32 [[ 0.99964652 -0.00953831 -0.02481629 3.44143964] [ 0.00932068 0.99991722 -0.00887042 0.51128177] [ 0.02489884 0.00863598 0.99965267 1.32041275] [ 0. 0. 0. 1. ]] SLAMing on 272.192557844 meters Centerline goodness : 0.177629 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99694512e-01 -1.52157044e-03 -2.46691581e-02 3.42272055e+00] [ 1.28012332e-03 9.99951157e-01 -9.80024792e-03 5.02967072e-01] [ 2.46828650e-02 9.76567450e-03 9.99647632e-01 1.31814606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22255784400005 meters Centerline goodness : 0.184738 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99693744e-01 -1.31219896e-03 -2.47122710e-02 3.42285570e+00] [ 1.08251985e-03 9.99956120e-01 -9.30521778e-03 5.00603724e-01] [ 2.47233969e-02 9.27561648e-03 9.99651297e-01 1.31811706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252557844 meters Centerline goodness : 0.124109 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99696252e-01 -8.75568327e-04 -2.46300075e-02 3.42248988e+00] [ 6.67350192e-04 9.99963984e-01 -8.46078939e-03 4.96787639e-01] [ 2.46365285e-02 8.44178260e-03 9.99660831e-01 1.31839713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28255784400005 meters Centerline goodness : 0.115352 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99696921e-01 -6.62995327e-04 -2.46094957e-02 3.42245480e+00] [ 4.65246804e-04 9.99967568e-01 -8.04031212e-03 4.94977725e-01] [ 2.46140283e-02 8.02642578e-03 9.99664807e-01 1.31837962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312557844 meters Centerline goodness : 0.172557 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.32 [[ 0.99967239 -0.00840955 -0.02417437 3.44215102] [ 0.0082479 0.99994301 -0.00677858 0.49758927] [ 0.02423 0.00657698 0.99968478 1.3192934 ] [ 0. 0. 0. 1. ]] SLAMing on 272.34255784400005 meters Centerline goodness : 0.184295 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99704430e-01 -5.03076901e-04 -2.43063717e-02 3.42323558e+00] [ 3.10359004e-04 9.99968494e-01 -7.93182063e-03 4.89053515e-01] [ 2.43095962e-02 7.92193252e-03 9.99673090e-01 1.31701994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372557844 meters Centerline goodness : 0.178058 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99699422e-01 -1.87909452e-04 -2.45159313e-02 3.42405808e+00] [ 6.93050534e-06 9.99972753e-01 -7.38197167e-03 4.86584817e-01] [ 2.45166504e-02 7.37958290e-03 9.99672184e-01 1.31648626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40255784400006 meters Centerline goodness : 0.147085 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99696631e-01 -1.40103386e-05 -2.46301704e-02 3.42455568e+00] [-1.66437371e-04 9.99973164e-01 -7.32422221e-03 4.86829230e-01] [ 2.46296121e-02 7.32609965e-03 9.99669801e-01 1.31603882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43255784400003 meters Centerline goodness : 0.124593 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99700307e-01 1.09966426e-04 -2.44802777e-02 3.42448201e+00] [-2.89797047e-04 9.99973001e-01 -7.34251229e-03 4.87348766e-01] [ 2.44788094e-02 7.34740611e-03 9.99673348e-01 1.31549404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46255784400006 meters Centerline goodness : 0.228261 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99704146e-01 1.97118868e-04 -2.43224574e-02 3.42419748e+00] [-3.75715107e-04 9.99973002e-01 -7.33850205e-03 4.87548191e-01] [ 2.43203542e-02 7.34546923e-03 9.99677230e-01 1.31523424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49255784400003 meters Centerline goodness : 0.166392 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.31 [[ 9.99704496e-01 3.38001335e-04 -2.43065230e-02 3.42428797e+00] [-5.12951056e-04 9.99974007e-01 -7.19177018e-03 4.86760776e-01] [ 2.43034604e-02 7.20211304e-03 9.99678684e-01 1.31496148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52255784400006 meters Centerline goodness : 0.141878 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.31 [[ 9.99700942e-01 4.13395170e-04 -2.44511059e-02 3.42481642e+00] [-5.87042052e-04 9.99974658e-01 -7.09504918e-03 4.86422487e-01] [ 2.44475531e-02 7.10728117e-03 9.99675849e-01 1.31465376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55255784400003 meters Centerline goodness : 0.110900 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:1.31 [[ 9.99699108e-01 4.94147505e-04 -2.45244447e-02 3.42513866e+00] [-6.66188205e-04 9.99975226e-01 -7.00739581e-03 4.86230275e-01] [ 2.45203745e-02 7.02162524e-03 9.99674671e-01 1.31437249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58255784400006 meters Centerline goodness : 0.140077 Centerline is valid? [False, False] Translation: X:3.45, Y:0.49, Z:1.31 [[ 0.99969683 -0.00502608 -0.02410379 3.4471228 ] [ 0.00493947 0.99998114 -0.00365105 0.4892921 ] [ 0.02412168 0.00353088 0.99970279 1.31443434] [ 0. 0. 0. 1. ]] SLAMing on 272.61255784400004 meters Centerline goodness : 0.163186 Centerline is valid? [False, False] Translation: X:3.45, Y:0.49, Z:1.31 [[ 0.99970664 -0.00501394 -0.02369594 3.44575839] [ 0.00492836 0.99998113 -0.00366872 0.48945474] [ 0.02371388 0.00355086 0.99971248 1.31497697] [ 0. 0. 0. 1. ]] SLAMing on 272.64255784400007 meters Centerline goodness : 0.140388 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 0.99971338 -0.00502865 -0.0234068 3.4447537 ] [ 0.00494223 0.99998076 -0.00374848 0.48996114] [ 0.0234252 0.00363172 0.999719 1.31541025] [ 0. 0. 0. 1. ]] SLAMing on 272.67255784400004 meters Centerline goodness : 0.113982 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.32 [[ 9.99672718e-01 -4.70530146e-03 -2.51459322e-02 3.39702661e+00] [ 4.63054169e-03 9.99984687e-01 -3.03043885e-03 4.86161029e-01] [ 2.51598063e-02 2.91300775e-03 9.99679198e-01 1.31646767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70255784400007 meters Centerline goodness : 0.125577 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 9.99736569e-01 -3.64323431e-03 -2.26609873e-02 3.43963294e+00] [ 3.59060703e-03 9.99990763e-01 -2.36262929e-03 4.89739579e-01] [ 2.26693856e-02 2.28064020e-03 9.99740415e-01 1.31743695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73255784400004 meters Centerline goodness : 0.133873 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 9.99735029e-01 -3.69567391e-03 -2.27203467e-02 3.43992851e+00] [ 3.64108053e-03 9.99990385e-01 -2.44374031e-03 4.89999407e-01] [ 2.27291595e-02 2.36036618e-03 9.99738873e-01 1.31720886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76255784400007 meters Centerline goodness : 0.160292 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.32 [[ 9.99661346e-01 -4.42556779e-03 -2.56438468e-02 3.39515646e+00] [ 4.35083823e-03 9.99986127e-01 -2.96919534e-03 4.86751931e-01] [ 2.56566314e-02 2.85661758e-03 9.99666733e-01 1.31725518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79255784400004 meters Centerline goodness : 0.162566 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968224 0.00390926 -0.02490269 3.41541073] [-0.00401235 0.99998358 -0.00409104 0.48540003] [ 0.02488628 0.00418966 0.99968151 1.31852227] [ 0. 0. 0. 1. ]] SLAMing on 272.822557844 meters Centerline goodness : 0.161852 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.999684 0.00383939 -0.02484257 3.41535127] [-0.00394873 0.99998273 -0.0043539 0.48693678] [ 0.02482543 0.00445062 0.99968189 1.31833397] [ 0. 0. 0. 1. ]] SLAMing on 272.85255784400005 meters Centerline goodness : 0.162135 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968492 0.00371421 -0.02482472 3.41564605] [-0.00384211 0.99997958 -0.00510633 0.49121574] [ 0.02480525 0.00520011 0.99967878 1.31764838] [ 0. 0. 0. 1. ]] SLAMing on 272.882557844 meters Centerline goodness : 0.116696 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 0.99968633 0.00354345 -0.02479296 3.41560049] [-0.00368361 0.99997748 -0.00560959 0.49358606] [ 0.02477253 0.00569915 0.99967687 1.31750723] [ 0. 0. 0. 1. ]] SLAMing on 272.91255784400005 meters Centerline goodness : 0.131788 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99687830e-01 3.36556112e-03 -2.47571229e-02 3.41542591e+00] [-3.51749787e-03 9.99975232e-01 -6.09610620e-03 4.95875162e-01] [ 2.47359929e-02 6.18128631e-03 9.99674908e-01 1.31757392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters Centerline goodness : 0.144824 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99973338 -0.00415804 -0.02271295 3.43178978] [ 0.00404809 0.99997988 -0.00488461 0.5063502 ] [ 0.02273281 0.00479136 0.99973009 1.32023205] [ 0. 0. 0. 1. ]] SLAMing on 272.97255784400005 meters Centerline goodness : 0.139848 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99973943 -0.00430712 -0.02241706 3.4306671 ] [ 0.00419147 0.99997768 -0.00520326 0.50786122] [ 0.02243897 0.00510795 0.99973517 1.32078767] [ 0. 0. 0. 1. ]] SLAMing on 273.002557844 meters Centerline goodness : 0.109143 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99974177 -0.00444243 -0.02228574 3.43016404] [ 0.00432194 0.9999758 -0.00545179 0.5089449 ] [ 0.02230942 0.00535406 0.99973678 1.32106125] [ 0. 0. 0. 1. ]] SLAMing on 273.03255784400005 meters Centerline goodness : 0.125287 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972371 -0.00478248 -0.02301392 3.43232815] [ 0.00464734 0.99997167 -0.00592205 0.51067262] [ 0.02304159 0.00581346 0.9997176 1.3204693 ] [ 0. 0. 0. 1. ]] SLAMing on 273.062557844 meters Centerline goodness : 0.122739 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99971905 -0.00484863 -0.02320163 3.43298851] [ 0.00470813 0.99997027 -0.00610643 0.51171764] [ 0.02323055 0.00599548 0.99971216 1.32012617] [ 0. 0. 0. 1. ]] SLAMing on 273.09255784400005 meters Centerline goodness : 0.133969 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.32 [[ 9.99719575e-01 3.32122496e-03 -2.34465549e-02 3.45311449e+00] [-3.48498092e-03 9.99969798e-01 -6.94681953e-03 5.09845273e-01] [ 2.34227748e-02 7.02658226e-03 9.99700956e-01 1.32176250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters Centerline goodness : 0.114377 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99971511 -0.00505744 -0.02332653 3.43287352] [ 0.00492054 0.99997036 -0.00592259 0.51348465] [ 0.02335579 0.00580612 0.99971036 1.31975568] [ 0. 0. 0. 1. ]] SLAMing on 273.15255784400006 meters Centerline goodness : 0.165042 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.999718 -0.00516527 -0.02317844 3.43217768] [ 0.00503062 0.99997015 -0.00586365 0.51261225] [ 0.02320804 0.00574539 0.99971415 1.32031724] [ 0. 0. 0. 1. ]] SLAMing on 273.18255784400003 meters Centerline goodness : 0.165042 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.999718 -0.00516527 -0.02317844 3.43217768] [ 0.00503062 0.99997015 -0.00586365 0.51261225] [ 0.02320804 0.00574539 0.99971415 1.32031724] [ 0. 0. 0. 1. ]] SLAMing on 273.21255784400006 meters Centerline goodness : 0.117915 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972003 -0.00509457 -0.02310652 3.43172627] [ 0.00496605 0.9999719 -0.005616 0.51144874] [ 0.02313448 0.00549968 0.99971723 1.32081445] [ 0. 0. 0. 1. ]] SLAMing on 273.24255784400003 meters Centerline goodness : 0.116628 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972296 -0.00499816 -0.02300053 3.43129221] [ 0.00487729 0.99997402 -0.00530784 0.51007163] [ 0.02302647 0.00519419 0.99972136 1.32116364] [ 0. 0. 0. 1. ]] SLAMing on 273.27255784400006 meters Centerline goodness : 0.165485 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.32 [[ 0.99972106 -0.00517283 -0.02304428 3.43141939] [ 0.0050625 0.99997546 -0.00484337 0.50688045] [ 0.02306877 0.00472535 0.99972271 1.32129283] [ 0. 0. 0. 1. ]] SLAMing on 273.30255784400003 meters Centerline goodness : 0.167958 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:1.32 [[ 9.99752883e-01 1.21838640e-03 -2.21965786e-02 3.41534345e+00] [-1.36429619e-03 9.99977555e-01 -6.55956908e-03 4.98384761e-01] [ 2.21880883e-02 6.58823081e-03 9.99732106e-01 1.31773941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33255784400006 meters Centerline goodness : 0.144247 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.32 [[ 0.99972126 -0.00750501 -0.02238468 3.43742459] [ 0.0073757 0.99995566 -0.00585392 0.50011133] [ 0.02242763 0.00568718 0.99973229 1.31810954] [ 0. 0. 0. 1. ]] SLAMing on 273.36255784400004 meters Centerline goodness : 0.173238 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99721919e-01 -1.43703000e-03 -2.35376398e-02 3.41536876e+00] [ 1.23902618e-03 9.99963744e-01 -8.42464535e-03 4.93252849e-01] [ 2.35488929e-02 8.39313886e-03 9.99687454e-01 1.31796970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39255784400007 meters Centerline goodness : 0.146799 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99708392e-01 -1.64412354e-03 -2.40920696e-02 3.41694812e+00] [ 1.45846985e-03 9.99969125e-01 -7.72155425e-03 4.88176750e-01] [ 2.41040209e-02 7.68416502e-03 9.99679924e-01 1.31772355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters Centerline goodness : 0.168099 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.32 [[ 9.99710215e-01 -1.48704945e-03 -2.40265540e-02 3.41670482e+00] [ 1.31578557e-03 9.99973627e-01 -7.14234557e-03 4.85286572e-01] [ 2.40365414e-02 7.10866203e-03 9.99685806e-01 1.31793156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45255784400007 meters Centerline goodness : 0.174108 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.32 [[ 0.99970251 -0.00982213 -0.02232548 3.43664285] [ 0.00969081 0.99993515 -0.00598281 0.48682337] [ 0.0223828 0.00576468 0.99973285 1.31919908] [ 0. 0. 0. 1. ]] SLAMing on 273.48255784400004 meters Centerline goodness : 0.287139 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99971431 -0.00970066 -0.02184469 3.43498163] [ 0.00958285 0.999939 -0.0054915 0.48445523] [ 0.02189663 0.0052806 0.99974629 1.32004591] [ 0. 0. 0. 1. ]] SLAMing on 273.51255784400007 meters Centerline goodness : 0.110164 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972573 -0.00955982 -0.02137933 3.43364638] [ 0.00945892 0.99994367 -0.00481552 0.48106427] [ 0.02142416 0.00461197 0.99975984 1.32047383] [ 0. 0. 0. 1. ]] SLAMing on 273.54255784400004 meters Centerline goodness : 0.172771 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.9997245 -0.00948164 -0.02147163 3.43402945] [ 0.00938535 0.99994546 -0.0045811 0.47987727] [ 0.02151389 0.00437832 0.99975896 1.3202184 ] [ 0. 0. 0. 1. ]] SLAMing on 273.572557844 meters Centerline goodness : 0.125819 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972518 -0.0094254 -0.02146457 3.43417379] [ 0.00933255 0.99994667 -0.00442208 0.47907409] [ 0.0215051 0.00422054 0.99975983 1.31995326] [ 0. 0. 0. 1. ]] SLAMing on 273.60255784400005 meters Centerline goodness : 0.171217 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99972581 -0.009403 -0.02144481 3.43414242] [ 0.00931202 0.99994723 -0.00433832 0.47858406] [ 0.02148447 0.00413744 0.99976062 1.3199247 ] [ 0. 0. 0. 1. ]] SLAMing on 273.632557844 meters Centerline goodness : 0.150375 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:1.32 [[ 0.99973564 -0.0093398 -0.0210099 3.43263493] [ 0.00925907 0.99994939 -0.00393635 0.47627432] [ 0.0210456 0.00374078 0.99977152 1.32060602] [ 0. 0. 0. 1. ]] SLAMing on 273.66255784400005 meters Centerline goodness : 0.167220 Centerline is valid? [False, False] Translation: X:3.43, Y:0.47, Z:1.32 [[ 9.99736958e-01 -9.23967841e-03 -2.09915070e-02 3.43249390e+00] [ 9.16695612e-03 9.99951653e-01 -3.55795652e-03 4.74288351e-01] [ 2.10233664e-02 3.36459240e-03 9.99773323e-01 1.32078066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692557844 meters Centerline goodness : 0.285424 Centerline is valid? [False, False] Translation: X:3.41, Y:0.47, Z:1.32 [[ 9.99764365e-01 -1.50462844e-03 -2.16552571e-02 3.41452594e+00] [ 1.40166706e-03 9.99987646e-01 -4.76896113e-03 4.66403837e-01] [ 2.16621651e-02 4.73748393e-03 9.99754123e-01 1.31851863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72255784400005 meters Centerline goodness : 0.170292 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974022 -0.0039874 -0.02244088 3.41917557] [ 0.00384176 0.9999713 -0.00652922 0.46096576] [ 0.02246627 0.00644131 0.99972685 1.31543162] [ 0. 0. 0. 1. ]] SLAMing on 273.752557844 meters Centerline goodness : 0.121271 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974072 -0.00381317 -0.02244897 3.41928739] [ 0.0036802 0.99997546 -0.00596147 0.45824267] [ 0.02247116 0.00587731 0.99973022 1.31528035] [ 0. 0. 0. 1. ]] SLAMing on 273.78255784400005 meters Centerline goodness : 0.187601 Centerline is valid? [False, False] Translation: X:3.42, Y:0.46, Z:1.32 [[ 0.99974426 -0.00363855 -0.02231979 3.41884456] [ 0.00351874 0.9999792 -0.00540494 0.45554947] [ 0.02233899 0.00532502 0.99973627 1.3155082 ] [ 0. 0. 0. 1. ]] SLAMing on 273.812557844 meters Centerline goodness : 0.188534 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 0.99974044 -0.0035654 -0.02250205 3.41906982] [ 0.00346111 0.9999831 -0.00467195 0.45095263] [ 0.02251832 0.00459286 0.99973588 1.3158593 ] [ 0. 0. 0. 1. ]] SLAMing on 273.84255784400005 meters Centerline goodness : 0.184443 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 9.99733102e-01 -3.44349960e-03 -2.28444307e-02 3.42018642e+00] [ 3.34701862e-03 9.99985324e-01 -4.26028391e-03 4.48773378e-01] [ 2.28587657e-02 4.18268611e-03 9.99729955e-01 1.31542798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872557844 meters Centerline goodness : 0.188977 Centerline is valid? [False, False] Translation: X:3.42, Y:0.45, Z:1.32 [[ 9.99732226e-01 -3.26570703e-03 -2.29087763e-02 3.42053321e+00] [ 3.17884395e-03 9.99987624e-01 -3.82708689e-03 4.46728618e-01] [ 2.29209909e-02 3.75323867e-03 9.99730234e-01 1.31510206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90255784400006 meters Centerline goodness : 0.187667 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99736147e-01 -3.08437323e-03 -2.27623067e-02 3.42003373e+00] [ 3.00777119e-03 9.99989701e-01 -3.39877172e-03 4.44814419e-01] [ 2.27725553e-02 3.32941113e-03 9.99735128e-01 1.31528902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93255784400003 meters Centerline goodness : 0.188465 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99752497e-01 -2.86715711e-03 -2.20618206e-02 3.41789327e+00] [ 2.81274448e-03 9.99992927e-01 -2.49700656e-03 4.40327244e-01] [ 2.20688238e-02 2.43433428e-03 9.99753490e-01 1.31600324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96255784400006 meters Centerline goodness : 0.151292 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.32 [[ 9.99745053e-01 -2.74498100e-03 -2.24119184e-02 3.41891918e+00] [ 2.70128402e-03 9.99994392e-01 -1.97976254e-03 4.37623759e-01] [ 2.24172271e-02 1.91871685e-03 9.99746861e-01 1.31570274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99255784400003 meters Centerline goodness : 0.176695 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.32 [[ 9.99732662e-01 -2.65130731e-03 -2.29690070e-02 3.42060988e+00] [ 2.61811334e-03 9.99995485e-01 -1.47511497e-03 4.34827785e-01] [ 2.29728143e-02 1.41458515e-03 9.99735089e-01 1.31518778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02255784400006 meters Centerline goodness : 0.164823 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.32 [[ 9.99690515e-01 3.21965044e-03 -2.46679562e-02 3.39686988e+00] [-3.31897840e-03 9.99986545e-01 -3.98671474e-03 4.29632507e-01] [ 2.46547885e-02 4.06735332e-03 9.99687750e-01 1.31545377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05255784400003 meters Centerline goodness : 0.181938 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.32 [[ 9.99701943e-01 -5.13169206e-03 -2.38682092e-02 3.41784247e+00] [ 5.06470746e-03 9.99983067e-01 -2.86604147e-03 4.31081564e-01] [ 2.38825127e-02 2.74430173e-03 9.99711005e-01 1.31643727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08255784400006 meters Centerline goodness : 0.111765 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99669166e-01 -1.36271389e-02 -2.18142048e-02 3.43838033e+00] [ 1.35962600e-02 9.99906345e-01 -1.56323365e-03 4.30567210e-01] [ 2.18334642e-02 1.26612487e-03 9.99760820e-01 1.31696997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11255784400004 meters Centerline goodness : 0.169768 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99774813e-01 -5.60779565e-03 -2.04664450e-02 3.41913318e+00] [ 5.56180474e-03 9.99981880e-01 -2.30336744e-03 4.22996876e-01] [ 2.04789910e-02 2.18901839e-03 9.99787887e-01 1.31464975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14255784400007 meters Centerline goodness : 0.118590 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99777531e-01 -5.49727826e-03 -2.03634201e-02 3.41883836e+00] [ 5.45762087e-03 9.99983102e-01 -2.00254436e-03 4.21623546e-01] [ 2.03740846e-02 1.89096303e-03 9.99790639e-01 1.31470980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17255784400004 meters Centerline goodness : 0.180193 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99778343e-01 -5.42048160e-03 -2.03441174e-02 3.41871876e+00] [ 5.38455019e-03 9.99983846e-01 -1.82054429e-03 4.20794662e-01] [ 2.03536570e-02 1.71059683e-03 9.99791379e-01 1.31480886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20255784400007 meters Centerline goodness : 0.167397 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99771671e-01 -5.45141905e-03 -2.06612433e-02 3.41959203e+00] [ 5.41202572e-03 9.99983430e-01 -1.96206559e-03 4.21476245e-01] [ 2.06715969e-02 1.84979841e-03 9.99784608e-01 1.31471467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23255784400004 meters Centerline goodness : 0.156954 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99769542e-01 -5.48010459e-03 -2.07564696e-02 3.41997040e+00] [ 5.43697800e-03 9.99982943e-01 -2.13360500e-03 4.22532221e-01] [ 2.07678079e-02 2.02026083e-03 9.99782285e-01 1.31450833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26255784400007 meters Centerline goodness : 0.167922 Centerline is valid? [False, False] Translation: X:3.42, Y:0.42, Z:1.31 [[ 9.99770264e-01 -5.56126249e-03 -2.07000302e-02 3.41974797e+00] [ 5.51304426e-03 9.99981957e-01 -2.38571793e-03 4.23837898e-01] [ 2.07129243e-02 2.27104966e-03 9.99782885e-01 1.31463939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29255784400004 meters Centerline goodness : 0.175530 Centerline is valid? [False, False] Translation: X:3.44, Y:0.42, Z:1.32 [[ 9.99810927e-01 2.69555576e-03 -1.92573083e-02 3.43810177e+00] [-2.76639648e-03 9.99989501e-01 -3.65294922e-03 4.21707121e-01] [ 1.92472594e-02 3.70553190e-03 9.99807888e-01 1.31599672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters Centerline goodness : 0.130080 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99813372e-01 2.39385294e-03 -1.91700676e-02 3.43773703e+00] [-2.48004174e-03 9.99986919e-01 -4.47349849e-03 4.25549557e-01] [ 1.91591080e-02 4.52020618e-03 9.99806229e-01 1.31622799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35255784400005 meters Centerline goodness : 0.107271 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:1.32 [[ 9.99807191e-01 2.19741042e-03 -1.95128856e-02 3.43909615e+00] [-2.29478838e-03 9.99985019e-01 -4.96945616e-03 4.27957795e-01] [ 1.95016733e-02 5.01327594e-03 9.99797255e-01 1.31538984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters Centerline goodness : 0.197157 Centerline is valid? [False, False] Translation: X:3.42, Y:0.43, Z:1.31 [[ 0.99975292 -0.00606361 -0.02138538 3.42101385] [ 0.0059833 0.99997481 -0.00381737 0.43467399] [ 0.02140799 0.00368847 0.99976402 1.31313216] [ 0. 0. 0. 1. ]] SLAMing on 274.41255784400005 meters Centerline goodness : 0.297792 Centerline is valid? [False, False] Translation: X:3.42, Y:0.44, Z:1.31 [[ 0.99974968 -0.00626037 -0.02147988 3.42148816] [ 0.00617008 0.99997186 -0.00426674 0.43674277] [ 0.02150599 0.00413314 0.99976018 1.31267039] [ 0. 0. 0. 1. ]] SLAMing on 274.442557844 meters Centerline goodness : 0.259763 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.32 [[ 0.99980697 -0.00619033 -0.01864696 3.45876518] [ 0.00611582 0.9999731 -0.00405008 0.44091761] [ 0.01867153 0.00393526 0.99981793 1.31578138] [ 0. 0. 0. 1. ]] SLAMing on 274.47255784400005 meters Centerline goodness : 0.171419 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99831426e-01 2.16766531e-03 -1.82324351e-02 3.43774084e+00] [-2.25791863e-03 9.99985293e-01 -4.93102387e-03 4.36901703e-01] [ 1.82214782e-02 4.97135998e-03 9.99821616e-01 1.31505870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters Centerline goodness : 0.142851 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99827889e-01 2.06730576e-03 -1.84368595e-02 3.43829553e+00] [-2.16089116e-03 9.99984876e-01 -5.05751837e-03 4.37487606e-01] [ 1.84261253e-02 5.09648797e-03 9.99817235e-01 1.31496884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53255784400005 meters Centerline goodness : 0.198751 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99821025e-01 1.97029288e-03 -1.88158160e-02 3.43956647e+00] [-2.06745261e-03 9.99984624e-01 -5.14567092e-03 4.37568014e-01] [ 1.88053882e-02 5.18365078e-03 9.99809725e-01 1.31441246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters Centerline goodness : 0.292342 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.31 [[ 9.99815916e-01 1.92660586e-03 -1.90898568e-02 3.44040881e+00] [-2.02480789e-03 9.99984811e-01 -5.12620722e-03 4.37211420e-01] [ 1.90796906e-02 5.16391686e-03 9.99804631e-01 1.31410772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.622557844 meters Centerline goodness : 0.192952 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99833307e-01 1.88383910e-03 -1.81606439e-02 3.43717785e+00] [-1.97184915e-03 9.99986394e-01 -4.82950870e-03 4.35598715e-01] [ 1.81512988e-02 4.86451370e-03 9.99823418e-01 1.31567684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65255784400006 meters Centerline goodness : 0.167008 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99833012e-01 1.90586991e-03 -1.81745758e-02 3.43700487e+00] [-1.99297697e-03 9.99986609e-01 -4.77589037e-03 4.35316986e-01] [ 1.81652302e-02 4.81131436e-03 9.99823422e-01 1.31607877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters Centerline goodness : 0.128350 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99827152e-01 1.91119738e-03 -1.84936005e-02 3.43796120e+00] [-2.00107314e-03 9.99986273e-01 -4.84254592e-03 4.35675012e-01] [ 1.84840916e-02 4.87871594e-03 9.99817252e-01 1.31585855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71255784400006 meters Centerline goodness : 0.122288 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99816382e-01 1.95953885e-03 -1.90620871e-02 3.43966441e+00] [-2.05671443e-03 9.99984984e-01 -5.07957754e-03 4.37143263e-01] [ 1.90518472e-02 5.11785011e-03 9.99805398e-01 1.31535923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters Centerline goodness : 0.119670 Centerline is valid? [False, False] Translation: X:3.44, Y:0.44, Z:1.32 [[ 9.99809277e-01 2.91465994e-03 -1.93109975e-02 3.44033880e+00] [-3.00929031e-03 9.99983598e-01 -4.87309021e-03 4.39366739e-01] [ 1.92964773e-02 4.93027319e-03 9.99801650e-01 1.31522898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77255784400006 meters Centerline goodness : 0.165761 Centerline is valid? [False, False] Translation: X:3.46, Y:0.44, Z:1.32 [[ 9.99817729e-01 -2.79552376e-03 -1.88863260e-02 3.45936154e+00] [ 2.75828420e-03 9.99994201e-01 -1.99753485e-03 4.43912614e-01] [ 1.88918007e-02 1.94507691e-03 9.99819642e-01 1.31699437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters Centerline goodness : 0.161220 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99822354e-01 -2.75482785e-03 -1.86459562e-02 3.45850191e+00] [ 2.71493215e-03 9.99993972e-01 -2.16461883e-03 4.45016346e-01] [ 1.86518070e-02 2.11361178e-03 9.99823806e-01 1.31744423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83255784400006 meters Centerline goodness : 0.104185 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99827294e-01 -2.70304980e-03 -1.83868195e-02 3.45759102e+00] [ 2.66237733e-03 9.99993956e-01 -2.23616394e-03 4.45549193e-01] [ 1.83927528e-02 2.18682509e-03 9.99828448e-01 1.31789523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters Centerline goodness : 0.296064 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99832576e-01 -2.68613214e-03 -1.80998644e-02 3.45651244e+00] [ 2.64480533e-03 9.99993842e-01 -2.30681710e-03 4.46007609e-01] [ 1.81059494e-02 2.25856026e-03 9.99833523e-01 1.31845550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89255784400007 meters Centerline goodness : 0.191412 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.32 [[ 9.99842742e-01 -2.53810411e-03 -1.75513325e-02 3.45469671e+00] [ 2.49940552e-03 9.99994398e-01 -2.22646475e-03 4.46024992e-01] [ 1.75568851e-02 2.18224673e-03 9.99843485e-01 1.31918168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters Centerline goodness : 0.173995 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:1.32 [[ 9.99842577e-01 -2.47753109e-03 -1.75693837e-02 3.45486739e+00] [ 2.44012175e-03 9.99994711e-01 -2.15035212e-03 4.45715871e-01] [ 1.75746183e-02 2.10714217e-03 9.99843334e-01 1.31896057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95255784400007 meters Centerline goodness : 0.125270 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99840030e-01 -2.43911865e-03 -1.77190695e-02 3.45543780e+00] [ 2.40262436e-03 9.99994949e-01 -2.08060111e-03 4.45369663e-01] [ 1.77240549e-02 2.03769601e-03 9.99840840e-01 1.31861765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters Centerline goodness : 0.109934 Centerline is valid? [False, False] Translation: X:3.46, Y:0.45, Z:1.32 [[ 9.99837597e-01 -2.38602367e-03 -1.78630127e-02 3.45592548e+00] [ 2.35051485e-03 9.99995220e-01 -2.00857173e-03 4.45106500e-01] [ 1.78677198e-02 1.96625825e-03 9.99838426e-01 1.31838705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01255784400007 meters Centerline goodness : 0.161096 Centerline is valid? [False, False] Translation: X:3.43, Y:0.44, Z:1.32 [[ 9.99805827e-01 6.49350889e-03 -1.86048900e-02 3.43484582e+00] [-6.53828285e-03 9.99975872e-01 -2.34675305e-03 4.39250266e-01] [ 1.85892025e-02 2.46794141e-03 9.99824160e-01 1.31745495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04255784400004 meters Centerline goodness : 0.179184 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99821279e-01 -1.33873111e-03 -1.88578086e-02 3.45383926e+00] [ 1.31261549e-03 9.99998162e-01 -1.39717968e-03 4.43053902e-01] [ 1.88596444e-02 1.37217692e-03 9.99821199e-01 1.31904937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0725578440001 meters Centerline goodness : 0.169088 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99820303e-01 -1.28948362e-03 -1.89129112e-02 3.45403509e+00] [ 1.26559850e-03 9.99998387e-01 -1.27481514e-03 4.42299325e-01] [ 1.89145246e-02 1.25064991e-03 9.99820322e-01 1.31895071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10255784400005 meters Centerline goodness : 0.169088 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99820303e-01 -1.28948362e-03 -1.89129112e-02 3.45403509e+00] [ 1.26559850e-03 9.99998387e-01 -1.27481514e-03 4.42299325e-01] [ 1.89145246e-02 1.25064991e-03 9.99820322e-01 1.31895071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.132557844 meters Centerline goodness : 0.173726 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:1.32 [[ 9.99819548e-01 -1.21463686e-03 -1.89577499e-02 3.45413143e+00] [ 1.19359626e-03 9.99998659e-01 -1.12114349e-03 4.41590094e-01] [ 1.89590863e-02 1.09831328e-03 9.99819657e-01 1.31897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16255784400005 meters Centerline goodness : 0.164972 Centerline is valid? [False, False] Translation: X:3.41, Y:0.44, Z:1.32 [[ 9.99767837e-01 -7.80874644e-04 -2.15328400e-02 3.40892662e+00] [ 7.82957353e-04 9.99999690e-01 8.82919454e-05 4.36823617e-01] [ 2.15327644e-02 -1.05130743e-04 9.99768138e-01 1.31944848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192557844 meters Centerline goodness : 0.178623 Centerline is valid? [False, False] Translation: X:3.43, Y:0.43, Z:1.32 [[ 9.99762414e-01 5.50636629e-03 -2.10901715e-02 3.43197971e+00] [-5.56455335e-03 9.99980869e-01 -2.70127430e-03 4.34029261e-01] [ 2.10748938e-02 2.81798989e-03 9.99773928e-01 1.31886271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22255784400005 meters Centerline goodness : 0.304251 Centerline is valid? [False, False] Translation: X:3.43, Y:0.43, Z:1.32 [[ 9.99756967e-01 5.59348272e-03 -2.13241677e-02 3.43278862e+00] [-5.64414815e-03 9.99981388e-01 -2.31651802e-03 4.31738421e-01] [ 2.13108134e-02 2.43631179e-03 9.99769930e-01 1.31850204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252557844 meters Centerline goodness : 0.111001 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.32 [[ 9.99755982e-01 -2.71192394e-03 -2.19230977e-02 3.45355800e+00] [ 2.67939231e-03 9.99995266e-01 -1.51313516e-03 4.33017996e-01] [ 2.19270974e-02 1.45402534e-03 9.99758515e-01 1.31984951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28255784400005 meters Centerline goodness : 0.267480 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:1.32 [[ 9.99753243e-01 -2.48101054e-03 -2.20748212e-02 3.45403587e+00] [ 2.46170531e-03 9.99996563e-01 -9.01667684e-04 4.30162815e-01] [ 2.20769824e-02 8.47103486e-04 9.99755915e-01 1.31969358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312557844 meters Centerline goodness : 0.107549 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.32 [[ 9.99758919e-01 -2.09699139e-03 -2.18565078e-02 3.45337206e+00] [ 2.10479496e-03 9.99997729e-01 3.34037838e-04 4.24126535e-01] [ 2.18557577e-02 -3.79960775e-04 9.99761062e-01 1.32004851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34255784400005 meters Centerline goodness : 0.237668 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:1.32 [[ 9.99788686e-01 3.83614317e-03 -2.01957446e-02 3.47429212e+00] [-3.89469180e-03 9.99988324e-01 -2.86052391e-03 4.19714678e-01] [ 2.01845354e-02 2.93857564e-03 9.99791953e-01 1.32041184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372557844 meters Centerline goodness : 0.215766 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:1.32 [[ 9.99788225e-01 4.06437885e-03 -2.01738829e-02 3.47389481e+00] [-4.10938947e-03 9.99989158e-01 -2.19017905e-03 4.16326808e-01] [ 2.01647624e-02 2.27261757e-03 9.99794088e-01 1.32101848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40255784400006 meters Centerline goodness : 0.131046 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99785625e-01 4.33819725e-03 -2.02455953e-02 3.47400135e+00] [-4.37039746e-03 9.99989254e-01 -1.54650550e-03 4.13321479e-01] [ 2.02386687e-02 1.63465527e-03 9.99793841e-01 1.32124735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43255784400003 meters Centerline goodness : 0.126942 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99782864e-01 4.65087451e-03 -2.03123995e-02 3.47430170e+00] [-4.67039146e-03 9.99988676e-01 -9.13506298e-04 4.10620027e-01] [ 2.03079209e-02 1.00817480e-03 9.99793265e-01 1.32109508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46255784400006 meters Centerline goodness : 0.151141 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:1.32 [[ 9.99778372e-01 5.17433188e-03 -2.04067051e-02 3.47489735e+00] [-5.17221057e-03 9.99986612e-01 1.56729938e-04 4.05690948e-01] [ 2.04072428e-02 -5.11474262e-05 9.99791749e-01 1.32078755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49255784400003 meters Centerline goodness : 0.130989 Centerline is valid? [False, False] Translation: X:3.48, Y:0.40, Z:1.32 [[ 9.99773254e-01 5.40311125e-03 -2.05972360e-02 3.47541176e+00] [-5.39180979e-03 9.99985282e-01 6.04183104e-04 4.03606566e-01] [ 2.06001973e-02 -4.92989729e-04 9.99787672e-01 1.32085951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52255784400006 meters Centerline goodness : 0.128082 Centerline is valid? [False, False] Translation: X:3.49, Y:0.41, Z:1.32 [[ 9.99799292e-01 -1.99426518e-03 -1.99348772e-02 3.49460088e+00] [ 2.03930392e-03 9.99995414e-01 2.23921999e-03 4.06895821e-01] [ 1.99303202e-02 -2.27942384e-03 9.99798773e-01 1.32239051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55255784400003 meters Centerline goodness : 0.130395 Centerline is valid? [False, False] Translation: X:3.47, Y:0.40, Z:1.32 [[ 9.99798896e-01 7.48755775e-03 -1.86038578e-02 3.47145106e+00] [-7.43012944e-03 9.99967422e-01 3.15410934e-03 3.99047080e-01] [ 1.86268683e-02 -3.01524597e-03 9.99821958e-01 1.32208082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58255784400006 meters Centerline goodness : 0.145341 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99843613e-01 9.51972460e-05 -1.76844531e-02 3.48986040e+00] [-1.99531234e-05 9.99990947e-01 4.25494534e-03 4.02830073e-01] [ 1.76846981e-02 -4.25392706e-03 9.99834564e-01 1.32307870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61255784400004 meters Centerline goodness : 0.130858 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99847235e-01 2.47725091e-04 -1.74770143e-02 3.48932709e+00] [-1.69496999e-04 9.99989962e-01 4.47739510e-03 4.01854065e-01] [ 1.74779480e-02 -4.47374881e-03 9.99837240e-01 1.32312617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64255784400007 meters Centerline goodness : 0.126318 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99849446e-01 3.97499451e-04 -1.73472711e-02 3.48898992e+00] [-3.14543566e-04 9.99988505e-01 4.78453761e-03 4.00416727e-01] [ 1.73489736e-02 -4.77836081e-03 9.99838077e-01 1.32317511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67255784400004 meters Centerline goodness : 0.124351 Centerline is valid? [False, False] Translation: X:3.51, Y:0.40, Z:1.32 [[ 0.99981118 0.00921468 -0.01710856 3.5097033 ] [-0.00914779 0.99995022 0.00398399 0.39557071] [ 0.01714442 -0.00382673 0.9998457 1.32429957] [ 0. 0. 0. 1. ]] SLAMing on 275.70255784400007 meters Centerline goodness : 0.124231 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99822489e-01 8.05313119e-04 -1.88239770e-02 3.49173464e+00] [-7.01101436e-04 9.99984397e-01 5.54205793e-03 3.97697703e-01] [ 1.88281464e-02 -5.52787664e-03 9.99807453e-01 1.32271085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73255784400004 meters Centerline goodness : 0.148678 Centerline is valid? [False, False] Translation: X:3.49, Y:0.40, Z:1.32 [[ 9.99805637e-01 1.20886822e-03 -1.96780825e-02 3.49454561e+00] [-1.08863290e-03 9.99980682e-01 6.11967943e-03 3.95093530e-01] [ 1.96851002e-02 -6.09706778e-03 9.99787639e-01 1.32160882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76255784400007 meters Centerline goodness : 0.125038 Centerline is valid? [False, False] Translation: X:3.45, Y:0.39, Z:1.32 [[ 9.99741103e-01 3.15981182e-04 -2.27514379e-02 3.45023420e+00] [-1.74743607e-04 9.99980705e-01 6.20957317e-03 3.89828767e-01] [ 2.27529610e-02 -6.20398986e-03 9.99721868e-01 1.32193331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79255784400004 meters Centerline goodness : 0.124548 Centerline is valid? [False, False] Translation: X:3.45, Y:0.39, Z:1.32 [[ 9.99740949e-01 3.94310025e-04 -2.27569448e-02 3.45023726e+00] [-2.47948125e-04 9.99979271e-01 6.43399012e-03 3.88683366e-01] [ 2.27590100e-02 -6.42668085e-03 9.99720324e-01 1.32198247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8225578440001 meters Centerline goodness : 0.162277 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 0.9997227 0.00897363 -0.02177161 3.46962183] [-0.00885602 0.9999457 0.00549254 0.38391995] [ 0.02181971 -0.00529821 0.99974788 1.32353391] [ 0. 0. 0. 1. ]] SLAMing on 275.85255784400005 meters Centerline goodness : 0.122677 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99758049e-01 5.14064019e-03 -2.13873007e-02 3.46863052e+00] [-5.10122596e-03 9.99985189e-01 1.89702956e-03 3.82660245e-01] [ 2.13967359e-02 -1.78746912e-03 9.99769466e-01 1.32353220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters Centerline goodness : 0.124345 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99756916e-01 5.19860131e-03 -2.14262355e-02 3.46855042e+00] [-5.15111316e-03 9.99984154e-01 2.27095068e-03 3.80500785e-01] [ 2.14377018e-02 -2.16002969e-03 9.99767853e-01 1.32387924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91255784400005 meters Centerline goodness : 0.121875 Centerline is valid? [False, False] Translation: X:3.47, Y:0.38, Z:1.32 [[ 9.99758247e-01 5.27924571e-03 -2.13442406e-02 3.46818553e+00] [-5.22294178e-03 9.99982735e-01 2.69278442e-03 3.78296612e-01] [ 2.13580880e-02 -2.58065371e-03 9.99768559e-01 1.32422286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters Centerline goodness : 0.122063 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99795145e-01 -2.66247676e-03 -2.00643542e-02 3.48836701e+00] [ 2.74084891e-03 9.99988718e-01 3.87955224e-03 3.80928945e-01] [ 2.00537986e-02 -3.93375086e-03 9.99791164e-01 1.32532560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97255784400005 meters Centerline goodness : 0.122652 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99799614e-01 -2.46728191e-03 -1.98656664e-02 3.48761120e+00] [ 2.55659327e-03 9.99986734e-01 4.47162393e-03 3.78321257e-01] [ 1.98543701e-02 -4.52151630e-03 9.99792658e-01 1.32580823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002557844 meters Centerline goodness : 0.121681 Centerline is valid? [False, False] Translation: X:3.49, Y:0.38, Z:1.33 [[ 9.99800301e-01 -2.36724729e-03 -1.98432378e-02 3.48737503e+00] [ 2.46702218e-03 9.99984431e-01 5.00518559e-03 3.75634320e-01] [ 1.98310803e-02 -5.05313977e-03 9.99790575e-01 1.32624701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03255784400005 meters Centerline goodness : 0.120994 Centerline is valid? [False, False] Translation: X:3.49, Y:0.37, Z:1.33 [[ 9.99790270e-01 -2.32707703e-03 -2.03469844e-02 3.48859454e+00] [ 2.43817119e-03 9.99982248e-01 5.43687997e-03 3.73108522e-01] [ 2.03339712e-02 -5.48534912e-03 9.99778196e-01 1.32644708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062557844 meters Centerline goodness : 0.123853 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99975313 -0.00406601 -0.02184346 3.49542251] [ 0.004157 0.99998286 0.00412183 0.36887905] [ 0.02182633 -0.00421162 0.99975291 1.32306244] [ 0. 0. 0. 1. ]] SLAMing on 276.09255784400005 meters Centerline goodness : 0.124267 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99974949 -0.00390741 -0.02203816 3.49631298] [ 0.00400826 0.99998169 0.00453363 0.3668502 ] [ 0.02202004 -0.00462083 0.99974685 1.32243306] [ 0. 0. 0. 1. ]] SLAMing on 276.122557844 meters Centerline goodness : 0.126212 Centerline is valid? [False, False] Translation: X:3.50, Y:0.37, Z:1.32 [[ 0.99974971 -0.00373512 -0.02205838 3.49638118] [ 0.00384469 0.99998047 0.00492733 0.36502234] [ 0.02203954 -0.00501091 0.99974454 1.32244578] [ 0. 0. 0. 1. ]] SLAMing on 276.15255784400006 meters Centerline goodness : 0.119824 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99761884e-01 4.56621199e-03 -2.13383654e-02 3.51551835e+00] [-4.49527477e-03 9.99984214e-01 3.37118319e-03 3.58147694e-01] [ 2.13534220e-02 -3.27445864e-03 9.99766627e-01 1.32492324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18255784400003 meters Centerline goodness : 0.123773 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99760011e-01 4.62417573e-03 -2.14134779e-02 3.51571935e+00] [-4.55128439e-03 9.99983686e-01 3.45147823e-03 3.57811519e-01] [ 2.14290889e-02 -3.35319109e-03 9.99764747e-01 1.32490189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21255784400006 meters Centerline goodness : 0.127196 Centerline is valid? [False, False] Translation: X:3.52, Y:0.36, Z:1.32 [[ 9.99762286e-01 4.73839351e-03 -2.12819137e-02 3.51553583e+00] [-4.66442974e-03 9.99982913e-01 3.52372503e-03 3.57848934e-01] [ 2.12982469e-02 -3.42361940e-03 9.99767305e-01 1.32461973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters Centerline goodness : 0.119889 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 9.99766493e-01 4.89418261e-03 -2.10476994e-02 3.51498998e+00] [-4.81942086e-03 9.99981902e-01 3.60127442e-03 3.58042568e-01] [ 2.10649438e-02 -3.49899578e-03 9.99771987e-01 1.32454941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27255784400006 meters Centerline goodness : 0.120542 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977391 0.0050033 -0.02066638 3.51382208] [-0.00492845 0.99998112 0.00367096 0.3580476 ] [ 0.02068436 -0.00356827 0.99977969 1.32490804] [ 0. 0. 0. 1. ]] SLAMing on 276.30255784400003 meters Centerline goodness : 0.119503 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978478 0.0050833 -0.02011368 3.51203419] [-0.0050089 0.99998043 0.00374732 0.35749569] [ 0.02013233 -0.00364576 0.99979068 1.32557648] [ 0. 0. 0. 1. ]] SLAMing on 276.33255784400006 meters Centerline goodness : 0.151587 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978566 0.00510484 -0.02006433 3.5118144 ] [-0.00503005 0.99998022 0.00377597 0.3572549 ] [ 0.02008321 -0.00367424 0.99979156 1.32573396] [ 0. 0. 0. 1. ]] SLAMing on 276.36255784400004 meters Centerline goodness : 0.140861 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978686 0.00513028 -0.01999772 3.51163905] [-0.00505596 0.99998013 0.00376506 0.3574438 ] [ 0.02001664 -0.00366315 0.99979294 1.32573156] [ 0. 0. 0. 1. ]] SLAMing on 276.39255784400007 meters Centerline goodness : 0.119415 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.9997867 0.0051379 -0.02000407 3.51172887] [-0.00506437 0.99998024 0.00372478 0.3577592 ] [ 0.02002281 -0.00362268 0.99979296 1.32557419] [ 0. 0. 0. 1. ]] SLAMing on 276.42255784400004 meters Centerline goodness : 0.137140 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99784110e-01 5.13085558e-03 -2.01347242e-02 3.51211356e+00] [-5.05931832e-03 9.99980713e-01 3.60226189e-03 3.58541434e-01] [ 2.01528186e-02 -3.49961622e-03 9.99790786e-01 1.32539315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45255784400007 meters Centerline goodness : 0.149210 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99784971e-01 5.11528075e-03 -2.00959261e-02 3.51199767e+00] [-5.04439946e-03 9.99980882e-01 3.57625636e-03 3.58646178e-01] [ 2.01138354e-02 -3.47411548e-03 9.99791660e-01 1.32540590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters Centerline goodness : 0.117491 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 9.99785798e-01 5.11052108e-03 -2.00559275e-02 3.51176155e+00] [-5.03915211e-03 9.99980797e-01 3.60742356e-03 3.58399199e-01] [ 2.00739782e-02 -3.50558597e-03 9.99792352e-01 1.32562909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51255784400007 meters Centerline goodness : 0.134074 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99978523 0.00508649 -0.0200903 3.51196411] [-0.00501483 0.99998089 0.00361566 0.3581874 ] [ 0.02010831 -0.00351413 0.99979163 1.3254398 ] [ 0. 0. 0. 1. ]] SLAMing on 276.54255784400004 meters Centerline goodness : 0.118375 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99977993 0.00507195 -0.02035579 3.51288566] [-0.00499839 0.9999808 0.00366315 0.35777745] [ 0.02037398 -0.0035606 0.99978609 1.32500226] [ 0. 0. 0. 1. ]] SLAMing on 276.5725578440001 meters Centerline goodness : 0.120708 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977586 0.00507714 -0.02055358 3.51365858] [-0.00500143 0.99998052 0.00373367 0.35736365] [ 0.02057214 -0.00363004 0.99978178 1.32452043] [ 0. 0. 0. 1. ]] SLAMing on 276.60255784400005 meters Centerline goodness : 0.135713 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.32 [[ 0.99977456 0.00507807 -0.02061665 3.51372812] [-0.0049981 0.99997979 0.00392846 0.35629798] [ 0.02063618 -0.00382453 0.99977974 1.32467794] [ 0. 0. 0. 1. ]] SLAMing on 276.632557844 meters Centerline goodness : 0.150705 Centerline is valid? [False, False] Translation: X:3.51, Y:0.36, Z:1.33 [[ 0.99977827 0.00513254 -0.02042204 3.51279425] [-0.00504869 0.99997862 0.00415516 0.35519007] [ 0.02044293 -0.00405113 0.99978281 1.3254909 ] [ 0. 0. 0. 1. ]] SLAMing on 276.66255784400005 meters Centerline goodness : 0.155856 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:1.33 [[ 0.99978128 0.00520176 -0.02025693 3.51194641] [-0.00511292 0.99997709 0.00443497 0.35378573] [ 0.02027954 -0.00433042 0.99978497 1.32625484] [ 0. 0. 0. 1. ]] SLAMing on 276.692557844 meters Centerline goodness : 0.119317 Centerline is valid? [False, False] Translation: X:3.51, Y:0.35, Z:1.33 [[ 0.99977898 0.00529567 -0.02034558 3.51204704] [-0.00520024 0.99997524 0.00474063 0.35226209] [ 0.02037018 -0.00463378 0.99978177 1.32650723] [ 0. 0. 0. 1. ]] SLAMing on 276.72255784400005 meters Centerline goodness : 0.121555 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.32 [[ 9.99700435e-01 3.19467443e-03 -2.42658983e-02 3.47217079e+00] [-3.08584517e-03 9.99985019e-01 4.52098711e-03 3.45159280e-01] [ 2.42799778e-02 -4.44475198e-03 9.99695317e-01 1.32472232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752557844 meters Centerline goodness : 0.158828 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.32 [[ 9.99690883e-01 3.28495092e-03 -2.46444220e-02 3.47344377e+00] [-3.16526768e-03 9.99983016e-01 4.89384132e-03 3.43065933e-01] [ 2.46600795e-02 -4.81432236e-03 9.99684302e-01 1.32419033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78255784400005 meters Centerline goodness : 0.123186 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.32 [[ 9.99686143e-01 3.43404018e-03 -2.48157616e-02 3.47382528e+00] [-3.30262664e-03 9.99980317e-01 5.33461360e-03 3.40822845e-01] [ 2.48335924e-02 -5.25098210e-03 9.99677808e-01 1.32429279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812557844 meters Centerline goodness : 0.119184 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.33 [[ 0.9996465 0.01196589 -0.02374219 3.49327699] [-0.01187098 0.99992099 0.00413453 0.33561387] [ 0.02378979 -0.00385122 0.99970956 1.32587808] [ 0. 0. 0. 1. ]] SLAMing on 276.84255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.872557844 meters Centerline goodness : 0.155832 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.33 [[ 0.9996514 0.01220736 -0.02341077 3.49177573] [-0.0121082 0.99991713 0.00437257 0.33480982] [ 0.02346221 -0.00408759 0.99971637 1.32717125] [ 0. 0. 0. 1. ]] SLAMing on 276.90255784400006 meters Centerline goodness : 0.147862 Centerline is valid? [False, False] Translation: X:3.49, Y:0.34, Z:1.33 [[ 0.9996298 0.01260618 -0.02411115 3.49416001] [-0.01250301 0.99991204 0.00442527 0.33524817] [ 0.02416481 -0.00412217 0.99969949 1.32634466] [ 0. 0. 0. 1. ]] SLAMing on 276.93255784400003 meters Centerline goodness : 0.148457 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967096 0.00568328 -0.02501334 3.51392153] [-0.00555088 0.99997023 0.00535928 0.3434061 ] [ 0.02504305 -0.00521867 0.99967275 1.32729345] [ 0. 0. 0. 1. ]] SLAMing on 276.96255784400006 meters Centerline goodness : 0.066365 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967331 0.00572347 -0.02491011 3.51361109] [-0.00559364 0.99997043 0.00527824 0.34408964] [ 0.02493958 -0.00513718 0.99967576 1.32730524] [ 0. 0. 0. 1. ]] SLAMing on 276.99255784400003 meters Centerline goodness : 0.066365 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967331 0.00572347 -0.02491011 3.51361109] [-0.00559364 0.99997043 0.00527824 0.34408964] [ 0.02493958 -0.00513718 0.99967576 1.32730524] [ 0. 0. 0. 1. ]] SLAMing on 277.02255784400006 meters Centerline goodness : 0.149671 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99967961 0.00580965 -0.02463577 3.51244619] [-0.00567919 0.9999695 0.00536223 0.34407999] [ 0.02466617 -0.0052206 0.99968211 1.32810011] [ 0. 0. 0. 1. ]] SLAMing on 277.05255784400003 meters Centerline goodness : 0.150756 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 0.99968445 0.00588107 -0.02442139 3.51148553] [-0.00574931 0.99996855 0.00546222 0.34386604] [ 0.02445274 -0.00532009 0.99968683 1.32883334] [ 0. 0. 0. 1. ]] SLAMing on 277.08255784400006 meters Centerline goodness : 0.183544 Centerline is valid? [False, False] Translation: X:3.53, Y:0.35, Z:1.33 [[ 9.99738146e-01 -2.24848726e-03 -2.27724176e-02 3.53197491e+00] [ 2.38385100e-03 9.99979642e-01 5.91879576e-03 3.46686818e-01] [ 2.27586457e-02 -5.97153195e-03 9.99723154e-01 1.32940017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11255784400004 meters Centerline goodness : 0.154229 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 9.99739598e-01 2.83812978e-03 -2.26424448e-02 3.50830919e+00] [-2.77425439e-03 9.99992085e-01 2.85196017e-03 3.41546135e-01] [ 2.26503598e-02 -2.78840161e-03 9.99739559e-01 1.32936429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14255784400007 meters Centerline goodness : 0.137716 Centerline is valid? [False, False] Translation: X:3.51, Y:0.34, Z:1.33 [[ 9.99737441e-01 2.92384663e-03 -2.27266191e-02 3.50841973e+00] [-2.85167700e-03 9.99990790e-01 3.20731528e-03 3.39684508e-01] [ 2.27357875e-02 -3.14166419e-03 9.99736572e-01 1.32954791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17255784400004 meters Centerline goodness : 0.186058 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99973586 -0.0047853 -0.02247927 3.5286634 ] [ 0.00488189 0.99997908 0.00424375 0.34263628] [ 0.02245849 -0.00435237 0.9997383 1.33091718] [ 0. 0. 0. 1. ]] SLAMing on 277.20255784400007 meters Centerline goodness : 0.191660 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99972908 -0.00465688 -0.02280531 3.52944964] [ 0.00476556 0.99997754 0.0047136 0.34026327] [ 0.02278285 -0.004821 0.99972881 1.33102304] [ 0. 0. 0. 1. ]] SLAMing on 277.23255784400004 meters Centerline goodness : 0.125788 Centerline is valid? [False, False] Translation: X:3.53, Y:0.34, Z:1.33 [[ 0.99972029 -0.00452161 -0.02321423 3.53054686] [ 0.00464385 0.99997562 0.00521468 0.33768297] [ 0.02319009 -0.00532102 0.99971691 1.33099802] [ 0. 0. 0. 1. ]] SLAMing on 277.26255784400007 meters Centerline goodness : 0.148113 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99971504 -0.00429809 -0.02348131 3.53116731] [ 0.00443931 0.99997236 0.00596494 0.33378263] [ 0.02345502 -0.00606748 0.99970648 1.33123545] [ 0. 0. 0. 1. ]] SLAMing on 277.29255784400004 meters Centerline goodness : 0.125254 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99971795 -0.00417521 -0.02337929 3.53061743] [ 0.00432236 0.99997114 0.00624722 0.33248128] [ 0.02335254 -0.00634651 0.99970715 1.33174993] [ 0. 0. 0. 1. ]] SLAMing on 277.3225578440001 meters Centerline goodness : 0.128747 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99972262 -0.00407689 -0.02319632 3.52989575] [ 0.00422736 0.99997032 0.00644153 0.33170404] [ 0.02316937 -0.0065378 0.99971018 1.33217769] [ 0. 0. 0. 1. ]] SLAMing on 277.35255784400005 meters Centerline goodness : 0.141090 Centerline is valid? [False, False] Translation: X:3.53, Y:0.33, Z:1.33 [[ 0.99972549 -0.00397963 -0.023089 3.52951627] [ 0.00413329 0.9999696 0.00661105 0.33111584] [ 0.02306199 -0.00670467 0.99971155 1.33235788] [ 0. 0. 0. 1. ]] SLAMing on 277.382557844 meters Centerline goodness : 0.138671 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.33 [[ 9.99747462e-01 3.27670103e-03 -2.22323107e-02 3.50993285e+00] [-3.13900458e-03 9.99975694e-01 6.22560237e-03 3.22449139e-01] [ 2.22521697e-02 -6.15424284e-03 9.99733448e-01 1.33085139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41255784400005 meters Centerline goodness : 0.146770 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.33 [[ 9.99770806e-01 6.04763602e-04 -2.14002483e-02 3.50696695e+00] [-5.24912312e-04 9.99992881e-01 3.73674597e-03 3.20489861e-01] [ 2.14023558e-02 -3.72465627e-03 9.99764005e-01 1.33183767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442557844 meters Centerline goodness : 0.146729 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.33 [[ 9.99764513e-01 7.15733993e-03 -2.04863801e-02 3.52924095e+00] [-7.14339271e-03 9.99974201e-01 7.53902941e-04 3.17988328e-01] [ 2.04912475e-02 -6.07383148e-04 9.99789848e-01 1.33156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47255784400005 meters Centerline goodness : 0.118906 Centerline is valid? [False, False] Translation: X:3.48, Y:0.31, Z:1.33 [[ 9.99712682e-01 5.27188016e-03 -2.33828968e-02 3.48365983e+00] [-5.25308270e-03 9.99985828e-01 8.65250078e-04 3.11944397e-01] [ 2.33871269e-02 -7.42169186e-04 9.99726208e-01 1.33248515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502557844 meters Centerline goodness : 0.146726 Centerline is valid? [False, False] Translation: X:3.50, Y:0.32, Z:1.33 [[ 9.99732654e-01 -2.69149343e-03 -2.29646601e-02 3.50352827e+00] [ 2.73490094e-03 9.99994532e-01 1.85898967e-03 3.17848314e-01] [ 2.29595311e-02 -1.92129875e-03 9.99734549e-01 1.33289104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53255784400005 meters Centerline goodness : 0.155161 Centerline is valid? [False, False] Translation: X:3.48, Y:0.31, Z:1.33 [[ 9.99710173e-01 4.84242560e-03 -2.35822210e-02 3.48411078e+00] [-4.82227686e-03 9.99987958e-01 9.11197311e-04 3.11473333e-01] [ 2.35863495e-02 -7.97213222e-04 9.99721485e-01 1.33114679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562557844 meters Centerline goodness : 0.131764 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99700327e-01 4.83133126e-03 -2.39982283e-02 3.48572234e+00] [-4.81349352e-03 9.99988094e-01 8.01004846e-04 3.11783028e-01] [ 2.40018125e-02 -6.85249490e-04 9.99711680e-01 1.33035692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59255784400005 meters Centerline goodness : 0.144001 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99693849e-01 4.79158728e-03 -2.42744429e-02 3.48646557e+00] [-4.77791761e-03 9.99988393e-01 6.21098484e-04 3.12506718e-01] [ 2.42771372e-02 -5.04927046e-04 9.99705139e-01 1.33034091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters Centerline goodness : 0.136790 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99691560e-01 4.87391319e-03 -2.43522011e-02 3.48632621e+00] [-4.85615429e-03 9.99987898e-01 7.88337234e-04 3.11873522e-01] [ 2.43557486e-02 -6.69836034e-04 9.99703130e-01 1.33086538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65255784400006 meters Centerline goodness : 0.148913 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99690141e-01 5.01800842e-03 -2.43811762e-02 3.48644536e+00] [-4.98867971e-03 9.99986758e-01 1.26359976e-03 3.09687258e-01] [ 2.43871941e-02 -1.14157835e-03 9.99701936e-01 1.33074678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters Centerline goodness : 0.148598 Centerline is valid? [False, False] Translation: X:3.49, Y:0.31, Z:1.33 [[ 9.99707881e-01 1.39550836e-03 -2.41289198e-02 3.48628632e+00] [-1.44296494e-03 9.99997059e-01 -1.94949361e-03 3.07415788e-01] [ 2.41261283e-02 1.98374132e-03 9.99706954e-01 1.32998312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71255784400006 meters Centerline goodness : 0.149528 Centerline is valid? [False, False] Translation: X:3.49, Y:0.30, Z:1.33 [[ 9.99700954e-01 1.28245036e-03 -2.44204450e-02 3.48687012e+00] [-1.32037037e-03 9.99997948e-01 -1.53673663e-03 3.04473550e-01] [ 2.44184241e-02 1.56852111e-03 9.99700595e-01 1.33033124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters Centerline goodness : 0.145204 Centerline is valid? [False, False] Translation: X:3.48, Y:0.30, Z:1.33 [[ 9.99717150e-01 -1.42348610e-03 -2.37401087e-02 3.48427218e+00] [ 1.34607506e-03 9.99993727e-01 -3.27643139e-03 2.98397763e-01] [ 2.37446238e-02 3.24354868e-03 9.99712795e-01 1.33079110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77255784400006 meters Centerline goodness : 0.117406 Centerline is valid? [False, False] Translation: X:3.45, Y:0.29, Z:1.33 [[ 9.99742681e-01 1.01319845e-03 -2.26615384e-02 3.45091720e+00] [-1.08889748e-03 9.99993868e-01 -3.32832837e-03 2.88859215e-01] [ 2.26580271e-02 3.35214802e-03 9.99737654e-01 1.33026896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters Centerline goodness : 0.142149 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99763793e-01 -8.45075660e-03 -2.00235824e-02 3.47064441e+00] [ 8.39016231e-03 9.99959971e-01 -3.10822673e-03 2.84201720e-01] [ 2.00490477e-02 2.93949144e-03 9.99794676e-01 1.33130461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83255784400006 meters Centerline goodness : 0.140367 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99773596e-01 -8.59734448e-03 -1.94638657e-02 3.46872508e+00] [ 8.55502245e-03 9.99960859e-01 -2.25661296e-03 2.80594910e-01] [ 1.94825048e-02 2.08958825e-03 9.99808014e-01 1.33149848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86255784400004 meters Centerline goodness : 0.142577 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:1.33 [[ 9.99777665e-01 -8.67398752e-03 -1.92193427e-02 3.46764357e+00] [ 8.64881964e-03 9.99961629e-01 -1.39224281e-03 2.76994383e-01] [ 1.92306815e-02 1.22570864e-03 9.99814322e-01 1.33155349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89255784400007 meters Centerline goodness : 0.147482 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:1.33 [[ 9.99780201e-01 -8.60744220e-03 -1.91170289e-02 3.46709354e+00] [ 8.60010872e-03 9.99962910e-01 -4.65789861e-04 2.73297578e-01] [ 1.91203291e-02 3.01278954e-04 9.99817144e-01 1.33143202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92255784400004 meters Centerline goodness : 0.150638 Centerline is valid? [False, False] Translation: X:3.47, Y:0.27, Z:1.33 [[ 9.99777229e-01 -8.64259893e-03 -1.92561248e-02 3.46709833e+00] [ 8.64826934e-03 9.99962581e-01 2.11217367e-04 2.70136298e-01] [ 1.92535787e-02 -3.77702467e-04 9.99814561e-01 1.33146145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95255784400007 meters Centerline goodness : 0.145991 Centerline is valid? [False, False] Translation: X:3.47, Y:0.26, Z:1.33 [[ 9.99746658e-01 -1.23352946e-02 -1.88271235e-02 3.46549182e+00] [ 1.22958775e-02 9.99921965e-01 -2.20796364e-03 2.63834363e-01] [ 1.88528902e-02 1.97590826e-03 9.99820316e-01 1.33191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98255784400004 meters Centerline goodness : 0.125730 Centerline is valid? [False, False] Translation: X:3.45, Y:0.25, Z:1.33 [[ 9.99863216e-01 -5.22190985e-03 -1.56933627e-02 3.44727061e+00] [ 5.17575844e-03 9.99982165e-01 -2.98000180e-03 2.54951444e-01] [ 1.57086441e-02 2.89836913e-03 9.99872411e-01 1.32958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01255784400007 meters Centerline goodness : 0.169142 Centerline is valid? [False, False] Translation: X:3.46, Y:0.25, Z:1.33 [[ 0.99988452 0.003547 -0.01477735 3.46490923] [-0.00360649 0.99998549 -0.00400121 0.24741525] [ 0.01476295 0.00405404 0.9998828 1.33151391] [ 0. 0. 0. 1. ]] SLAMing on 278.04255784400004 meters Centerline goodness : 0.121214 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 0.99988394 0.00373782 -0.0147693 3.46485832] [-0.00378959 0.99998677 -0.00347894 0.24488116] [ 0.0147561 0.0035345 0.99988488 1.33155563] [ 0. 0. 0. 1. ]] SLAMing on 278.0725578440001 meters Centerline goodness : 0.153531 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99880734e-01 3.90357493e-03 -1.49425399e-02 3.46553251e+00] [-3.94913108e-03 9.99987641e-01 -3.02046410e-03 2.42596152e-01] [ 1.49305646e-02 3.07911391e-03 9.99883792e-01 1.33116852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10255784400005 meters Centerline goodness : 0.142739 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99870197e-01 4.13655719e-03 -1.55717166e-02 3.46794467e+00] [-4.17284583e-03 9.99988652e-01 -2.29865059e-03 2.38786656e-01] [ 1.55620314e-02 2.36333059e-03 9.99876111e-01 1.32975775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.132557844 meters Centerline goodness : 0.143659 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99864723e-01 4.26731218e-03 -1.58847860e-02 3.46896491e+00] [-4.29948074e-03 9.99988774e-01 -1.99151886e-03 2.37341532e-01] [ 1.58761093e-02 2.05954578e-03 9.99871846e-01 1.32937141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16255784400005 meters Centerline goodness : 0.112360 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99862497e-01 4.39149184e-03 -1.59906616e-02 3.46937504e+00] [-4.41927157e-03 9.99988786e-01 -1.70232549e-03 2.35988483e-01] [ 1.59830065e-02 1.77275850e-03 9.99870692e-01 1.32913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192557844 meters Centerline goodness : 0.129081 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99853592e-01 -2.46223755e-03 -1.69331669e-02 3.48847770e+00] [ 2.44938327e-03 9.99996696e-01 -7.79815705e-04 2.38937008e-01] [ 1.69350310e-02 7.38225718e-04 9.99856320e-01 1.33088543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22255784400005 meters Centerline goodness : 0.146915 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99852200e-01 -2.38213435e-03 -1.70265300e-02 3.48874900e+00] [ 2.37279534e-03 9.99997023e-01 -5.68678714e-04 2.37846895e-01] [ 1.70278340e-02 5.28194193e-04 9.99854876e-01 1.33083206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252557844 meters Centerline goodness : 0.140876 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99850094e-01 -2.29150740e-03 -1.71621001e-02 3.48910123e+00] [ 2.28657985e-03 9.99997339e-01 -3.06735166e-04 2.36548402e-01] [ 1.71627573e-02 2.67446673e-04 9.99852673e-01 1.33078113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28255784400005 meters Centerline goodness : 0.115570 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99849610e-01 -2.06183887e-03 -1.72193515e-02 3.48942513e+00] [ 2.06670222e-03 9.99997829e-01 2.64645381e-04 2.34101525e-01] [ 1.72187684e-02 -3.00192853e-04 9.99851701e-01 1.33043202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312557844 meters Centerline goodness : 0.115757 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99848656e-01 -1.95089986e-03 -1.72875506e-02 3.48950118e+00] [ 1.96125031e-03 9.99997908e-01 5.81788559e-04 2.32590551e-01] [ 1.72863794e-02 -6.15605722e-04 9.99850390e-01 1.33060111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34255784400005 meters Centerline goodness : 0.142574 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99846310e-01 -1.87788576e-03 -1.74306898e-02 3.48976633e+00] [ 1.89308692e-03 9.99997842e-01 8.55632558e-04 2.31130957e-01] [ 1.74290454e-02 -8.88498867e-04 9.99847708e-01 1.33075834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372557844 meters Centerline goodness : 0.181792 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99843560e-01 -1.81899499e-03 -1.75939496e-02 3.49002273e+00] [ 1.83841358e-03 9.99997719e-01 1.08759762e-03 2.29905015e-01] [ 1.75919312e-02 -1.11977243e-03 9.99844623e-01 1.33099931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40255784400006 meters Centerline goodness : 0.143491 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99842242e-01 -1.81897075e-03 -1.76686704e-02 3.49010303e+00] [ 1.83954368e-03 9.99997649e-01 1.14819098e-03 2.29553670e-01] [ 1.76665403e-02 -1.18051213e-03 9.99843238e-01 1.33115628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43255784400003 meters Centerline goodness : 0.167858 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99842983e-01 -1.83358121e-03 -1.76251726e-02 3.48996070e+00] [ 1.85347196e-03 9.99997664e-01 1.11227315e-03 2.29748724e-01] [ 1.76230920e-02 -1.14476626e-03 9.99844046e-01 1.33122041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46255784400006 meters Centerline goodness : 0.127626 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99845087e-01 -2.06536985e-03 -1.74796156e-02 3.48967605e+00] [ 2.07558270e-03 9.99997686e-01 5.66150588e-04 2.32287856e-01] [ 1.74784058e-02 -6.02343272e-04 9.99847060e-01 1.33103490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49255784400003 meters Centerline goodness : 0.150553 Centerline is valid? [False, False] Translation: X:3.49, Y:0.23, Z:1.33 [[ 9.99847664e-01 -2.20605122e-03 -1.73142429e-02 3.48920493e+00] [ 2.20962003e-03 9.99997541e-01 1.86992446e-04 2.34149681e-01] [ 1.73137878e-02 -2.25221858e-04 9.99850080e-01 1.33108253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52255784400006 meters Centerline goodness : 0.143614 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:1.33 [[ 9.99852669e-01 6.66863388e-03 -1.58167708e-02 3.50816637e+00] [-6.68782610e-03 9.99976962e-01 -1.16082682e-03 2.32888378e-01] [ 1.58086653e-02 1.26643560e-03 9.99874233e-01 1.33159024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55255784400003 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:1.33 [[ 9.99850271e-01 6.36319887e-03 -1.60917743e-02 3.50855851e+00] [-6.39029050e-03 9.99978249e-01 -1.63271135e-03 2.34829842e-01] [ 1.60810350e-02 1.73529800e-03 9.99869186e-01 1.33198816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58255784400006 meters Centerline goodness : 0.141634 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99878305e-01 -1.78914318e-03 -1.54975387e-02 3.52961884e+00] [ 1.76853456e-03 9.99997534e-01 -1.34340197e-03 2.38560632e-01] [ 1.54999040e-02 1.31583055e-03 9.99879003e-01 1.33302581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61255784400004 meters Centerline goodness : 0.147292 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99884944e-01 -2.01552048e-03 -1.50345032e-02 3.52810107e+00] [ 1.99673699e-03 9.99997207e-01 -1.26426489e-03 2.37610453e-01] [ 1.50370094e-02 1.23409948e-03 9.99886176e-01 1.33361429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64255784400007 meters Centerline goodness : 0.127623 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99894117e-01 -2.29279047e-03 -1.43700570e-02 3.52601872e+00] [ 2.27809799e-03 9.99996866e-01 -1.03872279e-03 2.35821520e-01] [ 1.43723935e-02 1.00587641e-03 9.99896206e-01 1.33433430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67255784400004 meters Centerline goodness : 0.116815 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:1.33 [[ 9.99898274e-01 -2.74652991e-03 -1.39963988e-02 3.52476769e+00] [ 2.73369112e-03 9.99995825e-01 -9.36341518e-04 2.34125374e-01] [ 1.39989120e-02 8.97984436e-04 9.99901607e-01 1.33489250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70255784400007 meters Centerline goodness : 0.154119 Centerline is valid? [False, False] Translation: X:3.52, Y:0.23, Z:1.34 [[ 9.99899095e-01 -3.12177495e-03 -1.38584018e-02 3.52433309e+00] [ 3.11085048e-03 9.99994833e-01 -8.09779259e-04 2.32425046e-01] [ 1.38608582e-02 7.66586132e-04 9.99903640e-01 1.33502937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73255784400004 meters Centerline goodness : 0.153497 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99889937e-01 -4.40468777e-03 -1.41672836e-02 3.52564717e+00] [ 4.38470230e-03 9.99989348e-01 -1.44142982e-03 2.31136480e-01] [ 1.41734818e-02 1.37915185e-03 9.99898600e-01 1.33437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76255784400007 meters Centerline goodness : 0.148717 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99886466e-01 -4.43692706e-03 -1.44002918e-02 3.52636655e+00] [ 4.41772607e-03 9.99989310e-01 -1.36491139e-03 2.30668583e-01] [ 1.44061939e-02 1.30113989e-03 9.99895379e-01 1.33406991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79255784400004 meters Centerline goodness : 0.161893 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99887298e-01 -4.44609930e-03 -1.43395752e-02 3.52639397e+00] [ 4.42586755e-03 9.99989166e-01 -1.44232896e-03 2.31271903e-01] [ 1.43458326e-02 1.37870135e-03 9.99896143e-01 1.33371405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8225578440001 meters Centerline goodness : 0.145713 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99888559e-01 -4.47828751e-03 -1.42412834e-02 3.52624713e+00] [ 4.45597624e-03 9.99988795e-01 -1.59800727e-03 2.32251009e-01] [ 1.42482802e-02 1.53437037e-03 9.99897311e-01 1.33351079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85255784400005 meters Centerline goodness : 0.140325 Centerline is valid? [False, False] Translation: X:3.53, Y:0.23, Z:1.33 [[ 9.99889508e-01 -4.56552987e-03 -1.41466432e-02 3.52609934e+00] [ 4.53995433e-03 9.99988003e-01 -1.83947491e-03 2.33444430e-01] [ 1.41548717e-02 1.77504655e-03 9.99898239e-01 1.33335783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters Centerline goodness : 0.123241 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.33 [[ 9.99909184e-01 4.27625633e-03 -1.27803430e-02 3.54512825e+00] [-4.31657815e-03 9.99985788e-01 -3.12906929e-03 2.30815352e-01] [ 1.27667806e-02 3.18395247e-03 9.99913432e-01 1.33391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91255784400005 meters Centerline goodness : 0.123241 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:1.33 [[ 9.99909184e-01 4.27625633e-03 -1.27803430e-02 3.54512825e+00] [-4.31657815e-03 9.99985788e-01 -3.12906929e-03 2.30815352e-01] [ 1.27667806e-02 3.18395247e-03 9.99913432e-01 1.33391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters Centerline goodness : 0.164025 Centerline is valid? [False, False] Translation: X:3.54, Y:0.23, Z:1.33 [[ 9.99912589e-01 4.09404802e-03 -1.25719052e-02 3.54445089e+00] [-4.13712011e-03 9.99985655e-01 -3.40196555e-03 2.32052591e-01] [ 1.25577971e-02 3.45367966e-03 9.99915183e-01 1.33405972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97255784400005 meters Centerline goodness : 0.164690 Centerline is valid? [False, False] Translation: X:3.54, Y:0.23, Z:1.33 [[ 9.99913618e-01 4.02449460e-03 -1.25123619e-02 3.54412579e+00] [-4.06740787e-03 9.99985927e-01 -3.40611623e-03 2.32178464e-01] [ 1.24984779e-02 3.45671489e-03 9.99915916e-01 1.33422766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters Centerline goodness : 0.167098 Centerline is valid? [False, False] Translation: X:3.52, Y:0.24, Z:1.33 [[ 9.99903714e-01 -5.03647882e-03 -1.29304846e-02 3.52487942e+00] [ 5.01004725e-03 9.99985295e-01 -2.07570800e-03 2.37349464e-01] [ 1.29407488e-02 2.01072580e-03 9.99914243e-01 1.33304387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03255784400005 meters Centerline goodness : 0.120174 Centerline is valid? [False, False] Translation: X:3.53, Y:0.24, Z:1.33 [[ 9.99900108e-01 -5.10669064e-03 -1.31793427e-02 3.52558819e+00] [ 5.08014457e-03 9.99985001e-01 -2.04691088e-03 2.37229825e-01] [ 1.31895979e-02 1.97975344e-03 9.99911054e-01 1.33276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters Centerline goodness : 0.164713 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99827473e-01 -7.33138058e-03 -1.70667678e-02 3.48627431e+00] [ 7.29078178e-03 9.99970445e-01 -2.43982838e-03 2.40510984e-01] [ 1.70841507e-02 2.31497737e-03 9.99851375e-01 1.33088372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.122557844 meters Centerline goodness : 0.124247 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99820464e-01 -7.59211128e-03 -1.73608672e-02 3.48744034e+00] [ 7.54071327e-03 9.99966996e-01 -3.02411578e-03 2.43207029e-01] [ 1.73832536e-02 2.89265952e-03 9.99844715e-01 1.33013569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15255784400006 meters Centerline goodness : 0.181711 Centerline is valid? [False, False] Translation: X:3.49, Y:0.24, Z:1.33 [[ 9.99818297e-01 -7.68182129e-03 -1.74459772e-02 3.48762889e+00] [ 7.62454734e-03 9.99965331e-01 -3.34707685e-03 2.44991593e-01] [ 1.74710840e-02 3.21345100e-03 9.99842205e-01 1.33019675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18255784400003 meters Centerline goodness : 0.124427 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981294 -0.00782285 -0.01768889 3.48829592] [ 0.00775799 0.99996294 -0.00373276 0.24691397] [ 0.01771744 0.00359483 0.99983657 1.33014212] [ 0. 0. 0. 1. ]] SLAMing on 279.21255784400006 meters Centerline goodness : 0.159120 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99979772 -0.0080414 -0.01843489 3.49062667] [ 0.00796273 0.99995889 -0.00433686 0.24976988] [ 0.018469 0.00418919 0.99982066 1.32934235] [ 0. 0. 0. 1. ]] SLAMing on 279.24255784400003 meters Centerline goodness : 0.129903 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99979697 -0.00813723 -0.01843355 3.49083753] [ 0.00805453 0.99995718 -0.004556 0.25075127] [ 0.01846984 0.0044066 0.99981971 1.32892991] [ 0. 0. 0. 1. ]] SLAMing on 279.27255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.30255784400003 meters Centerline goodness : 0.119013 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981236 -0.00816713 -0.01756554 3.48810782] [ 0.00808799 0.99995684 -0.00457148 0.25088425] [ 0.01760212 0.00442855 0.99983526 1.3298335 ] [ 0. 0. 0. 1. ]] SLAMing on 279.33255784400006 meters Centerline goodness : 0.167684 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981802 -0.00814184 -0.01725202 3.48689299] [ 0.00806541 0.99995737 -0.00449531 0.25056971] [ 0.01728788 0.00435534 0.99984107 1.33054212] [ 0. 0. 0. 1. ]] SLAMing on 279.36255784400004 meters Centerline goodness : 0.179767 Centerline is valid? [False, False] Translation: X:3.49, Y:0.25, Z:1.33 [[ 0.99981524 -0.00809437 -0.01743475 3.4871117 ] [ 0.00802185 0.9999589 -0.00422568 0.24941281] [ 0.01746824 0.00408504 0.99983907 1.3308536 ] [ 0. 0. 0. 1. ]] SLAMing on 279.39255784400007 meters Centerline goodness : 0.148305 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99830880e-01 -1.05410382e-04 -1.83902106e-02 3.46645417e+00] [ 1.91877432e-05 9.99989008e-01 -4.68862087e-03 2.44873584e-01] [ 1.83905027e-02 4.68747506e-03 9.99819892e-01 1.32972479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42255784400004 meters Centerline goodness : 0.198054 Centerline is valid? [False, False] Translation: X:3.47, Y:0.24, Z:1.33 [[ 9.99830367e-01 4.51866874e-06 -1.84184061e-02 3.46650645e+00] [-8.61806302e-05 9.99990171e-01 -4.43292358e-03 2.43757631e-01] [ 1.84182050e-02 4.43375892e-03 9.99820540e-01 1.32967322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.48255784400004 meters Centerline goodness : 0.125529 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99842590e-01 3.43040851e-04 -1.77391294e-02 3.46395201e+00] [-4.10361216e-04 9.99992728e-01 -3.79152008e-03 2.40982042e-01] [ 1.77376997e-02 3.79820271e-03 9.99835460e-01 1.33108479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51255784400007 meters Centerline goodness : 0.153669 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99843985e-01 4.05451231e-04 -1.76590008e-02 3.46346836e+00] [-4.70911995e-04 9.99993033e-01 -3.70293430e-03 2.40823440e-01] [ 1.76573764e-02 3.71067242e-03 9.99837211e-01 1.33158498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54255784400004 meters Centerline goodness : 0.163244 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99841415e-01 4.27014645e-04 -1.78034412e-02 3.46379378e+00] [-4.93171303e-04 9.99992990e-01 -3.71172301e-03 2.40966307e-01] [ 1.78017314e-02 3.71991453e-03 9.99834617e-01 1.33167273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5725578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.60255784400005 meters Centerline goodness : 0.127606 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99843920e-01 5.41329278e-04 -1.76590538e-02 3.46324804e+00] [-6.04272201e-04 9.99993483e-01 -3.55920181e-03 2.40457853e-01] [ 1.76570120e-02 3.56931716e-03 9.99837732e-01 1.33195125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632557844 meters Centerline goodness : 0.064975 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99847794e-01 5.71142884e-04 -1.74373801e-02 3.46245708e+00] [-6.31869361e-04 9.99993755e-01 -3.47723507e-03 2.40008452e-01] [ 1.74352852e-02 3.48772396e-03 9.99841911e-01 1.33228018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.692557844 meters Centerline goodness : 0.126469 Centerline is valid? [False, False] Translation: X:3.46, Y:0.24, Z:1.33 [[ 9.99852232e-01 5.37411715e-04 -1.71821373e-02 3.46174345e+00] [-5.96785317e-04 9.99993869e-01 -3.45060167e-03 2.39904686e-01] [ 1.71801776e-02 3.46034583e-03 9.99846422e-01 1.33223770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72255784400005 meters Centerline goodness : 0.167858 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99795010e-01 -6.93743902e-03 -1.90213230e-02 3.44162244e+00] [ 6.92619096e-03 9.99975798e-01 -6.57155273e-04 2.43950044e-01] [ 1.90254216e-02 5.25275247e-04 9.99818862e-01 1.33215509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752557844 meters Centerline goodness : 0.127327 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99790570e-01 -6.97819297e-03 -1.92385424e-02 3.44238268e+00] [ 6.96767110e-03 9.99975537e-01 -6.13892776e-04 2.43707369e-01] [ 1.92423556e-02 4.79716373e-04 9.99814734e-01 1.33170390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.812557844 meters Centerline goodness : 0.131642 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99787230e-01 -8.07134501e-03 -1.89828235e-02 3.44179029e+00] [ 8.04749872e-03 9.99966731e-01 -1.33225859e-03 2.44086777e-01] [ 1.89929450e-02 1.17921087e-03 9.99818922e-01 1.33157462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84255784400005 meters Centerline goodness : 0.147359 Centerline is valid? [False, False] Translation: X:3.44, Y:0.24, Z:1.33 [[ 9.99789030e-01 -8.15815558e-03 -1.88504676e-02 3.44142138e+00] [ 8.13182513e-03 9.99965851e-01 -1.47303680e-03 2.44872178e-01] [ 1.88618411e-02 1.31943733e-03 9.99821229e-01 1.33150716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872557844 meters Centerline goodness : 0.135188 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:1.33 [[ 9.99790409e-01 -8.26005909e-03 -1.87325561e-02 3.44125782e+00] [ 8.22908243e-03 9.99964644e-01 -1.73010868e-03 2.46330205e-01] [ 1.87461846e-02 1.57559432e-03 9.99823033e-01 1.33117174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90255784400006 meters Centerline goodness : 0.142817 Centerline is valid? [False, False] Translation: X:3.44, Y:0.25, Z:1.33 [[ 9.99810739e-01 -5.65057158e-03 -1.86160260e-02 3.44099042e+00] [ 5.66824652e-03 9.99983533e-01 8.96819065e-04 2.48447396e-01] [ 1.86106520e-02 -1.00216956e-03 9.99826305e-01 1.33101809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93255784400003 meters Centerline goodness : 0.187459 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:1.33 [[ 9.99814922e-01 1.83259987e-03 -1.91510687e-02 3.42176873e+00] [-1.84209731e-03 9.99998189e-01 -4.78293133e-04 2.48308449e-01] [ 1.91501575e-02 5.13482743e-04 9.99816487e-01 1.32885351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96255784400006 meters Centerline goodness : 0.156824 Centerline is valid? [False, False] Translation: X:3.42, Y:0.25, Z:1.33 [[ 9.99808156e-01 1.28963918e-03 -1.95445190e-02 3.42350100e+00] [-1.32046133e-03 9.99997905e-01 -1.56419984e-03 2.52887340e-01] [ 1.95424608e-02 1.58970754e-03 9.99807764e-01 1.32760892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99255784400003 meters Centerline goodness : 0.095632 Centerline is valid? [False, False] Translation: X:3.42, Y:0.26, Z:1.33 [[ 9.99802802e-01 1.08976919e-03 -1.98285051e-02 3.42478423e+00] [-1.13205600e-03 9.99997109e-01 -2.12152744e-03 2.55922440e-01] [ 1.98261358e-02 2.14355606e-03 9.99801145e-01 1.32668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02255784400006 meters Centerline goodness : 0.194700 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99800155e-01 8.94652467e-04 -1.99712116e-02 3.42556794e+00] [-9.48775551e-04 9.99995903e-01 -2.70074458e-03 2.59119680e-01] [ 1.99687136e-02 2.71915304e-03 9.99796908e-01 1.32606082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05255784400003 meters Centerline goodness : 0.104380 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99798823e-01 6.80519168e-04 -2.00462020e-02 3.42589869e+00] [-7.46428904e-04 9.99994340e-01 -3.28059269e-03 2.61928780e-01] [ 2.00438561e-02 3.29489577e-03 9.99793672e-01 1.32593116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08255784400006 meters Centerline goodness : 0.177650 Centerline is valid? [False, False] Translation: X:3.43, Y:0.26, Z:1.33 [[ 9.99796996e-01 4.38569894e-04 -2.01438288e-02 3.42610491e+00] [-5.15902565e-04 9.99992517e-01 -3.83398918e-03 2.64325896e-01] [ 2.01419966e-02 3.84360312e-03 9.99789741e-01 1.32610146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11255784400004 meters Centerline goodness : 0.086372 Centerline is valid? [False, False] Translation: X:3.43, Y:0.27, Z:1.33 [[ 9.99792490e-01 5.50148017e-05 -2.03709047e-02 3.42676586e+00] [-1.51062233e-04 9.99988880e-01 -4.71342325e-03 2.68289240e-01] [ 2.03704188e-02 4.71552244e-03 9.99781381e-01 1.32603613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14255784400007 meters Centerline goodness : 0.128229 Centerline is valid? [False, False] Translation: X:3.42, Y:0.27, Z:1.33 [[ 9.99797557e-01 1.98070945e-03 -2.00230453e-02 3.42477502e+00] [-2.04009932e-03 9.99993579e-01 -2.94608422e-03 2.71961425e-01] [ 2.00170814e-02 2.98633680e-03 9.99795178e-01 1.32708858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17255784400004 meters Centerline goodness : 0.128005 Centerline is valid? [False, False] Translation: X:3.42, Y:0.27, Z:1.33 [[ 9.99798833e-01 1.90824050e-03 -1.99662841e-02 3.42493053e+00] [-1.97208679e-03 9.99993004e-01 -3.17850431e-03 2.73319412e-01] [ 1.99600791e-02 3.21724014e-03 9.99795601e-01 1.32661518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20255784400007 meters Centerline goodness : 0.105769 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99777482e-01 -5.56210406e-03 -2.03482165e-02 3.44482280e+00] [ 5.51335555e-03 9.99981798e-01 -2.45103012e-03 2.77531892e-01] [ 2.03614790e-02 2.33829777e-03 9.99789949e-01 1.32833764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23255784400004 meters Centerline goodness : 0.100705 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99776017e-01 -5.78304657e-03 -2.03586114e-02 3.44437559e+00] [ 5.72447030e-03 9.99979310e-01 -2.93432586e-03 2.79373939e-01] [ 2.03751595e-02 2.81712636e-03 9.99788436e-01 1.32916817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26255784400007 meters Centerline goodness : 0.120309 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 9.99781788e-01 -5.82223866e-03 -2.00618693e-02 3.44323518e+00] [ 5.75850325e-03 9.99978193e-01 -3.23324894e-03 2.81121506e-01] [ 2.00802566e-02 3.11701707e-03 9.99793512e-01 1.32993013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29255784400004 meters Centerline goodness : 0.186209 Centerline is valid? [False, False] Translation: X:3.44, Y:0.28, Z:1.33 [[ 0.9997892 -0.00586372 -0.01967686 3.44207429] [ 0.00579301 0.99997656 -0.00364863 0.28357293] [ 0.01969779 0.00353387 0.99979973 1.33039264] [ 0. 0. 0. 1. ]] SLAMing on 280.3225578440001 meters Centerline goodness : 0.187003 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979208 -0.0059799 -0.01949465 3.44158883] [ 0.00590131 0.99997424 -0.00408635 0.2858498 ] [ 0.01951859 0.00397046 0.99980161 1.33054605] [ 0. 0. 0. 1. ]] SLAMing on 280.35255784400005 meters Centerline goodness : 0.172229 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979071 -0.00610292 -0.01952672 3.44187421] [ 0.00601619 0.99997179 -0.00449732 0.28787458] [ 0.01955362 0.0043789 0.99979922 1.33024191] [ 0. 0. 0. 1. ]] SLAMing on 280.382557844 meters Centerline goodness : 0.176203 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 0.99979104 -0.0062566 -0.01946093 3.44186301] [ 0.00616197 0.99996892 -0.00491903 0.28985924] [ 0.0194911 0.00479808 0.99979852 1.33002992] [ 0. 0. 0. 1. ]] SLAMing on 280.41255784400005 meters Centerline goodness : 0.139547 Centerline is valid? [False, False] Translation: X:3.44, Y:0.29, Z:1.33 [[ 9.99824316e-01 -3.92968842e-03 -1.83274451e-02 3.43710336e+00] [ 3.87408311e-03 9.99987788e-01 -3.06850907e-03 2.94443418e-01] [ 1.83392795e-02 2.99696794e-03 9.99827330e-01 1.33222047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442557844 meters Centerline goodness : 0.190375 Centerline is valid? [False, False] Translation: X:3.44, Y:0.30, Z:1.33 [[ 9.99827714e-01 -4.02454604e-03 -1.81202881e-02 3.43638718e+00] [ 3.96345012e-03 9.99986344e-01 -3.40633692e-03 2.96172529e-01] [ 1.81337496e-02 3.33393120e-03 9.99830012e-01 1.33264027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47255784400005 meters Centerline goodness : 0.177987 Centerline is valid? [False, False] Translation: X:3.44, Y:0.30, Z:1.33 [[ 0.99982853 -0.00411812 -0.01805395 3.43608315] [ 0.00405227 0.99998501 -0.00368218 0.29749838] [ 0.01806885 0.00360839 0.99983023 1.33292747] [ 0. 0. 0. 1. ]] SLAMing on 280.502557844 meters Centerline goodness : 0.193472 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981855 0.00368257 -0.01868967 3.41582168] [-0.00377464 0.9999809 -0.00489373 0.29567298] [ 0.01867129 0.00496339 0.99981336 1.33133892] [ 0. 0. 0. 1. ]] SLAMing on 280.53255784400005 meters Centerline goodness : 0.176224 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981835 0.0036259 -0.01871175 3.41613449] [-0.00372007 0.99998058 -0.0050005 0.29627907] [ 0.01869326 0.00506921 0.99981242 1.33086126] [ 0. 0. 0. 1. ]] SLAMing on 280.562557844 meters Centerline goodness : 0.087707 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99981976 0.00356515 -0.01864754 3.41623545] [-0.00366207 0.99997995 -0.00516637 0.29721194] [ 0.01862875 0.00523373 0.99981277 1.33041197] [ 0. 0. 0. 1. ]] SLAMing on 280.59255784400005 meters Centerline goodness : 0.114045 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 0.99982167 0.00349159 -0.01855877 3.41603579] [-0.00359218 0.99997902 -0.00538949 0.29842641] [ 0.01853956 0.0054552 0.99981325 1.33041597] [ 0. 0. 0. 1. ]] SLAMing on 280.622557844 meters Centerline goodness : 0.206879 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 9.99823918e-01 3.39559065e-03 -1.84554408e-02 3.41565747e+00] [-3.50053767e-03 9.99977871e-01 -5.65718164e-03 2.99764189e-01] [ 1.84358229e-02 5.72078948e-03 9.99813679e-01 1.33064542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65255784400006 meters Centerline goodness : 0.113022 Centerline is valid? [False, False] Translation: X:3.42, Y:0.30, Z:1.33 [[ 9.99823711e-01 3.27752989e-03 -1.84879676e-02 3.41562867e+00] [-3.38872937e-03 9.99976338e-01 -5.98657705e-03 3.01428648e-01] [ 1.84679089e-02 6.04817240e-03 9.99811160e-01 1.33089027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters Centerline goodness : 0.102783 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817963e-01 2.95384698e-03 -1.88498187e-02 3.41694629e+00] [-3.08282037e-03 9.99972014e-01 -6.81676942e-03 3.05432314e-01] [ 1.88291554e-02 6.87363912e-03 9.99799088e-01 1.33029404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71255784400006 meters Centerline goodness : 0.106281 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99815526e-01 2.76327930e-03 -1.90073188e-02 3.41774113e+00] [-2.90244479e-03 9.99969157e-01 -7.29799356e-03 3.07731052e-01] [ 1.89865662e-02 7.35181496e-03 9.99792709e-01 1.32966582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74255784400003 meters Centerline goodness : 0.102445 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99815976e-01 2.57460157e-03 -1.90101379e-02 3.41812959e+00] [-2.72233678e-03 9.99966266e-01 -7.74960621e-03 3.09842881e-01] [ 1.89895444e-02 7.79993210e-03 9.99789257e-01 1.32905012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77255784400006 meters Centerline goodness : 0.101713 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817742e-01 2.42096795e-03 -1.89372994e-02 3.41806725e+00] [-2.57559392e-03 9.99963512e-01 -8.14503101e-03 3.11773272e-01] [ 1.89168895e-02 8.19232131e-03 9.99787496e-01 1.32884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80255784400003 meters Centerline goodness : 0.101713 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99817742e-01 2.42096795e-03 -1.89372994e-02 3.41806725e+00] [-2.57559392e-03 9.99963512e-01 -8.14503101e-03 3.11773272e-01] [ 1.89168895e-02 8.19232131e-03 9.99787496e-01 1.32884829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83255784400006 meters Centerline goodness : 0.102492 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:1.33 [[ 9.99818723e-01 2.27720041e-03 -1.89033101e-02 3.41814722e+00] [-2.43819493e-03 9.99960918e-01 -8.49806316e-03 3.13511087e-01] [ 1.88832196e-02 8.54261262e-03 9.99785201e-01 1.32860726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86255784400004 meters Centerline goodness : 0.093306 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.33 [[ 9.99809013e-01 2.03737372e-03 -1.94367208e-02 3.41999286e+00] [-2.21515854e-03 9.99955870e-01 -9.12971189e-03 3.16672932e-01] [ 1.94172624e-02 9.17102365e-03 9.99769405e-01 1.32781791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89255784400007 meters Centerline goodness : 0.189108 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.33 [[ 9.99801931e-01 1.91372875e-03 -1.98100292e-02 3.42145717e+00] [-2.10177850e-03 9.99952891e-01 -9.47619022e-03 3.18505018e-01] [ 1.97909611e-02 9.51594957e-03 9.99758853e-01 1.32702186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92255784400004 meters Centerline goodness : 0.099355 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 0.99976848 -0.00398924 -0.02114417 3.39984688] [ 0.00385805 0.99997308 -0.00624181 0.32649553] [ 0.0211685 0.00615879 0.99975695 1.32699557] [ 0. 0. 0. 1. ]] SLAMing on 280.95255784400007 meters Centerline goodness : 0.099543 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 0.9997684 -0.00420683 -0.02110576 3.39980189] [ 0.0040628 0.9999682 -0.00686227 0.32950325] [ 0.02113396 0.00677494 0.9997537 1.32704576] [ 0. 0. 0. 1. ]] SLAMing on 280.98255784400004 meters Centerline goodness : 0.138038 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 9.99779152e-01 -9.43026284e-04 -2.09942336e-02 3.39909727e+00] [ 8.62840649e-04 9.99992300e-01 -3.82814312e-03 3.30983429e-01] [ 2.09976820e-02 3.80918301e-03 9.99772268e-01 1.32751992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01255784400007 meters Centerline goodness : 0.170486 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.33 [[ 9.99780401e-01 -1.17768957e-03 -2.09227735e-02 3.39892182e+00] [ 1.08257880e-03 9.99989033e-01 -4.55654632e-03 3.34618227e-01] [ 2.09279102e-02 4.53289515e-03 9.99770711e-01 1.32761803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04255784400004 meters Centerline goodness : 0.098083 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.33 [[ 9.99784238e-01 -1.34979520e-03 -2.07281296e-02 3.39821048e+00] [ 1.24162223e-03 9.99985549e-01 -5.23063884e-03 3.38059264e-01] [ 2.07348903e-02 5.20377376e-03 9.99771466e-01 1.32815049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0725578440001 meters Centerline goodness : 0.112414 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.33 [[ 9.99791854e-01 -1.52246021e-03 -2.03452859e-02 3.39688954e+00] [ 1.40284567e-03 9.99981657e-01 -5.89220555e-03 3.41443752e-01] [ 2.03538834e-02 5.86243781e-03 9.99775650e-01 1.32892555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10255784400005 meters Centerline goodness : 0.161427 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99816526e-01 1.37858555e-04 -1.91544900e-02 3.39118387e+00] [-2.32675903e-04 9.99987732e-01 -4.94799651e-03 3.47576768e-01] [ 1.91535728e-02 4.95154547e-03 9.99804292e-01 1.33213954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132557844 meters Centerline goodness : 0.148076 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99816723e-01 -6.25310703e-05 -1.91446314e-02 3.39126844e+00] [-4.30227008e-05 9.99984802e-01 -5.51303044e-03 3.50431047e-01] [ 1.91446852e-02 5.51284368e-03 9.99801525e-01 1.33197687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16255784400005 meters Centerline goodness : 0.107958 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:1.33 [[ 9.99815821e-01 -2.43485326e-04 -1.91902404e-02 3.39163305e+00] [ 1.28338573e-04 9.99981984e-01 -6.00127984e-03 3.52994157e-01] [ 1.91913559e-02 5.99771168e-03 9.99797839e-01 1.33157511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192557844 meters Centerline goodness : 0.102521 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99814767e-01 -4.45900142e-04 -1.92414548e-02 3.39198848e+00] [ 3.20595208e-04 9.99978727e-01 -6.51483138e-03 3.55511231e-01] [ 1.92439504e-02 6.50745590e-03 9.99793640e-01 1.33122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22255784400005 meters Centerline goodness : 0.113806 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99817682e-01 -9.25999519e-04 -1.90721180e-02 3.39132083e+00] [ 7.78949688e-04 9.99969926e-01 -7.71618547e-03 3.61171470e-01] [ 1.90786896e-02 7.69992245e-03 9.99788335e-01 1.33182782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252557844 meters Centerline goodness : 0.102437 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:1.33 [[ 9.99820079e-01 -1.16393241e-03 -1.89328798e-02 3.39064724e+00] [ 1.00622730e-03 9.99964740e-01 -8.33708905e-03 3.64149004e-01] [ 1.89419160e-02 8.31653825e-03 9.99785997e-01 1.33243439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28255784400005 meters Centerline goodness : 0.114677 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99821798e-01 -1.42222200e-03 -1.88241900e-02 3.39016485e+00] [ 1.25340072e-03 9.99958920e-01 -8.97707751e-03 3.67281931e-01] [ 1.88361841e-02 8.95188352e-03 9.99782507e-01 1.33281814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312557844 meters Centerline goodness : 0.147350 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99822785e-01 -1.67987470e-03 -1.87503666e-02 3.39007398e+00] [ 1.50026810e-03 9.99952901e-01 -9.58879101e-03 3.70254579e-01] [ 1.87655914e-02 9.55896116e-03 9.99778215e-01 1.33270894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34255784400005 meters Centerline goodness : 0.109813 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:1.33 [[ 9.99823987e-01 -1.92922990e-03 -1.86620523e-02 3.39012397e+00] [ 1.73966755e-03 9.99946786e-01 -1.01685439e-02 3.73041999e-01] [ 1.86806766e-02 1.01342883e-02 9.99774139e-01 1.33230791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372557844 meters Centerline goodness : 0.166023 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824281e-01 -2.38447741e-03 -1.85935841e-02 3.39039599e+00] [ 2.17710658e-03 9.99935298e-01 -1.11650936e-02 3.77696399e-01] [ 1.86190040e-02 1.11226515e-02 9.99764782e-01 1.33168010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40255784400006 meters Centerline goodness : 0.168345 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824943e-01 -2.60400207e-03 -1.85284470e-02 3.39023879e+00] [ 2.38837793e-03 9.99929283e-01 -1.16500912e-02 3.79937578e-01] [ 1.85574736e-02 1.16037988e-02 9.99760457e-01 1.33168856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43255784400003 meters Centerline goodness : 0.116936 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99825063e-01 -2.80273081e-03 -1.84929203e-02 3.39008225e+00] [ 2.57974240e-03 9.99923816e-01 -1.20708993e-02 3.81881339e-01] [ 1.85253429e-02 1.20210807e-02 9.99756123e-01 1.33182123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46255784400006 meters Centerline goodness : 0.110278 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.33 [[ 9.99824031e-01 -2.97619789e-03 -1.85215699e-02 3.39012377e+00] [ 2.74600129e-03 9.99918830e-01 -1.24416148e-02 3.83593722e-01] [ 1.85570952e-02 1.23885652e-02 9.99751048e-01 1.33187203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49255784400003 meters Centerline goodness : 0.123438 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.33 [[ 9.99816671e-01 -3.36664746e-03 -1.88491609e-02 3.39140039e+00] [ 3.11753536e-03 9.99907621e-01 -1.32299064e-02 3.87188533e-01] [ 1.88919600e-02 1.31687180e-02 9.99734804e-01 1.33117118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52255784400006 meters Centerline goodness : 0.166169 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.33 [[ 9.99811856e-01 -3.54169036e-03 -1.90711607e-02 3.39234495e+00] [ 3.28188763e-03 9.99901627e-01 -1.36369146e-02 3.89132341e-01] [ 1.91175823e-02 1.35717595e-02 9.99725125e-01 1.33058174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55255784400003 meters Centerline goodness : 0.164310 Centerline is valid? [False, False] Translation: X:3.41, Y:0.40, Z:1.33 [[ 0.99974613 -0.01123861 -0.01952874 3.4125729 ] [ 0.01099156 0.99985878 -0.01271244 0.39501405] [ 0.01966886 0.01249456 0.99972847 1.33267525] [ 0. 0. 0. 1. ]] SLAMing on 281.58255784400006 meters Centerline goodness : 0.166055 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99810217e-01 -2.37317060e-03 -1.93364331e-02 3.39014147e+00] [ 2.11663510e-03 9.99909621e-01 -1.32766330e-02 3.95183682e-01] [ 1.93661932e-02 1.32331851e-02 9.99724879e-01 1.33193283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61255784400004 meters Centerline goodness : 0.144998 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99813512e-01 1.27117748e-03 -1.92697945e-02 3.39026756e+00] [-1.46713427e-03 9.99947326e-01 -1.01583926e-02 3.98521927e-01] [ 1.92558664e-02 1.01847695e-02 9.99762713e-01 1.33165255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64255784400007 meters Centerline goodness : 0.162776 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99811667e-01 1.06906946e-03 -1.93774779e-02 3.39070826e+00] [-1.27604083e-03 9.99942240e-01 -1.06718121e-02 4.00894074e-01] [ 1.93649497e-02 1.06945287e-02 9.99755283e-01 1.33144364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67255784400004 meters Centerline goodness : 0.167099 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.33 [[ 9.99809830e-01 8.97270471e-04 -1.94807049e-02 3.39104761e+00] [-1.11447128e-03 9.99937310e-01 -1.11415432e-02 4.03144594e-01] [ 1.94694867e-02 1.11611352e-02 9.99748152e-01 1.33138201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70255784400007 meters Centerline goodness : 0.135970 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:1.33 [[ 9.99807753e-01 7.56297047e-04 -1.95929972e-02 3.39146850e+00] [-9.82568526e-04 9.99932911e-01 -1.15415381e-02 4.05215368e-01] [ 1.95829539e-02 1.15585707e-02 9.99741420e-01 1.33122154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73255784400004 meters Centerline goodness : 0.122693 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:1.33 [[ 9.99806451e-01 6.35619313e-04 -1.96636015e-02 3.39179328e+00] [-8.69536645e-04 9.99928937e-01 -1.18896939e-02 4.07017626e-01] [ 1.96546468e-02 1.19044909e-02 9.99735954e-01 1.33098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76255784400007 meters Centerline goodness : 0.167968 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.33 [[ 0.99978159 -0.00743131 -0.01953332 3.41233278] [ 0.00721614 0.99991276 -0.01106313 0.41167577] [ 0.01961383 0.01091976 0.999748 1.33246759] [ 0. 0. 0. 1. ]] SLAMing on 281.79255784400004 meters Centerline goodness : 0.131044 Centerline is valid? [False, False] Translation: X:3.37, Y:0.42, Z:1.33 [[ 0.99972062 -0.008578 -0.02202492 3.3664838 ] [ 0.00830987 0.9998906 -0.01223689 0.41692915] [ 0.02212748 0.01205045 0.99968253 1.33309859] [ 0. 0. 0. 1. ]] SLAMing on 281.8225578440001 meters Centerline goodness : 0.172877 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.33 [[ 0.99976647 -0.00860622 -0.01982269 3.41083403] [ 0.00836677 0.99989141 -0.01213081 0.41469728] [ 0.01992494 0.01196213 0.99972992 1.3332639 ] [ 0. 0. 0. 1. ]] SLAMing on 281.85255784400005 meters Centerline goodness : 0.317329 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976536 -0.00878316 -0.01980105 3.41076479] [ 0.0085348 0.99988428 -0.01259266 0.41705089] [ 0.01990937 0.01242071 0.99972463 1.3333844 ] [ 0. 0. 0. 1. ]] SLAMing on 281.882557844 meters Centerline goodness : 0.164605 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.9997641 -0.00887622 -0.01982303 3.41090155] [ 0.00862265 0.99988038 -0.01284053 0.41823518] [ 0.01993463 0.01266658 0.99972105 1.33327872] [ 0. 0. 0. 1. ]] SLAMing on 281.91255784400005 meters Centerline goodness : 0.167192 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976331 -0.00897016 -0.0198208 3.41079155] [ 0.0087114 0.99987621 -0.01310275 0.41942233] [ 0.01993588 0.01292698 0.99971769 1.33353935] [ 0. 0. 0. 1. ]] SLAMing on 281.942557844 meters Centerline goodness : 0.165125 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976544 -0.00904167 -0.01968038 3.41020537] [ 0.00877976 0.99987229 -0.01335388 0.42064661] [ 0.01979861 0.01317796 0.99971714 1.33400153] [ 0. 0. 0. 1. ]] SLAMing on 281.97255784400005 meters Centerline goodness : 0.162728 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.33 [[ 0.99976926 -0.00912051 -0.01944864 3.40927694] [ 0.00885603 0.99986772 -0.01364222 0.42204699] [ 0.01957049 0.01346684 0.99971778 1.33468051] [ 0. 0. 0. 1. ]] SLAMing on 282.002557844 meters Centerline goodness : 0.153876 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.34 [[ 0.99979564 -0.00588723 -0.01933939 3.4084229 ] [ 0.00568463 0.99992857 -0.0105141 0.42259432] [ 0.01939991 0.01040201 0.99975769 1.33523891] [ 0. 0. 0. 1. ]] SLAMing on 282.03255784400005 meters Centerline goodness : 0.163837 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.34 [[ 0.9997918 -0.00597774 -0.01950964 3.40900404] [ 0.00576835 0.99992535 -0.01077104 0.42388683] [ 0.01957257 0.01065626 0.99975165 1.33504605] [ 0. 0. 0. 1. ]] SLAMing on 282.062557844 meters Centerline goodness : 0.169908 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.9997894 -0.00606711 -0.01960498 3.40930063] [ 0.00585194 0.99992222 -0.01101405 0.4251283 ] [ 0.01967028 0.010897 0.99974714 1.33500827] [ 0. 0. 0. 1. ]] SLAMing on 282.09255784400005 meters Centerline goodness : 0.161501 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979031 -0.00615153 -0.01953207 3.40908307] [ 0.00593294 0.99991934 -0.0112298 0.42614004] [ 0.01959958 0.01111156 0.99974616 1.33508012] [ 0. 0. 0. 1. ]] SLAMing on 282.122557844 meters Centerline goodness : 0.113759 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979156 -0.00621902 -0.0194461 3.4086637 ] [ 0.00599772 0.99991683 -0.01141741 0.42702561] [ 0.01951549 0.0112984 0.99974571 1.33543338] [ 0. 0. 0. 1. ]] SLAMing on 282.15255784400006 meters Centerline goodness : 0.157155 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979455 -0.00630231 -0.019265 3.40801041] [ 0.00607913 0.99991399 -0.011621 0.4281347 ] [ 0.01933659 0.0115015 0.99974687 1.33575461] [ 0. 0. 0. 1. ]] SLAMing on 282.18255784400003 meters Centerline goodness : 0.160597 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979513 -0.00631982 -0.01922885 3.40807937] [ 0.00609708 0.99991389 -0.01162032 0.4280511 ] [ 0.01930063 0.0115007 0.99974758 1.33545342] [ 0. 0. 0. 1. ]] SLAMing on 282.21255784400006 meters Centerline goodness : 0.157249 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.34 [[ 0.99979533 -0.00632785 -0.01921603 3.40822068] [ 0.00610609 0.99991434 -0.01157718 0.42777474] [ 0.01928764 0.01145748 0.99974832 1.3350964 ] [ 0. 0. 0. 1. ]] SLAMing on 282.24255784400003 meters Centerline goodness : 0.158016 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99979538 -0.00634073 -0.01920899 3.40830146] [ 0.00611901 0.99991424 -0.01157901 0.42776119] [ 0.01928076 0.0114591 0.99974844 1.33490375] [ 0. 0. 0. 1. ]] SLAMing on 282.27255784400006 meters Centerline goodness : 0.159231 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99817443e-01 -3.31447761e-03 -1.88174285e-02 3.40724780e+00] [ 3.15519023e-03 9.99958996e-01 -8.48827339e-03 4.29054966e-01] [ 1.88447911e-02 8.42735122e-03 9.99786904e-01 1.33485086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters Centerline goodness : 0.105807 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99815324e-01 -3.36970564e-03 -1.89199160e-02 3.40782152e+00] [ 3.20669886e-03 9.99957538e-01 -8.63935662e-03 4.29947788e-01] [ 1.89482247e-02 8.57709066e-03 9.99783676e-01 1.33432208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33255784400006 meters Centerline goodness : 0.108915 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99811284e-01 -3.42212013e-03 -1.91228923e-02 3.40859377e+00] [ 3.25516416e-03 9.99956376e-01 -8.75500346e-03 4.30562637e-01] [ 1.91520188e-02 8.69110310e-03 9.99778808e-01 1.33389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters Centerline goodness : 0.155890 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99808138e-01 -3.46034802e-03 -1.92798522e-02 3.40917726e+00] [ 3.29113092e-03 9.99955848e-01 -8.80171496e-03 4.30717863e-01] [ 1.93094579e-02 8.73657373e-03 9.99775383e-01 1.33351426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39255784400007 meters Centerline goodness : 0.163139 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99806468e-01 -3.47869385e-03 -1.93629951e-02 3.40952997e+00] [ 3.30872313e-03 9.99955777e-01 -8.80324660e-03 4.30722555e-01] [ 1.93927626e-02 8.73747610e-03 9.99773763e-01 1.33320265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters Centerline goodness : 0.163418 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 9.99806443e-01 -3.53887199e-03 -1.93533681e-02 3.40980196e+00] [ 3.36724833e-03 9.99954784e-01 -8.89330497e-03 4.31269075e-01] [ 1.93839652e-02 8.82641601e-03 9.99773152e-01 1.33270101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45255784400007 meters Centerline goodness : 0.159204 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980689 -0.00359395 -0.01931991 3.40980481] [ 0.00342097 0.99995384 -0.00897889 0.43164503] [ 0.01935129 0.00891107 0.99977303 1.33253917] [ 0. 0. 0. 1. ]] SLAMing on 282.48255784400004 meters Centerline goodness : 0.112174 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980826 -0.00362042 -0.01924407 3.40956727] [ 0.00344702 0.99995323 -0.00903591 0.43186942] [ 0.01927589 0.00896785 0.99977398 1.33260044] [ 0. 0. 0. 1. ]] SLAMing on 282.51255784400007 meters Centerline goodness : 0.161988 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980786 -0.00368397 -0.01925305 3.40948955] [ 0.00350893 0.99995228 -0.00911732 0.43211758] [ 0.01928572 0.00904801 0.99977307 1.33274207] [ 0. 0. 0. 1. ]] SLAMing on 282.54255784400004 meters Centerline goodness : 0.153868 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980303 -0.00367113 -0.01950431 3.41039636] [ 0.00349537 0.99995305 -0.00903822 0.43162895] [ 0.01953657 0.00896827 0.99976892 1.3322452 ] [ 0. 0. 0. 1. ]] SLAMing on 282.5725578440001 meters Centerline goodness : 0.102092 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99979978 -0.00365535 -0.01967354 3.41087633] [ 0.00347933 0.99995368 -0.00897389 0.43126645] [ 0.01970543 0.00890364 0.99976618 1.33210985] [ 0. 0. 0. 1. ]] SLAMing on 282.60255784400005 meters Centerline goodness : 0.159933 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980116 -0.00362549 -0.01960844 3.41064685] [ 0.00345079 0.99995412 -0.00893568 0.43111626] [ 0.01963994 0.00886624 0.9997678 1.33221254] [ 0. 0. 0. 1. ]] SLAMing on 282.632557844 meters Centerline goodness : 0.114985 Centerline is valid? [False, False] Translation: X:3.41, Y:0.43, Z:1.33 [[ 0.99980557 -0.00360675 -0.01938589 3.40973222] [ 0.00343289 0.99995366 -0.0089945 0.43154922] [ 0.01941743 0.0089262 0.99977162 1.33287771] [ 0. 0. 0. 1. ]] SLAMing on 282.66255784400005 meters Centerline goodness : 0.101892 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840250e-01 -1.60757512e-03 -1.78013956e-02 3.40284283e+00] [ 1.47746405e-03 9.99972119e-01 -7.31977882e-03 4.32886994e-01] [ 1.78126664e-02 7.29230856e-03 9.99814748e-01 1.33643260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692557844 meters Centerline goodness : 0.167773 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840409e-01 -1.69190226e-03 -1.77846623e-02 3.40260823e+00] [ 1.55604627e-03 9.99969528e-01 -7.65000547e-03 4.34401188e-01] [ 1.77970634e-02 7.62111084e-03 9.99812574e-01 1.33686813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72255784400005 meters Centerline goodness : 0.167773 Centerline is valid? [False, False] Translation: X:3.40, Y:0.43, Z:1.34 [[ 9.99840409e-01 -1.69190226e-03 -1.77846623e-02 3.40260823e+00] [ 1.55604627e-03 9.99969528e-01 -7.65000547e-03 4.34401188e-01] [ 1.77970634e-02 7.62111084e-03 9.99812574e-01 1.33686813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752557844 meters Centerline goodness : 0.110172 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99835192e-01 -1.77904056e-03 -1.80672230e-02 3.40339074e+00] [ 1.63473384e-03 9.99966673e-01 -7.99884097e-03 4.36112787e-01] [ 1.80808512e-02 7.96798760e-03 9.99804778e-01 1.33681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78255784400005 meters Centerline goodness : 0.160307 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99830443e-01 -1.81350478e-03 -1.83247677e-02 3.40417787e+00] [ 1.66241394e-03 9.99964528e-01 -8.25704280e-03 4.37606466e-01] [ 1.83390918e-02 8.22517941e-03 9.99797992e-01 1.33659887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812557844 meters Centerline goodness : 0.125557 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99829773e-01 1.61249475e-03 -1.83800172e-02 3.40432781e+00] [-1.69966865e-03 9.99987377e-01 -4.72822895e-03 4.37398394e-01] [ 1.83721609e-02 4.75866401e-03 9.99819893e-01 1.33642420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84255784400005 meters Centerline goodness : 0.112491 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99831713e-01 1.59642390e-03 -1.82755969e-02 3.40400519e+00] [-1.68484610e-03 9.99986946e-01 -4.82389174e-03 4.38029204e-01] [ 1.82676574e-02 4.85387151e-03 9.99821350e-01 1.33655768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872557844 meters Centerline goodness : 0.162251 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:1.34 [[ 9.99837648e-01 1.53867969e-03 -1.79530089e-02 3.40292679e+00] [-1.62688587e-03 9.99986673e-01 -4.89959999e-03 4.38254822e-01] [ 1.79452308e-02 4.92801203e-03 9.99826827e-01 1.33697581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90255784400006 meters Centerline goodness : 0.117109 Centerline is valid? [False, False] Translation: X:3.38, Y:0.44, Z:1.34 [[ 0.99980684 -0.00690148 -0.01840266 3.38294829] [ 0.00682669 0.9999682 -0.0041237 0.44435847] [ 0.01843053 0.00399728 0.99982215 1.33591442] [ 0. 0. 0. 1. ]] SLAMing on 282.93255784400003 meters Centerline goodness : 0.159738 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 0.9998042 -0.00697002 -0.01851951 3.38332871] [ 0.00689187 0.99996709 -0.00428048 0.44507997] [ 0.01854874 0.00415201 0.99981934 1.33577183] [ 0. 0. 0. 1. ]] SLAMing on 282.96255784400006 meters Centerline goodness : 0.141530 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 0.99980129 -0.00705184 -0.01864521 3.38374411] [ 0.00696873 0.99996551 -0.00451876 0.44634608] [ 0.01867643 0.00438793 0.99981595 1.33560239] [ 0. 0. 0. 1. ]] SLAMing on 282.99255784400003 meters Centerline goodness : 0.159522 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99823340e-01 -3.23725001e-03 -1.85151094e-02 3.38339556e+00] [ 3.22012628e-03 9.99994360e-01 -9.54589602e-04 4.47978375e-01] [ 1.85180952e-02 8.94799974e-04 9.99828125e-01 1.33553204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02255784400006 meters Centerline goodness : 0.122489 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99824125e-01 -3.32889845e-03 -1.84563689e-02 3.38319195e+00] [ 3.30574971e-03 9.99993711e-01 -1.28460820e-03 4.49779468e-01] [ 1.84605292e-02 1.22337013e-03 9.99828841e-01 1.33565183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05255784400003 meters Centerline goodness : 0.114660 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99825766e-01 -3.41550253e-03 -1.83513491e-02 3.38282734e+00] [ 3.38850957e-03 9.99993131e-01 -1.50179077e-03 4.50897341e-01] [ 1.83563524e-02 1.43934539e-03 9.99830472e-01 1.33579749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08255784400006 meters Centerline goodness : 0.160010 Centerline is valid? [False, False] Translation: X:3.38, Y:0.45, Z:1.34 [[ 9.99828094e-01 -3.44224062e-03 -1.82190382e-02 3.38258977e+00] [ 3.41519667e-03 9.99993020e-01 -1.51528390e-03 4.50918501e-01] [ 1.82241270e-02 1.45280181e-03 9.99832871e-01 1.33559011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11255784400004 meters Centerline goodness : 0.132401 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.34 [[ 9.99773085e-01 -3.74173467e-03 -2.09708657e-02 3.33826541e+00] [ 3.70600169e-03 9.99991615e-01 -1.74253925e-03 4.53128501e-01] [ 2.09772099e-02 1.66442578e-03 9.99778569e-01 1.33525809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14255784400007 meters Centerline goodness : 0.161785 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99745630e-01 -4.09621072e-03 -2.21787369e-02 3.34205489e+00] [ 4.06571250e-03 9.99990727e-01 -1.42002802e-03 4.50324358e-01] [ 2.21843480e-02 1.32949444e-03 9.99753013e-01 1.33353609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17255784400004 meters Centerline goodness : 0.158405 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99742583e-01 -4.02461619e-03 -2.23286770e-02 3.34266313e+00] [ 4.00216283e-03 9.99991440e-01 -1.05017999e-03 4.48418902e-01] [ 2.23327125e-02 9.60546650e-04 9.99750132e-01 1.33303096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20255784400007 meters Centerline goodness : 0.138700 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99741337e-01 -3.95913185e-03 -2.23960725e-02 3.34294477e+00] [ 3.94241028e-03 9.99991916e-01 -7.90732988e-04 4.47006289e-01] [ 2.23990221e-02 7.02233948e-04 9.99748864e-01 1.33280038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23255784400004 meters Centerline goodness : 0.154104 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99739918e-01 -3.91761008e-03 -2.24665981e-02 3.34304556e+00] [ 3.90277953e-03 9.99992136e-01 -7.03924323e-04 4.46597792e-01] [ 2.24691791e-02 6.16059066e-04 9.99747346e-01 1.33294250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26255784400007 meters Centerline goodness : 0.112201 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99735026e-01 -3.92887660e-03 -2.26813281e-02 3.34352611e+00] [ 3.91065806e-03 9.99991994e-01 -8.47539267e-04 4.47399424e-01] [ 2.26844764e-02 7.58615772e-04 9.99742386e-01 1.33311895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29255784400004 meters Centerline goodness : 0.099298 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99740388e-01 9.23894786e-05 -2.27848356e-02 3.34407286e+00] [-2.92413315e-05 9.99996158e-01 2.77181651e-03 4.49158853e-01] [ 2.27850042e-02 -2.77043066e-03 9.99736549e-01 1.33278173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3225578440001 meters Centerline goodness : 0.164584 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99739314e-01 1.12727823e-04 -2.28318229e-02 3.34425930e+00] [-5.82704074e-05 9.99997152e-01 2.38580534e-03 4.51475779e-01] [ 2.28320268e-02 -2.38385297e-03 9.99736473e-01 1.33278017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35255784400005 meters Centerline goodness : 0.105133 Centerline is valid? [False, False] Translation: X:3.34, Y:0.45, Z:1.33 [[ 9.99742979e-01 2.94196520e-05 -2.26710288e-02 3.34398845e+00] [ 1.40796276e-05 9.99998159e-01 1.91855460e-03 4.53881876e-01] [ 2.26710435e-02 -1.91838069e-03 9.99741138e-01 1.33264535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382557844 meters Centerline goodness : 0.166892 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99747612e-01 -5.88455297e-05 -2.24657449e-02 3.34344389e+00] [ 9.19687914e-05 9.99998910e-01 1.47335929e-03 4.56095050e-01] [ 2.24656337e-02 -1.47505358e-03 9.99746528e-01 1.33278291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41255784400005 meters Centerline goodness : 0.156578 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99749244e-01 -1.48299915e-04 -2.23925489e-02 3.34318833e+00] [ 1.66869065e-04 9.99999644e-01 8.27389473e-04 4.59581135e-01] [ 2.23924182e-02 -8.30918624e-04 9.99748913e-01 1.33301154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442557844 meters Centerline goodness : 0.114787 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99744095e-01 -2.64061379e-04 -2.26202482e-02 3.34390816e+00] [ 2.75463654e-04 9.99999837e-01 5.00959409e-04 4.61252240e-01] [ 2.26201123e-02 -5.07062267e-04 9.99744004e-01 1.33278024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47255784400005 meters Centerline goodness : 0.104940 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99733872e-01 -3.66790882e-04 -2.30662174e-02 3.34545912e+00] [ 3.71521329e-04 9.99999911e-01 2.00796158e-04 4.62769829e-01] [ 2.30661417e-02 -2.09312312e-04 9.99733919e-01 1.33207717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502557844 meters Centerline goodness : 0.297208 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99727416e-01 -5.06186837e-04 -2.33417372e-02 3.34651169e+00] [ 5.04001132e-04 9.99999868e-01 -9.95221602e-05 4.64144910e-01] [ 2.33417845e-02 8.77307701e-05 9.99727540e-01 1.33143940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53255784400005 meters Centerline goodness : 0.132292 Centerline is valid? [False, False] Translation: X:3.35, Y:0.47, Z:1.33 [[ 9.99731577e-01 -6.66384146e-04 -2.31588004e-02 3.34596913e+00] [ 6.56326101e-04 9.99999687e-01 -4.41905844e-04 4.65702517e-01] [ 2.31590876e-02 4.26587501e-04 9.99731701e-01 1.33157428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562557844 meters Centerline goodness : 0.105699 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99740952e-01 -6.98443587e-04 -2.27495306e-02 3.34469498e+00] [ 6.88214879e-04 9.99999659e-01 -4.57449014e-04 4.65765805e-01] [ 2.27498423e-02 4.41673948e-04 9.99741091e-01 1.33199142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59255784400005 meters Centerline goodness : 0.105364 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99747166e-01 -7.57968133e-04 -2.24728592e-02 3.34382025e+00] [ 7.49054316e-04 9.99999637e-01 -4.05063204e-04 4.65285956e-01] [ 2.24731581e-02 3.88127398e-04 9.99747371e-01 1.33221413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622557844 meters Centerline goodness : 0.338236 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99751153e-01 -7.63920739e-04 -2.22945976e-02 3.34333390e+00] [ 7.58057202e-04 9.99999676e-01 -2.71452760e-04 4.64399583e-01] [ 2.22947977e-02 2.54484630e-04 9.99751408e-01 1.33222646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65255784400006 meters Centerline goodness : 0.108459 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99751705e-01 -7.43591415e-04 -2.22704892e-02 3.34343306e+00] [ 7.41472023e-04 9.99999720e-01 -1.03423285e-04 4.63458367e-01] [ 2.22705599e-02 8.68846614e-05 9.99751977e-01 1.33187101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68255784400003 meters Centerline goodness : 0.161012 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99750513e-01 -7.10617853e-04 -2.23250271e-02 3.34363528e+00] [ 7.11487677e-04 9.99999746e-01 3.10188815e-05 4.62775791e-01] [ 2.23249994e-02 -4.68951244e-05 9.99750765e-01 1.33171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71255784400006 meters Centerline goodness : 0.162485 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99746289e-01 -6.67602460e-04 -2.25147057e-02 3.34422066e+00] [ 6.70701856e-04 9.99999767e-01 1.30109946e-04 4.62411234e-01] [ 2.25146136e-02 -1.45177590e-04 9.99746503e-01 1.33154295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74255784400003 meters Centerline goodness : 0.103711 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99747450e-01 -6.92567929e-04 -2.24623380e-02 3.34396554e+00] [ 6.93786134e-04 9.99999758e-01 4.64402413e-05 4.62827640e-01] [ 2.24623005e-02 -6.20125715e-05 9.99747689e-01 1.33178117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77255784400006 meters Centerline goodness : 0.165317 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99753123e-01 -7.46713918e-04 -2.22066335e-02 3.34301794e+00] [ 7.43895490e-04 9.99999714e-01 -1.35178776e-04 4.63683197e-01] [ 2.22067281e-02 1.18625989e-04 9.99753393e-01 1.33229675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80255784400003 meters Centerline goodness : 0.167226 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99759555e-01 -8.30439000e-04 -2.19121498e-02 3.34191847e+00] [ 8.22088337e-04 9.99999586e-01 -3.90102585e-04 4.64876929e-01] [ 2.19124647e-02 3.71995064e-04 9.99759824e-01 1.33294222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83255784400006 meters Centerline goodness : 0.162246 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99761681e-01 -8.65113165e-04 -2.18136112e-02 3.34134365e+00] [ 8.49661774e-04 9.99999382e-01 -7.17595412e-04 4.66875082e-01] [ 2.18142185e-02 6.98890204e-04 9.99761797e-01 1.33357811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters Centerline goodness : 0.117451 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99759978e-01 -8.85215639e-04 -2.18907087e-02 3.34168640e+00] [ 8.67796045e-04 9.99999299e-01 -8.05239533e-04 4.67463951e-01] [ 2.18914062e-02 7.86049587e-04 9.99760045e-01 1.33332964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89255784400007 meters Centerline goodness : 0.111524 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99768594e-01 -9.56065673e-04 -2.14905493e-02 3.34049247e+00] [ 9.38715499e-04 9.99999225e-01 -8.17413110e-04 4.67068628e-01] [ 2.14913142e-02 7.97050444e-04 9.99768717e-01 1.33361439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters Centerline goodness : 0.116987 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99774002e-01 -9.87968138e-04 -2.12360358e-02 3.33950840e+00] [ 9.71670187e-04 9.99999225e-01 -7.77771432e-04 4.66651219e-01] [ 2.12367878e-02 7.56961234e-04 9.99774187e-01 1.33413554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95255784400007 meters Centerline goodness : 0.106798 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99777188e-01 -9.65300367e-04 -2.10865600e-02 3.33891249e+00] [ 9.51085635e-04 9.99999314e-01 -6.84131651e-04 4.66229864e-01] [ 2.10872059e-02 6.63924094e-04 9.99777420e-01 1.33448354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98255784400004 meters Centerline goodness : 0.106190 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99778887e-01 -9.42062811e-04 -2.10069145e-02 3.33868446e+00] [ 9.29847996e-04 9.99999393e-01 -5.91226510e-04 4.65920088e-01] [ 2.10074587e-02 5.71562545e-04 9.99779156e-01 1.33449470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01255784400007 meters Centerline goodness : 0.220708 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99777138e-01 -9.40486113e-04 -2.10900440e-02 3.33915042e+00] [ 9.30139926e-04 9.99999442e-01 -5.00376202e-04 4.65448246e-01] [ 2.10905028e-02 4.80647996e-04 9.99777455e-01 1.33401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04255784400004 meters Centerline goodness : 0.107948 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99771466e-01 -9.70611275e-04 -2.13558755e-02 3.34022491e+00] [ 9.63045503e-04 9.99999470e-01 -3.64552871e-04 4.64533137e-01] [ 2.13562180e-02 3.43902879e-04 9.99771871e-01 1.33322379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0725578440001 meters Centerline goodness : 0.113635 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741686e-01 -1.54756731e-03 -2.26752389e-02 3.34430988e+00] [ 1.54161214e-03 9.99998772e-01 -2.80106607e-04 4.61886866e-01] [ 2.26756445e-02 2.45077828e-04 9.99742844e-01 1.33162337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10255784400005 meters Centerline goodness : 0.107492 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99740185e-01 -1.44438414e-03 -2.27481159e-02 3.34459085e+00] [ 1.44717881e-03 9.99998947e-01 1.06390949e-04 4.59999995e-01] [ 2.27479383e-02 -1.39283898e-04 9.99741222e-01 1.33135330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.132557844 meters Centerline goodness : 0.151518 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741474e-01 -1.35498388e-03 -2.26969138e-02 3.34445970e+00] [ 1.36280857e-03 9.99999017e-01 3.29282619e-04 4.58978274e-01] [ 2.26964453e-02 -3.60129039e-04 9.99742338e-01 1.33134266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16255784400005 meters Centerline goodness : 0.162882 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99741929e-01 -1.33899485e-03 -2.26777834e-02 3.34432302e+00] [ 1.34736791e-03 9.99999030e-01 3.53943066e-04 4.58808259e-01] [ 2.26772875e-02 -3.84407041e-04 9.99742763e-01 1.33151550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192557844 meters Centerline goodness : 0.105490 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:1.33 [[ 9.99740312e-01 -1.29804233e-03 -2.27513364e-02 3.34443291e+00] [ 1.29889005e-03 9.99999156e-01 2.24825859e-05 4.60403476e-01] [ 2.27512880e-02 -5.20282318e-05 9.99741155e-01 1.33177770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22255784400005 meters Centerline goodness : 0.109255 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99734289e-01 -1.19708153e-03 -2.30199639e-02 3.34524507e+00] [ 1.19281898e-03 9.99999269e-01 -1.98897811e-04 4.61956601e-01] [ 2.30201852e-02 1.71386312e-04 9.99734986e-01 1.33166897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252557844 meters Centerline goodness : 0.165232 Centerline is valid? [False, False] Translation: X:3.35, Y:0.46, Z:1.33 [[ 9.99730374e-01 -9.64505482e-04 -2.32001967e-02 3.34585737e+00] [ 9.57179816e-04 9.99999488e-01 -3.26861578e-04 4.63453776e-01] [ 2.32005001e-02 3.04566688e-04 9.99730786e-01 1.33152519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28255784400005 meters Centerline goodness : 0.164004 Centerline is valid? [False, False] Translation: X:3.35, Y:0.47, Z:1.33 [[ 9.99725681e-01 -6.75119139e-04 -2.34116684e-02 3.34637868e+00] [ 6.63872026e-04 9.99999660e-01 -4.88175221e-04 4.65279219e-01] [ 2.34119900e-02 4.72498954e-04 9.99725790e-01 1.33170032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312557844 meters Centerline goodness : 0.170199 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99745269e-01 1.82344472e-03 -2.24960588e-02 3.34214490e+00] [-1.79571373e-03 9.99997603e-01 1.25284369e-03 4.69469566e-01] [ 2.24982893e-02 -1.21212807e-03 9.99746147e-01 1.33407634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34255784400005 meters Centerline goodness : 0.108020 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.33 [[ 9.99752498e-01 1.85140144e-03 -2.21701581e-02 3.34095386e+00] [-1.82998725e-03 9.99997839e-01 9.86151050e-04 4.71029530e-01] [ 2.21719360e-02 -9.45335868e-04 9.99753725e-01 1.33475885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372557844 meters Centerline goodness : 0.109175 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99756563e-01 1.84923973e-03 -2.19862384e-02 3.34038837e+00] [-1.83317679e-03 9.99998038e-01 7.50723280e-04 4.72404712e-01] [ 2.19875835e-02 -7.10235865e-04 9.99757992e-01 1.33500444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40255784400006 meters Centerline goodness : 0.167785 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99758767e-01 1.80692345e-03 -2.18893163e-02 3.34014280e+00] [-1.79653916e-03 9.99998264e-01 4.94055454e-04 4.73739929e-01] [ 2.18901711e-02 -4.54611258e-04 9.99760278e-01 1.33506981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43255784400003 meters Centerline goodness : 0.141111 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:1.34 [[ 9.99760031e-01 1.73465095e-03 -2.18373946e-02 3.34003279e+00] [-1.72954126e-03 9.99998472e-01 2.52872467e-04 4.74875757e-01] [ 2.18377999e-02 -2.15043111e-04 9.99761504e-01 1.33506176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46255784400006 meters Centerline goodness : 0.160314 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99752533e-01 1.71544478e-03 -2.21794830e-02 3.34103792e+00] [-1.71983344e-03 9.99998505e-01 -1.78797281e-04 4.77339619e-01] [ 2.21791432e-02 2.16898051e-04 9.99753989e-01 1.33488116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49255784400003 meters Centerline goodness : 0.170103 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99745757e-01 1.73506830e-03 -2.24813613e-02 3.34186647e+00] [-1.74531930e-03 9.99998382e-01 -4.36364885e-04 4.79116641e-01] [ 2.24805678e-02 4.75491096e-04 9.99747167e-01 1.33481332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52255784400006 meters Centerline goodness : 0.157681 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99739747e-01 1.81963941e-03 -2.27404273e-02 3.34257192e+00] [-1.83602323e-03 9.99998070e-01 -6.99613152e-04 4.81131010e-01] [ 2.27391104e-02 7.41183028e-04 9.99741158e-01 1.33479572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55255784400003 meters Centerline goodness : 0.154437 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:1.33 [[ 9.99743999e-01 1.86949283e-03 -2.25486389e-02 3.34209899e+00] [-1.89369981e-03 9.99997653e-01 -1.05223991e-03 4.83360519e-01] [ 2.25466188e-02 1.09467088e-03 9.99745193e-01 1.33490868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58255784400006 meters Centerline goodness : 0.109441 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99753018e-01 2.44668186e-03 -2.20888171e-02 3.34066982e+00] [-2.47628922e-03 9.99996072e-01 -1.31312470e-03 4.86864781e-01] [ 2.20855175e-02 1.36749868e-03 9.99755150e-01 1.33552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61255784400004 meters Centerline goodness : 0.109441 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99753018e-01 2.44668186e-03 -2.20888171e-02 3.34066982e+00] [-2.47628922e-03 9.99996072e-01 -1.31312470e-03 4.86864781e-01] [ 2.20855175e-02 1.36749868e-03 9.99755150e-01 1.33552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64255784400007 meters Centerline goodness : 0.172299 Centerline is valid? [False, False] Translation: X:3.34, Y:0.49, Z:1.34 [[ 9.99748984e-01 2.48993256e-03 -2.22658954e-02 3.34123890e+00] [-2.52918259e-03 9.99995297e-01 -1.73480026e-03 4.89459107e-01] [ 2.22614711e-02 1.79067931e-03 9.99750579e-01 1.33535495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67255784400004 meters Centerline goodness : 0.211964 Centerline is valid? [False, False] Translation: X:3.32, Y:0.50, Z:1.33 [[ 9.99753736e-01 -4.02135395e-03 -2.18241932e-02 3.32420479e+00] [ 4.02658138e-03 9.99991874e-01 1.95586068e-04 4.96905605e-01] [ 2.18232293e-02 -2.83414792e-04 9.99761805e-01 1.33204630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70255784400007 meters Centerline goodness : 0.142820 Centerline is valid? [False, False] Translation: X:3.35, Y:0.49, Z:1.33 [[ 9.99751580e-01 4.50421101e-03 -2.18286767e-02 3.34516768e+00] [-4.52089802e-03 9.99989525e-01 -7.15165028e-04 4.94608124e-01] [ 2.18252268e-02 8.13672587e-04 9.99761470e-01 1.33316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73255784400004 meters Centerline goodness : 0.174451 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99747649e-01 4.49159007e-03 -2.20105556e-02 3.34571599e+00] [-4.51374410e-03 9.99989355e-01 -9.56940387e-04 4.96132111e-01] [ 2.20060231e-02 1.05604892e-03 9.99757280e-01 1.33303387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76255784400007 meters Centerline goodness : 0.115905 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99744053e-01 4.45889150e-03 -2.21798527e-02 3.34613359e+00] [-4.48634234e-03 9.99989231e-01 -1.18804187e-03 4.97370163e-01] [ 2.21743164e-02 1.28724420e-03 9.99753291e-01 1.33304903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79255784400004 meters Centerline goodness : 0.162838 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99738655e-01 4.37216432e-03 -2.24389288e-02 3.34690480e+00] [-4.41120971e-03 9.99988841e-01 -1.69087093e-03 4.99856428e-01] [ 2.24312857e-02 1.78941185e-03 9.99746786e-01 1.33284122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8225578440001 meters Centerline goodness : 0.110487 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99737462e-01 4.28032063e-03 -2.25096810e-02 3.34731668e+00] [-4.32630863e-03 9.99988652e-01 -1.99473089e-03 5.01343699e-01] [ 2.25008875e-02 2.09159103e-03 9.99744635e-01 1.33245190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85255784400005 meters Centerline goodness : 0.157133 Centerline is valid? [False, False] Translation: X:3.35, Y:0.50, Z:1.33 [[ 9.99735182e-01 4.23914665e-03 -2.26184830e-02 3.34782102e+00] [-4.29197959e-03 9.99988172e-01 -2.28779618e-03 5.03028539e-01] [ 2.26085172e-02 2.38426840e-03 9.99741552e-01 1.33207277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters Centerline goodness : 0.115957 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 9.99738670e-01 4.69356752e-03 -2.23732424e-02 3.34720240e+00] [-4.75075230e-03 9.99985581e-01 -2.50347917e-03 5.06022633e-01] [ 2.23611696e-02 2.60911467e-03 9.99746553e-01 1.33208829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91255784400005 meters Centerline goodness : 0.132382 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 9.99744898e-01 4.64586611e-03 -2.21032756e-02 3.34629579e+00] [-4.71196197e-03 9.99984579e-01 -2.93917860e-03 5.08352055e-01] [ 2.20892797e-02 3.04257860e-03 9.99751372e-01 1.33248506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters Centerline goodness : 0.110722 Centerline is valid? [False, False] Translation: X:3.35, Y:0.51, Z:1.33 [[ 0.99975066 0.00460747 -0.02184915 3.34544312] [-0.004682 0.99998339 -0.00336151 0.51067184] [ 0.0218333 0.00346297 0.99975563 1.33279452] [ 0. 0. 0. 1. ]] SLAMing on 284.97255784400005 meters Centerline goodness : 0.227506 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99742813e-01 -1.89664867e-03 -2.25989071e-02 3.36214657e+00] [ 1.85216061e-03 9.99996306e-01 -1.98936222e-03 5.18215385e-01] [ 2.26025967e-02 1.94699378e-03 9.99742633e-01 1.33541657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters Centerline goodness : 0.222438 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.33 [[ 9.99741605e-01 -1.53881959e-03 -2.26794187e-02 3.36263611e+00] [ 1.48747534e-03 9.99996293e-01 -2.28060994e-03 5.21136458e-01] [ 2.26828440e-02 2.24628557e-03 9.99740188e-01 1.33488457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03255784400005 meters Centerline goodness : 0.199750 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.33 [[ 9.99742708e-01 -1.63103101e-03 -2.26242820e-02 3.36247288e+00] [ 1.57388882e-03 9.99995527e-01 -2.54327818e-03 5.22230462e-01] [ 2.26283290e-02 2.50701571e-03 9.99740803e-01 1.33484522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters Centerline goodness : 0.097329 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99743799e-01 -1.70486244e-03 -2.25705567e-02 3.36218261e+00] [ 1.64565541e-03 9.99995157e-01 -2.64151192e-03 5.22379951e-01] [ 2.25749508e-02 2.60369180e-03 9.99741763e-01 1.33502498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09255784400005 meters Centerline goodness : 0.112725 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99744224e-01 -1.67340175e-03 -2.25540938e-02 3.36188028e+00] [ 1.61696781e-03 9.99995517e-01 -2.52016410e-03 5.21709267e-01] [ 2.25582099e-02 2.48305025e-03 9.99742448e-01 1.33541460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters Centerline goodness : 0.109266 Centerline is valid? [False, False] Translation: X:3.36, Y:0.52, Z:1.34 [[ 9.99739388e-01 -1.55180432e-03 -2.27760609e-02 3.36241547e+00] [ 1.50241473e-03 9.99996483e-01 -2.18543842e-03 5.20168292e-01] [ 2.27793722e-02 2.15064978e-03 9.99738203e-01 1.33548097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15255784400006 meters Centerline goodness : 0.206297 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.34 [[ 9.99678000e-01 -1.64775400e-03 -2.53215456e-02 3.31697560e+00] [ 1.58060698e-03 9.99995182e-01 -2.67156049e-03 5.19186417e-01] [ 2.53258256e-02 2.63067684e-03 9.99675788e-01 1.33570080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters Centerline goodness : 0.115826 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.34 [[ 9.99681271e-01 -1.61995571e-03 -2.51938908e-02 3.31649509e+00] [ 1.55482738e-03 9.99995400e-01 -2.60445867e-03 5.18609784e-01] [ 2.51979940e-02 2.56445640e-03 9.99679191e-01 1.33596504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21255784400006 meters Centerline goodness : 0.117932 Centerline is valid? [False, False] Translation: X:3.30, Y:0.51, Z:1.33 [[ 0.99966782 0.00689613 -0.02483324 3.29510537] [-0.00698676 0.99996924 -0.00356499 0.5142767 ] [ 0.02480789 0.00373731 0.99968525 1.33465636] [ 0. 0. 0. 1. ]] SLAMing on 285.24255784400003 meters Centerline goodness : 0.120069 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:1.33 [[ 9.99737289e-01 1.12242085e-03 -2.28930793e-02 3.31597784e+00] [-1.13758178e-03 9.99999142e-01 -6.49237202e-04 5.16880764e-01] [ 2.28923310e-02 6.75109390e-04 9.99737708e-01 1.33434121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 285.30255784400003 meters Centerline goodness : 0.220189 Centerline is valid? [False, False] Translation: X:3.29, Y:0.52, Z:1.33 [[ 9.99668725e-01 1.23053712e-02 -2.26057056e-02 3.29176943e+00] [-1.23050753e-02 9.99924278e-01 1.52194218e-04 5.17801771e-01] [ 2.26058667e-02 1.26021110e-04 9.99744447e-01 1.33459792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33255784400006 meters Centerline goodness : 0.113274 Centerline is valid? [False, False] Translation: X:3.29, Y:0.52, Z:1.33 [[ 9.99669268e-01 1.23320941e-02 -2.25670887e-02 3.29163328e+00] [-1.23422664e-02 9.99923783e-01 -3.11523074e-04 5.20241141e-01] [ 2.25615270e-02 5.89949063e-04 9.99745282e-01 1.33446214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36255784400004 meters Centerline goodness : 0.141675 Centerline is valid? [False, False] Translation: X:3.27, Y:0.53, Z:1.33 [[ 9.99738943e-01 4.20398920e-03 -2.24582522e-02 3.27252114e+00] [-4.19553065e-03 9.99991109e-01 4.23739289e-04 5.27586866e-01] [ 2.24598339e-02 -3.29404384e-04 9.99747692e-01 1.33232985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39255784400007 meters Centerline goodness : 0.155493 Centerline is valid? [False, False] Translation: X:3.27, Y:0.53, Z:1.33 [[ 9.99726483e-01 4.65663801e-03 -2.29188824e-02 3.27413556e+00] [-4.65704863e-03 9.99989155e-01 3.54581409e-05 5.31714939e-01] [ 2.29187989e-02 7.12859073e-05 9.99737327e-01 1.33136644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42255784400004 meters Centerline goodness : 0.158467 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99727391e-01 -2.41315990e-03 -2.32232563e-02 3.29326306e+00] [ 2.45013869e-03 9.99995775e-01 1.56399476e-03 5.39367906e-01] [ 2.32193840e-02 -1.62046860e-03 9.99729080e-01 1.33327403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45255784400007 meters Centerline goodness : 0.154351 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99725212e-01 -2.56688461e-03 -2.33004686e-02 3.29351337e+00] [ 2.59413279e-03 9.99995986e-01 1.13927507e-03 5.41450045e-01] [ 2.32974506e-02 -1.19940652e-03 9.99727858e-01 1.33310233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48255784400004 meters Centerline goodness : 0.093955 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99720042e-01 -2.72016177e-03 -2.35039892e-02 3.29418339e+00] [ 2.73893722e-03 9.99995955e-01 7.66663973e-04 5.43178117e-01] [ 2.35018087e-02 -8.30825291e-04 9.99723449e-01 1.33278484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51255784400007 meters Centerline goodness : 0.137642 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99710004e-01 -2.92398847e-03 -2.39031123e-02 3.29580934e+00] [ 2.93262948e-03 9.99995647e-01 3.26454949e-04 5.45054563e-01] [ 2.39020537e-02 -3.96459250e-04 9.99714226e-01 1.33166717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54255784400004 meters Centerline goodness : 0.109171 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99707167e-01 -2.99173380e-03 -2.40131055e-02 3.29630949e+00] [ 2.99646443e-03 9.99995498e-01 1.61022029e-04 5.45849363e-01] [ 2.40125157e-02 -2.32929293e-04 9.99711631e-01 1.33127489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5725578440001 meters Centerline goodness : 0.177976 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705486e-01 -3.03943837e-03 -2.40770164e-02 3.29662711e+00] [ 3.04116935e-03 9.99995375e-01 3.52770556e-05 5.46556552e-01] [ 2.40767978e-02 -1.08488950e-04 9.99710106e-01 1.33099033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60255784400005 meters Centerline goodness : 0.142126 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705206e-01 -3.05896888e-03 -2.40861669e-02 3.29673692e+00] [ 3.05949958e-03 9.99995320e-01 -1.48179504e-05 5.46912275e-01] [ 2.40860995e-02 -5.88780353e-05 9.99709886e-01 1.33083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.632557844 meters Centerline goodness : 0.111382 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99705459e-01 -3.09285415e-03 -2.40713467e-02 3.29676709e+00] [ 3.09158486e-03 9.99995217e-01 -8.99448924e-05 5.47290243e-01] [ 2.40715098e-02 1.54997890e-05 9.99710239e-01 1.33073152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66255784400005 meters Centerline goodness : 0.195827 Centerline is valid? [False, False] Translation: X:3.32, Y:0.54, Z:1.33 [[ 9.99704300e-01 4.59242264e-03 -2.38793250e-02 3.31603099e+00] [-4.62671579e-03 9.99988343e-01 -1.38105082e-03 5.44197429e-01] [ 2.38727042e-02 1.49112529e-03 9.99713894e-01 1.33261756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692557844 meters Centerline goodness : 0.143507 Centerline is valid? [False, False] Translation: X:3.32, Y:0.55, Z:1.33 [[ 9.99701474e-01 4.47124063e-03 -2.40202187e-02 3.31635884e+00] [-4.51384360e-03 9.99988334e-01 -1.71970288e-03 5.45860866e-01] [ 2.40122493e-02 1.82761302e-03 9.99709994e-01 1.33260811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72255784400005 meters Centerline goodness : 0.114533 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99709863e-01 -3.70997217e-03 -2.37997175e-02 3.29604291e+00] [ 3.68889087e-03 9.99992764e-01 -9.29622018e-04 5.50760803e-01] [ 2.38029942e-02 8.41557740e-04 9.99716314e-01 1.33091922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752557844 meters Centerline goodness : 0.140359 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99708712e-01 -3.72396051e-03 -2.38458145e-02 3.29610139e+00] [ 3.70077187e-03 9.99992635e-01 -1.01649702e-03 5.51269798e-01] [ 2.38494243e-02 9.27953010e-04 9.99715131e-01 1.33098476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78255784400005 meters Centerline goodness : 0.132923 Centerline is valid? [False, False] Translation: X:3.30, Y:0.55, Z:1.33 [[ 9.99706806e-01 -3.67462670e-03 -2.39332051e-02 3.29643556e+00] [ 3.65189951e-03 9.99992839e-01 -9.93247415e-04 5.51446746e-01] [ 2.39366835e-02 9.05554542e-04 9.99713066e-01 1.33079523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812557844 meters Centerline goodness : 0.104263 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99693574e-01 4.74857025e-03 -2.42942053e-02 3.27634698e+00] [-4.80054261e-03 9.99986311e-01 -2.08141611e-03 5.45915449e-01] [ 2.42839890e-02 2.19740367e-03 9.99702685e-01 1.32933013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84255784400005 meters Centerline goodness : 0.150463 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99695437e-01 4.75805225e-03 -2.42155831e-02 3.27600092e+00] [-4.80829440e-03 9.99986406e-01 -2.01698260e-03 5.45449815e-01] [ 2.42056570e-02 2.13280395e-03 9.99704725e-01 1.32955389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872557844 meters Centerline goodness : 0.110936 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99698722e-01 4.75322057e-03 -2.40805323e-02 3.27536725e+00] [-4.80172633e-03 9.99986557e-01 -1.95689186e-03 5.44915162e-01] [ 2.40709070e-02 2.07193042e-03 9.99708107e-01 1.33002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90255784400006 meters Centerline goodness : 0.098261 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99699545e-01 4.75756832e-03 -2.40454757e-02 3.27506040e+00] [-4.80545181e-03 9.99986584e-01 -1.93398114e-03 5.44726956e-01] [ 2.40359520e-02 2.04894944e-03 9.99708995e-01 1.33037987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93255784400003 meters Centerline goodness : 0.185334 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99700416e-01 4.77266482e-03 -2.40062609e-02 3.27512346e+00] [-4.82138210e-03 9.99986433e-01 -1.97188653e-03 5.44903622e-01] [ 2.39965241e-02 2.08703914e-03 9.99709863e-01 1.33008987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96255784400006 meters Centerline goodness : 0.155953 Centerline is valid? [False, False] Translation: X:3.28, Y:0.55, Z:1.33 [[ 9.99701709e-01 4.76554868e-03 -2.39537444e-02 3.27509053e+00] [-4.81526199e-03 9.99986370e-01 -2.01813607e-03 5.45040773e-01] [ 2.39438004e-02 2.13287763e-03 9.99711031e-01 1.32988482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99255784400003 meters Centerline goodness : 0.174540 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99713234e-01 -2.97370387e-03 -2.37614737e-02 3.29282354e+00] [ 2.95991014e-03 9.99995430e-01 -6.15657889e-04 5.49399222e-01] [ 2.37631959e-02 5.45149512e-04 9.99717467e-01 1.33187756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02255784400006 meters Centerline goodness : 0.115342 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99695063e-01 5.59502826e-03 -2.40515526e-02 3.27238549e+00] [-5.63370905e-03 9.99982944e-01 -1.54078586e-03 5.43791024e-01] [ 2.40425216e-02 1.67581546e-03 9.99709532e-01 1.33044120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05255784400003 meters Centerline goodness : 0.091865 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99689400e-01 5.73877081e-03 -2.42521983e-02 3.27288647e+00] [-5.77301208e-03 9.99982435e-01 -1.34210433e-03 5.42957647e-01] [ 2.42440702e-02 1.48169571e-03 9.99704971e-01 1.33039860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08255784400006 meters Centerline goodness : 0.104173 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99685202e-01 5.82847033e-03 -2.44034039e-02 3.27330980e+00] [-5.85811477e-03 9.99982187e-01 -1.14345236e-03 5.41956193e-01] [ 2.43963046e-02 1.28605034e-03 9.99701539e-01 1.33031091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11255784400004 meters Centerline goodness : 0.118563 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99684324e-01 5.93488854e-03 -2.44137002e-02 3.27338321e+00] [-5.95799617e-03 9.99981869e-01 -8.73871322e-04 5.40553606e-01] [ 2.44080712e-02 1.01905219e-03 9.99701559e-01 1.33020368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14255784400007 meters Centerline goodness : 0.090690 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99686860e-01 6.06566177e-03 -2.42773393e-02 3.27283805e+00] [-6.08069847e-03 9.99981364e-01 -5.45596816e-04 5.38950068e-01] [ 2.42735774e-02 6.93049148e-04 9.99705113e-01 1.33054862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.20255784400007 meters Centerline goodness : 0.118248 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99697479e-01 6.42588443e-03 -2.37414835e-02 3.27114851e+00] [-6.42312126e-03 9.99979353e-01 1.92642541e-04 5.35930787e-01] [ 2.37422312e-02 -4.00898353e-05 9.99718113e-01 1.33113422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23255784400004 meters Centerline goodness : 0.125394 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99696898e-01 6.44190732e-03 -2.37616041e-02 3.27134494e+00] [-6.43782839e-03 9.99979246e-01 2.48154501e-04 5.35568073e-01] [ 2.37627095e-02 -9.51061555e-05 9.99717622e-01 1.33088541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26255784400007 meters Centerline goodness : 0.168652 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99719397e-01 -1.65476650e-03 -2.36302556e-02 3.29136815e+00] [ 1.68035122e-03 9.99998023e-01 1.06289504e-03 5.40616029e-01] [ 2.36284500e-02 -1.10230392e-03 9.99720201e-01 1.33173735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29255784400004 meters Centerline goodness : 0.328141 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99712142e-01 -1.56336512e-03 -2.39413524e-02 3.29230678e+00] [ 1.58578458e-03 9.99998322e-01 9.17475389e-04 5.41828639e-01] [ 2.39398779e-02 -9.55177114e-04 9.99712944e-01 1.33138400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3225578440001 meters Centerline goodness : 0.149835 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99710894e-01 -1.56272274e-03 -2.39934765e-02 3.29249339e+00] [ 1.58236795e-03 9.99998428e-01 7.99808875e-04 5.42588497e-01] [ 2.39921889e-02 -8.37544154e-04 9.99711795e-01 1.33123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35255784400005 meters Centerline goodness : 0.174180 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99711385e-01 -1.61484165e-03 -2.39695560e-02 3.29244679e+00] [ 1.63157737e-03 9.99998439e-01 6.78666564e-04 5.43069472e-01] [ 2.39684226e-02 -7.17578876e-04 9.99712459e-01 1.33117393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters Centerline goodness : 0.108735 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99687485e-01 6.10532557e-03 -2.42416278e-02 3.27323496e+00] [-6.13079462e-03 9.99980730e-01 -9.76450123e-04 5.36984813e-01] [ 2.42351991e-02 1.12476541e-03 9.99705652e-01 1.32952315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41255784400005 meters Centerline goodness : 0.158533 Centerline is valid? [False, False] Translation: X:3.27, Y:0.54, Z:1.33 [[ 9.99686921e-01 6.10453070e-03 -2.42650981e-02 3.27322732e+00] [-6.12919213e-03 9.99980773e-01 -9.42088998e-04 5.36802249e-01] [ 2.42588806e-02 1.09051950e-03 9.99705115e-01 1.32964287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters Centerline goodness : 0.173087 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99705269e-01 -1.73444393e-03 -2.42150166e-02 3.29174508e+00] [ 1.74509594e-03 9.99998390e-01 4.18767675e-04 5.41996125e-01] [ 2.42142513e-02 -4.60901778e-04 9.99706686e-01 1.33152754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.502557844 meters Centerline goodness : 0.166511 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703197e-01 -1.77189636e-03 -2.42976965e-02 3.29225050e+00] [ 1.77849532e-03 9.99998387e-01 2.49980828e-04 5.42797641e-01] [ 2.42972144e-02 -2.93119973e-04 9.99704736e-01 1.33098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53255784400005 meters Centerline goodness : 0.166511 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703197e-01 -1.77189636e-03 -2.42976965e-02 3.29225050e+00] [ 1.77849532e-03 9.99998387e-01 2.49980828e-04 5.42797641e-01] [ 2.42972144e-02 -2.93119973e-04 9.99704736e-01 1.33098492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters Centerline goodness : 0.164310 Centerline is valid? [False, False] Translation: X:3.29, Y:0.54, Z:1.33 [[ 9.99703017e-01 -1.77144684e-03 -2.43051540e-02 3.29200962e+00] [ 1.76943756e-03 9.99998429e-01 -1.04175084e-04 5.44729759e-01] [ 2.43053004e-02 6.11376928e-05 9.99704581e-01 1.33125675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59255784400005 meters Centerline goodness : 0.143284 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99704135e-01 -1.76601340e-03 -2.42594916e-02 3.29172347e+00] [ 1.76087328e-03 9.99998422e-01 -2.33241281e-04 5.45623756e-01] [ 2.42598652e-02 1.90454383e-04 9.99705668e-01 1.33149637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters Centerline goodness : 0.177248 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99704807e-01 -1.73424690e-03 -2.42340919e-02 3.29167643e+00] [ 1.72832291e-03 9.99998471e-01 -2.65391850e-04 5.45944987e-01] [ 2.42345151e-02 2.23429172e-04 9.99706276e-01 1.33139517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65255784400006 meters Centerline goodness : 0.176033 Centerline is valid? [False, False] Translation: X:3.29, Y:0.55, Z:1.33 [[ 9.99705569e-01 -1.72899983e-03 -2.42030309e-02 3.29184479e+00] [ 1.72255890e-03 9.99998475e-01 -2.86966801e-04 5.45939553e-01] [ 2.42034901e-02 2.45191163e-04 9.99707023e-01 1.33093022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters Centerline goodness : 0.146796 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99713640e-01 4.83088244e-03 -2.34371699e-02 3.31404699e+00] [-4.90423805e-03 9.99983251e-01 -3.07341445e-03 5.44722659e-01] [ 2.34219301e-02 3.18747580e-03 9.99720588e-01 1.33084917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71255784400006 meters Centerline goodness : 0.171502 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99709410e-01 4.89573922e-03 -2.36035387e-02 3.31465287e+00] [-4.96807379e-03 9.99983138e-01 -3.00689868e-03 5.44381523e-01] [ 2.35884197e-02 3.12328902e-03 9.99716876e-01 1.33045602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74255784400003 meters Centerline goodness : 0.137181 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99710349e-01 4.97016764e-03 -2.35481535e-02 3.31430308e+00] [-5.04048470e-03 9.99983011e-01 -2.92768244e-03 5.44348244e-01] [ 2.35332024e-02 3.04552855e-03 9.99718417e-01 1.33077027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77255784400006 meters Centerline goodness : 0.172625 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99713052e-01 5.01628787e-03 -2.34232952e-02 3.31384032e+00] [-5.08475186e-03 9.99982971e-01 -2.86425812e-03 5.44174524e-01] [ 2.34085284e-02 2.98253787e-03 9.99721534e-01 1.33101777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters Centerline goodness : 0.144988 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99712622e-01 4.98147599e-03 -2.34490721e-02 3.31412215e+00] [-5.05050617e-03 9.99983083e-01 -2.88553194e-03 5.43871204e-01] [ 2.34343012e-02 3.00313239e-03 9.99720868e-01 1.33064871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83255784400006 meters Centerline goodness : 0.175084 Centerline is valid? [False, False] Translation: X:3.31, Y:0.54, Z:1.33 [[ 9.99709272e-01 4.94728884e-03 -2.35986383e-02 3.31472215e+00] [-5.01942911e-03 9.99982906e-01 -2.99871298e-03 5.44313853e-01] [ 2.35833994e-02 3.11629286e-03 9.99717016e-01 1.33019399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters Centerline goodness : 0.146342 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99714476e-01 -2.12416857e-03 -2.38002909e-02 3.33234682e+00] [ 2.09833166e-03 9.99997182e-01 -1.11049242e-03 5.50719425e-01] [ 2.38025827e-02 1.06023444e-03 9.99716116e-01 1.33269271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89255784400007 meters Centerline goodness : 0.143620 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99717426e-01 -2.07604651e-03 -2.36803536e-02 3.33187345e+00] [ 2.05038874e-03 9.99997284e-01 -1.10773328e-03 5.51184192e-01] [ 2.36825890e-02 1.05886633e-03 9.99718967e-01 1.33294027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters Centerline goodness : 0.149659 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99719996e-01 -2.09039687e-03 -2.35703107e-02 3.33145172e+00] [ 2.06837813e-03 9.99997402e-01 -9.58513287e-04 5.50201939e-01] [ 2.35722531e-02 9.09492585e-04 9.99721722e-01 1.33328352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95255784400007 meters Centerline goodness : 0.156707 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99712874e-01 -2.23951920e-03 -2.38569702e-02 3.33231093e+00] [ 2.21649454e-03 9.99997052e-01 -9.91511657e-04 5.49465406e-01] [ 2.38591204e-02 9.38348124e-04 9.99714890e-01 1.33306460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98255784400004 meters Centerline goodness : 0.146898 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99706328e-01 -2.29208584e-03 -2.41247705e-02 3.33324374e+00] [ 2.26993139e-03 9.99996977e-01 -9.45672723e-04 5.48819250e-01] [ 2.41268651e-02 8.90633431e-04 9.99708508e-01 1.33264887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01255784400007 meters Centerline goodness : 0.149976 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99701657e-01 -2.29559855e-03 -2.43172190e-02 3.33382472e+00] [ 2.27364635e-03 9.99996982e-01 -9.30353123e-04 5.48845337e-01] [ 2.43192814e-02 8.74786803e-04 9.99703860e-01 1.33249242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04255784400004 meters Centerline goodness : 0.152666 Centerline is valid? [False, False] Translation: X:3.33, Y:0.55, Z:1.33 [[ 9.99702638e-01 -2.22750550e-03 -2.42832112e-02 3.33358930e+00] [ 2.20736064e-03 9.99997197e-01 -8.56353100e-04 5.49036297e-01] [ 2.42850506e-02 8.02496648e-04 9.99704753e-01 1.33276874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0725578440001 meters Centerline goodness : 0.152340 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99690734e-01 -2.84334020e-03 -2.47053019e-02 3.28345716e+00] [ 2.82309540e-03 9.99995650e-01 -8.54291174e-04 5.44919173e-01] [ 2.47076235e-02 7.84281546e-04 9.99694412e-01 1.33494891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10255784400005 meters Centerline goodness : 0.152040 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99690922e-01 -2.78622794e-03 -2.47041862e-02 3.28319976e+00] [ 2.77354723e-03 9.99996004e-01 -5.47551789e-04 5.43204875e-01] [ 2.47056131e-02 4.78864326e-04 9.99694655e-01 1.33544244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.132557844 meters Centerline goodness : 0.151620 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99688826e-01 -2.71679286e-03 -2.47965748e-02 3.28345420e+00] [ 2.71178415e-03 9.99996295e-01 -2.35616139e-04 5.41539962e-01] [ 2.47971231e-02 1.68299863e-04 9.99692490e-01 1.33548975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16255784400005 meters Centerline goodness : 0.155609 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99687397e-01 -2.59369036e-03 -2.48672742e-02 3.28378751e+00] [ 2.59729581e-03 9.99996621e-01 1.12689912e-04 5.39823046e-01] [ 2.48668979e-02 -1.77242352e-04 9.99690755e-01 1.33529258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192557844 meters Centerline goodness : 0.133552 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.33 [[ 9.99685940e-01 -2.41852528e-03 -2.49433930e-02 3.28425226e+00] [ 2.43610613e-03 9.99996805e-01 6.74467035e-04 5.36829534e-01] [ 2.49416821e-02 -7.35019964e-04 9.99688638e-01 1.33492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22255784400005 meters Centerline goodness : 0.153710 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99685587e-01 -2.30962732e-03 -2.49678347e-02 3.28421651e+00] [ 2.33258917e-03 9.99996883e-01 8.90571785e-04 5.35898637e-01] [ 2.49657000e-02 -9.48531478e-04 9.99687858e-01 1.33508551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252557844 meters Centerline goodness : 0.174441 Centerline is valid? [False, False] Translation: X:3.26, Y:0.53, Z:1.33 [[ 9.99655198e-01 6.40748193e-03 -2.54642889e-02 3.26371047e+00] [-6.40243417e-03 9.99979465e-01 2.79754738e-04 5.30479502e-01] [ 2.54655585e-02 -1.16624845e-04 9.99675693e-01 1.33414251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28255784400005 meters Centerline goodness : 0.127463 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99679480e-01 -1.23018093e-03 -2.52868241e-02 3.28263824e+00] [ 1.27498909e-03 9.99997646e-01 1.75595001e-03 5.35397886e-01] [ 2.52846044e-02 -1.78762762e-03 9.99678695e-01 1.33604493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312557844 meters Centerline goodness : 0.174892 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99675696e-01 -1.18163927e-03 -2.54382809e-02 3.28309145e+00] [ 1.22771740e-03 9.99997634e-01 1.79582775e-03 5.35287089e-01] [ 2.54360987e-02 -1.82647638e-03 9.99674782e-01 1.33589518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34255784400005 meters Centerline goodness : 0.172649 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:1.34 [[ 9.99674708e-01 -1.16425364e-03 -2.54778724e-02 3.28324652e+00] [ 1.21121088e-03 9.99997596e-01 1.82770558e-03 5.35047471e-01] [ 2.54756833e-02 -1.85797012e-03 9.99673716e-01 1.33577132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372557844 meters Centerline goodness : 0.169678 Centerline is valid? [False, False] Translation: X:3.28, Y:0.53, Z:1.34 [[ 9.99677303e-01 -1.14280782e-03 -2.53768316e-02 3.28299786e+00] [ 1.19257847e-03 9.99997395e-01 1.94621570e-03 5.34111100e-01] [ 2.53745414e-02 -1.97585153e-03 9.99676062e-01 1.33572608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40255784400006 meters Centerline goodness : 0.147453 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99671954e-01 7.09392350e-03 -2.46101905e-02 3.30296422e+00] [-7.07091805e-03 9.99974479e-01 1.02169009e-03 5.30333512e-01] [ 2.46168102e-02 -8.47338290e-04 9.99696601e-01 1.33717426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43255784400003 meters Centerline goodness : 0.153964 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99672673e-01 7.19258442e-03 -2.45522686e-02 3.30277011e+00] [-7.16301133e-03 9.99973510e-01 1.29223108e-03 5.29060930e-01] [ 2.45609127e-02 -1.11593992e-03 9.99697712e-01 1.33725448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46255784400006 meters Centerline goodness : 0.124414 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:1.34 [[ 9.99672187e-01 7.32266516e-03 -2.45335915e-02 3.30260696e+00] [-7.28341321e-03 9.99972049e-01 1.68890388e-03 5.27049290e-01] [ 2.45452730e-02 -1.50966195e-03 9.99697580e-01 1.33748365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49255784400003 meters Centerline goodness : 0.203059 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99668562e-01 7.47714423e-03 -2.46344944e-02 3.30273591e+00] [-7.42722991e-03 9.99970177e-01 2.11707195e-03 5.24877464e-01] [ 2.46495894e-02 -1.93340422e-03 9.99694283e-01 1.33771521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52255784400006 meters Centerline goodness : 0.151380 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99682761e-01 3.92983643e-03 -2.48783614e-02 3.30323282e+00] [-3.95855852e-03 9.99991554e-01 -1.10535702e-03 5.22661009e-01] [ 2.48738075e-02 1.20348881e-03 9.99689875e-01 1.33769395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55255784400003 meters Centerline goodness : 0.168425 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99676905e-01 4.10111419e-03 -2.50852008e-02 3.30403568e+00] [-4.11975340e-03 9.99991275e-01 -6.91400781e-04 5.20701244e-01] [ 2.50821465e-02 7.94522234e-04 9.99685078e-01 1.33724590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58255784400006 meters Centerline goodness : 0.109021 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99674064e-01 4.23076646e-03 -2.51766992e-02 3.30455035e+00] [-4.24160721e-03 9.99990933e-01 -3.77198754e-04 5.19159657e-01] [ 2.51748751e-02 4.83865481e-04 9.99682946e-01 1.33678015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61255784400004 meters Centerline goodness : 0.288894 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99674510e-01 4.29460454e-03 -2.51481755e-02 3.30464871e+00] [-4.30155768e-03 9.99990724e-01 -2.22396205e-04 5.18305089e-01] [ 2.51469871e-02 3.30500144e-04 9.99683710e-01 1.33650015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64255784400007 meters Centerline goodness : 0.115175 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99682477e-01 4.46502720e-03 -2.47993761e-02 3.30382030e+00] [-4.46639173e-03 9.99990026e-01 3.67885814e-07 5.17339694e-01] [ 2.47991304e-02 1.10395959e-04 9.99692448e-01 1.33635753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67255784400004 meters Centerline goodness : 0.165676 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99684135e-01 4.55349846e-03 -2.47163179e-02 3.30362011e+00] [-4.55432902e-03 9.99989629e-01 2.26881433e-05 5.17616716e-01] [ 2.47161649e-02 8.98852671e-05 9.99694505e-01 1.33628195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70255784400007 meters Centerline goodness : 0.139370 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99685298e-01 4.63630832e-03 -2.46538145e-02 3.30362354e+00] [-4.63961858e-03 9.99989234e-01 -7.70701809e-05 5.18579443e-01] [ 2.46531918e-02 1.91430223e-04 9.99696046e-01 1.33597441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73255784400004 meters Centerline goodness : 0.148972 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99687114e-01 4.66227491e-03 -2.45751317e-02 3.30355742e+00] [-4.67104260e-03 9.99989046e-01 -2.99378430e-04 5.19968734e-01] [ 2.45734668e-02 4.14076246e-04 9.99697941e-01 1.33567022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76255784400007 meters Centerline goodness : 0.159243 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99689342e-01 4.75763365e-03 -2.44660046e-02 3.30345219e+00] [-4.77529522e-03 9.99988378e-01 -6.63507432e-04 5.22000395e-01] [ 2.44625636e-02 7.80133703e-04 9.99700442e-01 1.33519189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79255784400004 meters Centerline goodness : 0.157794 Centerline is valid? [False, False] Translation: X:3.30, Y:0.52, Z:1.34 [[ 9.99690170e-01 4.71518406e-03 -2.44403429e-02 3.30342892e+00] [-4.73656440e-03 9.99988449e-01 -8.16980322e-04 5.22737055e-01] [ 2.44362083e-02 9.32490455e-04 9.99700956e-01 1.33503065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8225578440001 meters Centerline goodness : 0.163344 Centerline is valid? [False, False] Translation: X:3.33, Y:0.53, Z:1.33 [[ 9.99713133e-01 -1.41090248e-03 -2.39094294e-02 3.32516320e+00] [ 1.45469579e-03 9.99997296e-01 1.81433964e-03 5.27333016e-01] [ 2.39068049e-02 -1.84860011e-03 9.99712482e-01 1.33485986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85255784400005 meters Centerline goodness : 0.084249 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.33 [[ 9.99714676e-01 -1.43245816e-03 -2.38435598e-02 3.32490637e+00] [ 1.47375105e-03 9.99997445e-01 1.71434376e-03 5.27999561e-01] [ 2.38410431e-02 -1.74899408e-03 9.99714232e-01 1.33494944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters Centerline goodness : 0.160976 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.34 [[ 9.99719480e-01 -1.47405950e-03 -2.36386983e-02 3.32429722e+00] [ 1.51318315e-03 9.99997515e-01 1.63726561e-03 5.28368001e-01] [ 2.36362261e-02 -1.67257600e-03 9.99719226e-01 1.33510371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91255784400005 meters Centerline goodness : 0.161059 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.34 [[ 9.99736895e-01 -1.78740411e-03 -2.28680205e-02 3.32193409e+00] [ 1.82204644e-03 9.99997224e-01 1.49413508e-03 5.28109092e-01] [ 2.28652864e-02 -1.53540856e-03 9.99737376e-01 1.33597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters Centerline goodness : 0.141359 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99731875e-01 6.04939366e-03 -2.23513620e-02 3.34185294e+00] [-6.04286636e-03 9.99981677e-01 3.59562139e-04 5.25257987e-01] [ 2.23531276e-02 -2.24399438e-04 9.99750112e-01 1.33744823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97255784400005 meters Centerline goodness : 0.163855 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99726897e-01 6.06302028e-03 -2.25692480e-02 3.34281080e+00] [-6.05548363e-03 9.99981584e-01 4.02262649e-04 5.25259317e-01] [ 2.25712714e-02 -2.65485078e-04 9.99745201e-01 1.33679308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002557844 meters Centerline goodness : 0.162649 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99719269e-01 6.05389686e-03 -2.29070794e-02 3.34422420e+00] [-6.04741344e-03 9.99981652e-01 3.52294649e-04 5.25758403e-01] [ 2.29087919e-02 -2.13667169e-04 9.99737536e-01 1.33589379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03255784400005 meters Centerline goodness : 0.282340 Centerline is valid? [False, False] Translation: X:3.35, Y:0.53, Z:1.34 [[ 9.99713054e-01 5.91977097e-03 -2.32113285e-02 3.34550322e+00] [-5.91982120e-03 9.99982475e-01 6.65492887e-05 5.26982782e-01] [ 2.32113157e-02 7.08767222e-05 9.99730579e-01 1.33503721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters Centerline goodness : 0.164324 Centerline is valid? [False, False] Translation: X:3.32, Y:0.53, Z:1.33 [[ 9.99731245e-01 -3.02723875e-03 -2.29842074e-02 3.32276447e+00] [ 3.03298389e-03 9.99995377e-01 2.15104305e-04 5.30987418e-01] [ 2.29834499e-02 -2.84757225e-04 9.99735805e-01 1.33448192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09255784400005 meters Centerline goodness : 0.160233 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99756096e-01 4.95914990e-03 -2.15210521e-02 3.34151658e+00] [-4.98996713e-03 9.99986600e-01 -1.37849217e-03 5.29298272e-01] [ 2.15139276e-02 1.48554529e-03 9.99767445e-01 1.33666104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters Centerline goodness : 0.159886 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99761369e-01 4.92797116e-03 -2.12819020e-02 3.34049267e+00] [-4.96045632e-03 9.99986611e-01 -1.47390172e-03 5.29848229e-01] [ 2.12743537e-02 1.57911795e-03 9.99772428e-01 1.33733881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15255784400006 meters Centerline goodness : 0.124300 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99770672e-01 4.97339243e-03 -2.08295040e-02 3.33866636e+00] [-5.00384267e-03 9.99986487e-01 -1.41001537e-03 5.29942641e-01] [ 2.08222100e-02 1.51391957e-03 9.99782048e-01 1.33846364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters Centerline goodness : 0.117832 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99772290e-01 5.00597489e-03 -2.07438770e-02 3.33837378e+00] [-5.03376485e-03 9.99986501e-01 -1.28767149e-03 5.29337836e-01] [ 2.07371509e-02 1.39179807e-03 9.99783993e-01 1.33860483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21255784400006 meters Centerline goodness : 0.161608 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99770515e-01 5.00581673e-03 -2.08292785e-02 3.33872447e+00] [-5.03261949e-03 9.99986574e-01 -1.23456328e-03 5.28933169e-01] [ 2.08228189e-02 1.33910580e-03 9.99782285e-01 1.33837573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters Centerline goodness : 0.111417 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99768773e-01 5.00240088e-03 -2.09135447e-02 3.33916844e+00] [-5.02893921e-03 9.99986615e-01 -1.21655421e-03 5.28763522e-01] [ 2.09071791e-02 1.32144586e-03 9.99780548e-01 1.33798707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27255784400006 meters Centerline goodness : 0.144814 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99767385e-01 4.99072743e-03 -2.09825973e-02 3.33956658e+00] [-5.01794776e-03 9.99986635e-01 -1.24483096e-03 5.28906459e-01] [ 2.09761043e-02 1.34983097e-03 9.99779066e-01 1.33760500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters Centerline goodness : 0.160012 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99763639e-01 5.00524712e-03 -2.11569038e-02 3.34034227e+00] [-5.03233241e-03 9.99986585e-01 -1.22716423e-03 5.28800953e-01] [ 2.11504777e-02 1.33334275e-03 9.99775415e-01 1.33701783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33255784400006 meters Centerline goodness : 0.141831 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99759566e-01 5.03782163e-03 -2.13408271e-02 3.34097379e+00] [-5.06217485e-03 9.99986596e-01 -1.08728787e-03 5.27954725e-01] [ 2.13350635e-02 1.19505745e-03 9.99771667e-01 1.33676194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters Centerline goodness : 0.160040 Centerline is valid? [False, False] Translation: X:3.34, Y:0.53, Z:1.34 [[ 9.99755202e-01 5.09739095e-03 -2.15302801e-02 3.34147238e+00] [-5.11725748e-03 9.99986530e-01 -8.67731301e-04 5.26688430e-01] [ 2.15255670e-02 9.77694869e-04 9.99767820e-01 1.33673141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39255784400007 meters Centerline goodness : 0.167200 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:1.34 [[ 9.99782494e-01 3.14398399e-03 -2.06174789e-02 3.33704265e+00] [-3.19510293e-03 9.99991902e-01 -2.44692605e-03 5.23544396e-01] [ 2.06096189e-02 2.51226880e-03 9.99784443e-01 1.33901532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters Centerline goodness : 0.167200 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:1.34 [[ 9.99782494e-01 3.14398399e-03 -2.06174789e-02 3.33704265e+00] [-3.19510293e-03 9.99991902e-01 -2.44692605e-03 5.23544396e-01] [ 2.06096189e-02 2.51226880e-03 9.99784443e-01 1.33901532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45255784400007 meters Centerline goodness : 0.140502 Centerline is valid? [False, False] Translation: X:3.36, Y:0.53, Z:1.34 [[ 9.99795156e-01 -5.05930760e-03 -1.95971769e-02 3.35667854e+00] [ 5.03452033e-03 9.99986463e-01 -1.31396855e-03 5.26971277e-01] [ 1.96035594e-02 1.21503701e-03 9.99807093e-01 1.33997998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48255784400004 meters Centerline goodness : 0.168766 Centerline is valid? [False, False] Translation: X:3.33, Y:0.52, Z:1.34 [[ 9.99808880e-01 1.16844071e-03 -1.95150962e-02 3.33317124e+00] [-1.24479062e-03 9.99991618e-01 -3.90066223e-03 5.21119184e-01] [ 1.95103749e-02 3.92420895e-03 9.99801953e-01 1.34013632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51255784400007 meters Centerline goodness : 0.145322 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.34 [[ 9.99801182e-01 -6.99500083e-03 -1.86726044e-02 3.35314989e+00] [ 6.94358399e-03 9.99971925e-01 -2.81701302e-03 5.24036194e-01] [ 1.86917852e-02 2.68679815e-03 9.99821683e-01 1.34080098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54255784400004 meters Centerline goodness : 0.163851 Centerline is valid? [False, False] Translation: X:3.35, Y:0.52, Z:1.34 [[ 9.99800259e-01 -6.78809650e-03 -1.87979535e-02 3.35365209e+00] [ 6.74573970e-03 9.99974566e-01 -2.31575955e-03 5.21746366e-01] [ 1.88131950e-02 2.18849090e-03 9.99820621e-01 1.34052493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5725578440001 meters Centerline goodness : 0.167407 Centerline is valid? [False, False] Translation: X:3.31, Y:0.52, Z:1.34 [[ 9.99738111e-01 -6.84380653e-03 -2.18373701e-02 3.31009145e+00] [ 6.80559740e-03 9.99975179e-01 -1.82355110e-03 5.15304305e-01] [ 2.18493081e-02 1.67445718e-03 9.99759873e-01 1.34012992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60255784400005 meters Centerline goodness : 0.295109 Centerline is valid? [False, False] Translation: X:3.31, Y:0.51, Z:1.34 [[ 9.99721837e-01 -6.69617316e-03 -2.26143916e-02 3.31290084e+00] [ 6.67488653e-03 9.99977206e-01 -1.01664071e-03 5.10160340e-01] [ 2.26206837e-02 8.65409421e-04 9.99743745e-01 1.33887512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.632557844 meters Centerline goodness : 0.166035 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99726038e-01 3.68900773e-04 -2.34032705e-02 3.33174643e+00] [-4.31541785e-04 9.99996338e-01 -2.67159825e-03 5.03301804e-01] [ 2.34021993e-02 2.68096582e-03 9.99722536e-01 1.34173235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66255784400005 meters Centerline goodness : 0.134622 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99727309e-01 5.92275794e-04 -2.33443247e-02 3.33142929e+00] [-6.39449474e-04 9.99997769e-01 -2.01336427e-03 4.99993357e-01] [ 2.33430801e-02 2.02774276e-03 9.99725457e-01 1.34206390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692557844 meters Centerline goodness : 0.092692 Centerline is valid? [False, False] Translation: X:3.33, Y:0.50, Z:1.34 [[ 9.99730709e-01 8.51463963e-04 -2.31901776e-02 3.33069388e+00] [-8.83515710e-04 9.99998669e-01 -1.37191523e-03 4.97011641e-01] [ 2.31889786e-02 1.39203468e-03 9.99730130e-01 1.34268020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72255784400005 meters Centerline goodness : 0.175114 Centerline is valid? [False, False] Translation: X:3.28, Y:0.49, Z:1.34 [[ 9.99680956e-01 4.20794742e-04 -2.52548792e-02 3.28373591e+00] [-4.43473115e-04 9.99999503e-01 -8.92385738e-04 4.89927303e-01] [ 2.52544912e-02 9.03300888e-04 9.99680646e-01 1.34363541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752557844 meters Centerline goodness : 0.175711 Centerline is valid? [False, False] Translation: X:3.28, Y:0.48, Z:1.34 [[ 9.99682423e-01 7.73334135e-04 -2.51883793e-02 3.28378065e+00] [-7.68375811e-04 9.99999683e-01 2.06527683e-04 4.84184707e-01] [ 2.51885310e-02 -1.87107953e-04 9.99682701e-01 1.34342158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78255784400005 meters Centerline goodness : 0.152011 Centerline is valid? [False, False] Translation: X:3.28, Y:0.48, Z:1.34 [[ 9.99672523e-01 9.49358265e-04 -2.55723534e-02 3.28499352e+00] [-9.32491585e-04 9.99999340e-01 6.71483871e-04 4.81913652e-01] [ 2.55729740e-02 -6.47417972e-04 9.99672748e-01 1.34302386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812557844 meters Centerline goodness : 0.112027 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99661823e-01 1.09782050e-03 -2.59814200e-02 3.28653093e+00] [-1.07186795e-03 9.99998913e-01 1.01279438e-03 4.80331478e-01] [ 2.59825036e-02 -9.84603221e-04 9.99661913e-01 1.34222500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84255784400005 meters Centerline goodness : 0.166576 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99654312e-01 1.22117267e-03 -2.62633809e-02 3.28755581e+00] [-1.18790915e-03 9.99998473e-01 1.28210074e-03 4.79100067e-01] [ 2.62649064e-02 -1.25045903e-03 9.99654236e-01 1.34171372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872557844 meters Centerline goodness : 0.168572 Centerline is valid? [False, False] Translation: X:3.29, Y:0.48, Z:1.34 [[ 9.99654164e-01 1.33664909e-03 -2.62633797e-02 3.28764717e+00] [-1.29654771e-03 9.99997968e-01 1.54386296e-03 4.77886537e-01] [ 2.62653900e-02 -1.50927731e-03 9.99653866e-01 1.34156759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90255784400006 meters Centerline goodness : 0.167383 Centerline is valid? [False, False] Translation: X:3.31, Y:0.47, Z:1.34 [[ 9.99714818e-01 8.07895707e-03 -2.24725030e-02 3.30724303e+00] [-8.09604974e-03 9.99967002e-01 -6.69725888e-04 4.74745594e-01] [ 2.24663507e-02 8.51473396e-04 9.99747237e-01 1.34180300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93255784400003 meters Centerline goodness : 0.141062 Centerline is valid? [False, False] Translation: X:3.31, Y:0.47, Z:1.34 [[ 9.99719095e-01 8.19688926e-03 -2.22383019e-02 3.30632888e+00] [-8.20792742e-03 9.99966232e-01 -4.05125596e-04 4.73653879e-01] [ 2.22342302e-02 5.87542162e-04 9.99752616e-01 1.34235023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96255784400006 meters Centerline goodness : 0.137871 Centerline is valid? [False, False] Translation: X:3.33, Y:0.48, Z:1.34 [[ 9.99775662e-01 3.84688326e-04 -2.11772791e-02 3.32559690e+00] [-3.66124384e-04 9.99999545e-01 8.80467333e-04 4.77902592e-01] [ 2.11776082e-02 -8.72516292e-04 9.99775349e-01 1.34347444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99255784400003 meters Centerline goodness : 0.279235 Centerline is valid? [False, False] Translation: X:3.33, Y:0.48, Z:1.34 [[ 9.99771456e-01 5.59178773e-04 -2.13710959e-02 3.32620292e+00] [-5.29227297e-04 9.99998870e-01 1.40712466e-03 4.75373271e-01] [ 2.13718585e-02 -1.39549290e-03 9.99770622e-01 1.34333697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02255784400006 meters Centerline goodness : 0.139935 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99770158e-01 5.99570849e-04 -2.14306064e-02 3.32640651e+00] [-5.64842862e-04 9.99998518e-01 1.62650190e-03 4.74043729e-01] [ 2.14315499e-02 -1.61402314e-03 9.99769015e-01 1.34328662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05255784400003 meters Centerline goodness : 0.122312 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99772263e-01 6.82346230e-04 -2.13297163e-02 3.32602474e+00] [-6.41670637e-04 9.99997963e-01 1.91377768e-03 4.72559801e-01] [ 2.13309787e-02 -1.89965519e-03 9.99770664e-01 1.34350770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08255784400006 meters Centerline goodness : 0.108453 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99774871e-01 7.95686686e-04 -2.12031588e-02 3.32546577e+00] [-7.46656828e-04 9.99997030e-01 2.32020090e-03 4.70633692e-01] [ 2.12049420e-02 -2.30384707e-03 9.99772495e-01 1.34396883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11255784400004 meters Centerline goodness : 0.140786 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99775558e-01 9.37488567e-04 -2.11649559e-02 3.32533151e+00] [-8.79283636e-04 9.99995807e-01 2.75920006e-03 4.68581199e-01] [ 2.11674539e-02 -2.73997078e-03 9.99772190e-01 1.34409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14255784400007 meters Centerline goodness : 0.173291 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:1.34 [[ 9.99769854e-01 1.06336606e-03 -2.14267988e-02 3.32619039e+00] [-9.95762878e-04 9.99994494e-01 3.16549860e-03 4.66447704e-01] [ 2.14300469e-02 -3.14343406e-03 9.99765408e-01 1.34380351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17255784400004 meters Centerline goodness : 0.141914 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99738458e-01 -1.25983977e-03 -2.28347914e-02 3.33159590e+00] [ 1.28883016e-03 9.99998382e-01 1.25489845e-03 4.61372493e-01] [ 2.28331735e-02 -1.28400041e-03 9.99738465e-01 1.34166609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20255784400007 meters Centerline goodness : 0.140192 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99736848e-01 -1.09500819e-03 -2.29136585e-02 3.33177546e+00] [ 1.13249595e-03 9.99998041e-01 1.62313181e-03 4.59621521e-01] [ 2.29118362e-02 -1.64865431e-03 9.99736130e-01 1.34174969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23255784400004 meters Centerline goodness : 0.141434 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99738212e-01 -9.24880398e-04 -2.28615896e-02 3.33152737e+00] [ 9.70531909e-04 9.99997557e-01 1.98585041e-03 4.58075224e-01] [ 2.28596971e-02 -2.00751844e-03 9.99736667e-01 1.34195568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26255784400007 meters Centerline goodness : 0.169944 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99742786e-01 -7.88916249e-04 -2.26657992e-02 3.33094566e+00] [ 8.40087855e-04 9.99997120e-01 2.24822411e-03 4.56961352e-01] [ 2.26639603e-02 -2.26668710e-03 9.99740570e-01 1.34213427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29255784400004 meters Centerline goodness : 0.145516 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.34 [[ 9.99743315e-01 7.82935876e-03 -2.12604251e-02 3.35051343e+00] [-7.80892918e-03 9.99968965e-01 1.04377162e-03 4.52649326e-01] [ 2.12679373e-02 -8.77482546e-04 9.99773427e-01 1.34413989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3225578440001 meters Centerline goodness : 0.129370 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.34 [[ 9.99742506e-01 7.91144644e-03 -2.12680671e-02 3.35055148e+00] [-7.88849688e-03 9.99968209e-01 1.16274305e-03 4.52196668e-01] [ 2.12765899e-02 -9.94670566e-04 9.99773133e-01 1.34406973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35255784400005 meters Centerline goodness : 0.137383 Centerline is valid? [False, False] Translation: X:3.33, Y:0.46, Z:1.34 [[ 9.99751258e-01 -6.26562012e-04 -2.22941531e-02 3.33047668e+00] [ 6.80141082e-04 9.99996899e-01 2.39577768e-03 4.55103852e-01] [ 2.22925828e-02 -2.41034491e-03 9.99748584e-01 1.34283052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters Centerline goodness : 0.135594 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99750319e-01 -5.30967346e-04 -2.23386979e-02 3.33088458e+00] [ 5.88105211e-04 9.99996572e-01 2.55130567e-03 4.54530641e-01] [ 2.23372667e-02 -2.56380617e-03 9.99747205e-01 1.34231030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41255784400005 meters Centerline goodness : 0.131572 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99750209e-01 -4.23730325e-04 -2.23458989e-02 3.33090303e+00] [ 4.87336185e-04 9.99995845e-01 2.84105325e-03 4.53085926e-01] [ 2.23446022e-02 -2.85123355e-03 9.99746262e-01 1.34232303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters Centerline goodness : 0.130515 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99758955e-01 -6.57590986e-04 -2.19453745e-02 3.32944759e+00] [ 7.32926029e-04 9.99993866e-01 3.42497724e-03 4.48127910e-01] [ 2.19429877e-02 -3.44023600e-03 9.99753305e-01 1.34321141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47255784400005 meters Centerline goodness : 0.145665 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:1.34 [[ 9.99760162e-01 -4.96245656e-04 -2.18945747e-02 3.32890283e+00] [ 5.84800903e-04 9.99991675e-01 4.03840322e-03 4.45034207e-01] [ 2.18923884e-02 -4.05023863e-03 9.99752129e-01 1.34400629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters Centerline goodness : 0.135485 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99762788e-01 -3.19534509e-04 -2.17776579e-02 3.32826078e+00] [ 4.20632741e-04 9.99989157e-01 4.63786866e-03 4.42145842e-01] [ 2.17759398e-02 -4.64592890e-03 9.99752081e-01 1.34471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53255784400005 meters Centerline goodness : 0.141693 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.34 [[ 9.99772916e-01 6.14510058e-03 -2.04047801e-02 3.35000787e+00] [-6.10755957e-03 9.99979541e-01 1.90162372e-03 4.39442346e-01] [ 2.04160483e-02 -1.77656848e-03 9.99789992e-01 1.34473678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562557844 meters Centerline goodness : 0.141083 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99753018e-01 -2.43601769e-03 -2.20900155e-02 3.33094535e+00] [ 2.51564668e-03 9.99990436e-01 3.57767823e-03 4.38193148e-01] [ 2.20810890e-02 -3.63236528e-03 9.99749584e-01 1.34300584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59255784400005 meters Centerline goodness : 0.137538 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.34 [[ 9.99752129e-01 -2.30684009e-03 -2.21440366e-02 3.33130225e+00] [ 2.39336563e-03 9.99989602e-01 3.88169004e-03 4.36827845e-01] [ 2.21348519e-02 -3.93372666e-03 9.99747255e-01 1.34263088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters Centerline goodness : 0.130577 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99750274e-01 -2.13608164e-03 -2.22446846e-02 3.33162237e+00] [ 2.23228593e-03 9.99988260e-01 4.30088838e-03 4.34978125e-01] [ 2.22352364e-02 -4.34947084e-03 9.99743305e-01 1.34256502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65255784400006 meters Centerline goodness : 0.144276 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99749330e-01 -1.89914387e-03 -2.23085257e-02 3.33150125e+00] [ 2.00859858e-03 9.99986051e-01 4.88502512e-03 4.32299078e-01] [ 2.22989372e-02 -4.92860947e-03 9.99739199e-01 1.34309080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters Centerline goodness : 0.138109 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.34 [[ 9.99741603e-01 -5.60089129e-03 -2.20308061e-02 3.33006016e+00] [ 5.64668955e-03 9.99982023e-01 2.01716924e-03 4.26695128e-01] [ 2.20191121e-02 -2.14104913e-03 9.99755257e-01 1.34437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71255784400006 meters Centerline goodness : 0.131911 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.34 [[ 9.99738682e-01 -5.47218404e-03 -2.21950930e-02 3.33046588e+00] [ 5.53535621e-03 9.99980799e-01 2.78578468e-03 4.22481084e-01] [ 2.21794225e-02 -2.90791445e-03 9.99749777e-01 1.34451273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74255784400003 meters Centerline goodness : 0.134830 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.34 [[ 0.99973372 -0.00527309 -0.0224651 3.33128676] [ 0.00535556 0.99997913 0.00361248 0.41825991] [ 0.02244559 -0.00373183 0.9997411 1.3443833 ] [ 0. 0. 0. 1. ]] SLAMing on 289.77255784400006 meters Centerline goodness : 0.132891 Centerline is valid? [False, False] Translation: X:3.35, Y:0.41, Z:1.35 [[ 9.99728425e-01 1.95685174e-03 -2.32216710e-02 3.35040591e+00] [-1.90508701e-03 9.99995652e-01 2.25106960e-03 4.10028427e-01] [ 2.32259750e-02 -2.20621896e-03 9.99727806e-01 1.34657540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters Centerline goodness : 0.136595 Centerline is valid? [False, False] Translation: X:3.35, Y:0.41, Z:1.35 [[ 9.99725643e-01 2.19132563e-03 -2.33203125e-02 3.35049020e+00] [-2.12124655e-03 9.99993162e-01 3.02937924e-03 4.06033730e-01] [ 2.33267914e-02 -2.97907998e-03 9.99723455e-01 1.34692378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83255784400006 meters Centerline goodness : 0.133876 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99724559e-01 2.39656845e-03 -2.33465911e-02 3.35037684e+00] [-2.31055635e-03 9.99990447e-01 3.71041888e-03 4.02486592e-01] [ 2.33552604e-02 -3.65545326e-03 9.99720546e-01 1.34729684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters Centerline goodness : 0.134259 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99714896e-01 2.82140055e-03 -2.37100328e-02 3.35139429e+00] [-2.70825746e-03 9.99984800e-01 4.80270690e-03 3.97234480e-01] [ 2.37232228e-02 -4.73712476e-03 9.99707341e-01 1.34715687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89255784400007 meters Centerline goodness : 0.133193 Centerline is valid? [False, False] Translation: X:3.35, Y:0.40, Z:1.35 [[ 9.99703477e-01 2.96273434e-03 -2.41698127e-02 3.35312167e+00] [-2.84195183e-03 9.99983311e-01 5.03006663e-03 3.96232888e-01] [ 2.41843121e-02 -4.95988566e-03 9.99695213e-01 1.34620952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters Centerline goodness : 0.131369 Centerline is valid? [False, False] Translation: X:3.36, Y:0.40, Z:1.34 [[ 9.99682333e-01 3.28257375e-03 -2.49891680e-02 3.35612791e+00] [-3.15129321e-03 9.99981037e-01 5.29106689e-03 3.95117743e-01] [ 2.50060625e-02 -5.21063789e-03 9.99673720e-01 1.34453713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95255784400007 meters Centerline goodness : 0.128994 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.35 [[ 0.99963445 0.01199324 -0.02423072 3.37662654] [-0.0118994 0.99992114 0.00401364 0.39203141] [ 0.02427695 -0.00372385 0.99969834 1.34573928] [ 0. 0. 0. 1. ]] SLAMing on 289.98255784400004 meters Centerline goodness : 0.128993 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.35 [[ 0.99963685 0.012022 -0.02411739 3.37622738] [-0.01193018 0.99992104 0.0039475 0.39250827] [ 0.02416294 -0.00365834 0.99970134 1.34591794] [ 0. 0. 0. 1. ]] SLAMing on 290.01255784400007 meters Centerline goodness : 0.125676 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.9997188 0.00483702 -0.02321458 3.39366382] [-0.00470735 0.99997303 0.00563709 0.39933215] [ 0.02324122 -0.00552622 0.99971461 1.34776326] [ 0. 0. 0. 1. ]] SLAMing on 290.04255784400004 meters Centerline goodness : 0.123811 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.99972159 0.00494124 -0.02307238 3.39311648] [-0.00480828 0.99997153 0.00581484 0.39874932] [ 0.02310046 -0.00570229 0.99971689 1.34808033] [ 0. 0. 0. 1. ]] SLAMing on 290.0725578440001 meters Centerline goodness : 0.125147 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:1.35 [[ 0.99972221 0.00510806 -0.02300905 3.3928767 ] [-0.00496577 0.99996822 0.00623731 0.39680877] [ 0.02304018 -0.00612132 0.9997158 1.34824201] [ 0. 0. 0. 1. ]] SLAMing on 290.10255784400005 meters Centerline goodness : 0.130318 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.35 [[ 9.99742742e-01 1.45268280e-03 -2.26349282e-02 3.39261700e+00] [-1.37685064e-03 9.99993389e-01 3.36545172e-03 3.91908886e-01] [ 2.26396675e-02 -3.33342102e-03 9.99738133e-01 1.34747461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.132557844 meters Centerline goodness : 0.123042 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:1.35 [[ 9.99743512e-01 1.64590024e-03 -2.25876311e-02 3.39245655e+00] [-1.55254632e-03 9.99990184e-01 4.14988062e-03 3.87885742e-01] [ 2.25942396e-02 -4.11374789e-03 9.99736254e-01 1.34763542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16255784400005 meters Centerline goodness : 0.171780 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99740485e-01 1.81537037e-03 -2.27082986e-02 3.39276230e+00] [-1.70575358e-03 9.99986805e-01 4.84560775e-03 3.84252745e-01] [ 2.27167955e-02 -4.80561548e-03 9.99730390e-01 1.34770786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192557844 meters Centerline goodness : 0.142439 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99734683e-01 2.05077121e-03 -2.29425088e-02 3.39348196e+00] [-1.92554677e-03 9.99983137e-01 5.47894483e-03 3.81183007e-01] [ 2.29533579e-02 -5.43331429e-03 9.99721773e-01 1.34757887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22255784400005 meters Centerline goodness : 0.128621 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99727735e-01 2.38274587e-03 -2.32115845e-02 3.39445582e+00] [-2.23769961e-03 9.99977822e-01 6.27284477e-03 3.77347100e-01] [ 2.32260163e-02 -6.21919635e-03 9.99710895e-01 1.34716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252557844 meters Centerline goodness : 0.130713 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99726153e-01 2.48021852e-03 -2.32694438e-02 3.39476281e+00] [-2.33039689e-03 9.99976396e-01 6.46346593e-03 3.76424006e-01] [ 2.32849254e-02 -6.40746889e-03 9.99708336e-01 1.34694893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28255784400005 meters Centerline goodness : 0.120830 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725345e-01 2.56623800e-03 -2.32948105e-02 3.39495851e+00] [-2.41497964e-03 9.99975835e-01 6.51903272e-03 3.76294027e-01] [ 2.33109770e-02 -6.46098574e-03 9.99707384e-01 1.34671040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312557844 meters Centerline goodness : 0.128858 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725894e-01 2.65851276e-03 -2.32609030e-02 3.39496013e+00] [-2.50892628e-03 9.99976002e-01 6.45763377e-03 3.76879059e-01] [ 2.32775125e-02 -6.39750380e-03 9.99708572e-01 1.34652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34255784400005 meters Centerline goodness : 0.128858 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99725894e-01 2.65851276e-03 -2.32609030e-02 3.39496013e+00] [-2.50892628e-03 9.99976002e-01 6.45763377e-03 3.76879059e-01] [ 2.32775125e-02 -6.39750380e-03 9.99708572e-01 1.34652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372557844 meters Centerline goodness : 0.144660 Centerline is valid? [False, False] Translation: X:3.35, Y:0.37, Z:1.35 [[ 9.99656315e-01 2.56672954e-03 -2.60895228e-02 3.34892099e+00] [-2.37204354e-03 9.99969133e-01 7.49043989e-03 3.73436528e-01] [ 2.61079434e-02 -7.42598005e-03 9.99631547e-01 1.34779512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40255784400006 meters Centerline goodness : 0.127320 Centerline is valid? [False, False] Translation: X:3.37, Y:0.37, Z:1.35 [[ 0.99961121 0.01165969 -0.02532757 3.3698354 ] [-0.0115015 0.99991349 0.00638248 0.3722391 ] [ 0.0253998 -0.00608869 0.99965883 1.3490027 ] [ 0. 0. 0. 1. ]] SLAMing on 290.43255784400003 meters Centerline goodness : 0.128141 Centerline is valid? [False, False] Translation: X:3.37, Y:0.37, Z:1.35 [[ 0.99961402 0.01153919 -0.0252717 3.36953536] [-0.0113925 0.99991746 0.00594087 0.37434381] [ 0.02533816 -0.00565067 0.99966297 1.34920359] [ 0. 0. 0. 1. ]] SLAMing on 290.46255784400006 meters Centerline goodness : 0.144298 Centerline is valid? [False, False] Translation: X:3.35, Y:0.38, Z:1.35 [[ 9.99694436e-01 1.99832490e-03 -2.46382063e-02 3.34687935e+00] [-1.84502262e-03 9.99978808e-01 6.24329947e-03 3.78290413e-01] [ 2.46501603e-02 -6.19593369e-03 9.99676938e-01 1.34836924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49255784400003 meters Centerline goodness : 0.149058 Centerline is valid? [False, False] Translation: X:3.37, Y:0.38, Z:1.35 [[ 0.99971875 0.01007632 -0.0214681 3.36523605] [-0.00997812 0.99993928 0.00467623 0.37717768] [ 0.02151392 -0.0044607 0.9997586 1.34906017] [ 0. 0. 0. 1. ]] SLAMing on 290.52255784400006 meters Centerline goodness : 0.153107 Centerline is valid? [False, False] Translation: X:3.36, Y:0.38, Z:1.35 [[ 0.99973138 0.01003403 -0.02089223 3.3632654 ] [-0.00993697 0.99993937 0.00474442 0.37689728] [ 0.02093857 -0.00453554 0.99977048 1.34978164] [ 0. 0. 0. 1. ]] SLAMing on 290.55255784400003 meters Centerline goodness : 0.134287 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.35 [[ 9.99785898e-01 1.52965238e-03 -2.06353760e-02 3.38295649e+00] [-1.41103619e-03 9.99982407e-01 5.76153231e-03 3.81620501e-01] [ 2.06438261e-02 -5.73118149e-03 9.99770467e-01 1.35109963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58255784400006 meters Centerline goodness : 0.125149 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.35 [[ 9.99772311e-01 1.44625053e-03 -2.12893167e-02 3.38496228e+00] [-1.32276729e-03 9.99982228e-01 5.81318432e-03 3.81007620e-01] [ 2.12973457e-02 -5.78369991e-03 9.99756456e-01 1.35050022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61255784400004 meters Centerline goodness : 0.128220 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99758268e-01 1.37748718e-03 -2.19432748e-02 3.38685997e+00] [-1.24798879e-03 9.99981733e-01 5.91410834e-03 3.80168284e-01] [ 2.19510206e-02 -5.88529375e-03 9.99741725e-01 1.35005931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64255784400007 meters Centerline goodness : 0.143211 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99749651e-01 1.33620215e-03 -2.23349658e-02 3.38797756e+00] [-1.20120846e-03 9.99980939e-01 6.05637537e-03 3.79196871e-01] [ 2.23426326e-02 -6.02803021e-03 9.99732199e-01 1.34984318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67255784400004 meters Centerline goodness : 0.036427 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:1.35 [[ 9.99748850e-01 1.38404111e-03 -2.23678710e-02 3.38786678e+00] [-1.24232314e-03 9.99979077e-01 6.34843708e-03 3.77698501e-01] [ 2.23761894e-02 -6.31905454e-03 9.99729651e-01 1.35023552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70255784400007 meters Centerline goodness : 0.127630 Centerline is valid? [False, False] Translation: X:3.41, Y:0.38, Z:1.35 [[ 0.99976865 -0.0074564 -0.02017535 3.40770827] [ 0.00759465 0.99994814 0.00678452 0.37792345] [ 0.02012372 -0.00693617 0.99977344 1.35108946] [ 0. 0. 0. 1. ]] SLAMing on 290.73255784400004 meters Centerline goodness : 0.127321 Centerline is valid? [False, False] Translation: X:3.41, Y:0.38, Z:1.35 [[ 0.99977199 -0.00734134 -0.02005188 3.40726174] [ 0.00748824 0.9999456 0.00726061 0.37547056] [ 0.01999748 -0.00740911 0.99977258 1.35140401] [ 0. 0. 0. 1. ]] SLAMing on 290.76255784400007 meters Centerline goodness : 0.126403 Centerline is valid? [False, False] Translation: X:3.41, Y:0.37, Z:1.35 [[ 0.99977556 -0.00721653 -0.01991861 3.40675018] [ 0.00737246 0.99994267 0.007766 0.37293528] [ 0.01986142 -0.00791111 0.99977144 1.35180086] [ 0. 0. 0. 1. ]] SLAMing on 290.79255784400004 meters Centerline goodness : 0.217616 Centerline is valid? [False, False] Translation: X:3.42, Y:0.37, Z:1.35 [[ 9.99837014e-01 9.51982845e-04 -1.80288669e-02 3.42493158e+00] [-8.38014351e-04 9.99979627e-01 6.32794536e-03 3.67331591e-01] [ 1.80345237e-02 -6.31180554e-03 9.99817442e-01 1.35342547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8225578440001 meters Centerline goodness : 0.205541 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99840801e-01 1.24519698e-03 -1.77994940e-02 3.42402335e+00] [-1.11826654e-03 9.99973890e-01 7.13930199e-03 3.63482885e-01] [ 1.78079191e-02 -7.11826084e-03 9.99816087e-01 1.35409209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85255784400005 meters Centerline goodness : 0.139912 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99837650e-01 1.34237157e-03 -1.79686083e-02 3.42458613e+00] [-1.20954171e-03 9.99971880e-01 7.40115625e-03 3.62204648e-01] [ 1.79780382e-02 -7.37822089e-03 9.99811158e-01 1.35389316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters Centerline goodness : 0.141119 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99979847 0.00898468 -0.01795256 3.4475832 ] [-0.008894 0.99994732 0.00512469 0.35958761] [ 0.01799766 -0.00496399 0.99982571 1.3534626 ] [ 0. 0. 0. 1. ]] SLAMing on 290.91255784400005 meters Centerline goodness : 0.122996 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99976602 0.00938406 -0.01948976 3.45202324] [-0.00928589 0.99994377 0.00512128 0.35974217] [ 0.01953672 -0.0049391 0.99979694 1.35285079] [ 0. 0. 0. 1. ]] SLAMing on 290.942557844 meters Centerline goodness : 0.153756 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.9997581 0.00945534 -0.01985772 3.45317431] [-0.0093581 0.99994379 0.00498408 0.36063924] [ 0.01990373 -0.00479704 0.99979039 1.35255032] [ 0. 0. 0. 1. ]] SLAMing on 290.97255784400005 meters Centerline goodness : 0.155089 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99975238 0.00950611 -0.02012017 3.45407414] [-0.00941044 0.99994399 0.00484411 0.36151372] [ 0.02016509 -0.00465357 0.99978583 1.35222634] [ 0. 0. 0. 1. ]] SLAMing on 291.002557844 meters Centerline goodness : 0.148499 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99974779 0.00957084 -0.02031619 3.45478736] [-0.00947592 0.99994376 0.00476341 0.36207726] [ 0.02036064 -0.0045697 0.99978226 1.35195723] [ 0. 0. 0. 1. ]] SLAMing on 291.03255784400005 meters Centerline goodness : 0.120208 Centerline is valid? [False, False] Translation: X:3.45, Y:0.36, Z:1.35 [[ 0.99974924 0.009504 -0.02027639 3.45468163] [-0.00941362 0.99994535 0.00454843 0.36306248] [ 0.02031851 -0.00435642 0.99978407 1.3519756 ] [ 0. 0. 0. 1. ]] SLAMing on 291.062557844 meters Centerline goodness : 0.217589 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99815322e-01 1.62601380e-03 -1.91488388e-02 3.47372454e+00] [-1.52326645e-03 9.99984372e-01 5.37908619e-03 3.70056352e-01] [ 1.91572861e-02 -5.34892401e-03 9.99802174e-01 1.35270610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09255784400005 meters Centerline goodness : 0.153037 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99816666e-01 1.79592236e-03 -1.90632897e-02 3.47335045e+00] [-1.68525905e-03 9.99981646e-01 5.81952632e-03 3.67890421e-01] [ 1.90733912e-02 -5.78633282e-03 9.99801342e-01 1.35300538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters Centerline goodness : 0.128632 Centerline is valid? [False, False] Translation: X:3.47, Y:0.37, Z:1.35 [[ 9.99814272e-01 1.88242738e-03 -1.91801366e-02 3.47343243e+00] [-1.76416797e-03 9.99979343e-01 6.18077866e-03 3.65944662e-01] [ 1.91913752e-02 -6.14579374e-03 9.99796940e-01 1.35336616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15255784400006 meters Centerline goodness : 0.119009 Centerline is valid? [False, False] Translation: X:3.43, Y:0.36, Z:1.35 [[ 9.99769979e-01 -1.60990198e-04 -2.14467361e-02 3.42750034e+00] [ 2.94482041e-04 9.99980604e-01 6.22133030e-03 3.60376176e-01] [ 2.14453185e-02 -6.22621495e-03 9.99750635e-01 1.35431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters Centerline goodness : 0.135167 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99814025e-01 2.76291597e-04 -1.92831283e-02 3.47097220e+00] [-1.73296596e-04 9.99985713e-01 5.34266437e-03 3.62566409e-01] [ 1.92843290e-02 -5.33832907e-03 9.99799788e-01 1.35458303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21255784400006 meters Centerline goodness : 0.149437 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99810226e-01 4.49634451e-04 -1.94758607e-02 3.47146148e+00] [-3.34570210e-04 9.99982475e-01 5.91089942e-03 3.59881606e-01] [ 1.94781771e-02 -5.90326164e-03 9.99792855e-01 1.35464641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24255784400003 meters Centerline goodness : 0.147035 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99806045e-01 5.40113733e-04 -1.96870536e-02 3.47208172e+00] [-4.16969688e-04 9.99980328e-01 6.25864565e-03 3.58033171e-01] [ 1.96900467e-02 -6.24922286e-03 9.99786602e-01 1.35450585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27255784400006 meters Centerline goodness : 0.141586 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99803326e-01 6.59761784e-04 -1.98210271e-02 3.47240223e+00] [-5.28709998e-04 9.99977972e-01 6.61626845e-03 3.56249457e-01] [ 1.98249557e-02 -6.60448763e-03 9.99781652e-01 1.35456887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30255784400003 meters Centerline goodness : 0.145134 Centerline is valid? [False, False] Translation: X:3.47, Y:0.36, Z:1.35 [[ 9.99805566e-01 7.84673188e-04 -1.97031746e-02 3.47198338e+00] [-6.49018261e-04 9.99976050e-01 6.89037827e-03 3.55112091e-01] [ 1.97081094e-02 -6.87625082e-03 9.99782130e-01 1.35477764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33255784400006 meters Centerline goodness : 0.280851 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99810158e-01 9.10904149e-04 -1.94632573e-02 3.47114863e+00] [-7.71946198e-04 9.99974170e-01 7.14582191e-03 3.54176671e-01] [ 1.94692637e-02 -7.12944074e-03 9.99785036e-01 1.35517269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36255784400004 meters Centerline goodness : 0.121443 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99812342e-01 1.02008274e-03 -1.93452707e-02 3.47075988e+00] [-8.77628825e-04 9.99972450e-01 7.37081969e-03 3.53246317e-01] [ 1.93522566e-02 -7.35245854e-03 9.99785693e-01 1.35535337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39255784400007 meters Centerline goodness : 0.146579 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.36 [[ 9.99809841e-01 1.04143533e-03 -1.94729628e-02 3.47131201e+00] [-8.95458128e-04 9.99971446e-01 7.50362188e-03 3.52361611e-01] [ 1.94802213e-02 -7.48475778e-03 9.99782226e-01 1.35502501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42255784400004 meters Centerline goodness : 0.125084 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.35 [[ 9.99797146e-01 -2.62213542e-03 -1.99697376e-02 3.47334541e+00] [ 2.69890347e-03 9.99989068e-01 3.81823903e-03 3.51878665e-01] [ 1.99595074e-02 -3.87136088e-03 9.99793294e-01 1.35373889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45255784400007 meters Centerline goodness : 0.163654 Centerline is valid? [False, False] Translation: X:3.43, Y:0.35, Z:1.35 [[ 0.99973293 -0.00365433 -0.02281896 3.42928037] [ 0.00376686 0.99998095 0.00489052 0.34666649] [ 0.02280065 -0.00497517 0.99972765 1.35384968] [ 0. 0. 0. 1. ]] SLAMing on 291.48255784400004 meters Centerline goodness : 0.127363 Centerline is valid? [False, False] Translation: X:3.47, Y:0.35, Z:1.35 [[ 9.99784784e-01 -2.67228659e-03 -2.05728980e-02 3.47320130e+00] [ 2.77250556e-03 9.99984422e-01 4.84442738e-03 3.46037010e-01] [ 2.05596318e-02 -4.90042326e-03 9.99776619e-01 1.35420715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51255784400007 meters Centerline goodness : 0.146165 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99830255e-01 1.79645671e-03 -1.83367069e-02 3.45003486e+00] [-1.76298994e-03 9.99996751e-01 1.84112655e-03 3.40165057e-01] [ 1.83399548e-02 -1.80848660e-03 9.99830173e-01 1.35343177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54255784400004 meters Centerline goodness : 0.250027 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99834474e-01 1.74852634e-03 -1.81098592e-02 3.44890520e+00] [-1.71198903e-03 9.99996468e-01 2.03284384e-03 3.38760353e-01] [ 1.81133497e-02 -2.00150347e-03 9.99833936e-01 1.35439617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5725578440001 meters Centerline goodness : 0.136630 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99836282e-01 1.89592643e-03 -1.79948241e-02 3.44846178e+00] [-1.85303421e-03 9.99995403e-01 2.39996132e-03 3.37068260e-01] [ 1.79992915e-02 -2.36622338e-03 9.99835200e-01 1.35466890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60255784400005 meters Centerline goodness : 0.138444 Centerline is valid? [False, False] Translation: X:3.45, Y:0.34, Z:1.35 [[ 9.99834799e-01 2.06515409e-03 -1.80584853e-02 3.44889933e+00] [-2.01599839e-03 9.99994215e-01 2.73980909e-03 3.35844202e-01] [ 1.80640390e-02 -2.70295059e-03 9.99833178e-01 1.35430069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.632557844 meters Centerline goodness : 0.148845 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99833024e-01 2.16343615e-03 -1.81450819e-02 3.44946773e+00] [-2.10980427e-03 9.99993351e-01 2.97434739e-03 3.34677174e-01] [ 1.81513960e-02 -2.93556817e-03 9.99830940e-01 1.35372475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66255784400005 meters Centerline goodness : 0.151566 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99830974e-01 2.35555950e-03 -1.82338823e-02 3.44988199e+00] [-2.29406480e-03 9.99991613e-01 3.39273344e-03 3.32488766e-01] [ 1.82417211e-02 -3.35033027e-03 9.99827993e-01 1.35350513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692557844 meters Centerline goodness : 0.147808 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.36 [[ 0.99983542 -0.00441665 -0.01759613 3.46790619] [ 0.00450307 0.99997798 0.00487498 0.336836 ] [ 0.01757421 -0.00495341 0.99983329 1.35523352] [ 0. 0. 0. 1. ]] SLAMing on 291.72255784400005 meters Centerline goodness : 0.123834 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.36 [[ 0.99983969 -0.00424672 -0.01739423 3.46734715] [ 0.00433627 0.99997752 0.00511349 0.33613589] [ 0.01737212 -0.00518809 0.99983563 1.35531205] [ 0. 0. 0. 1. ]] SLAMing on 291.752557844 meters Centerline goodness : 0.144293 Centerline is valid? [False, False] Translation: X:3.47, Y:0.34, Z:1.35 [[ 0.99984234 -0.00413985 -0.01726747 3.46727609] [ 0.00423145 0.99997715 0.00527156 0.33553051] [ 0.01724525 -0.0053438 0.99983701 1.35494913] [ 0. 0. 0. 1. ]] SLAMing on 291.78255784400005 meters Centerline goodness : 0.231322 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99808293e-01 2.54905680e-03 -1.94133658e-02 3.45090149e+00] [-2.48717646e-03 9.99991752e-01 3.21098961e-03 3.27683260e-01] [ 1.94213906e-02 -3.16208958e-03 9.99806387e-01 1.35163544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812557844 meters Centerline goodness : 0.145841 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99803652e-01 2.58542870e-03 -1.96461750e-02 3.45175162e+00] [-2.51950338e-03 9.99991115e-01 3.37964253e-03 3.26748899e-01] [ 1.96547383e-02 -3.32948034e-03 9.99801283e-01 1.35116578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84255784400005 meters Centerline goodness : 0.148718 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99805298e-01 2.69739741e-03 -1.95471088e-02 3.45149709e+00] [-2.62761848e-03 9.99990087e-01 3.59458761e-03 3.26102399e-01] [ 1.95566110e-02 -3.54252540e-03 9.99802475e-01 1.35114170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872557844 meters Centerline goodness : 0.143425 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.35 [[ 0.99985235 0.00442631 -0.01660392 3.49360253] [-0.00436475 0.99998347 0.00374166 0.32866359] [ 0.01662021 -0.00366864 0.99985514 1.35123242] [ 0. 0. 0. 1. ]] SLAMing on 291.90255784400006 meters Centerline goodness : 0.140535 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.35 [[ 0.99985679 0.00454588 -0.01630143 3.4924619 ] [-0.00448036 0.99998175 0.00405334 0.32730042] [ 0.01631955 -0.00397972 0.99985891 1.35187973] [ 0. 0. 0. 1. ]] SLAMing on 291.93255784400003 meters Centerline goodness : 0.148685 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99883531e-01 1.42189814e-03 -1.51955062e-02 3.48822939e+00] [-1.40376693e-03 9.99998290e-01 1.20379494e-03 3.24621975e-01] [ 1.51971919e-02 -1.18232379e-03 9.99883817e-01 1.35361770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96255784400006 meters Centerline goodness : 0.116343 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99879196e-01 1.43482187e-03 -1.54769310e-02 3.48900128e+00] [-1.41463186e-03 9.99998134e-01 1.31539188e-03 3.24000692e-01] [ 1.54787895e-02 -1.29333882e-03 9.99879360e-01 1.35350797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99255784400003 meters Centerline goodness : 0.142714 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99873326e-01 1.45157373e-03 -1.58500949e-02 3.49018613e+00] [-1.42968575e-03 9.99998009e-01 1.39218066e-03 3.23672842e-01] [ 1.58520842e-02 -1.36934365e-03 9.99873410e-01 1.35307097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02255784400006 meters Centerline goodness : 0.135146 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99866778e-01 1.40331092e-03 -1.62621585e-02 3.49159687e+00] [-1.38073496e-03 9.99998068e-01 1.39939563e-03 3.23491908e-01] [ 1.62640909e-02 -1.37675547e-03 9.99866783e-01 1.35244410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05255784400003 meters Centerline goodness : 0.139880 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:1.35 [[ 9.99816968e-01 -1.40298957e-03 -1.90803961e-02 3.44694088e+00] [ 1.42122261e-03 9.99998546e-01 9.42063860e-04 3.18824056e-01] [ 1.90790466e-02 -9.69008923e-04 9.99817509e-01 1.35294954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08255784400006 meters Centerline goodness : 0.144374 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:1.35 [[ 9.99821118e-01 -1.37994812e-03 -1.88634087e-02 3.44620086e+00] [ 1.40160875e-03 9.99998374e-01 1.13511530e-03 3.17785154e-01] [ 1.88618116e-02 -1.16135137e-03 9.99821426e-01 1.35330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11255784400004 meters Centerline goodness : 0.145882 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:1.35 [[ 9.99844477e-01 5.44942702e-03 -1.67727495e-02 3.46730827e+00] [-5.47866983e-03 9.99983550e-01 -1.69801538e-03 3.16854473e-01] [ 1.67632203e-02 1.78964366e-03 9.99857886e-01 1.35253408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14255784400007 meters Centerline goodness : 0.152473 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:1.35 [[ 9.99845687e-01 5.46325869e-03 -1.66959319e-02 3.46693590e+00] [-5.49032412e-03 9.99983687e-01 -1.57567298e-03 3.16401536e-01] [ 1.66870512e-02 1.66709591e-03 9.99859372e-01 1.35279124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17255784400004 meters Centerline goodness : 0.130510 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.35 [[ 9.99869680e-01 -2.48609224e-03 -1.59512756e-02 3.48683335e+00] [ 2.47923438e-03 9.99996826e-01 -4.49686075e-04 3.20160095e-01] [ 1.59523429e-02 4.10080521e-04 9.99872669e-01 1.35470582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20255784400007 meters Centerline goodness : 0.218113 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989423 0.0035786 -0.01409711 3.50872353] [-0.00363355 0.9999859 -0.00387385 0.31945362] [ 0.01408305 0.00392466 0.99989313 1.35363907] [ 0. 0. 0. 1. ]] SLAMing on 292.23255784400004 meters Centerline goodness : 0.218113 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989423 0.0035786 -0.01409711 3.50872353] [-0.00363355 0.9999859 -0.00387385 0.31945362] [ 0.01408305 0.00392466 0.99989313 1.35363907] [ 0. 0. 0. 1. ]] SLAMing on 292.26255784400007 meters Centerline goodness : 0.141139 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 0.99989445 0.00350919 -0.01409895 3.50861877] [-0.00356307 0.99998644 -0.00379869 0.31870601] [ 0.01408543 0.00384852 0.99989339 1.35380601] [ 0. 0. 0. 1. ]] SLAMing on 292.29255784400004 meters Centerline goodness : 0.091812 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99894617e-01 3.44499453e-03 -1.41027215e-02 3.50858549e+00] [-3.49891466e-03 9.99986657e-01 -3.80049838e-03 3.18554804e-01] [ 1.40894406e-02 3.84944209e-03 9.99893329e-01 1.35384666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3225578440001 meters Centerline goodness : 0.127348 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99895540e-01 3.42542916e-03 -1.40419482e-02 3.50844929e+00] [-3.47923745e-03 9.99986692e-01 -3.80933089e-03 3.18742394e-01] [ 1.40287127e-02 3.85778823e-03 9.99894151e-01 1.35379555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35255784400005 meters Centerline goodness : 0.159335 Centerline is valid? [False, False] Translation: X:3.51, Y:0.32, Z:1.35 [[ 9.99896758e-01 3.39796317e-03 -1.39616317e-02 3.50825836e+00] [-3.45207291e-03 9.99986617e-01 -3.85333269e-03 3.19053563e-01] [ 1.39483514e-02 3.90113143e-03 9.99895107e-01 1.35371332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters Centerline goodness : 0.078191 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99901431e-01 -4.62596432e-03 -1.32562933e-02 3.52898075e+00] [ 4.57974100e-03 9.99983335e-01 -3.51513433e-03 3.24517785e-01] [ 1.32723333e-02 3.45407745e-03 9.99905953e-01 1.35474785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41255784400005 meters Centerline goodness : 0.171174 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 0.99990679 -0.00487193 -0.01275476 3.52737811] [ 0.00482625 0.99998184 -0.00360964 0.32464334] [ 0.01277212 0.00354775 0.99991214 1.3550287 ] [ 0. 0. 0. 1. ]] SLAMing on 292.442557844 meters Centerline goodness : 0.189759 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99905887e-01 -4.99719551e-03 -1.27767532e-02 3.52724939e+00] [ 4.95264187e-03 9.99981553e-01 -3.51635264e-03 3.24000499e-01] [ 1.27940895e-02 3.45274302e-03 9.99912191e-01 1.35526589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47255784400005 meters Centerline goodness : 0.189922 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99904378e-01 -5.02503098e-03 -1.28834453e-02 3.52766726e+00] [ 4.98074932e-03 9.99981586e-01 -3.46688271e-03 3.23671466e-01] [ 1.29006293e-02 3.40238198e-03 9.99910995e-01 1.35496579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters Centerline goodness : 0.124261 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99903223e-01 -5.05629252e-03 -1.29606576e-02 3.52789239e+00] [ 5.01248749e-03 9.99981623e-01 -3.41010501e-03 3.23178502e-01] [ 1.29776619e-02 3.34480985e-03 9.99910192e-01 1.35489204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53255784400005 meters Centerline goodness : 0.131178 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99902719e-01 -5.09805000e-03 -1.29831799e-02 3.52785538e+00] [ 5.05500197e-03 9.99981624e-01 -3.34633758e-03 3.22518702e-01] [ 1.30000011e-02 3.28038204e-03 9.99910115e-01 1.35499000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters Centerline goodness : 0.172344 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99897692e-01 -5.75710360e-03 -1.30943224e-02 3.52779947e+00] [ 5.71073894e-03 9.99977302e-01 -3.57546027e-03 3.21408079e-01] [ 1.31146094e-02 3.50031621e-03 9.99907873e-01 1.35546737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59255784400005 meters Centerline goodness : 0.172143 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99894936e-01 -5.73785525e-03 -1.33114025e-02 3.52824309e+00] [ 5.69400812e-03 9.99978246e-01 -3.32951677e-03 3.20182028e-01] [ 1.33302172e-02 3.25337172e-03 9.99905856e-01 1.35549172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters Centerline goodness : 0.186568 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.36 [[ 9.99891166e-01 -5.69490462e-03 -1.36097442e-02 3.52916563e+00] [ 5.65391804e-03 9.99979371e-01 -3.04814279e-03 3.18916807e-01] [ 1.36268224e-02 2.97086267e-03 9.99902737e-01 1.35508513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65255784400006 meters Centerline goodness : 0.175045 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:1.35 [[ 9.99887350e-01 -5.67161571e-03 -1.38967765e-02 3.53012895e+00] [ 5.63443336e-03 9.99980445e-01 -2.71330257e-03 3.17173461e-01] [ 1.39118936e-02 2.63469646e-03 9.99899754e-01 1.35458550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 292.71255784400006 meters Centerline goodness : 0.163920 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.36 [[ 0.9998605 -0.00982993 -0.01350379 3.5287558 ] [ 0.00974855 0.999934 -0.00607906 0.31284413] [ 0.01356265 0.00594657 0.99989034 1.35530408] [ 0. 0. 0. 1. ]] SLAMing on 292.74255784400003 meters Centerline goodness : 0.129303 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.36 [[ 0.99989772 -0.0087201 -0.011336 3.57249715] [ 0.00865127 0.99994393 -0.0061067 0.31143496] [ 0.01138861 0.006008 0.9999171 1.35512649] [ 0. 0. 0. 1. ]] SLAMing on 292.77255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 292.80255784400003 meters Centerline goodness : 0.183498 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.35 [[ 0.9998922 -0.00868398 -0.01183921 3.57413487] [ 0.00861949 0.99994779 -0.00548761 0.30839513] [ 0.01188625 0.00538497 0.99991486 1.35427372] [ 0. 0. 0. 1. ]] SLAMing on 292.83255784400006 meters Centerline goodness : 0.140184 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.35 [[ 0.9998926 -0.00859845 -0.01186808 3.57416966] [ 0.00853827 0.99995048 -0.005112 0.30651711] [ 0.01191144 0.00501011 0.9999165 1.35427454] [ 0. 0. 0. 1. ]] SLAMing on 292.86255784400004 meters Centerline goodness : 0.152927 Centerline is valid? [False, False] Translation: X:3.57, Y:0.30, Z:1.35 [[ 0.99988835 -0.00855845 -0.01224879 3.57490988] [ 0.008503 0.99995339 -0.00457243 0.30345536] [ 0.01228735 0.00446777 0.99991453 1.35449408] [ 0. 0. 0. 1. ]] SLAMing on 292.89255784400007 meters Centerline goodness : 0.127018 Centerline is valid? [False, False] Translation: X:3.59, Y:0.30, Z:1.36 [[ 9.99929470e-01 6.73551645e-04 -1.18575282e-02 3.59498401e+00] [-7.34422722e-04 9.99986572e-01 -5.12993283e-03 2.98298140e-01] [ 1.18539137e-02 5.13827945e-03 9.99916538e-01 1.35515441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters Centerline goodness : 0.166254 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:1.36 [[ 9.99928270e-01 7.10479621e-04 -1.19561738e-02 3.59521268e+00] [-7.71445235e-04 9.99986722e-01 -5.09525149e-03 2.98283236e-01] [ 1.19523949e-02 5.10410955e-03 9.99915541e-01 1.35518441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95255784400007 meters Centerline goodness : 0.149301 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:1.36 [[ 9.99928616e-01 7.07698654e-04 -1.19273296e-02 3.59507117e+00] [-7.69243543e-04 9.99986411e-01 -5.15619140e-03 2.98663363e-01] [ 1.19235185e-02 5.16499835e-03 9.99915573e-01 1.35533027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 293.01255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 293.04255784400004 meters Centerline goodness : 0.132099 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.36 [[ 9.99946312e-01 -3.41875388e-03 -9.78189129e-03 3.61707342e+00] [ 3.40061426e-03 9.99992469e-01 -1.87044095e-03 3.03691182e-01] [ 9.78821220e-03 1.83707609e-03 9.99950407e-01 1.35510567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0725578440001 meters Centerline goodness : 0.127610 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99945812e-01 -3.46919828e-03 -9.81522255e-03 3.61747930e+00] [ 3.44969115e-03 9.99992042e-01 -2.00366944e-03 3.04458264e-01] [ 9.82209558e-03 1.96970137e-03 9.99949822e-01 1.35455106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10255784400005 meters Centerline goodness : 0.131821 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99944588e-01 -3.55925818e-03 -9.90723941e-03 3.61800630e+00] [ 3.53844640e-03 9.99991498e-01 -2.11740064e-03 3.04824605e-01] [ 9.91469155e-03 2.08222708e-03 9.99948680e-01 1.35398767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.132557844 meters Centerline goodness : 0.070344 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99935069e-01 -4.19700680e-03 -1.05944621e-02 3.61988918e+00] [ 4.17158094e-03 9.99988369e-01 -2.42087895e-03 3.04387661e-01] [ 1.06044994e-02 2.37652611e-03 9.99940947e-01 1.35360170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16255784400005 meters Centerline goodness : 0.168334 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:1.35 [[ 9.99932237e-01 -4.38432326e-03 -1.07841825e-02 3.62019553e+00] [ 4.35857835e-03 9.99987598e-01 -2.40962960e-03 3.03856238e-01] [ 1.07946134e-02 2.36246261e-03 9.99938946e-01 1.35371695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192557844 meters Centerline goodness : 0.158463 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.36 [[ 9.99887430e-01 -6.25536780e-03 -1.36380973e-02 3.57524684e+00] [ 6.22627264e-03 9.99978252e-01 -2.17479118e-03 3.04284727e-01] [ 1.36514048e-02 2.08963185e-03 9.99904632e-01 1.35513894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22255784400005 meters Centerline goodness : 0.176506 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.35 [[ 9.99885713e-01 -6.32893680e-03 -1.37297387e-02 3.57558498e+00] [ 6.30048933e-03 9.99977917e-01 -2.11422611e-03 3.04112668e-01] [ 1.37428163e-02 2.02748041e-03 9.99903508e-01 1.35477404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252557844 meters Centerline goodness : 0.187339 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:1.35 [[ 9.99885567e-01 -6.39512844e-03 -1.37096986e-02 3.57553383e+00] [ 6.36654717e-03 9.99977470e-01 -2.12738018e-03 3.04254386e-01] [ 1.37229946e-02 2.03985329e-03 9.99903755e-01 1.35465426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28255784400005 meters Centerline goodness : 0.166303 Centerline is valid? [False, False] Translation: X:3.57, Y:0.30, Z:1.36 [[ 9.99893128e-01 -6.65877430e-03 -1.30150840e-02 3.57354679e+00] [ 6.62880671e-03 9.99975281e-01 -2.34431230e-03 3.04789254e-01] [ 1.30303726e-02 2.25778729e-03 9.99912552e-01 1.35510748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312557844 meters Centerline goodness : 0.121708 Centerline is valid? [False, False] Translation: X:3.57, Y:0.31, Z:1.36 [[ 9.99894099e-01 -6.69582996e-03 -1.29211966e-02 3.57315622e+00] [ 6.66554115e-03 9.99974939e-01 -2.38576187e-03 3.05016597e-01] [ 1.29368474e-02 2.29938244e-03 9.99913672e-01 1.35528677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34255784400005 meters Centerline goodness : 0.121157 Centerline is valid? [False, False] Translation: X:3.55, Y:0.30, Z:1.35 [[ 9.99930483e-01 6.76921155e-04 -1.17716134e-02 3.55387013e+00] [-7.13844518e-04 9.99994838e-01 -3.13272540e-03 3.01750458e-01] [ 1.17694320e-02 3.14091073e-03 9.99925805e-01 1.35299307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372557844 meters Centerline goodness : 0.123052 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99890594e-01 -4.78956139e-04 -1.47841144e-02 3.50976445e+00] [ 4.39955004e-04 9.99996415e-01 -2.64118300e-03 3.03125392e-01] [ 1.47853264e-02 2.63438969e-03 9.99887221e-01 1.35377507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40255784400006 meters Centerline goodness : 0.137770 Centerline is valid? [False, False] Translation: X:3.53, Y:0.31, Z:1.35 [[ 9.99837919e-01 -7.92437142e-03 -1.61660126e-02 3.53129060e+00] [ 7.89337079e-03 9.99966886e-01 -1.98054944e-03 3.05909266e-01] [ 1.61811719e-02 1.85262409e-03 9.99867360e-01 1.35498338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43255784400003 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99848633e-01 -1.10009234e-04 -1.73982443e-02 3.51107668e+00] [ 6.03683810e-05 9.99995926e-01 -2.85370993e-03 3.01850566e-01] [ 1.73984874e-02 2.85222766e-03 9.99844567e-01 1.35392878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46255784400006 meters Centerline goodness : 0.175402 Centerline is valid? [False, False] Translation: X:3.51, Y:0.30, Z:1.35 [[ 9.99851971e-01 -1.37374405e-04 -1.72051769e-02 3.51026779e+00] [ 8.47270289e-05 9.99995313e-01 -3.06066449e-03 3.03057875e-01] [ 1.72055167e-02 3.05875368e-03 9.99847295e-01 1.35449662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49255784400003 meters Centerline goodness : 0.157228 Centerline is valid? [False, False] Translation: X:3.51, Y:0.31, Z:1.35 [[ 9.99858599e-01 -1.38470692e-04 -1.68155532e-02 3.50904890e+00] [ 8.11738959e-05 9.99994189e-01 -3.40800379e-03 3.05330481e-01] [ 1.68159274e-02 3.40615691e-03 9.99852801e-01 1.35498920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52255784400006 meters Centerline goodness : 0.162352 Centerline is valid? [False, False] Translation: X:3.51, Y:0.31, Z:1.36 [[ 9.99857914e-01 3.71150576e-03 -1.64431492e-02 3.50790896e+00] [-3.71746823e-03 9.99993035e-01 -3.32060786e-04 3.10435459e-01] [ 1.64418022e-02 3.93140490e-04 9.99864747e-01 1.35556131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55255784400003 meters Centerline goodness : 0.125618 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99865857e-01 -2.98442411e-03 -1.61047060e-02 3.48585002e+00] [ 3.02001392e-03 9.99993050e-01 2.18603432e-03 3.18301416e-01] [ 1.60980700e-02 -2.23437751e-03 9.99867921e-01 1.35539511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58255784400006 meters Centerline goodness : 0.178556 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99866970e-01 -3.24248567e-03 -1.59852680e-02 3.48557381e+00] [ 3.26639073e-03 9.99993586e-01 1.46956115e-03 3.21627771e-01] [ 1.59804005e-02 -1.52157979e-03 9.99871147e-01 1.35540872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61255784400004 meters Centerline goodness : 0.170531 Centerline is valid? [False, False] Translation: X:3.49, Y:0.32, Z:1.36 [[ 9.99867307e-01 -3.47554651e-03 -1.59150658e-02 3.48546088e+00] [ 3.49026659e-03 9.99993506e-01 8.97232537e-04 3.24300437e-01] [ 1.59118441e-02 -9.52661303e-04 9.99872945e-01 1.35530177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64255784400007 meters Centerline goodness : 0.129926 Centerline is valid? [False, False] Translation: X:3.49, Y:0.33, Z:1.36 [[ 9.99865865e-01 -3.61171914e-03 -1.59752176e-02 3.48569989e+00] [ 3.62187661e-03 9.99993257e-01 6.06940537e-04 3.25963969e-01] [ 1.59729177e-02 -6.64719392e-04 9.99872204e-01 1.35506046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67255784400004 meters Centerline goodness : 0.173807 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:1.36 [[ 9.99807642e-01 -4.34179534e-03 -1.91266028e-02 3.44197012e+00] [ 4.37220344e-03 9.99989243e-01 1.54830291e-03 3.28194752e-01] [ 1.91196746e-02 -1.63163048e-03 9.99815871e-01 1.35543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70255784400007 meters Centerline goodness : 0.194858 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99778749e-01 -5.65234323e-03 -2.02608885e-02 3.44556828e+00] [ 5.66800378e-03 9.99983681e-01 7.15602659e-04 3.28689931e-01] [ 2.02565130e-02 -8.30283124e-04 9.99794471e-01 1.35412550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73255784400004 meters Centerline goodness : 0.185670 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99771832e-01 -6.08784493e-03 -2.04749204e-02 3.44604676e+00] [ 6.10254380e-03 9.99981164e-01 6.55491403e-04 3.27559031e-01] [ 2.04705442e-02 -7.80290939e-04 9.99790152e-01 1.35410332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76255784400007 meters Centerline goodness : 0.142340 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:1.35 [[ 9.99765223e-01 -6.32451828e-03 -2.07243430e-02 3.44661260e+00] [ 6.34184304e-03 9.99979594e-01 7.70345482e-04 3.26281938e-01] [ 2.07190481e-02 -9.01595153e-04 9.99784931e-01 1.35405212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79255784400004 meters Centerline goodness : 0.145364 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:1.35 [[ 9.99701338e-01 -7.28231252e-03 -2.33281712e-02 3.40125040e+00] [ 7.31653116e-03 9.99972279e-01 1.38182060e-03 3.27454559e-01] [ 2.33174616e-02 -1.55208919e-03 9.99726906e-01 1.35442568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8225578440001 meters Centerline goodness : 0.167128 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99736821e-01 1.15534973e-03 -2.29118543e-02 3.42098142e+00] [-1.14331314e-03 9.99999201e-01 5.38435844e-04 3.22091330e-01] [ 2.29124581e-02 -5.12098716e-04 9.99737344e-01 1.35468357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85255784400005 meters Centerline goodness : 0.140733 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99733264e-01 1.12615388e-03 -2.30680077e-02 3.42161180e+00] [-1.11475408e-03 9.99999250e-01 5.07035307e-04 3.22227579e-01] [ 2.30685614e-02 -4.81184907e-04 9.99733770e-01 1.35428617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters Centerline goodness : 0.103073 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99727165e-01 1.05330085e-03 -2.33342425e-02 3.42238965e+00] [-1.04809709e-03 9.99999423e-01 2.35238390e-04 3.23446485e-01] [ 2.33344768e-02 -2.10717657e-04 9.99727692e-01 1.35422465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91255784400005 meters Centerline goodness : 0.159939 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:1.35 [[ 9.99734651e-01 1.07247048e-03 -2.30103775e-02 3.42137441e+00] [-1.07321741e-03 9.99999424e-01 -2.01114030e-05 3.24950673e-01] [ 2.30103427e-02 4.48012043e-05 9.99735226e-01 1.35470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters Centerline goodness : 0.183621 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99747477e-01 1.19728108e-03 -2.24398833e-02 3.41969989e+00] [-1.20323801e-03 9.99999244e-01 -2.51961771e-04 3.26811554e-01] [ 2.24395646e-02 2.78898665e-04 9.99748162e-01 1.35527054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97255784400005 meters Centerline goodness : 0.127333 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99760748e-01 1.34089688e-03 -2.18322968e-02 3.41798433e+00] [-1.35268678e-03 9.99998947e-01 -5.25262289e-04 3.28919386e-01] [ 2.18315694e-02 5.54668878e-04 9.99761509e-01 1.35583965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters Centerline goodness : 0.161475 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99765316e-01 1.29666026e-03 -2.16248010e-02 3.41743455e+00] [-1.31825068e-03 9.99998647e-01 -9.84185209e-04 3.31324321e-01] [ 2.16234956e-02 1.01246115e-03 9.99765672e-01 1.35604216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03255784400005 meters Centerline goodness : 0.089919 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:1.36 [[ 9.99761927e-01 1.16754815e-03 -2.17882030e-02 3.41802353e+00] [-1.19881127e-03 9.99998271e-01 -1.42185805e-03 3.33333579e-01] [ 2.17865052e-02 1.44763949e-03 9.99761598e-01 1.35582244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters Centerline goodness : 0.180451 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.35 [[ 9.99749672e-01 1.04317281e-03 -2.23496158e-02 3.41996701e+00] [-1.08553791e-03 9.99997637e-01 -1.88351457e-03 3.35730105e-01] [ 2.23475982e-02 1.90730443e-03 9.99748442e-01 1.35491221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09255784400005 meters Centerline goodness : 0.121108 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.35 [[ 9.99748979e-01 1.06755289e-03 -2.23794400e-02 3.42004493e+00] [-1.10921924e-03 9.99997675e-01 -1.84948295e-03 3.35861406e-01] [ 2.23774136e-02 1.87384239e-03 9.99747838e-01 1.35482592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters Centerline goodness : 0.173660 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99753896e-01 1.09658621e-03 -2.21572582e-02 3.41918429e+00] [-1.13606722e-03 9.99997789e-01 -1.76934538e-03 3.35544527e-01] [ 2.21552690e-02 1.79408207e-03 9.99752932e-01 1.35526823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15255784400006 meters Centerline goodness : 0.173660 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99753896e-01 1.09658621e-03 -2.21572582e-02 3.41918429e+00] [-1.13606722e-03 9.99997789e-01 -1.76934538e-03 3.35544527e-01] [ 2.21552690e-02 1.79408207e-03 9.99752932e-01 1.35526823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters Centerline goodness : 0.192478 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99723310e-01 -7.93717689e-03 -2.21428220e-02 3.39816287e+00] [ 7.91921326e-03 9.99968239e-01 -8.98832982e-04 3.40976492e-01] [ 2.21492529e-02 7.23230555e-04 9.99754414e-01 1.35466410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21255784400006 meters Centerline goodness : 0.132544 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99725705e-01 -7.96786215e-03 -2.20233464e-02 3.39770987e+00] [ 7.94992868e-03 9.99967992e-01 -9.01727793e-04 3.40908229e-01] [ 2.20298263e-02 7.26396421e-04 9.99757050e-01 1.35486714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters Centerline goodness : 0.180523 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99720624e-01 -8.05440904e-03 -2.22216389e-02 3.39866086e+00] [ 8.03290428e-03 9.99967177e-01 -1.05683435e-03 3.41842790e-01] [ 2.22294217e-02 8.78034800e-04 9.99752510e-01 1.35404110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27255784400006 meters Centerline goodness : 0.123467 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:1.35 [[ 9.99715732e-01 -8.15405510e-03 -2.24046323e-02 3.39947619e+00] [ 8.12769134e-03 9.99966166e-01 -1.26752022e-03 3.42816950e-01] [ 2.24142097e-02 1.08506197e-03 9.99748181e-01 1.35343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters Centerline goodness : 0.112316 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99746742e-01 3.82413921e-05 -2.25044464e-02 3.41806465e+00] [-1.00096158e-04 9.99996221e-01 -2.74743751e-03 3.38963308e-01] [ 2.25042563e-02 2.74899431e-03 9.99742968e-01 1.35505916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33255784400006 meters Centerline goodness : 0.197747 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99748097e-01 -1.73462442e-04 -2.24435570e-02 3.41781570e+00] [ 9.94360184e-05 9.99994552e-01 -3.29941136e-03 3.41802377e-01] [ 2.24440071e-02 3.29634853e-03 9.99742667e-01 1.35520605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36255784400004 meters Centerline goodness : 0.156020 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99752034e-01 -2.38337775e-04 -2.22668719e-02 3.41731280e+00] [ 1.60041078e-04 9.99993799e-01 -3.51800217e-03 3.43147512e-01] [ 2.22675723e-02 3.51356621e-03 9.99745873e-01 1.35529954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39255784400007 meters Centerline goodness : 0.136500 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99755379e-01 -3.18836973e-04 -2.21151497e-02 3.41679154e+00] [ 2.36759363e-04 9.99993075e-01 -3.71389386e-03 3.44178450e-01] [ 2.21161807e-02 3.70774940e-03 9.99748532e-01 1.35552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters Centerline goodness : 0.136500 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:1.36 [[ 9.99755379e-01 -3.18836973e-04 -2.21151497e-02 3.41679154e+00] [ 2.36759363e-04 9.99993075e-01 -3.71389386e-03 3.44178450e-01] [ 2.21161807e-02 3.70774940e-03 9.99748532e-01 1.35552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45255784400007 meters Centerline goodness : 0.154951 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.36 [[ 9.99754943e-01 -5.61362214e-04 -2.21300487e-02 3.41692613e+00] [ 4.70279036e-04 9.99991399e-01 -4.12080408e-03 3.45726483e-01] [ 2.21321716e-02 4.10938695e-03 9.99746608e-01 1.35531799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48255784400004 meters Centerline goodness : 0.182311 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99751755e-01 -6.56528335e-04 -2.22710155e-02 3.41754034e+00] [ 5.59224805e-04 9.99990273e-01 -4.37501239e-03 3.47020300e-01] [ 2.22736712e-02 4.36147181e-03 9.99742397e-01 1.35492045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51255784400007 meters Centerline goodness : 0.151986 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99748883e-01 -7.78349235e-04 -2.23956700e-02 3.41821316e+00] [ 6.72949199e-04 9.99988665e-01 -4.71342021e-03 3.48770017e-01] [ 2.23990848e-02 4.69716544e-03 9.99738075e-01 1.35434282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54255784400004 meters Centerline goodness : 0.101364 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99747361e-01 -8.75393592e-04 -2.24598999e-02 3.41852435e+00] [ 7.61418525e-04 9.99986793e-01 -5.08265267e-03 3.50806458e-01] [ 2.24640526e-02 5.06426721e-03 9.99734825e-01 1.35417100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5725578440001 meters Centerline goodness : 0.176369 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:1.35 [[ 9.99748831e-01 -1.02402115e-03 -2.23880846e-02 3.41827890e+00] [ 9.00134315e-04 9.99984232e-01 -5.54298305e-03 3.53134437e-01] [ 2.23934077e-02 5.52143854e-03 9.99733989e-01 1.35439272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60255784400005 meters Centerline goodness : 0.104151 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99746717e-01 -1.38758487e-03 -2.24627852e-02 3.41822518e+00] [ 1.24068749e-03 9.99977764e-01 -6.55220474e-03 3.57798413e-01] [ 2.24713775e-02 6.52267588e-03 9.99726208e-01 1.35498986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.632557844 meters Centerline goodness : 0.098960 Centerline is valid? [False, False] Translation: X:3.42, Y:0.36, Z:1.35 [[ 9.99743053e-01 -1.56570979e-03 -2.26136507e-02 3.41879097e+00] [ 1.40672642e-03 9.99974197e-01 -7.04461332e-03 3.60276100e-01] [ 2.26240970e-02 7.01099201e-03 9.99719459e-01 1.35474419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66255784400005 meters Centerline goodness : 0.104752 Centerline is valid? [False, False] Translation: X:3.44, Y:0.36, Z:1.35 [[ 0.99971192 -0.00713268 -0.02291735 3.4428501 ] [ 0.00703646 0.9999661 -0.00427685 0.36301641] [ 0.02294707 0.00411436 0.99972821 1.3545079 ] [ 0. 0. 0. 1. ]] SLAMing on 294.692557844 meters Centerline goodness : 0.133570 Centerline is valid? [False, False] Translation: X:3.44, Y:0.36, Z:1.35 [[ 9.99737224e-01 -4.11581316e-03 -2.25509018e-02 3.44165638e+00] [ 4.08792445e-03 9.99990822e-01 -1.28266023e-03 3.64144240e-01] [ 2.25559740e-02 1.19013680e-03 9.99744873e-01 1.35474465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72255784400005 meters Centerline goodness : 0.167299 Centerline is valid? [False, False] Translation: X:3.44, Y:0.37, Z:1.35 [[ 9.99740153e-01 -4.31177076e-03 -2.23837915e-02 3.44113238e+00] [ 4.27266446e-03 9.99989262e-01 -1.79461257e-03 3.66564413e-01] [ 2.23912891e-02 1.69850782e-03 9.99747841e-01 1.35496175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752557844 meters Centerline goodness : 0.109570 Centerline is valid? [False, False] Translation: X:3.44, Y:0.37, Z:1.36 [[ 9.99743259e-01 -4.48678784e-03 -2.22100221e-02 3.44055437e+00] [ 4.43726644e-03 9.99987560e-01 -2.27846723e-03 3.68900679e-01] [ 2.22199688e-02 2.17933047e-03 9.99750731e-01 1.35525474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78255784400005 meters Centerline goodness : 0.150702 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99767807e-01 -2.10412093e-03 -2.14454134e-02 3.43751245e+00] [ 2.09278159e-03 9.99997658e-01 -5.51182544e-04 3.75257848e-01] [ 2.14465230e-02 5.06173997e-04 9.99769869e-01 1.35642206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812557844 meters Centerline goodness : 0.116939 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99761305e-01 -2.28652602e-03 -2.17279640e-02 3.43860119e+00] [ 2.26261382e-03 9.99996807e-01 -1.12504648e-03 3.78247834e-01] [ 2.17304671e-02 1.07561595e-03 9.99763287e-01 1.35586864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84255784400005 meters Centerline goodness : 0.119446 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99756143e-01 -2.50878733e-03 -2.19399437e-02 3.43949984e+00] [ 2.47240209e-03 9.99995523e-01 -1.68536989e-03 3.80839393e-01] [ 2.19440737e-02 1.63071454e-03 9.99757870e-01 1.35533123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872557844 meters Centerline goodness : 0.105251 Centerline is valid? [False, False] Translation: X:3.44, Y:0.38, Z:1.36 [[ 9.99755025e-01 -2.71259716e-03 -2.19666111e-02 3.43973642e+00] [ 2.66406602e-03 9.99993946e-01 -2.23827678e-03 3.83409984e-01] [ 2.19725496e-02 2.17920795e-03 9.99756199e-01 1.35509819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90255784400006 meters Centerline goodness : 0.123784 Centerline is valid? [False, False] Translation: X:3.44, Y:0.39, Z:1.36 [[ 9.99757285e-01 -2.90861379e-03 -2.18383073e-02 3.43930809e+00] [ 2.84791256e-03 9.99991996e-01 -2.81016207e-03 3.86262776e-01] [ 2.18463062e-02 2.74728641e-03 9.99757566e-01 1.35534841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93255784400003 meters Centerline goodness : 0.368356 Centerline is valid? [False, False] Translation: X:3.44, Y:0.39, Z:1.36 [[ 9.99778048e-01 -1.22051720e-03 -2.10324555e-02 3.43505809e+00] [ 1.19118792e-03 9.99998301e-01 -1.40694914e-03 3.89499463e-01] [ 2.10341369e-02 1.38158326e-03 9.99777803e-01 1.35766975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 294.99255784400003 meters Centerline goodness : 0.175241 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.36 [[ 9.99771394e-01 -1.77800951e-03 -2.13072307e-02 3.43620245e+00] [ 1.71956496e-03 9.99994710e-01 -2.76095212e-03 3.96754001e-01] [ 2.13120270e-02 2.72368178e-03 9.99769163e-01 1.35714952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02255784400006 meters Centerline goodness : 0.297004 Centerline is valid? [False, False] Translation: X:3.44, Y:0.40, Z:1.36 [[ 9.99772303e-01 -1.91448305e-03 -2.12526863e-02 3.43619473e+00] [ 1.84922980e-03 9.99993517e-01 -3.08958160e-03 3.98269862e-01] [ 2.12584635e-02 3.04957701e-03 9.99769362e-01 1.35693276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 295.08255784400006 meters Centerline goodness : 0.313329 Centerline is valid? [False, False] Translation: X:3.43, Y:0.40, Z:1.36 [[ 9.99796387e-01 4.97887094e-04 -2.01726505e-02 3.43218305e+00] [-5.18017961e-04 9.99999373e-01 -9.92715577e-04 4.02750899e-01] [ 2.01721436e-02 1.00296324e-03 9.99796019e-01 1.35842856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11255784400004 meters Centerline goodness : 0.119023 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99795996e-01 1.73930167e-04 -2.01974069e-02 3.43219967e+00] [-2.10023536e-04 9.99998385e-01 -1.78492243e-03 4.06422660e-01] [ 2.01970638e-02 1.78880023e-03 9.99794418e-01 1.35860261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14255784400007 meters Centerline goodness : 0.168947 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99794227e-01 -1.44981012e-05 -2.02855527e-02 3.43231525e+00] [-2.99845211e-05 9.99997596e-01 -2.19251692e-03 4.08066568e-01] [ 2.02855357e-02 2.19267401e-03 9.99791823e-01 1.35881185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17255784400004 meters Centerline goodness : 0.208997 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99795954e-01 -1.98941959e-04 -2.01992545e-02 3.43198407e+00] [ 1.46077694e-04 9.99996561e-01 -2.61858115e-03 4.09878487e-01] [ 2.01997060e-02 2.61509618e-03 9.99792545e-01 1.35902868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20255784400007 meters Centerline goodness : 0.163021 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99799003e-01 -3.22599861e-04 -2.00461851e-02 3.43139379e+00] [ 2.63407763e-04 9.99995598e-01 -2.95535646e-03 4.11550002e-01] [ 2.00470502e-02 2.94948212e-03 9.99794687e-01 1.35939609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23255784400004 meters Centerline goodness : 0.109855 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99790019e-01 -8.19282487e-03 -1.87828477e-02 3.45102637e+00] [ 8.16064472e-03 9.99965101e-01 -1.78928168e-03 4.15967283e-01] [ 1.87968515e-02 1.63562582e-03 9.99821986e-01 1.36106188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26255784400007 meters Centerline goodness : 0.176788 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99792582e-01 -8.26572097e-03 -1.86137094e-02 3.45049964e+00] [ 8.23108354e-03 9.99964249e-01 -1.93670101e-03 4.16743128e-01] [ 1.86290522e-02 1.78308831e-03 9.99824874e-01 1.36119480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29255784400004 meters Centerline goodness : 0.176606 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99793139e-01 -8.31523489e-03 -1.85617098e-02 3.45038013e+00] [ 8.28073340e-03 9.99963842e-01 -1.93483222e-03 4.16551717e-01] [ 1.85771272e-02 1.78072741e-03 9.99825845e-01 1.36111342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3225578440001 meters Centerline goodness : 0.175118 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99788853e-01 -8.43766834e-03 -1.87364802e-02 3.45082892e+00] [ 8.40241925e-03 9.99962780e-01 -1.95923611e-03 4.16177293e-01] [ 1.87523142e-02 1.80139066e-03 9.99822537e-01 1.36099318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35255784400005 meters Centerline goodness : 0.169621 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797921e-01 -2.23014046e-04 -2.01014252e-02 3.43051269e+00] [ 1.64604558e-04 9.99995760e-01 -2.90734639e-03 4.13098584e-01] [ 2.01019883e-02 2.90345009e-03 9.99793719e-01 1.35972044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.382557844 meters Centerline goodness : 0.260402 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99745611e-01 -8.14993209e-03 -2.10307266e-02 3.45261887e+00] [ 8.11037562e-03 9.99965179e-01 -1.96549895e-03 4.16403588e-01] [ 2.10460129e-02 1.79443186e-03 9.99776898e-01 1.36091869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41255784400005 meters Centerline goodness : 0.170186 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99777200e-01 5.27376729e-05 -2.11080125e-02 3.43242784e+00] [-1.17734137e-04 9.99995256e-01 -3.07800100e-03 4.14151244e-01] [ 2.11077500e-02 3.07980035e-03 9.99772463e-01 1.35876557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442557844 meters Centerline goodness : 0.175725 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99774347e-01 4.24991783e-05 -2.12427384e-02 3.43283603e+00] [-1.09389664e-04 9.99995040e-01 -3.14771151e-03 4.14546874e-01] [ 2.12424993e-02 3.14932496e-03 9.99769392e-01 1.35866712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47255784400005 meters Centerline goodness : 0.171020 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99766847e-01 2.62162494e-05 -2.15928563e-02 3.43387384e+00] [-9.90834790e-05 9.99994305e-01 -3.37353597e-03 4.15969392e-01] [ 2.15926448e-02 3.37488891e-03 9.99761155e-01 1.35847363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502557844 meters Centerline goodness : 0.171270 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99766165e-01 1.55555927e-05 -2.16244165e-02 3.43391501e+00] [-8.99715461e-05 9.99994078e-01 -3.44032436e-03 4.16365901e-01] [ 2.16242350e-02 3.44146547e-03 9.99760246e-01 1.35855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53255784400005 meters Centerline goodness : 0.175315 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99769724e-01 2.22449864e-05 -2.14592289e-02 3.43338965e+00] [-9.66618159e-05 9.99993986e-01 -3.46679299e-03 4.16473534e-01] [ 2.14590228e-02 3.46806896e-03 9.99763714e-01 1.35878275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562557844 meters Centerline goodness : 0.165988 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99771406e-01 -8.19150238e-03 -1.97493131e-02 3.45373547e+00] [ 8.13933272e-03 9.99963174e-01 -2.72053028e-03 4.18349619e-01] [ 1.97708711e-02 2.55916216e-03 9.99801262e-01 1.35962699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59255784400005 meters Centerline goodness : 0.114119 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99836172e-01 -3.19357885e-04 -1.80976913e-02 3.43246911e+00] [ 2.54952395e-04 9.99993627e-01 -3.56096377e-03 4.14655533e-01] [ 1.80987132e-02 3.55576633e-03 9.99829882e-01 1.35764684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters Centerline goodness : 0.161163 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99837832e-01 -2.97625833e-04 -1.80061263e-02 3.43216139e+00] [ 2.34009458e-04 9.99993724e-01 -3.53504442e-03 4.14671548e-01] [ 1.80070654e-02 3.53025754e-03 9.99831627e-01 1.35774635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65255784400006 meters Centerline goodness : 0.166459 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99835986e-01 -2.36004397e-04 -1.81092694e-02 3.43285197e+00] [ 1.71209131e-04 9.99993579e-01 -3.57948349e-03 4.15540461e-01] [ 1.81099979e-02 3.57579594e-03 9.99829606e-01 1.35710482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters Centerline goodness : 0.178907 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99835806e-01 -2.63738214e-04 -1.81187981e-02 3.43303102e+00] [ 1.97543388e-04 9.99993301e-01 -3.65507106e-03 4.15871935e-01] [ 1.81196407e-02 3.65089167e-03 9.99829160e-01 1.35686506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71255784400006 meters Centerline goodness : 0.167290 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837156e-01 -3.24701026e-04 -1.80431608e-02 3.43283065e+00] [ 2.56881564e-04 9.99992895e-01 -3.76092565e-03 4.16128567e-01] [ 1.80442538e-02 3.75567825e-03 9.99830135e-01 1.35686656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters Centerline goodness : 0.166565 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837935e-01 -3.62225980e-04 -1.79992382e-02 3.43267823e+00] [ 2.93843649e-04 9.99992730e-01 -3.80167864e-03 4.16084858e-01] [ 1.80004844e-02 3.79577356e-03 9.99830773e-01 1.35688528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77255784400006 meters Centerline goodness : 0.157147 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837648e-01 -3.29334586e-04 -1.80157825e-02 3.43271478e+00] [ 2.62674001e-04 9.99993112e-01 -3.70236279e-03 4.15657276e-01] [ 1.80168777e-02 3.69702942e-03 9.99830848e-01 1.35682397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters Centerline goodness : 0.175227 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99805822e-01 -8.40535820e-03 -1.78232399e-02 3.45370091e+00] [ 8.36353962e-03 9.99962098e-01 -2.41953881e-03 4.17583961e-01] [ 1.78429015e-02 2.27000362e-03 9.99838226e-01 1.35835548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83255784400006 meters Centerline goodness : 0.175061 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:1.36 [[ 9.99804005e-01 -8.32598856e-03 -1.79618947e-02 3.45410761e+00] [ 8.28953947e-03 9.99963430e-01 -2.10274704e-03 4.16156391e-01] [ 1.79787453e-02 1.95343907e-03 9.99836461e-01 1.35811647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters Centerline goodness : 0.171988 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99802557e-01 -8.33354360e-03 -1.80388460e-02 3.45439843e+00] [ 8.30221038e-03 9.99963896e-01 -1.81117803e-03 4.14413671e-01] [ 1.80532883e-02 1.66105813e-03 9.99835646e-01 1.35779863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89255784400007 meters Centerline goodness : 0.165804 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99803755e-01 -8.90659551e-03 -1.76953159e-02 3.45359063e+00] [ 8.87413560e-03 9.99958796e-01 -1.91205518e-03 4.13001967e-01] [ 1.77116167e-02 1.75464931e-03 9.99841597e-01 1.35755111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters Centerline goodness : 0.165583 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:1.36 [[ 9.99805416e-01 -8.87254006e-03 -1.76183902e-02 3.45340690e+00] [ 8.84243626e-03 9.99959310e-01 -1.78582556e-03 4.12480190e-01] [ 1.76335182e-02 1.62968857e-03 9.99843189e-01 1.35746265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95255784400007 meters Centerline goodness : 0.160328 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99838895e-01 -9.39664295e-05 -1.79492635e-02 3.43122880e+00] [ 5.65560620e-05 9.99997825e-01 -2.08472479e-03 4.09778193e-01] [ 1.79494203e-02 2.08337379e-03 9.99836726e-01 1.35661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98255784400004 meters Centerline goodness : 0.169123 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99840366e-01 -1.19367365e-04 -1.78669471e-02 3.43101762e+00] [ 8.17347082e-05 9.99997777e-01 -2.10698775e-03 4.09799871e-01] [ 1.78671589e-02 2.10519105e-03 9.99838153e-01 1.35660423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01255784400007 meters Centerline goodness : 0.169578 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99841413e-01 -1.62671171e-04 -1.78079068e-02 3.43078424e+00] [ 1.23745270e-04 9.99997601e-01 -2.18695751e-03 4.10010844e-01] [ 1.78082198e-02 2.18440704e-03 9.99839035e-01 1.35675015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04255784400004 meters Centerline goodness : 0.169578 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99841413e-01 -1.62671171e-04 -1.78079068e-02 3.43078424e+00] [ 1.23745270e-04 9.99997601e-01 -2.18695751e-03 4.10010844e-01] [ 1.78082198e-02 2.18440704e-03 9.99839035e-01 1.35675015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0725578440001 meters Centerline goodness : 0.171146 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99840546e-01 -2.08223440e-04 -1.78560433e-02 3.43102160e+00] [ 1.67607642e-04 9.99997396e-01 -2.27609107e-03 4.10388385e-01] [ 1.78564708e-02 2.27273533e-03 9.99837977e-01 1.35651245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10255784400005 meters Centerline goodness : 0.166275 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99834366e-01 -2.16159212e-04 -1.81987129e-02 3.43260378e+00] [ 1.73117557e-04 9.99997185e-01 -2.36663558e-03 4.11222112e-01] [ 1.81991732e-02 2.36309307e-03 9.99831589e-01 1.35535751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.132557844 meters Centerline goodness : 0.169904 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833613e-01 -2.02680704e-04 -1.82402341e-02 3.43286899e+00] [ 1.59312244e-04 9.99997157e-01 -2.37904797e-03 4.11378074e-01] [ 1.82406644e-02 2.37574623e-03 9.99830803e-01 1.35510558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16255784400005 meters Centerline goodness : 0.170955 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833744e-01 -2.31533209e-04 -1.82326799e-02 3.43279906e+00] [ 1.87077771e-04 9.99997006e-01 -2.43989625e-03 4.11534990e-01] [ 1.82331902e-02 2.43607967e-03 9.99830794e-01 1.35521530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192557844 meters Centerline goodness : 0.165806 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833730e-01 -2.55490222e-04 -1.82331252e-02 3.43267921e+00] [ 2.10065132e-04 9.99996870e-01 -2.49322140e-03 4.11653045e-01] [ 1.82337051e-02 2.48897671e-03 9.99830654e-01 1.35541748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22255784400005 meters Centerline goodness : 0.166714 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99831995e-01 -2.95874525e-04 -1.83274097e-02 3.43283263e+00] [ 2.47779153e-04 9.99996520e-01 -2.62644702e-03 4.12274681e-01] [ 1.83281230e-02 2.62146462e-03 9.99828589e-01 1.35557812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252557844 meters Centerline goodness : 0.171434 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99833132e-01 -3.30787652e-04 -1.82646814e-02 3.43264985e+00] [ 2.80229054e-04 9.99996123e-01 -2.77059729e-03 4.13054711e-01] [ 1.82655271e-02 2.76501667e-03 9.99829348e-01 1.35566457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28255784400005 meters Centerline goodness : 0.170742 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99837520e-01 -3.75509295e-04 -1.80220240e-02 3.43181979e+00] [ 3.19716786e-04 9.99995148e-01 -3.09857730e-03 4.14905538e-01] [ 1.80231001e-02 3.09231190e-03 9.99832789e-01 1.35618511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312557844 meters Centerline goodness : 0.158341 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837730e-01 -4.24327646e-04 -1.80092582e-02 3.43161405e+00] [ 3.65172029e-04 9.99994528e-01 -3.28789508e-03 4.15831381e-01] [ 1.80105548e-02 3.28078508e-03 9.99832414e-01 1.35653057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34255784400005 meters Centerline goodness : 0.162350 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99838599e-01 -4.84192385e-04 -1.79594535e-02 3.43138409e+00] [ 4.21773611e-04 9.99993859e-01 -3.47916353e-03 4.16758908e-01] [ 1.79610278e-02 3.47102716e-03 9.99832663e-01 1.35675140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372557844 meters Centerline goodness : 0.163185 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99840116e-01 -5.28223946e-04 -1.78735149e-02 3.43115197e+00] [ 4.63206274e-04 9.99993262e-01 -3.64159889e-03 4.17622497e-01] [ 1.78753180e-02 3.63273753e-03 9.99833624e-01 1.35682473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40255784400006 meters Centerline goodness : 0.174282 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99839529e-01 -5.61632595e-04 -1.79053191e-02 3.43115816e+00] [ 4.94436882e-04 9.99992820e-01 -3.75704126e-03 4.18250754e-01] [ 1.79073006e-02 3.74758532e-03 9.99832628e-01 1.35697005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43255784400003 meters Centerline goodness : 0.156317 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837944e-01 -5.62971366e-04 -1.79935995e-02 3.43136142e+00] [ 4.94351752e-04 9.99992590e-01 -3.81777723e-03 4.18614186e-01] [ 1.79956155e-02 3.80826336e-03 9.99830813e-01 1.35702455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46255784400006 meters Centerline goodness : 0.162890 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99838533e-01 -5.35341822e-04 -1.79616482e-02 3.43105779e+00] [ 4.63773458e-04 9.99991939e-01 -3.98843869e-03 4.19580440e-01] [ 1.79636386e-02 3.97946456e-03 9.99830721e-01 1.35748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49255784400003 meters Centerline goodness : 0.162427 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99839573e-01 -5.79768110e-04 -1.79022962e-02 3.43081842e+00] [ 5.05149804e-04 9.99991168e-01 -4.17232655e-03 4.20504733e-01] [ 1.79045571e-02 4.16261386e-03 9.99831035e-01 1.35769167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52255784400006 meters Centerline goodness : 0.157275 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99837499e-01 -5.98953718e-04 -1.80171045e-02 3.43110694e+00] [ 5.21331931e-04 9.99990565e-01 -4.31261599e-03 4.21339383e-01] [ 1.80195176e-02 4.30252230e-03 9.99828378e-01 1.35776033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55255784400003 meters Centerline goodness : 0.157064 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99833805e-01 -6.11626965e-04 -1.82205492e-02 3.43171284e+00] [ 5.31248682e-04 9.99990109e-01 -4.41592198e-03 4.22026243e-01] [ 1.82230699e-02 4.40550843e-03 9.99824240e-01 1.35762324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58255784400006 meters Centerline goodness : 0.163801 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99825998e-01 -5.58319254e-04 -1.86456783e-02 3.43299252e+00] [ 4.76554445e-04 9.99990253e-01 -4.38934358e-03 4.22184745e-01] [ 1.86479472e-02 4.37969415e-03 9.99816519e-01 1.35727537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61255784400004 meters Centerline goodness : 0.169377 Centerline is valid? [False, False] Translation: X:3.43, Y:0.42, Z:1.36 [[ 9.99822225e-01 -5.41212010e-04 -1.88474347e-02 3.43362698e+00] [ 4.58311619e-04 9.99990204e-01 -4.40253899e-03 4.22240452e-01] [ 1.88496328e-02 4.39311833e-03 9.99812678e-01 1.35708420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64255784400007 meters Centerline goodness : 0.127229 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:1.36 [[ 9.99783310e-01 -7.39159156e-04 -2.08035389e-02 3.38613089e+00] [ 6.46614444e-04 9.99989868e-01 -4.45488329e-03 4.25723714e-01] [ 2.08066210e-02 4.44046609e-03 9.99773658e-01 1.35823563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67255784400004 meters Centerline goodness : 0.139035 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:1.36 [[ 9.99787812e-01 -7.25129618e-04 -2.05865274e-02 3.38543190e+00] [ 6.33969468e-04 9.99989967e-01 -4.43432709e-03 4.25606434e-01] [ 2.05895363e-02 4.42033495e-03 9.99778241e-01 1.35847487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70255784400007 meters Centerline goodness : 0.162315 Centerline is valid? [False, False] Translation: X:3.38, Y:0.43, Z:1.36 [[ 9.99791798e-01 -7.16784200e-04 -2.03923451e-02 3.38478897e+00] [ 6.27311220e-04 9.99990151e-01 -4.39363534e-03 4.25418815e-01] [ 2.03952935e-02 4.37992823e-03 9.99782400e-01 1.35869881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73255784400004 meters Centerline goodness : 0.163257 Centerline is valid? [False, False] Translation: X:3.38, Y:0.42, Z:1.36 [[ 9.99792857e-01 -6.48260832e-04 -2.03426555e-02 3.38461585e+00] [ 5.62188874e-04 9.99990868e-01 -4.23654089e-03 4.24728393e-01] [ 2.03452161e-02 4.22422690e-03 9.99784091e-01 1.35875499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76255784400007 meters Centerline goodness : 0.157703 Centerline is valid? [False, False] Translation: X:3.38, Y:0.42, Z:1.36 [[ 9.99791557e-01 -5.56675523e-04 -2.04091456e-02 3.38487430e+00] [ 4.75553902e-04 9.99991969e-01 -3.97940601e-03 4.23486950e-01] [ 2.04111969e-02 3.96887089e-03 9.99783792e-01 1.35850572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79255784400004 meters Centerline goodness : 0.161179 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99741711e-01 -9.08210641e-03 -2.08333253e-02 3.40725170e+00] [ 9.02101125e-03 9.99954735e-01 -3.02467753e-03 4.21238799e-01] [ 2.08598527e-02 2.83595862e-03 9.99778387e-01 1.35948012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8225578440001 meters Centerline goodness : 0.166095 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99744554e-01 -8.97266940e-03 -2.07441224e-02 3.40686832e+00] [ 8.91819706e-03 9.99956541e-01 -2.71693898e-03 4.19673777e-01] [ 2.07675990e-02 2.53124478e-03 9.99781126e-01 1.35965553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85255784400005 meters Centerline goodness : 0.165370 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99749845e-01 -8.85418868e-03 -2.05389995e-02 3.40615390e+00] [ 8.80671321e-03 9.99958338e-01 -2.40078043e-03 4.18096419e-01] [ 2.05594008e-02 2.21929879e-03 9.99786170e-01 1.35994451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters Centerline goodness : 0.162433 Centerline is valid? [False, False] Translation: X:3.41, Y:0.42, Z:1.36 [[ 9.99753696e-01 -8.74786568e-03 -2.03966249e-02 3.40562014e+00] [ 8.70617921e-03 9.99959828e-01 -2.13169685e-03 4.16768484e-01] [ 2.04144533e-02 1.95359513e-03 9.99789695e-01 1.36021278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91255784400005 meters Centerline goodness : 0.160074 Centerline is valid? [False, False] Translation: X:3.42, Y:0.41, Z:1.36 [[ 9.99810119e-01 -2.80053972e-04 -1.94845646e-02 3.42490512e+00] [ 2.24513439e-04 9.99995906e-01 -2.85261787e-03 4.09912103e-01] [ 1.94852837e-02 2.84770167e-03 9.99806088e-01 1.36127203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942557844 meters Centerline goodness : 0.162484 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99801129e-01 -1.08670270e-04 -1.99421886e-02 3.42620710e+00] [ 5.72826269e-05 9.99996677e-01 -2.57738380e-03 4.08980415e-01] [ 1.99424024e-02 2.57572889e-03 9.99797813e-01 1.36104298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97255784400005 meters Centerline goodness : 0.157088 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797077e-01 -4.07461371e-05 -2.01445412e-02 3.42684197e+00] [-9.79339332e-06 9.99996853e-01 -2.50873994e-03 4.08752528e-01] [ 2.01445800e-02 2.50842814e-03 9.99793931e-01 1.36085698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters Centerline goodness : 0.153926 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99797660e-01 1.66246979e-05 -2.01156143e-02 3.42660236e+00] [-6.59427162e-05 9.99996994e-01 -2.45106736e-03 4.08450074e-01] [ 2.01155130e-02 2.45189789e-03 9.99794656e-01 1.36114638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03255784400005 meters Centerline goodness : 0.161995 Centerline is valid? [False, False] Translation: X:3.43, Y:0.41, Z:1.36 [[ 9.99802013e-01 9.54127544e-05 -1.98978969e-02 3.42581940e+00] [-1.42431453e-04 9.99997201e-01 -2.36159462e-03 4.07975528e-01] [ 1.98976159e-02 2.36396115e-03 9.99799228e-01 1.36155291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters Centerline goodness : 0.165701 Centerline is valid? [False, False] Translation: X:3.42, Y:0.41, Z:1.36 [[ 9.99806652e-01 3.08658199e-04 -1.96611992e-02 3.42493612e+00] [-3.46409360e-04 9.99998103e-01 -1.91670756e-03 4.06025325e-01] [ 1.96605703e-02 1.92314780e-03 9.99804863e-01 1.36195086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09255784400005 meters Centerline goodness : 0.164499 Centerline is valid? [False, False] Translation: X:3.41, Y:0.41, Z:1.36 [[ 9.99747114e-01 -8.12657248e-03 -2.09682275e-02 3.40523156e+00] [ 8.11607600e-03 9.99966893e-01 -5.85642092e-04 4.10025411e-01] [ 2.09722925e-02 4.15314263e-04 9.99779971e-01 1.36101298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters Centerline goodness : 0.156756 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99782794e-01 5.79185202e-05 -2.08413597e-02 3.42485198e+00] [-8.53894283e-05 9.99999129e-01 -1.31720827e-03 4.02679499e-01] [ 2.08412653e-02 1.31870180e-03 9.99781928e-01 1.36190119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15255784400006 meters Centerline goodness : 0.161244 Centerline is valid? [False, False] Translation: X:3.43, Y:0.40, Z:1.36 [[ 9.99780953e-01 1.30308514e-04 -2.09291603e-02 3.42506388e+00] [-1.52772077e-04 9.99999414e-01 -1.07171883e-03 4.01357595e-01] [ 2.09290083e-02 1.07468146e-03 9.99780387e-01 1.36182813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters Centerline goodness : 0.102174 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99781463e-01 2.21472717e-04 -2.09040073e-02 3.42483115e+00] [-2.38610135e-04 9.99999638e-01 -8.17324331e-04 4.00093030e-01] [ 2.09038187e-02 8.22133623e-04 9.99781153e-01 1.36204318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21255784400006 meters Centerline goodness : 0.161991 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99785391e-01 2.71319197e-04 -2.07146842e-02 3.42416294e+00] [-2.85322916e-04 9.99999733e-01 -6.73076069e-04 3.99415626e-01] [ 2.07144960e-02 6.78841995e-04 9.99785201e-01 1.36231652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters Centerline goodness : 0.160721 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99795318e-01 4.67838201e-04 -2.02263229e-02 3.42264276e+00] [-4.73569684e-04 9.99999849e-01 -2.78578638e-04 3.97956296e-01] [ 2.02261895e-02 2.88100191e-04 9.99795388e-01 1.36273347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27255784400006 meters Centerline goodness : 0.147943 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99794847e-01 5.53287868e-04 -2.02474086e-02 3.42280676e+00] [-5.53847824e-04 9.99999846e-01 -2.20481252e-05 3.96663792e-01] [ 2.02473933e-02 3.32575851e-05 9.99795000e-01 1.36248814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters Centerline goodness : 0.157846 Centerline is valid? [False, False] Translation: X:3.42, Y:0.40, Z:1.36 [[ 9.99790627e-01 5.67663030e-04 -2.04543199e-02 3.42354907e+00] [-5.64071012e-04 9.99999824e-01 1.81380723e-04 3.95305178e-01] [ 2.04544192e-02 -1.69805058e-04 9.99790772e-01 1.36206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33255784400006 meters Centerline goodness : 0.158221 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99791756e-01 6.64084583e-04 -2.03961666e-02 3.42352480e+00] [-6.54314833e-04 9.99999668e-01 4.85669061e-04 3.93675781e-01] [ 2.03964823e-02 -4.72222409e-04 9.99791859e-01 1.36179029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36255784400004 meters Centerline goodness : 0.100427 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99797044e-01 7.82091742e-04 -2.01310678e-02 3.42269491e+00] [-7.65342142e-04 9.99999355e-01 8.39718312e-04 3.91870657e-01] [ 2.01317116e-02 -8.24140731e-04 9.99796997e-01 1.36196372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39255784400007 meters Centerline goodness : 0.163519 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99802062e-01 9.45563155e-04 -1.98731433e-02 3.42183364e+00] [-9.19951522e-04 9.99998735e-01 1.29785856e-03 3.89670910e-01] [ 1.98743454e-02 -1.27931934e-03 9.99801667e-01 1.36222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters Centerline goodness : 0.100039 Centerline is valid? [False, False] Translation: X:3.42, Y:0.39, Z:1.36 [[ 9.99801826e-01 1.25279627e-03 -1.98680669e-02 3.42173955e+00] [-1.20969790e-03 9.99996890e-01 2.18109790e-03 3.85350844e-01] [ 1.98707376e-02 -2.15663131e-03 9.99800231e-01 1.36220541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45255784400007 meters Centerline goodness : 0.392074 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99795906e-01 1.38874724e-03 -2.01548343e-02 3.42254857e+00] [-1.33695616e-03 9.99995771e-01 2.58290712e-03 3.83339652e-01] [ 2.01583361e-02 -2.55543383e-03 9.99793534e-01 1.36195781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48255784400004 meters Centerline goodness : 0.098460 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99788619e-01 1.49746861e-03 -2.05054962e-02 3.42366406e+00] [-1.43844891e-03 9.99994782e-01 2.89268516e-03 3.81814358e-01] [ 2.05097209e-02 -2.86257759e-03 9.99785556e-01 1.36149765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51255784400007 meters Centerline goodness : 0.103011 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99781825e-01 1.60767099e-03 -2.08258686e-02 3.42472581e+00] [-1.54213197e-03 9.99993810e-01 3.16267790e-03 3.80607718e-01] [ 2.08308243e-02 -3.12987165e-03 9.99778116e-01 1.36101377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54255784400004 meters Centerline goodness : 0.105121 Centerline is valid? [False, False] Translation: X:3.43, Y:0.38, Z:1.36 [[ 9.99778436e-01 1.72459267e-03 -2.09786771e-02 3.42527616e+00] [-1.65356270e-03 9.99992844e-01 3.40269308e-03 3.79585031e-01] [ 2.09843952e-02 -3.36724961e-03 9.99774133e-01 1.36071223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5725578440001 meters Centerline goodness : 0.114366 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99780565e-01 1.79655195e-03 -2.08708711e-02 3.42491713e+00] [-1.72309040e-03 9.99992259e-01 3.53726225e-03 3.78945940e-01] [ 2.08770644e-02 -3.50052366e-03 9.99775922e-01 1.36086603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60255784400005 meters Centerline goodness : 0.171987 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99793768e-01 1.87468170e-03 -2.02214346e-02 3.42267525e+00] [-1.80386431e-03 9.99992179e-01 3.51976684e-03 3.78771709e-01] [ 2.02278749e-02 -3.48256423e-03 9.99789330e-01 1.36196220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.632557844 meters Centerline goodness : 0.189120 Centerline is valid? [False, False] Translation: X:3.42, Y:0.38, Z:1.36 [[ 9.99795962e-01 1.87085964e-03 -2.01130163e-02 3.42225209e+00] [-1.80254949e-03 9.99992548e-01 3.41390835e-03 3.79311076e-01] [ 2.01192534e-02 -3.37695707e-03 9.99791884e-01 1.36223213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66255784400005 meters Centerline goodness : 0.166068 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99740115e-01 1.95715097e-03 -2.27128354e-02 3.37654622e+00] [-1.86768215e-03 9.99990416e-01 3.95967484e-03 3.83165425e-01] [ 2.27203674e-02 -3.91622542e-03 9.99734189e-01 1.36270403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692557844 meters Centerline goodness : 0.097102 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99737286e-01 1.93316904e-03 -2.28390625e-02 3.37707101e+00] [-1.84583590e-03 9.99990907e-01 3.84431245e-03 3.83869050e-01] [ 2.28462866e-02 -3.80114533e-03 9.99731763e-01 1.36234987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72255784400005 meters Centerline goodness : 0.099917 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99734284e-01 1.93048341e-03 -2.29702817e-02 3.37766726e+00] [-1.84335581e-03 9.99991029e-01 3.81362742e-03 3.84049585e-01] [ 2.29774378e-02 -3.77027167e-03 9.99728874e-01 1.36189340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752557844 meters Centerline goodness : 0.103528 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99731177e-01 1.90211342e-03 -2.31074673e-02 3.37837400e+00] [-1.81598496e-03 9.99991328e-01 3.74771263e-03 3.84328004e-01] [ 2.31143955e-02 -3.70474235e-03 9.99725962e-01 1.36128666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78255784400005 meters Centerline goodness : 0.107390 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99730775e-01 1.87158340e-03 -2.31273595e-02 3.37862180e+00] [-1.78709153e-03 9.99991656e-01 3.67345806e-03 3.84716808e-01] [ 2.31340417e-02 -3.63113836e-03 9.99725778e-01 1.36094623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812557844 meters Centerline goodness : 0.100031 Centerline is valid? [False, False] Translation: X:3.38, Y:0.38, Z:1.36 [[ 9.99731975e-01 1.86454407e-03 -2.30759837e-02 3.37846463e+00] [-1.78113320e-03 9.99991808e-01 3.63464376e-03 3.84916413e-01] [ 2.30825716e-02 -3.59256819e-03 9.99727107e-01 1.36100475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84255784400005 meters Centerline goodness : 0.100087 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99730296e-01 1.81345522e-03 -2.31526656e-02 3.37866418e+00] [-1.73742226e-03 9.99993034e-01 3.30367654e-03 3.86718715e-01] [ 2.31584954e-02 -3.26255957e-03 9.99726482e-01 1.36108575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872557844 meters Centerline goodness : 0.111826 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99729282e-01 1.72215032e-03 -2.32033714e-02 3.37895245e+00] [-1.65380766e-03 9.99994239e-01 2.96424363e-03 3.88515213e-01] [ 2.32083426e-02 -2.92506725e-03 9.99726371e-01 1.36088766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90255784400006 meters Centerline goodness : 0.177100 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727323e-01 1.60208152e-03 -2.32962064e-02 3.37940138e+00] [-1.54218679e-03 9.99995460e-01 2.58874670e-03 3.90347163e-01] [ 2.33002480e-02 -2.55211371e-03 9.99725255e-01 1.36058983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93255784400003 meters Centerline goodness : 0.098622 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727541e-01 1.46882659e-03 -2.32956487e-02 3.37961689e+00] [-1.41752678e-03 9.99996534e-01 2.21848055e-03 3.92083032e-01] [ 2.32988265e-02 -2.18485390e-03 9.99726158e-01 1.36026996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96255784400006 meters Centerline goodness : 0.098622 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727541e-01 1.46882659e-03 -2.32956487e-02 3.37961689e+00] [-1.41752678e-03 9.99996534e-01 2.21848055e-03 3.92083032e-01] [ 2.32988265e-02 -2.18485390e-03 9.99726158e-01 1.36026996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99255784400003 meters Centerline goodness : 0.103169 Centerline is valid? [False, False] Translation: X:3.38, Y:0.39, Z:1.36 [[ 9.99727929e-01 1.35570486e-03 -2.32858524e-02 3.37961282e+00] [-1.31236677e-03 9.99997379e-01 1.87631516e-03 3.93830110e-01] [ 2.32883351e-02 -1.84524509e-03 9.99727087e-01 1.36029422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02255784400006 meters Centerline goodness : 0.105083 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99731216e-01 1.25048119e-03 -2.31502188e-02 3.37927865e+00] [-1.21512866e-03 9.99998074e-01 1.54109690e-03 3.95673280e-01] [ 2.31521013e-02 -1.51255219e-03 9.99730810e-01 1.36031966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05255784400003 meters Centerline goodness : 0.105324 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99739726e-01 1.03388844e-03 -2.27905782e-02 3.37828571e+00] [-1.01280615e-03 9.99999049e-01 9.36567242e-04 3.98697731e-01] [ 2.27915248e-02 -9.13241041e-04 9.99739822e-01 1.36054216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08255784400006 meters Centerline goodness : 0.104133 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99742230e-01 8.69093588e-04 -2.26874002e-02 3.37803003e+00] [-8.54747458e-04 9.99999429e-01 6.42028684e-04 3.99775066e-01] [ 2.26879452e-02 -6.22471191e-04 9.99742402e-01 1.36053581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11255784400004 meters Centerline goodness : 0.169285 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99744155e-01 7.74411576e-04 -2.26058511e-02 3.37780229e+00] [-7.63793176e-04 9.99999594e-01 4.78349524e-04 4.00394479e-01] [ 2.26062124e-02 -4.60960946e-04 9.99744341e-01 1.36052605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14255784400007 meters Centerline goodness : 0.149353 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99745568e-01 7.26250335e-04 -2.25448820e-02 3.37770701e+00] [-7.17951499e-04 9.99999672e-01 3.76194805e-04 4.00979727e-01] [ 2.25451478e-02 -3.59912958e-04 9.99745761e-01 1.36037095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17255784400004 meters Centerline goodness : 0.161151 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99745222e-01 6.76772607e-04 -2.25617712e-02 3.37791493e+00] [-6.71035927e-04 9.99999741e-01 2.61835371e-04 4.01696444e-01] [ 2.25619426e-02 -2.46628902e-04 9.99745417e-01 1.36005635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20255784400007 meters Centerline goodness : 0.167645 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99744489e-01 6.27576660e-04 -2.25956418e-02 3.37813994e+00] [-6.24063421e-04 9.99999792e-01 1.62534144e-04 4.02266535e-01] [ 2.25957391e-02 -1.48391501e-04 9.99744673e-01 1.35981563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23255784400004 meters Centerline goodness : 0.160920 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99748001e-01 5.16990226e-04 -2.24425493e-02 3.37772693e+00] [-5.18806441e-04 9.99999863e-01 -7.51049720e-05 4.03372704e-01] [ 2.24425074e-02 8.67293847e-05 9.99748131e-01 1.35985482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26255784400007 meters Centerline goodness : 0.169145 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99749902e-01 4.63841326e-04 -2.23588536e-02 3.37744696e+00] [-4.68890585e-04 9.99999866e-01 -2.20586089e-04 4.04058288e-01] [ 2.23587483e-02 2.31014777e-04 9.99749985e-01 1.36000283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29255784400004 meters Centerline goodness : 0.155515 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99751412e-01 3.85413881e-04 -2.22927053e-02 3.37729892e+00] [-3.94713603e-04 9.99999837e-01 -4.12765687e-04 4.04877193e-01] [ 2.22925426e-02 4.21462313e-04 9.99751402e-01 1.35995188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3225578440001 meters Centerline goodness : 0.143971 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752635e-01 3.07474041e-04 -2.22390460e-02 3.37726799e+00] [-3.21045405e-04 9.99999764e-01 -6.06681667e-04 4.05741778e-01] [ 2.22388542e-02 6.13671338e-04 9.99752498e-01 1.35976054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35255784400005 meters Centerline goodness : 0.159299 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752224e-01 2.55439554e-04 -2.22581322e-02 3.37741995e+00] [-2.71852203e-04 9.99999693e-01 -7.34354925e-04 4.06319221e-01] [ 2.22579378e-02 7.40223893e-04 9.99751987e-01 1.35960334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters Centerline goodness : 0.160751 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752041e-01 2.37961785e-04 -2.22665530e-02 3.37750016e+00] [-2.53486235e-04 9.99999727e-01 -6.94389515e-04 4.06059915e-01] [ 2.22663816e-02 6.99861599e-04 9.99751828e-01 1.35944046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41255784400005 meters Centerline goodness : 0.173909 Centerline is valid? [False, False] Translation: X:3.38, Y:0.41, Z:1.36 [[ 9.99752244e-01 2.94075111e-04 -2.22567568e-02 3.37741653e+00] [-3.05350809e-04 9.99999827e-01 -5.03222301e-04 4.05078431e-01] [ 2.22566049e-02 5.09893744e-04 9.99752161e-01 1.35946014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters Centerline goodness : 0.163990 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99753473e-01 3.73271160e-04 -2.22003014e-02 3.37730456e+00] [-3.78920662e-04 9.99999897e-01 -2.50272593e-04 4.03793764e-01] [ 2.22002057e-02 2.58623047e-04 9.99753512e-01 1.35932626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47255784400005 meters Centerline goodness : 0.148163 Centerline is valid? [False, False] Translation: X:3.38, Y:0.40, Z:1.36 [[ 9.99753591e-01 4.24363830e-04 -2.21940704e-02 3.37719212e+00] [-4.26242995e-04 9.99999906e-01 -7.99391372e-05 4.02854947e-01] [ 2.21940344e-02 8.93795065e-05 9.99753678e-01 1.35942877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters Centerline goodness : 0.101068 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99703890e-01 3.46015790e-04 -2.43313093e-02 3.33043186e+00] [-3.39392703e-04 9.99999904e-01 2.76333334e-04 4.05216117e-01] [ 2.43314026e-02 -2.67993640e-04 9.99703912e-01 1.36021215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53255784400005 meters Centerline goodness : 0.099761 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99704196e-01 3.64505492e-04 -2.43184510e-02 3.33036011e+00] [-3.58066952e-04 9.99999900e-01 2.69113394e-04 4.05317288e-01] [ 2.43185467e-02 -2.60326156e-04 9.99704227e-01 1.36030619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters Centerline goodness : 0.112903 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99703733e-01 3.69312886e-04 -2.43374128e-02 3.33047901e+00] [-3.64723483e-04 9.99999915e-01 1.93012599e-04 4.05797434e-01] [ 2.43374820e-02 -1.84078990e-04 9.99703783e-01 1.36021752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59255784400005 meters Centerline goodness : 0.176208 Centerline is valid? [False, False] Translation: X:3.33, Y:0.41, Z:1.36 [[ 9.99701206e-01 3.22951970e-04 -2.44416570e-02 3.33090604e+00] [-3.23777590e-04 9.99999947e-01 -2.98217838e-05 4.06929317e-01] [ 2.44416461e-02 3.77265340e-05 9.99701258e-01 1.35999779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 298.65255784400006 meters Centerline goodness : 0.113382 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:1.36 [[ 9.99575177e-01 1.07341613e-02 -2.70969119e-02 3.31005149e+00] [-1.07283887e-02 9.99942385e-01 3.58410311e-04 4.10781495e-01] [ 2.70991979e-02 -6.75518472e-05 9.99632747e-01 1.35961052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68255784400003 meters Centerline goodness : 0.113612 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:1.36 [[ 9.99571104e-01 1.06252606e-02 -2.72893961e-02 3.31071740e+00] [-1.06314985e-02 9.99943481e-01 -8.34968702e-05 4.12960161e-01] [ 2.72869665e-02 3.73588232e-04 9.99627572e-01 1.35939394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71255784400006 meters Centerline goodness : 0.111585 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:1.36 [[ 9.99571833e-01 1.04351348e-02 -2.73360403e-02 3.31089980e+00] [-1.04555712e-02 9.99945156e-01 -6.04771710e-04 4.15340385e-01] [ 2.73282302e-02 8.90326684e-04 9.99626118e-01 1.35934931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters Centerline goodness : 0.148656 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.36 [[ 9.99603410e-01 3.09560402e-03 -2.79899972e-02 3.32970634e+00] [-3.08692499e-03 9.99995173e-01 3.53280635e-04 4.20936400e-01] [ 2.79909557e-02 -2.66737505e-04 9.99608141e-01 1.36181317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77255784400006 meters Centerline goodness : 0.173511 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:1.36 [[ 9.99599827e-01 2.93265616e-03 -2.81351208e-02 3.33036678e+00] [-2.93664117e-03 9.99995683e-01 -1.00319573e-04 4.23164378e-01] [ 2.81347051e-02 1.82902182e-04 9.99604124e-01 1.36138403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80255784400003 meters Centerline goodness : 0.163217 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99596946e-01 2.77568141e-03 -2.82531491e-02 3.33100230e+00] [-2.79212430e-03 9.99995955e-01 -5.42549982e-04 4.25472237e-01] [ 2.82515289e-02 6.21217609e-04 9.99600653e-01 1.36086739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83255784400006 meters Centerline goodness : 0.108133 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99594352e-01 2.43904797e-03 -2.83757546e-02 3.33155784e+00] [-2.47986846e-03 9.99995940e-01 -1.40346715e-03 4.29792793e-01] [ 2.83722162e-02 1.47326598e-03 9.99596342e-01 1.36055360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters Centerline goodness : 0.167225 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99595247e-01 2.27193633e-03 -2.83580804e-02 3.33144506e+00] [-2.32306792e-03 9.99995735e-01 -1.77025418e-03 4.31416468e-01] [ 2.83539375e-02 1.83541542e-03 9.99596261e-01 1.36070403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89255784400007 meters Centerline goodness : 0.175584 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99597468e-01 2.10869622e-03 -2.82923314e-02 3.33119364e+00] [-2.16926251e-03 9.99995421e-01 -2.11020958e-03 4.32926057e-01] [ 2.82877521e-02 2.17073364e-03 9.99597464e-01 1.36082697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters Centerline goodness : 0.171084 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:1.36 [[ 9.99598653e-01 1.96480460e-03 -2.82607825e-02 3.33097498e+00] [-2.03389908e-03 9.99995012e-01 -2.41635127e-03 4.34485775e-01] [ 2.82558939e-02 2.47286105e-03 9.99597664e-01 1.36105966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95255784400007 meters Centerline goodness : 0.173815 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99603610e-01 1.83315004e-03 -2.80938025e-02 3.33046058e+00] [-1.91044382e-03 9.99994463e-01 -2.72468111e-03 4.36164952e-01] [ 2.80886522e-02 2.77727270e-03 9.99601578e-01 1.36120796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98255784400004 meters Centerline goodness : 0.163241 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99608602e-01 1.68257355e-03 -2.79250963e-02 3.32992292e+00] [-1.76830899e-03 9.99993798e-01 -3.04578217e-03 4.37662377e-01] [ 2.79197984e-02 3.09397026e-03 9.99605378e-01 1.36139938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01255784400007 meters Centerline goodness : 0.161297 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:1.36 [[ 9.99614042e-01 1.39322111e-03 -2.77457285e-02 3.32954085e+00] [-1.49274991e-03 9.99992525e-01 -3.56678606e-03 4.39686149e-01] [ 2.77405517e-02 3.60682686e-03 9.99608650e-01 1.36133164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04255784400004 meters Centerline goodness : 0.166854 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.36 [[ 9.99597579e-01 -6.70290408e-03 -2.75635854e-02 3.34936703e+00] [ 6.63539440e-03 9.99974760e-01 -2.53997113e-03 4.43378909e-01] [ 2.75799149e-02 2.35605373e-03 9.99616825e-01 1.36342913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0725578440001 meters Centerline goodness : 0.174410 Centerline is valid? [False, False] Translation: X:3.35, Y:0.44, Z:1.36 [[ 9.99600041e-01 -6.76938743e-03 -2.74578363e-02 3.34900289e+00] [ 6.69792775e-03 9.99973941e-01 -2.69366332e-03 4.44187216e-01] [ 2.74753552e-02 2.50867536e-03 9.99619333e-01 1.36358286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10255784400005 meters Centerline goodness : 0.159964 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99600368e-01 -6.84536298e-03 -2.74270906e-02 3.34892541e+00] [ 6.76912245e-03 9.99972966e-01 -2.87163632e-03 4.45057480e-01] [ 2.74460066e-02 2.68483139e-03 9.99619682e-01 1.36358306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.132557844 meters Centerline goodness : 0.165153 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99596284e-01 -6.95565336e-03 -2.75479250e-02 3.34922011e+00] [ 6.87328632e-03 9.99971625e-01 -3.08351802e-03 4.45967269e-01] [ 2.75685912e-02 2.89292838e-03 9.99615728e-01 1.36359539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16255784400005 meters Centerline goodness : 0.165940 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99591528e-01 -7.03190102e-03 -2.77007299e-02 3.34977241e+00] [ 6.94404119e-03 9.99970554e-01 -3.26667291e-03 4.46832371e-01] [ 2.77228852e-02 3.07298356e-03 9.99610924e-01 1.36332813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192557844 meters Centerline goodness : 0.170749 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 9.99585473e-01 -7.11620797e-03 -2.78969944e-02 3.35038471e+00] [ 7.02081780e-03 9.99969173e-01 -3.51583127e-03 4.48084275e-01] [ 2.79211538e-02 3.31851415e-03 9.99604620e-01 1.36316098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22255784400005 meters Centerline goodness : 0.161108 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:1.36 [[ 0.99958316 -0.00720474 -0.02795695 3.35055303] [ 0.00709934 0.99996732 -0.00386767 0.4500066 ] [ 0.02798391 0.00366758 0.99960165 1.36321302] [ 0. 0. 0. 1. ]] SLAMing on 299.252557844 meters Centerline goodness : 0.116066 Centerline is valid? [False, False] Translation: X:3.37, Y:0.45, Z:1.36 [[ 9.99667649e-01 2.28356116e-03 -2.56783315e-02 3.36997589e+00] [-2.39775612e-03 9.99987369e-01 -4.41722266e-03 4.50033909e-01] [ 2.56679202e-02 4.47732497e-03 9.99660498e-01 1.36362871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28255784400005 meters Centerline goodness : 0.159487 Centerline is valid? [False, False] Translation: X:3.37, Y:0.45, Z:1.36 [[ 9.99671984e-01 2.15402154e-03 -2.55202881e-02 3.36941370e+00] [-2.28208693e-03 9.99984945e-01 -4.99011857e-03 4.52774517e-01] [ 2.55091550e-02 5.04672125e-03 9.99661850e-01 1.36405721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312557844 meters Centerline goodness : 0.160991 Centerline is valid? [False, False] Translation: X:3.37, Y:0.46, Z:1.36 [[ 9.99675913e-01 2.02572339e-03 -2.53764547e-02 3.36900755e+00] [-2.16907829e-03 9.99981839e-01 -5.62287849e-03 4.55833517e-01] [ 2.53646034e-02 5.67609970e-03 9.99662152e-01 1.36429786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34255784400005 meters Centerline goodness : 0.172634 Centerline is valid? [False, False] Translation: X:3.39, Y:0.46, Z:1.36 [[ 9.99674505e-01 -3.15630853e-03 -2.53164350e-02 3.39149192e+00] [ 3.09220283e-03 9.99991914e-01 -2.57092571e-03 4.59871899e-01] [ 2.53243449e-02 2.49180534e-03 9.99676182e-01 1.36483324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372557844 meters Centerline goodness : 0.101707 Centerline is valid? [False, False] Translation: X:3.39, Y:0.46, Z:1.36 [[ 9.99676318e-01 7.68527513e-04 -2.54296698e-02 3.39198622e+00] [-7.43663658e-04 9.99999236e-01 9.87192445e-04 4.61786883e-01] [ 2.54304091e-02 -9.67961788e-04 9.99676126e-01 1.36452191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40255784400006 meters Centerline goodness : 0.110026 Centerline is valid? [False, False] Translation: X:3.39, Y:0.47, Z:1.36 [[ 9.99668264e-01 6.80313079e-04 -2.57468406e-02 3.39301105e+00] [-6.73592152e-04 9.99999737e-01 2.69710907e-04 4.65930779e-01] [ 2.57470173e-02 -2.52278564e-04 9.99668459e-01 1.36423915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43255784400003 meters Centerline goodness : 0.160231 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656322e-01 1.57768819e-03 -2.61676898e-02 3.39416306e+00] [-1.57588826e-03 9.99998754e-01 8.94064431e-05 4.75681642e-01] [ 2.61677983e-02 -4.81383610e-05 9.99657563e-01 1.36422014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46255784400006 meters Centerline goodness : 0.122422 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656712e-01 1.29264286e-03 -2.61684303e-02 3.39418843e+00] [-1.30857351e-03 9.99998969e-01 -5.91657984e-04 4.78796636e-01] [ 2.61676385e-02 6.25698190e-04 9.99657373e-01 1.36420757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49255784400003 meters Centerline goodness : 0.119730 Centerline is valid? [False, False] Translation: X:3.39, Y:0.48, Z:1.36 [[ 9.99656851e-01 1.06665993e-03 -2.61733197e-02 3.39423470e+00] [-1.09639666e-03 9.99998770e-01 -1.12182240e-03 4.81334090e-01] [ 2.61720909e-02 1.15013378e-03 9.99656791e-01 1.36416166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52255784400006 meters Centerline goodness : 0.165635 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99636709e-01 -7.02358556e-03 -2.60215337e-02 3.41446531e+00] [ 7.02144744e-03 9.99975334e-01 -1.73537308e-04 4.87341117e-01] [ 2.60221107e-02 -9.23456817e-06 9.99661367e-01 1.36600693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55255784400003 meters Centerline goodness : 0.167266 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99635983e-01 -7.17499621e-03 -2.60080984e-02 3.41451824e+00] [ 7.16427448e-03 9.99974209e-01 -5.05403894e-04 4.88914995e-01] [ 2.60110539e-02 3.18890762e-04 9.99661604e-01 1.36583953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58255784400006 meters Centerline goodness : 0.123004 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:1.37 [[ 9.99631554e-01 -7.34522329e-03 -2.61305273e-02 3.41499152e+00] [ 7.32614612e-03 9.99972823e-01 -8.25732602e-04 4.90252636e-01] [ 2.61358823e-02 6.33992303e-04 9.99658198e-01 1.36555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61255784400004 meters Centerline goodness : 0.106817 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:1.36 [[ 9.99617657e-01 -7.68716629e-03 -2.65602472e-02 3.41652394e+00] [ 7.65102443e-03 9.99969662e-01 -1.46210837e-03 4.93091396e-01] [ 2.65706809e-02 1.25833624e-03 9.99646145e-01 1.36481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64255784400007 meters Centerline goodness : 0.281295 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.36 [[ 9.99555385e-01 -6.92035686e-03 -2.90024261e-02 3.37097346e+00] [ 6.89310469e-03 9.99975702e-01 -1.03952668e-03 4.97961782e-01] [ 2.90089153e-02 8.39147735e-04 9.99578801e-01 1.36482132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67255784400004 meters Centerline goodness : 0.158505 Centerline is valid? [False, False] Translation: X:3.37, Y:0.50, Z:1.36 [[ 9.99585708e-01 -3.72697949e-03 -2.85398269e-02 3.36969198e+00] [ 3.78886329e-03 9.99990587e-01 2.11456048e-03 4.99266620e-01] [ 2.85316773e-02 -2.22181794e-03 9.99590420e-01 1.36496577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70255784400007 meters Centerline goodness : 0.113990 Centerline is valid? [False, False] Translation: X:3.39, Y:0.50, Z:1.37 [[ 9.99615348e-01 4.51183708e-03 -2.73641923e-02 3.38917682e+00] [-4.48570737e-03 9.99989423e-01 1.01619754e-03 4.97425984e-01] [ 2.73684878e-02 -8.93058900e-04 9.99625014e-01 1.36602072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73255784400004 meters Centerline goodness : 0.226668 Centerline is valid? [False, False] Translation: X:3.37, Y:0.51, Z:1.36 [[ 9.99642485e-01 -2.95342200e-03 -2.65740521e-02 3.37058287e+00] [ 3.00885080e-03 9.99993380e-01 2.04608032e-03 5.06707765e-01] [ 2.65678332e-02 -2.12530617e-03 9.99644754e-01 1.36384134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76255784400007 meters Centerline goodness : 0.127775 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.36 [[ 9.99692610e-01 -2.81120741e-03 -2.46329397e-02 3.41500402e+00] [ 2.86139831e-03 9.99993901e-01 2.00254125e-03 5.07460990e-01] [ 2.46271599e-02 -2.07241034e-03 9.99694557e-01 1.36432979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79255784400004 meters Centerline goodness : 0.190669 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99638337e-01 5.42505299e-03 -2.63393968e-02 3.39366793e+00] [-5.42386029e-03 9.99985284e-01 1.16725511e-04 5.11389191e-01] [ 2.63396424e-02 2.61779129e-05 9.99653051e-01 1.36371848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8225578440001 meters Centerline goodness : 0.247716 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99637612e-01 5.21918287e-03 -2.64084088e-02 3.39386734e+00] [-5.23243864e-03 9.99986217e-01 -4.32874886e-04 5.14064550e-01] [ 2.64057856e-02 5.70898397e-04 9.99651143e-01 1.36375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85255784400005 meters Centerline goodness : 0.247716 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.36 [[ 9.99637612e-01 5.21918287e-03 -2.64084088e-02 3.39386734e+00] [-5.23243864e-03 9.99986217e-01 -4.32874886e-04 5.14064550e-01] [ 2.64057856e-02 5.70898397e-04 9.99651143e-01 1.36375771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.882557844 meters Centerline goodness : 0.167001 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.36 [[ 9.99636926e-01 5.02583236e-03 -2.64718088e-02 3.39395067e+00] [-5.05238697e-03 9.99986798e-01 -9.36338171e-04 5.16529150e-01] [ 2.64667534e-02 1.06974403e-03 9.99649122e-01 1.36393514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91255784400005 meters Centerline goodness : 0.130717 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99645179e-01 -2.98844780e-03 -2.64685891e-02 3.41359611e+00] [ 2.99365625e-03 9.99995507e-01 1.57155059e-04 5.21921216e-01] [ 2.64680005e-02 -2.36337155e-04 9.99649633e-01 1.36609537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters Centerline goodness : 0.386469 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99642202e-01 -3.10777951e-03 -2.65670792e-02 3.41377934e+00] [ 3.10602785e-03 9.99995171e-01 -1.07199531e-04 5.23177429e-01] [ 2.65672840e-02 2.46430874e-05 9.99647027e-01 1.36622575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97255784400005 meters Centerline goodness : 0.212975 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99636956e-01 -3.30745469e-03 -2.67397925e-02 3.41456381e+00] [ 3.29764923e-03 9.99994478e-01 -4.10788354e-04 5.24424833e-01] [ 2.67410035e-02 3.22460764e-04 9.99642343e-01 1.36562065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters Centerline goodness : 0.242825 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99637527e-01 -3.37432860e-03 -2.67100942e-02 3.41450854e+00] [ 3.36293095e-03 9.99994234e-01 -4.71625428e-04 5.24526542e-01] [ 2.67115317e-02 3.81630274e-04 9.99643111e-01 1.36557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03255784400005 meters Centerline goodness : 0.207046 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99640128e-01 -3.40762243e-03 -2.66083322e-02 3.41415057e+00] [ 3.39492525e-03 9.99994101e-01 -5.22348246e-04 5.24675480e-01] [ 2.66099552e-02 4.31826968e-04 9.99645799e-01 1.36572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters Centerline goodness : 0.354580 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99644933e-01 -3.46563275e-03 -2.64196251e-02 3.41347197e+00] [ 3.45128964e-03 9.99993871e-01 -5.88475669e-04 5.24851542e-01] [ 2.64215026e-02 4.97084943e-04 9.99650768e-01 1.36601780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09255784400005 meters Centerline goodness : 0.401486 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99645747e-01 -3.52503751e-03 -2.63809480e-02 3.41325139e+00] [ 3.50838038e-03 9.99993616e-01 -6.77666246e-04 5.25134411e-01] [ 2.63831683e-02 5.84871781e-04 9.99651733e-01 1.36623397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters Centerline goodness : 0.360968 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99646188e-01 -3.58376529e-03 -2.63563160e-02 3.41311849e+00] [ 3.56394158e-03 9.99993330e-01 -7.99078880e-04 5.25678835e-01] [ 2.63590039e-02 7.04863786e-04 9.99652293e-01 1.36637217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15255784400006 meters Centerline goodness : 0.364225 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99650474e-01 -3.76413912e-03 -2.61679574e-02 3.41232123e+00] [ 3.73084639e-03 9.99992168e-01 -1.32097711e-03 5.28252882e-01] [ 2.61727248e-02 1.22288676e-03 9.99656688e-01 1.36697037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters Centerline goodness : 0.124968 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99675101e-01 4.26164350e-03 -2.51302917e-02 3.43190024e+00] [-4.32459463e-03 9.99987645e-01 -2.45117430e-03 5.24774187e-01] [ 2.51195352e-02 2.55905624e-03 9.99681179e-01 1.36817128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21255784400006 meters Centerline goodness : 0.367049 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99673878e-01 4.12898532e-03 -2.52009865e-02 3.43204390e+00] [-4.20071313e-03 9.99987274e-01 -2.79395467e-03 5.26393887e-01] [ 2.51891296e-02 2.89890562e-03 9.99678500e-01 1.36828422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters Centerline goodness : 0.131689 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99669985e-01 3.99761020e-03 -2.53759846e-02 3.43252066e+00] [-4.07860394e-03 9.99986750e-01 -3.14079241e-03 5.28063640e-01] [ 2.53630927e-02 3.24325449e-03 9.99673044e-01 1.36825981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27255784400006 meters Centerline goodness : 0.393369 Centerline is valid? [False, False] Translation: X:3.41, Y:0.54, Z:1.37 [[ 9.99646214e-01 -3.78912124e-03 -2.63266000e-02 3.41386337e+00] [ 3.73978699e-03 9.99991158e-01 -1.92291577e-03 5.35638847e-01] [ 2.63336534e-02 1.82377960e-03 9.99651546e-01 1.36665751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters Centerline goodness : 0.379738 Centerline is valid? [False, False] Translation: X:3.41, Y:0.54, Z:1.37 [[ 9.99642701e-01 -3.86546846e-03 -2.64485944e-02 3.41410845e+00] [ 3.80903086e-03 9.99990361e-01 -2.18390804e-03 5.36986360e-01] [ 2.64567812e-02 2.08238422e-03 9.99647789e-01 1.36679440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33255784400006 meters Centerline goodness : 0.124203 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99691697e-01 4.14336354e-03 -2.44814918e-02 3.43324262e+00] [-4.22614788e-03 9.99985523e-01 -3.33073624e-03 5.34630894e-01] [ 2.44673369e-02 3.43317177e-03 9.99694735e-01 1.36782807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36255784400004 meters Centerline goodness : 0.117332 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99698471e-01 4.11056633e-03 -2.42088734e-02 3.43232638e+00] [-4.19371692e-03 9.99985477e-01 -3.38494738e-03 5.34922437e-01] [ 2.41946078e-02 3.48545188e-03 9.99701192e-01 1.36815427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39255784400007 meters Centerline goodness : 0.129461 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99699755e-01 4.11568136e-03 -2.41549390e-02 3.43210152e+00] [-4.19591953e-03 9.99985844e-01 -3.27206896e-03 5.34344903e-01] [ 2.41411302e-02 3.37243871e-03 9.99702872e-01 1.36824653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42255784400004 meters Centerline goodness : 0.119644 Centerline is valid? [False, False] Translation: X:3.43, Y:0.53, Z:1.37 [[ 9.99690556e-01 4.00987759e-03 -2.45502224e-02 3.43329544e+00] [-4.08605149e-03 9.99986990e-01 -3.05340055e-03 5.32780722e-01] [ 2.45376592e-02 3.15276917e-03 9.99693935e-01 1.36775065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45255784400007 meters Centerline goodness : 0.152245 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99668943e-01 3.71037344e-03 -2.54604966e-02 3.43593043e+00] [-3.78436410e-03 9.99988754e-01 -2.85852829e-03 5.30716184e-01] [ 2.54496041e-02 2.95393374e-03 9.99671742e-01 1.36691061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48255784400004 meters Centerline goodness : 0.165291 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99648667e-01 3.47174563e-03 -2.62771831e-02 3.43826519e+00] [-3.53923045e-03 9.99990556e-01 -2.52211802e-03 5.27994380e-01] [ 2.62681788e-02 2.61423293e-03 9.99651514e-01 1.36614340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51255784400007 meters Centerline goodness : 0.121854 Centerline is valid? [False, False] Translation: X:3.44, Y:0.53, Z:1.37 [[ 9.99642270e-01 3.34363744e-03 -2.65358713e-02 3.43913440e+00] [-3.40120359e-03 9.99991959e-01 -2.12453254e-03 5.25425683e-01] [ 2.65285542e-02 2.21402643e-03 9.99645604e-01 1.36556341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54255784400004 meters Centerline goodness : 0.292652 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99571010e-01 2.60035164e-03 -2.91724927e-02 3.39417021e+00] [-2.66604659e-03 9.99993997e-01 -2.21327837e-03 5.24983208e-01] [ 2.91665622e-02 2.29010412e-03 9.99571942e-01 1.36551341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5725578440001 meters Centerline goodness : 0.122881 Centerline is valid? [False, False] Translation: X:3.42, Y:0.52, Z:1.37 [[ 9.99567119e-01 -6.00618661e-03 -2.88010364e-02 3.41621860e+00] [ 5.97637716e-03 9.99981513e-01 -1.12098305e-03 5.24609350e-01] [ 2.88072368e-02 9.48371946e-04 9.99584536e-01 1.36627085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60255784400005 meters Centerline goodness : 0.277233 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99581728e-01 2.45582941e-03 -2.88155690e-02 3.39601743e+00] [-2.51659852e-03 9.99994685e-01 -2.07282190e-03 5.19484480e-01] [ 2.88103254e-02 2.14447212e-03 9.99582596e-01 1.36400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.632557844 meters Centerline goodness : 0.131920 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99581300e-01 2.56065527e-03 -2.88213146e-02 3.39592599e+00] [-2.61327634e-03 9.99994986e-01 -1.78825053e-03 5.17979087e-01] [ 2.88165910e-02 1.86281985e-03 9.99582980e-01 1.36410574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66255784400005 meters Centerline goodness : 0.123379 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.36 [[ 9.99583709e-01 2.69635851e-03 -2.87252240e-02 3.39544453e+00] [-2.74064171e-03 9.99995116e-01 -1.50235432e-03 5.16596489e-01] [ 2.87210328e-02 1.58045445e-03 9.99586217e-01 1.36447179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692557844 meters Centerline goodness : 0.219265 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.36 [[ 9.99586392e-01 2.83236314e-03 -2.86185676e-02 3.39492229e+00] [-2.87000008e-03 9.99995070e-01 -1.27413269e-03 5.15661121e-01] [ 2.86148177e-02 1.35574099e-03 9.99589593e-01 1.36486818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72255784400005 meters Centerline goodness : 0.242102 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:1.37 [[ 9.99585993e-01 3.16292250e-03 -2.85978806e-02 3.39474055e+00] [-3.19025901e-03 9.99994497e-01 -9.10316712e-04 5.14331272e-01] [ 2.85948440e-02 1.00117448e-03 9.99590582e-01 1.36516046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752557844 meters Centerline goodness : 0.252263 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99575745e-01 3.22899379e-03 -2.89465523e-02 3.39571118e+00] [-3.25687166e-03 9.99994277e-01 -9.15985237e-04 5.14360303e-01] [ 2.89434290e-02 1.00987183e-03 9.99580541e-01 1.36507359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78255784400005 meters Centerline goodness : 0.205422 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99566875e-01 3.32888936e-03 -2.92400628e-02 3.39641921e+00] [-3.36047638e-03 9.99993822e-01 -1.03119051e-03 5.15195743e-01] [ 2.92364494e-02 1.12900441e-03 9.99571886e-01 1.36520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812557844 meters Centerline goodness : 0.116859 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99562424e-01 3.57157420e-03 -2.93633092e-02 3.39671801e+00] [-3.60684482e-03 9.99992836e-01 -1.14830167e-03 5.16569739e-01] [ 2.93589976e-02 1.25370810e-03 9.99568145e-01 1.36537902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84255784400005 meters Centerline goodness : 0.216057 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99568383e-01 3.90227330e-03 -2.91173465e-02 3.39606535e+00] [-3.94025310e-03 9.99991460e-01 -1.24710693e-03 5.18074798e-01] [ 2.91122313e-02 1.36129837e-03 9.99575222e-01 1.36562803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872557844 meters Centerline goodness : 0.241521 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99574455e-01 4.75251584e-03 -2.87805798e-02 3.39482456e+00] [-4.78961410e-03 9.99987785e-01 -1.22020166e-03 5.20676083e-01] [ 2.87744292e-02 1.35753028e-03 9.99585009e-01 1.36646347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90255784400006 meters Centerline goodness : 0.367895 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99578394e-01 4.74009911e-03 -2.86455346e-02 3.39442419e+00] [-4.78353967e-03 9.99987510e-01 -1.44814860e-03 5.21917291e-01] [ 2.86383125e-02 1.58456511e-03 9.99588583e-01 1.36662810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93255784400003 meters Centerline goodness : 0.231441 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99580524e-01 4.69433070e-03 -2.85786601e-02 3.39417955e+00] [-4.74311804e-03 9.99987407e-01 -1.63957401e-03 5.22834942e-01] [ 2.85706035e-02 1.77443820e-03 9.99590202e-01 1.36675046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96255784400006 meters Centerline goodness : 0.172626 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99584361e-01 4.66001714e-03 -2.84497819e-02 3.39385949e+00] [-4.71134162e-03 9.99987392e-01 -1.73727190e-03 5.23230740e-01] [ 2.84413275e-02 1.87058646e-03 9.99593713e-01 1.36674308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99255784400003 meters Centerline goodness : 0.198320 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99588914e-01 4.63635129e-03 -2.82932447e-02 3.39338018e+00] [-4.68921626e-03 9.99987381e-01 -1.80240223e-03 5.23509136e-01] [ 2.82845311e-02 1.93433443e-03 9.99598041e-01 1.36685601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02255784400006 meters Centerline goodness : 0.367478 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99595088e-01 4.63586425e-03 -2.80743340e-02 3.39271306e+00] [-4.68828662e-03 9.99987387e-01 -1.80173455e-03 5.23520838e-01] [ 2.80656273e-02 1.93262553e-03 9.99604214e-01 1.36702923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05255784400003 meters Centerline goodness : 0.248501 Centerline is valid? [False, False] Translation: X:3.39, Y:0.52, Z:1.37 [[ 9.99591786e-01 4.68506736e-03 -2.81835496e-02 3.39305746e+00] [-4.73351218e-03 9.99987432e-01 -1.65243238e-03 5.22976505e-01] [ 2.81754536e-02 1.78516500e-03 9.99601399e-01 1.36690219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08255784400006 meters Centerline goodness : 0.189966 Centerline is valid? [False, False] Translation: X:3.41, Y:0.53, Z:1.37 [[ 9.99580670e-01 -3.44484390e-03 -2.87509550e-02 3.41362631e+00] [ 3.43125741e-03 9.99993977e-01 -5.21880691e-04 5.25759318e-01] [ 2.87525796e-02 4.23009923e-04 9.99586470e-01 1.36859550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11255784400004 meters Centerline goodness : 0.218339 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99580099e-01 -3.38109157e-03 -2.87783603e-02 3.41368327e+00] [ 3.37241420e-03 9.99994252e-01 -3.50055178e-04 5.24871655e-01] [ 2.87793785e-02 2.52855639e-04 9.99585756e-01 1.36858445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14255784400007 meters Centerline goodness : 0.191714 Centerline is valid? [False, False] Translation: X:3.41, Y:0.52, Z:1.37 [[ 9.99585740e-01 -3.34733852e-03 -2.85857364e-02 3.41301721e+00] [ 3.34352268e-03 9.99994394e-01 -1.81285013e-04 5.23880862e-01] [ 2.85861830e-02 8.56328559e-05 9.99591328e-01 1.36882178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17255784400004 meters Centerline goodness : 0.111193 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99628134e-01 3.91293654e-03 -2.69867057e-02 3.42989310e+00] [-3.96457482e-03 9.99990411e-01 -1.86023138e-03 5.17409113e-01] [ 2.69791680e-02 1.96653044e-03 9.99634062e-01 1.37112108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20255784400007 meters Centerline goodness : 0.181476 Centerline is valid? [False, False] Translation: X:3.43, Y:0.52, Z:1.37 [[ 9.99657292e-01 3.81027248e-03 -2.58994445e-02 3.42643749e+00] [-3.85265863e-03 9.99991319e-01 -1.58686349e-03 5.15242496e-01] [ 2.58931733e-02 1.68610138e-03 9.99663294e-01 1.37223033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23255784400004 meters Centerline goodness : 0.151139 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.37 [[ 9.99658478e-01 3.91035854e-03 -2.58386743e-02 3.42624861e+00] [-3.94558691e-03 9.99991355e-01 -1.31255448e-03 5.14003003e-01] [ 2.58333183e-02 1.41405495e-03 9.99665264e-01 1.37223491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26255784400007 meters Centerline goodness : 0.194387 Centerline is valid? [False, False] Translation: X:3.43, Y:0.51, Z:1.37 [[ 9.99654653e-01 3.99201491e-03 -2.59738031e-02 3.42671825e+00] [-4.02079305e-03 9.99991359e-01 -1.05583555e-03 5.12772603e-01] [ 2.59693638e-02 1.15990621e-03 9.99662066e-01 1.37197053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29255784400004 meters Centerline goodness : 0.232234 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99633871e-01 -4.22075364e-03 -2.67265698e-02 3.44755097e+00] [ 4.22499000e-03 9.99991069e-01 1.02039123e-04 5.13959701e-01] [ 2.67259004e-02 -2.14921253e-04 9.99642776e-01 1.37360344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3225578440001 meters Centerline goodness : 0.116809 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99629500e-01 -4.13362980e-03 -2.69030855e-02 3.44814473e+00] [ 4.14347735e-03 9.99991368e-01 3.10302008e-04 5.12946569e-01] [ 2.69015705e-02 -4.21659366e-04 9.99637998e-01 1.37335118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35255784400005 meters Centerline goodness : 0.374114 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99624593e-01 -4.10043639e-03 -2.70898561e-02 3.44874118e+00] [ 4.11244007e-03 9.99991469e-01 3.87407618e-04 5.12560688e-01] [ 2.70880364e-02 -4.98667591e-04 9.99632927e-01 1.37314822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters Centerline goodness : 0.119459 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99618112e-01 -4.11769486e-03 -2.73253676e-02 3.44945730e+00] [ 4.12636586e-03 9.99991452e-01 2.60943813e-04 5.13261283e-01] [ 2.73240596e-02 -3.73598626e-04 9.99626558e-01 1.37296374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41255784400005 meters Centerline goodness : 0.128721 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99613869e-01 -4.13531911e-03 -2.74774967e-02 3.45000808e+00] [ 4.14085809e-03 9.99991416e-01 1.44684248e-04 5.14036263e-01] [ 2.74766625e-02 -2.58408795e-04 9.99622412e-01 1.37269388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters Centerline goodness : 0.381658 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99611340e-01 -4.11634387e-03 -2.75721538e-02 3.45047404e+00] [ 4.12134687e-03 9.99991499e-01 1.24625449e-04 5.14425131e-01] [ 2.75714064e-02 -2.38211422e-04 9.99619808e-01 1.37231298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47255784400005 meters Centerline goodness : 0.220941 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99611132e-01 -4.08689878e-03 -2.75840919e-02 3.45077415e+00] [ 4.09334610e-03 9.99991607e-01 1.77270494e-04 5.14414411e-01] [ 2.75831358e-02 -2.90112794e-04 9.99619471e-01 1.37186687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters Centerline goodness : 0.339405 Centerline is valid? [False, False] Translation: X:3.45, Y:0.51, Z:1.37 [[ 9.99612252e-01 -4.05617774e-03 -2.75480187e-02 3.45092640e+00] [ 4.06459956e-03 9.99991708e-01 2.49724141e-04 5.14219368e-01] [ 2.75467773e-02 -3.61598976e-04 9.99620450e-01 1.37144186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53255784400005 meters Centerline goodness : 0.370720 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99649117e-01 3.33690938e-03 -2.62775275e-02 3.46922867e+00] [-3.36683513e-03 9.99993733e-01 -1.09467312e-03 5.07871357e-01] [ 2.62737100e-02 1.18276112e-03 9.99654087e-01 1.37252918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters Centerline goodness : 0.354334 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99654660e-01 3.27577869e-03 -2.60735567e-02 3.46846576e+00] [-3.30657394e-03 9.99993886e-01 -1.13806454e-03 5.07784689e-01] [ 2.60696692e-02 1.22388567e-03 9.99659379e-01 1.37292190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59255784400005 meters Centerline goodness : 0.362199 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99654890e-01 3.22204831e-03 -2.60714209e-02 3.46835820e+00] [-3.25434120e-03 9.99993989e-01 -1.19629632e-03 5.07889377e-01] [ 2.60674096e-02 1.28072877e-03 9.99659367e-01 1.37308715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters Centerline goodness : 0.349563 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99649867e-01 3.18075358e-03 -2.62683435e-02 3.46906109e+00] [-3.21500447e-03 9.99994036e-01 -1.26175387e-03 5.08121880e-01] [ 2.62641735e-02 1.34576493e-03 9.99654131e-01 1.37271176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65255784400006 meters Centerline goodness : 0.230603 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99641212e-01 3.13657783e-03 -2.66009165e-02 3.47017364e+00] [-3.17547871e-03 9.99993950e-01 -1.42027192e-03 5.09079382e-01] [ 2.65963007e-02 1.50423299e-03 9.99645124e-01 1.37229175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters Centerline goodness : 0.256950 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99634564e-01 3.09504671e-03 -2.68543932e-02 3.47106902e+00] [-3.14249409e-03 9.99993575e-01 -1.72481579e-03 5.10976112e-01] [ 2.68488823e-02 1.80857525e-03 9.99637868e-01 1.37195771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71255784400006 meters Centerline goodness : 0.219910 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:1.37 [[ 9.99628272e-01 6.98501416e-03 -2.63538961e-02 3.46958844e+00] [-6.94379191e-03 9.99974521e-01 1.65537124e-03 5.13873952e-01] [ 2.63647875e-02 -1.47175992e-03 9.99651305e-01 1.37252026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters Centerline goodness : 0.290493 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99633457e-01 6.76165346e-03 -2.62151011e-02 3.46904075e+00] [-6.73787410e-03 9.99976805e-01 9.95313536e-04 5.16936387e-01] [ 2.62212230e-02 -8.18314661e-04 9.99655830e-01 1.37296328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77255784400006 meters Centerline goodness : 0.290493 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99633457e-01 6.76165346e-03 -2.62151011e-02 3.46904075e+00] [-6.73787410e-03 9.99976805e-01 9.95313536e-04 5.16936387e-01] [ 2.62212230e-02 -8.18314661e-04 9.99655830e-01 1.37296328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters Centerline goodness : 0.128174 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99635153e-01 6.53662646e-03 -2.62075189e-02 3.46895250e+00] [-6.52823279e-03 9.99978609e-01 4.05824334e-04 5.19600268e-01] [ 2.62096110e-02 -2.34587485e-04 9.99656442e-01 1.37313049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83255784400006 meters Centerline goodness : 0.134368 Centerline is valid? [False, False] Translation: X:3.47, Y:0.52, Z:1.37 [[ 9.99635358e-01 6.34224073e-03 -2.62474098e-02 3.46888930e+00] [-6.34700045e-03 9.99979853e-01 -9.80331459e-05 5.22015723e-01] [ 2.62462592e-02 2.64589721e-04 9.99655473e-01 1.37348007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters Centerline goodness : 0.133103 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99664609e-01 -1.19001531e-03 -2.58699143e-02 3.45064282e+00] [ 1.21639643e-03 9.99998756e-01 1.00404765e-03 5.30078060e-01] [ 2.58686873e-02 -1.03517897e-03 9.99664814e-01 1.37121484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89255784400007 meters Centerline goodness : 0.154424 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99661176e-01 -1.29598295e-03 -2.59971699e-02 3.45093952e+00] [ 1.31668170e-03 9.99998830e-01 7.79090199e-04 5.31125567e-01] [ 2.59961298e-02 -8.13056222e-04 9.99661713e-01 1.37125332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92255784400004 meters Centerline goodness : 0.127717 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99649229e-01 -1.52743249e-03 -2.64402392e-02 3.45251769e+00] [ 1.54090041e-03 9.99998693e-01 4.89005109e-04 5.32023488e-01] [ 2.64394577e-02 -5.29575356e-04 9.99650276e-01 1.37041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95255784400007 meters Centerline goodness : 0.128841 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99648292e-01 -1.60050915e-03 -2.64713108e-02 3.45264115e+00] [ 1.61051596e-03 9.99998639e-01 3.56709153e-04 5.32625525e-01] [ 2.64707038e-02 -3.99216164e-04 9.99649510e-01 1.37035386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98255784400004 meters Centerline goodness : 0.151497 Centerline is valid? [False, False] Translation: X:3.45, Y:0.53, Z:1.37 [[ 9.99650583e-01 -1.70751484e-03 -2.63779459e-02 3.45226174e+00] [ 1.71094917e-03 9.99998531e-01 1.07628256e-04 5.33845402e-01] [ 2.63777233e-02 -1.52721974e-04 9.99652036e-01 1.37059315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01255784400007 meters Centerline goodness : 0.157102 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:1.37 [[ 9.99653340e-01 -1.80633730e-03 -2.62666528e-02 3.45176728e+00] [ 1.80282869e-03 9.99998363e-01 -1.57257025e-04 5.35217783e-01] [ 2.62668939e-02 1.09848235e-04 9.99654960e-01 1.37098416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04255784400004 meters Centerline goodness : 0.214228 Centerline is valid? [False, False] Translation: X:3.45, Y:0.54, Z:1.37 [[ 9.99656677e-01 -1.85850132e-03 -2.61356718e-02 3.45128832e+00] [ 1.85004282e-03 9.99998228e-01 -3.47814812e-04 5.36317588e-01] [ 2.61362719e-02 2.99343287e-04 9.99658344e-01 1.37126964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0725578440001 meters Centerline goodness : 0.149581 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99724360e-01 -1.78535633e-03 -2.34097503e-02 3.49188486e+00] [ 1.79088561e-03 9.99998373e-01 2.15232663e-04 5.35468855e-01] [ 2.34093280e-02 -2.57097521e-04 9.99725931e-01 1.37321947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10255784400005 meters Centerline goodness : 0.127179 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99726638e-01 -1.85693556e-03 -2.33066734e-02 3.49136632e+00] [ 1.85862243e-03 9.99998271e-01 5.07154711e-05 5.36279578e-01] [ 2.33065390e-02 -9.40199134e-05 9.99728361e-01 1.37365571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.132557844 meters Centerline goodness : 0.123392 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99728144e-01 -1.89319035e-03 -2.32390656e-02 3.49108286e+00] [ 1.89214344e-03 9.99998208e-01 -6.70382860e-05 5.36950056e-01] [ 2.32391508e-02 2.30484157e-05 9.99729934e-01 1.37384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16255784400005 meters Centerline goodness : 0.125660 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99728749e-01 -1.88384562e-03 -2.32138001e-02 3.49104855e+00] [ 1.88241482e-03 9.99998225e-01 -8.34876783e-05 5.37272809e-01] [ 2.32139162e-02 3.97670309e-05 9.99730520e-01 1.37379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192557844 meters Centerline goodness : 0.128677 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99730080e-01 -1.85703745e-03 -2.31585650e-02 3.49092573e+00] [ 1.85719816e-03 9.99998275e-01 -1.45684180e-05 5.37170225e-01] [ 2.31585521e-02 -2.84455585e-05 9.99731804e-01 1.37370408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22255784400005 meters Centerline goodness : 0.122215 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99734869e-01 -1.81018530e-03 -2.29546114e-02 3.49026564e+00] [ 1.81329984e-03 9.99998349e-01 1.14868495e-04 5.36553117e-01] [ 2.29543656e-02 -1.56461633e-04 9.99736502e-01 1.37395232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252557844 meters Centerline goodness : 0.122915 Centerline is valid? [False, False] Translation: X:3.49, Y:0.54, Z:1.37 [[ 9.99738774e-01 -1.80045891e-03 -2.27846947e-02 3.48970663e+00] [ 1.80658588e-03 9.99998337e-01 2.48325960e-04 5.35685456e-01] [ 2.27842097e-02 -2.89423598e-04 9.99740364e-01 1.37409721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28255784400005 meters Centerline goodness : 0.122275 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99732177e-01 -1.68567111e-03 -2.30810185e-02 3.49063893e+00] [ 1.70361102e-03 9.99998262e-01 7.57617049e-04 5.33076002e-01] [ 2.30797013e-02 -7.96735219e-04 9.99733311e-01 1.37365684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312557844 meters Centerline goodness : 0.120427 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99728969e-01 -1.55137159e-03 -2.32288867e-02 3.49119231e+00] [ 1.57701071e-03 9.99998167e-01 1.08548249e-03 5.31742677e-01] [ 2.32271602e-02 -1.12182049e-03 9.99729584e-01 1.37330800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34255784400005 meters Centerline goodness : 0.145576 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99729194e-01 -1.46332148e-03 -2.32249363e-02 3.49111876e+00] [ 1.49342058e-03 9.99998067e-01 1.27869068e-03 5.30997036e-01] [ 2.32230203e-02 -1.31302900e-03 9.99729447e-01 1.37339326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372557844 meters Centerline goodness : 0.150809 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99735414e-01 -1.42422389e-03 -2.29580736e-02 3.49006214e+00] [ 1.45696697e-03 9.99997945e-01 1.40954864e-03 5.30259105e-01] [ 2.29560189e-02 -1.44262485e-03 9.99735435e-01 1.37400173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40255784400006 meters Centerline goodness : 0.169599 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99741095e-01 -1.43865850e-03 -2.27084448e-02 3.48900841e+00] [ 1.47341354e-03 9.99997769e-01 1.51383209e-03 5.29304765e-01] [ 2.27062162e-02 -1.54689908e-03 9.99740984e-01 1.37461461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43255784400003 meters Centerline goodness : 0.218131 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99733395e-01 -1.54681665e-03 -2.30379406e-02 3.48984516e+00] [ 1.58637624e-03 9.99997298e-01 1.69897255e-03 5.27252742e-01] [ 2.30352504e-02 -1.73506644e-03 9.99733148e-01 1.37442254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46255784400006 meters Centerline goodness : 0.125131 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99727053e-01 -1.48031527e-03 -2.33158330e-02 3.49082671e+00] [ 1.52515245e-03 9.99997022e-01 1.90537067e-03 5.26336263e-01] [ 2.33129430e-02 -1.94041081e-03 9.99726333e-01 1.37389735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49255784400003 meters Centerline goodness : 0.149502 Centerline is valid? [False, False] Translation: X:3.49, Y:0.53, Z:1.37 [[ 9.99722684e-01 -1.37834177e-03 -2.35086236e-02 3.49154767e+00] [ 1.43085021e-03 9.99996519e-01 2.21690766e-03 5.25060287e-01] [ 2.35054861e-02 -2.24993019e-03 9.99721176e-01 1.37337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52255784400006 meters Centerline goodness : 0.119836 Centerline is valid? [False, False] Translation: X:3.49, Y:0.52, Z:1.37 [[ 9.99720838e-01 -1.31953727e-03 -2.35903735e-02 3.49192959e+00] [ 1.38013635e-03 9.99995789e-01 2.55270899e-03 5.23387291e-01] [ 2.35869058e-02 -2.58455430e-03 9.99718449e-01 1.37297973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55255784400003 meters Centerline goodness : 0.124918 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99651964e-01 -2.09058604e-03 -2.62979180e-02 3.44659018e+00] [ 2.13611829e-03 9.99996268e-01 1.70342788e-03 5.24794589e-01] [ 2.62942587e-02 -1.75901048e-03 9.99652699e-01 1.37302403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58255784400006 meters Centerline goodness : 0.256968 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99651198e-01 -2.09679034e-03 -2.63265410e-02 3.44670088e+00] [ 2.15299993e-03 9.99995463e-01 2.10692814e-03 5.22070376e-01] [ 2.63220038e-02 -2.16287427e-03 9.99651176e-01 1.37280310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61255784400004 meters Centerline goodness : 0.210848 Centerline is valid? [False, False] Translation: X:3.45, Y:0.52, Z:1.37 [[ 9.99660146e-01 -2.74126936e-03 -2.59244721e-02 3.44517913e+00] [ 2.79838797e-03 9.99993736e-01 2.16724717e-03 5.17244455e-01] [ 2.59183687e-02 -2.23905735e-03 9.99661555e-01 1.37315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64255784400007 meters Centerline goodness : 0.178782 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99662625e-01 -2.57581245e-03 -2.58457177e-02 3.44488576e+00] [ 2.64542029e-03 9.99992965e-01 2.65937546e-03 5.14748897e-01] [ 2.58386858e-02 -2.72685104e-03 9.99662406e-01 1.37320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67255784400004 meters Centerline goodness : 0.125057 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99665350e-01 -2.37616400e-03 -2.57593170e-02 3.44465698e+00] [ 2.45866837e-03 9.99991948e-01 3.17169542e-03 5.12245825e-01] [ 2.57515731e-02 -3.23396763e-03 9.99663142e-01 1.37313705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70255784400007 meters Centerline goodness : 0.148235 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99669821e-01 -2.18461442e-03 -2.56022615e-02 3.44437379e+00] [ 2.28058139e-03 9.99990481e-01 3.71977907e-03 5.09438116e-01] [ 2.55938915e-02 -3.77693892e-03 9.99665288e-01 1.37285344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73255784400004 meters Centerline goodness : 0.264586 Centerline is valid? [False, False] Translation: X:3.44, Y:0.51, Z:1.37 [[ 9.99672805e-01 -1.93669771e-03 -2.55055237e-02 3.44430920e+00] [ 2.04884853e-03 9.99988345e-01 4.37172051e-03 5.06154094e-01] [ 2.54967597e-02 -4.42254706e-03 9.99665122e-01 1.37244553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76255784400007 meters Centerline goodness : 0.328815 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:1.37 [[ 9.99674980e-01 -1.68202061e-03 -2.54382468e-02 3.44428445e+00] [ 1.81218377e-03 9.99985380e-01 5.09464202e-03 5.02519487e-01] [ 2.54293056e-02 -5.13908494e-03 9.99663413e-01 1.37206737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79255784400004 meters Centerline goodness : 0.223214 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.37 [[ 9.99677007e-01 -1.17641742e-03 -2.53869489e-02 3.44382089e+00] [ 1.34194254e-03 9.99977948e-01 6.50403588e-03 4.94608611e-01] [ 2.53787376e-02 -6.53600295e-03 9.99656541e-01 1.37229135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8225578440001 meters Centerline goodness : 0.146475 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:1.37 [[ 9.99674941e-01 -8.35380435e-04 -2.54816661e-02 3.44391591e+00] [ 1.02194350e-03 9.99972764e-01 7.30931898e-03 4.90938413e-01] [ 2.54748660e-02 -7.33298384e-03 9.99648568e-01 1.37246467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85255784400005 meters Centerline goodness : 0.161588 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99610849e-01 -6.49744481e-04 -2.78877804e-02 3.39793420e+00] [ 8.62597986e-04 9.99970587e-01 7.62114920e-03 4.90967098e-01] [ 2.78820083e-02 -7.64223936e-03 9.99582008e-01 1.37284699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters Centerline goodness : 0.153660 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960315 0.00515988 -0.02769332 3.42039888] [-0.00502519 0.99997522 0.00493116 0.48361938] [ 0.02771808 -0.00479004 0.9996043 1.37277986] [ 0. 0. 0. 1. ]] SLAMing on 302.91255784400005 meters Centerline goodness : 0.114080 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959998 0.0055314 -0.02773594 3.42094704] [-0.00537325 0.9999689 0.00577313 0.47943631] [ 0.02776701 -0.00562178 0.99959861 1.3719787 ] [ 0. 0. 0. 1. ]] SLAMing on 302.942557844 meters Centerline goodness : 0.150366 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959852 0.00571059 -0.02775225 3.42098151] [-0.00554428 0.99996623 0.00606574 0.47832874] [ 0.02778595 -0.00590943 0.99959643 1.37197698] [ 0. 0. 0. 1. ]] SLAMing on 302.97255784400005 meters Centerline goodness : 0.120292 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959734 0.00585929 -0.02776361 3.42086125] [-0.00568661 0.99996402 0.00629456 0.47752434] [ 0.0277995 -0.00613415 0.9995947 1.37224256] [ 0. 0. 0. 1. ]] SLAMing on 303.002557844 meters Centerline goodness : 0.396364 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959768 0.00596256 -0.02772949 3.42050564] [-0.00578644 0.9999626 0.00642722 0.47704821] [ 0.02776677 -0.00626418 0.9995948 1.37272346] [ 0. 0. 0. 1. ]] SLAMing on 303.03255784400005 meters Centerline goodness : 0.173421 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99959722 0.0060135 -0.02773517 3.42027234] [-0.00583676 0.99996217 0.00644923 0.47699634] [ 0.0277729 -0.00628475 0.9995945 1.3731692 ] [ 0. 0. 0. 1. ]] SLAMing on 303.062557844 meters Centerline goodness : 0.154481 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960363 0.00619466 -0.02746297 3.41959243] [-0.00601578 0.99996018 0.00659136 0.47668997] [ 0.02750271 -0.00642354 0.99960109 1.37321562] [ 0. 0. 0. 1. ]] SLAMing on 303.09255784400005 meters Centerline goodness : 0.166124 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960879 0.00624177 -0.0272635 3.41917515] [-0.00606136 0.99995922 0.00669455 0.47621389] [ 0.02730417 -0.00652667 0.99960586 1.37305162] [ 0. 0. 0. 1. ]] SLAMing on 303.122557844 meters Centerline goodness : 0.169386 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99625218e-01 -1.82978109e-03 -2.73143758e-02 3.40012741e+00] [ 2.05040088e-03 9.99965486e-01 8.05123579e-03 4.80670394e-01] [ 2.72987011e-02 -8.10422375e-03 9.99594469e-01 1.37102275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15255784400006 meters Centerline goodness : 0.154275 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622225e-01 -1.76697709e-03 -2.74278096e-02 3.40043536e+00] [ 1.99375164e-03 9.99964039e-01 8.24290792e-03 4.79721426e-01] [ 2.74122582e-02 -8.29447820e-03 9.99589801e-01 1.37093870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18255784400003 meters Centerline goodness : 0.153545 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618155e-01 -1.70362286e-03 -2.75797385e-02 3.40091097e+00] [ 1.93741935e-03 9.99962399e-01 8.45260898e-03 4.78695682e-01] [ 2.75643014e-02 -8.50281491e-03 9.99583869e-01 1.37076251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21255784400006 meters Centerline goodness : 0.112377 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618027e-01 -1.65275945e-03 -2.75874706e-02 3.40101034e+00] [ 1.89022012e-03 9.99961373e-01 8.58369702e-03 4.78047500e-01] [ 2.75722182e-02 -8.63256467e-03 9.99582539e-01 1.37061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters Centerline goodness : 0.140335 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622873e-01 -1.70890691e-03 -2.74078701e-02 3.40058733e+00] [ 1.94100878e-03 9.99962464e-01 8.44407130e-03 4.78611166e-01] [ 2.73924112e-02 -8.49408573e-03 9.99588669e-01 1.37058933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27255784400006 meters Centerline goodness : 0.162853 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99622731e-01 -1.80551777e-03 -2.74068398e-02 3.40064477e+00] [ 2.02960129e-03 9.99964724e-01 8.15057492e-03 4.80043400e-01] [ 2.73911570e-02 -8.20312492e-03 9.99591133e-01 1.37054080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters Centerline goodness : 0.167539 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:1.37 [[ 9.99618053e-01 -1.88514201e-03 -2.75716193e-02 3.40117605e+00] [ 2.10058718e-03 9.99967473e-01 7.78714431e-03 4.81922181e-01] [ 2.75560426e-02 -7.84208662e-03 9.99589499e-01 1.37042582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33255784400006 meters Centerline goodness : 0.158709 Centerline is valid? [False, False] Translation: X:3.42, Y:0.48, Z:1.37 [[ 0.99960659 0.00648417 -0.02728767 3.42181298] [-0.00630341 0.99995765 0.0067052 0.47887642] [ 0.02733 -0.00653055 0.99960513 1.37154741] [ 0. 0. 0. 1. ]] SLAMing on 303.36255784400004 meters Centerline goodness : 0.165816 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99629360e-01 -1.43992976e-04 -2.72235384e-02 3.39937413e+00] [ 3.82783964e-04 9.99961500e-01 8.76648190e-03 4.85944858e-01] [ 2.72212280e-02 -8.77365343e-03 9.99590930e-01 1.37111915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39255784400007 meters Centerline goodness : 0.157002 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99630598e-01 -2.67863123e-04 -2.71771118e-02 3.39906946e+00] [ 4.94449168e-04 9.99965174e-01 8.33100750e-03 4.88048129e-01] [ 2.71739338e-02 -8.34136771e-03 9.99595918e-01 1.37148903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters Centerline goodness : 0.116887 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99636286e-01 -3.10031315e-04 -2.69666203e-02 3.39854827e+00] [ 5.17538031e-04 9.99970311e-01 7.68830814e-03 4.91623558e-01] [ 2.69634360e-02 -7.69946805e-03 9.99606768e-01 1.37163698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45255784400007 meters Centerline goodness : 0.109126 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:1.37 [[ 9.99633005e-01 -4.35855288e-04 -2.70862464e-02 3.39897309e+00] [ 6.33751958e-04 9.99973168e-01 7.29801308e-03 4.93603139e-01] [ 2.70823388e-02 -7.31250071e-03 9.99606460e-01 1.37145148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48255784400004 meters Centerline goodness : 0.123555 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99628458e-01 -5.40943324e-04 -2.72516797e-02 3.39960034e+00] [ 7.31839170e-04 9.99975264e-01 6.99543367e-03 4.95135420e-01] [ 2.72472215e-02 -7.01277842e-03 9.99604127e-01 1.37113943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51255784400007 meters Centerline goodness : 0.218199 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99625184e-01 -6.37468207e-04 -2.73694158e-02 3.40006824e+00] [ 8.22528519e-04 9.99976874e-01 6.75084769e-03 4.96404075e-01] [ 2.73644794e-02 -6.77082949e-03 9.99602592e-01 1.37084975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54255784400004 meters Centerline goodness : 0.159068 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99623031e-01 -7.36977643e-04 -2.74454456e-02 3.40037247e+00] [ 9.15358891e-04 9.99978537e-01 6.48748814e-03 4.97730232e-01] [ 2.74400755e-02 -6.51016499e-03 9.99602251e-01 1.37066696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5725578440001 meters Centerline goodness : 0.156668 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99626772e-01 -9.32479913e-04 -2.73028757e-02 3.40025457e+00] [ 1.09408122e-03 9.99981970e-01 5.90449829e-03 5.00699955e-01] [ 2.72968776e-02 -5.93216613e-03 9.99609769e-01 1.37034764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60255784400005 meters Centerline goodness : 0.152143 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99632659e-01 -1.04891667e-03 -2.70822246e-02 3.39964486e+00] [ 1.20068676e-03 9.99983664e-01 5.58839506e-03 5.02172285e-01] [ 2.70759204e-02 -5.61885949e-03 9.99617588e-01 1.37044746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6325578440001 meters Centerline goodness : 0.111946 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99638213e-01 -1.18348420e-03 -2.68708543e-02 3.39894990e+00] [ 1.32416760e-03 9.99985508e-01 5.21834870e-03 5.03914140e-01] [ 2.68642891e-02 -5.25204228e-03 9.99625293e-01 1.37073866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66255784400005 meters Centerline goodness : 0.111946 Centerline is valid? [False, False] Translation: X:3.40, Y:0.50, Z:1.37 [[ 9.99638213e-01 -1.18348420e-03 -2.68708543e-02 3.39894990e+00] [ 1.32416760e-03 9.99985508e-01 5.21834870e-03 5.03914140e-01] [ 2.68642891e-02 -5.25204228e-03 9.99625293e-01 1.37073866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692557844 meters Centerline goodness : 0.123203 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99643426e-01 -1.32117298e-03 -2.66697573e-02 3.39833851e+00] [ 1.45033529e-03 9.99987311e-01 4.82426259e-03 5.05892751e-01] [ 2.66630452e-02 -4.86122247e-03 9.99632658e-01 1.37092692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72255784400005 meters Centerline goodness : 0.109359 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99641793e-01 -1.46112436e-03 -2.67236029e-02 3.39854546e+00] [ 1.57990168e-03 9.99988966e-01 4.42408583e-03 5.07929605e-01] [ 2.67168439e-02 -4.46472176e-03 9.99633071e-01 1.37084002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752557844 meters Centerline goodness : 0.123976 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99638594e-01 -1.60438912e-03 -2.68348011e-02 3.39913726e+00] [ 1.70942974e-03 9.99990966e-01 3.89186081e-03 5.11016455e-01] [ 2.68283146e-02 -3.93632648e-03 9.99632306e-01 1.37033459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78255784400005 meters Centerline goodness : 0.150573 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.37 [[ 9.99652588e-01 6.25993153e-03 -2.56030550e-02 3.41802262e+00] [-6.19573914e-03 9.99977463e-01 2.58577673e-03 5.06965955e-01] [ 2.56186648e-02 -2.42624855e-03 9.99668844e-01 1.37159880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812557844 meters Centerline goodness : 0.117939 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99692179e-01 -1.91559445e-03 -2.47361557e-02 3.39746347e+00] [ 1.99804857e-03 9.99992529e-01 3.30905845e-03 5.13447719e-01] [ 2.47296321e-02 -3.35746389e-03 9.99688538e-01 1.37002166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84255784400005 meters Centerline goodness : 0.151803 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99698649e-01 -2.01258776e-03 -2.44654989e-02 3.39659671e+00] [ 2.09036795e-03 9.99992841e-01 3.15401946e-03 5.13992005e-01] [ 2.44589760e-02 -3.20421089e-03 9.99695699e-01 1.37031256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872557844 meters Centerline goodness : 0.147126 Centerline is valid? [False, False] Translation: X:3.40, Y:0.51, Z:1.37 [[ 9.99701542e-01 -2.11706918e-03 -2.43381171e-02 3.39611332e+00] [ 2.18915039e-03 9.99993296e-01 2.93539719e-03 5.14976899e-01] [ 2.43317395e-02 -2.98780090e-03 9.99699475e-01 1.37057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90255784400006 meters Centerline goodness : 0.263867 Centerline is valid? [False, False] Translation: X:3.42, Y:0.51, Z:1.37 [[ 9.99690262e-01 5.71469868e-03 -2.42223523e-02 3.41642751e+00] [-5.67376348e-03 9.99982358e-01 1.75836602e-03 5.13015478e-01] [ 2.42319735e-02 -1.62038948e-03 9.99705049e-01 1.37144533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93255784400003 meters Centerline goodness : 0.150706 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99678961e-01 -2.35387189e-03 -2.52276542e-02 3.39723900e+00] [ 2.42400165e-03 9.99993282e-01 2.74965621e-03 5.20992492e-01] [ 2.52210124e-02 -2.80992534e-03 9.99677951e-01 1.36962350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96255784400006 meters Centerline goodness : 0.234031 Centerline is valid? [False, False] Translation: X:3.40, Y:0.52, Z:1.37 [[ 9.99677796e-01 -2.49623522e-03 -2.52601242e-02 3.39741695e+00] [ 2.55701901e-03 9.99993912e-01 2.37429965e-03 5.22888084e-01] [ 2.52540436e-02 -2.43812526e-03 9.99678093e-01 1.36950511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99255784400003 meters Centerline goodness : 0.155927 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99678787e-01 -2.68889450e-03 -2.52010519e-02 3.39735349e+00] [ 2.73791542e-03 9.99994426e-01 1.91089069e-03 5.25074817e-01] [ 2.51957733e-02 -1.97927523e-03 9.99680577e-01 1.36937410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02255784400006 meters Centerline goodness : 0.145408 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99679154e-01 -2.89025783e-03 -2.51641700e-02 3.39737758e+00] [ 2.92674026e-03 9.99994719e-01 1.41306676e-03 5.27395460e-01] [ 2.51599530e-02 -1.48626237e-03 9.99682333e-01 1.36921202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05255784400003 meters Centerline goodness : 0.322126 Centerline is valid? [False, False] Translation: X:3.40, Y:0.53, Z:1.37 [[ 9.99674212e-01 -3.06966348e-03 -2.53386438e-02 3.39790929e+00] [ 3.09467297e-03 9.99994762e-01 9.47855167e-04 5.29643765e-01] [ 2.53356015e-02 -1.02596118e-03 9.99678476e-01 1.36908137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08255784400006 meters Centerline goodness : 0.230008 Centerline is valid? [False, False] Translation: X:3.36, Y:0.54, Z:1.37 [[ 9.99570831e-01 -2.94533232e-03 -2.91458226e-02 3.35687955e+00] [ 2.95984784e-03 9.99995516e-01 4.54900770e-04 5.37395745e-01] [ 2.91443521e-02 -5.40972741e-04 9.99575067e-01 1.36739039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11255784400004 meters Centerline goodness : 0.172807 Centerline is valid? [False, False] Translation: X:3.36, Y:0.54, Z:1.37 [[ 9.99564372e-01 -3.11826663e-03 -2.93486545e-02 3.35761541e+00] [ 3.11962812e-03 9.99995134e-01 6.02153269e-07 5.39635114e-01] [ 2.93485098e-02 -9.21587789e-05 9.99569235e-01 1.36702128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14255784400007 meters Centerline goodness : 0.158834 Centerline is valid? [False, False] Translation: X:3.40, Y:0.54, Z:1.37 [[ 9.99608674e-01 -3.05697070e-03 -2.78056276e-02 3.40280492e+00] [ 3.06449252e-03 9.99995278e-01 2.27905109e-04 5.40084439e-01] [ 2.78047996e-02 -3.13026062e-04 9.99613323e-01 1.36720637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17255784400004 meters Centerline goodness : 0.135142 Centerline is valid? [False, False] Translation: X:3.40, Y:0.54, Z:1.37 [[ 9.99607520e-01 -3.30114226e-03 -2.78191979e-02 3.40303181e+00] [ 3.29115733e-03 9.99994502e-01 -4.04702566e-04 5.43194172e-01] [ 2.78203810e-02 3.12986371e-04 9.99612889e-01 1.36693903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20255784400007 meters Centerline goodness : 0.128581 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99607888e-01 -3.58876428e-03 -2.77703185e-02 3.40294144e+00] [ 3.55901958e-03 9.99993039e-01 -1.12044997e-03 5.46656878e-01] [ 2.77741463e-02 1.02117552e-03 9.99613702e-01 1.36690596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23255784400004 meters Centerline goodness : 0.145924 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99657433e-01 -1.27302271e-03 -2.61418420e-02 3.39714708e+00] [ 1.28399237e-03 9.99999095e-01 4.02839062e-04 5.54215154e-01] [ 2.61413055e-02 -4.36266988e-04 9.99658162e-01 1.36882837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26255784400007 meters Centerline goodness : 0.129943 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99664000e-01 -1.56430412e-03 -2.58735313e-02 3.39612004e+00] [ 1.55688627e-03 9.99998741e-01 -3.06838691e-04 5.57571116e-01] [ 2.58739787e-02 2.66453448e-04 9.99665177e-01 1.36945256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29255784400004 meters Centerline goodness : 0.128014 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99671016e-01 -1.82041296e-03 -2.55841102e-02 3.39522541e+00] [ 1.79891823e-03 9.99998009e-01 -8.63149723e-04 5.60009264e-01] [ 2.55856306e-02 8.16842038e-04 9.99672300e-01 1.36971990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3225578440001 meters Centerline goodness : 0.136868 Centerline is valid? [False, False] Translation: X:3.39, Y:0.56, Z:1.37 [[ 9.99674619e-01 -2.04899405e-03 -2.54255244e-02 3.39483674e+00] [ 2.01625544e-03 9.99997105e-01 -1.31319745e-03 5.61893278e-01] [ 2.54281416e-02 1.26150581e-03 9.99675857e-01 1.36969188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35255784400005 meters Centerline goodness : 0.163974 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99672655e-01 -2.20097030e-03 -2.54899664e-02 3.39518755e+00] [ 2.16145986e-03 9.99996420e-01 -1.57748768e-03 5.63016059e-01] [ 2.54933471e-02 1.52187576e-03 9.99673833e-01 1.36934251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3825578440001 meters Centerline goodness : 0.128006 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668965e-01 -2.29960891e-03 -2.56256304e-02 3.39572884e+00] [ 2.25522151e-03 9.99995907e-01 -1.76091438e-03 5.63910143e-01] [ 2.56295749e-02 1.70253998e-03 9.99670059e-01 1.36897729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41255784400005 meters Centerline goodness : 0.158210 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99662655e-01 -2.47368987e-03 -2.58545447e-02 3.39671006e+00] [ 2.42291544e-03 9.99995075e-01 -1.99499195e-03 5.65135599e-01] [ 2.58593523e-02 1.93167558e-03 9.99663725e-01 1.36827854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442557844 meters Centerline goodness : 0.126249 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99659819e-01 -2.49023754e-03 -2.59623779e-02 3.39716073e+00] [ 2.43937223e-03 9.99995043e-01 -1.99068050e-03 5.65132224e-01] [ 2.59672065e-02 1.92667141e-03 9.99660939e-01 1.36794735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47255784400005 meters Centerline goodness : 0.130255 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99655720e-01 -2.48259060e-03 -2.61204673e-02 3.39773575e+00] [ 2.43247494e-03 9.99995140e-01 -1.95023486e-03 5.65022557e-01] [ 2.61251820e-02 1.88602605e-03 9.99656900e-01 1.36762852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502557844 meters Centerline goodness : 0.152113 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99653542e-01 -2.47258274e-03 -2.62046203e-02 3.39803215e+00] [ 2.42197126e-03 9.99995140e-01 -1.96295817e-03 5.65230806e-01] [ 2.62093466e-02 1.89881125e-03 9.99654673e-01 1.36749364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53255784400005 meters Centerline goodness : 0.120231 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99657916e-01 -2.40895882e-03 -2.60432023e-02 3.39759311e+00] [ 2.36016912e-03 9.99995402e-01 -1.90399012e-03 5.65043973e-01] [ 2.60476692e-02 1.84187244e-03 9.99659005e-01 1.36753945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562557844 meters Centerline goodness : 0.126155 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99662771e-01 -2.40444784e-03 -2.58565912e-02 3.39694864e+00] [ 2.35597248e-03 9.99995410e-01 -1.90507830e-03 5.64863289e-01] [ 2.58610532e-02 1.84351843e-03 9.99663847e-01 1.36780377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59255784400005 meters Centerline goodness : 0.125768 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99666249e-01 -2.38709877e-03 -2.57233951e-02 3.39635112e+00] [ 2.33947989e-03 9.99995494e-01 -1.88112507e-03 5.64582696e-01] [ 2.57277697e-02 1.82031787e-03 9.99667329e-01 1.36820130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters Centerline goodness : 0.125763 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99667576e-01 -2.34382570e-03 -2.56757566e-02 3.39603353e+00] [ 2.29743095e-03 9.99995675e-01 -1.83629759e-03 5.64375281e-01] [ 2.56799495e-02 1.77669888e-03 9.99668637e-01 1.36849834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65255784400006 meters Centerline goodness : 0.121320 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99667643e-01 -2.30339094e-03 -2.56768038e-02 3.39596332e+00] [ 2.25731072e-03 9.99995790e-01 -1.82346517e-03 5.64496269e-01] [ 2.56808959e-02 1.76489860e-03 9.99668633e-01 1.36860315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters Centerline goodness : 0.123527 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99663825e-01 -2.20217121e-03 -2.58338418e-02 3.39642555e+00] [ 2.15883244e-03 9.99996216e-01 -1.70536704e-03 5.64180619e-01] [ 2.58374995e-02 1.64902280e-03 9.99664796e-01 1.36845494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71255784400006 meters Centerline goodness : 0.124025 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99654534e-01 -1.94426124e-03 -2.62113152e-02 3.39785120e+00] [ 1.91281396e-03 9.99997421e-01 -1.22477907e-03 5.62198253e-01] [ 2.62136289e-02 1.17421858e-03 9.99655674e-01 1.36762457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters Centerline goodness : 0.123308 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99653846e-01 -1.85504253e-03 -2.62439824e-02 3.39811278e+00] [ 1.82969996e-03 9.99997836e-01 -9.89632803e-04 5.60910268e-01] [ 2.62457614e-02 9.41271624e-04 9.99655078e-01 1.36728492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77255784400006 meters Centerline goodness : 0.127507 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99656267e-01 -1.79427735e-03 -2.61558407e-02 3.39771622e+00] [ 1.77377755e-03 9.99998101e-01 -8.06936480e-04 5.59855760e-01] [ 2.61572390e-02 7.60264467e-04 9.99657552e-01 1.36749105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters Centerline goodness : 0.171685 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99662341e-01 -1.70266971e-03 -2.59288612e-02 3.39683500e+00] [ 1.68702107e-03 9.99998381e-01 -6.25385110e-04 5.59040531e-01] [ 2.59298841e-02 5.81431407e-04 9.99663595e-01 1.36796722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83255784400006 meters Centerline goodness : 0.123717 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668661e-01 -1.62741096e-03 -2.56888866e-02 3.39586331e+00] [ 1.61411310e-03 9.99998552e-01 -5.38377530e-04 5.58897462e-01] [ 2.56897256e-02 4.96734377e-04 9.99669841e-01 1.36855770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters Centerline goodness : 0.155532 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99672329e-01 -1.58205363e-03 -2.55486076e-02 3.39533618e+00] [ 1.57066717e-03 9.99998658e-01 -4.65739634e-04 5.58670948e-01] [ 2.55493101e-02 4.25458665e-04 9.99673473e-01 1.36881361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89255784400007 meters Centerline goodness : 0.156670 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99668812e-01 -1.54674814e-03 -2.56879953e-02 3.39605870e+00] [ 1.53833887e-03 9.99998757e-01 -3.47120312e-04 5.58077396e-01] [ 2.56885002e-02 3.07488508e-04 9.99669949e-01 1.36814707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters Centerline goodness : 0.150689 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99665436e-01 -1.49933655e-03 -2.58218669e-02 3.39666842e+00] [ 1.49587497e-03 9.99998869e-01 -1.53371929e-04 5.57019340e-01] [ 2.58220677e-02 1.14694332e-04 9.99666548e-01 1.36761965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95255784400007 meters Centerline goodness : 0.155626 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99666149e-01 -1.41505563e-03 -2.57989924e-02 3.39665696e+00] [ 1.41800210e-03 9.99998990e-01 9.59147655e-05 5.55829827e-01] [ 2.57988306e-02 -1.32465770e-04 9.99667146e-01 1.36746389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98255784400004 meters Centerline goodness : 0.150497 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99664191e-01 -1.35573899e-03 -2.58779450e-02 3.39671630e+00] [ 1.36552158e-03 9.99999003e-01 3.60360475e-04 5.54525150e-01] [ 2.58774306e-02 -3.95576355e-04 9.99665045e-01 1.36760937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01255784400007 meters Centerline goodness : 0.166587 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99666598e-01 -1.27707433e-03 -2.57887997e-02 3.39645123e+00] [ 1.29321799e-03 9.99998978e-01 6.09326460e-04 5.53391020e-01] [ 2.57879952e-02 -6.42473849e-04 9.99667228e-01 1.36762851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04255784400004 meters Centerline goodness : 0.127936 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99665624e-01 -1.24075290e-03 -2.58282803e-02 3.39677628e+00] [ 1.26669650e-03 9.99998710e-01 9.88128170e-04 5.51106508e-01] [ 2.58270209e-02 -1.02051436e-03 9.99665906e-01 1.36717016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0725578440001 meters Centerline goodness : 0.165688 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99666400e-01 -1.21577409e-03 -2.57994444e-02 3.39682636e+00] [ 1.24533871e-03 9.99998586e-01 1.12990364e-03 5.50178992e-01] [ 2.57980342e-02 -1.16165575e-03 9.99666500e-01 1.36693375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10255784400005 meters Centerline goodness : 0.128038 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99665795e-01 -1.24007681e-03 -2.58217070e-02 3.39683485e+00] [ 1.26884332e-03 9.99998593e-01 1.09768882e-03 5.50124490e-01] [ 2.58203094e-02 -1.13008567e-03 9.99665961e-01 1.36700147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1325578440001 meters Centerline goodness : 0.123466 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99662451e-01 -1.27629121e-03 -2.59490727e-02 3.39720541e+00] [ 1.30141857e-03 9.99998701e-01 9.51468586e-04 5.50908411e-01] [ 2.59478246e-02 -9.84918024e-04 9.99662813e-01 1.36694451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16255784400005 meters Centerline goodness : 0.128760 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99652131e-01 -1.27750436e-03 -2.63435973e-02 3.39834431e+00] [ 1.29841955e-03 9.99998855e-01 7.76848087e-04 5.52163031e-01] [ 2.63425748e-02 -8.10782887e-04 9.99652645e-01 1.36672665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192557844 meters Centerline goodness : 0.164707 Centerline is valid? [False, False] Translation: X:3.40, Y:0.55, Z:1.37 [[ 9.99636548e-01 -1.21266617e-03 -2.69314354e-02 3.40010130e+00] [ 1.22791078e-03 9.99999095e-01 5.49522207e-04 5.53987931e-01] [ 2.69307446e-02 -5.82391882e-04 9.99637132e-01 1.36630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22255784400005 meters Centerline goodness : 0.125803 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99617972e-01 -7.51528534e-04 -2.76287120e-02 3.40222082e+00] [ 7.58756132e-04 9.99999681e-01 2.51114556e-04 5.57578994e-01] [ 2.76285145e-02 -2.71982078e-04 9.99618223e-01 1.36590117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252557844 meters Centerline goodness : 0.154266 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99623682e-01 -8.40978715e-04 -2.74187213e-02 3.40143974e+00] [ 8.34059902e-04 9.99999617e-01 -2.63774634e-04 5.60311658e-01] [ 2.74189327e-02 2.40806514e-04 9.99624001e-01 1.36640849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28255784400005 meters Centerline goodness : 0.155782 Centerline is valid? [False, False] Translation: X:3.40, Y:0.56, Z:1.37 [[ 9.99631187e-01 -9.54698896e-04 -2.71399676e-02 3.40036960e+00] [ 9.31803180e-04 9.99999199e-01 -8.56250583e-04 5.63380310e-01] [ 2.71407633e-02 8.30645679e-04 9.99631277e-01 1.36711356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312557844 meters Centerline goodness : 0.144138 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99638165e-01 -1.03443151e-03 -2.68787751e-02 3.39942889e+00] [ 9.95130423e-04 9.99998416e-01 -1.47549575e-03 5.66708073e-01] [ 2.68802589e-02 1.44821398e-03 9.99637612e-01 1.36771694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34255784400005 meters Centerline goodness : 0.131766 Centerline is valid? [False, False] Translation: X:3.40, Y:0.57, Z:1.37 [[ 9.99637421e-01 2.38965473e-03 -2.68200685e-02 3.39817885e+00] [-2.36174501e-03 9.99996636e-01 1.07225671e-03 5.72582540e-01] [ 2.68225406e-02 -1.00852577e-03 9.99639702e-01 1.36914090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372557844 meters Centerline goodness : 0.140604 Centerline is valid? [False, False] Translation: X:3.38, Y:0.58, Z:1.37 [[ 9.99639373e-01 -3.30115527e-03 -2.66500857e-02 3.37516050e+00] [ 3.39826913e-03 9.99987747e-01 3.59956820e-03 5.80317592e-01] [ 2.66378764e-02 -3.68883426e-03 9.99638343e-01 1.36915809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40255784400006 meters Centerline goodness : 0.144898 Centerline is valid? [False, False] Translation: X:3.38, Y:0.58, Z:1.37 [[ 9.99636614e-01 -3.54446873e-03 -2.67222084e-02 3.37516838e+00] [ 3.62176017e-03 9.99989396e-01 2.84456034e-03 5.84019946e-01] [ 2.67118426e-02 -2.94030809e-03 9.99638851e-01 1.36943216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43255784400003 meters Centerline goodness : 0.133380 Centerline is valid? [False, False] Translation: X:3.40, Y:0.58, Z:1.37 [[ 9.99667445e-01 4.54284280e-03 -2.53842950e-02 3.39586932e+00] [-4.50106030e-03 9.99988420e-01 1.70289327e-03 5.83278528e-01] [ 2.53917371e-02 -1.58807072e-03 9.99676316e-01 1.37014483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46255784400006 meters Centerline goodness : 0.127469 Centerline is valid? [False, False] Translation: X:3.40, Y:0.59, Z:1.37 [[ 9.99673870e-01 4.26985234e-03 -2.51778157e-02 3.39506601e+00] [-4.24654187e-03 9.99990504e-01 9.79228892e-04 5.86792101e-01] [ 2.51817578e-02 -8.71990887e-04 9.99682509e-01 1.37063871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49255784400003 meters Centerline goodness : 0.131196 Centerline is valid? [False, False] Translation: X:3.41, Y:0.59, Z:1.37 [[ 9.99703010e-01 -3.79084972e-03 -2.40732554e-02 3.41271286e+00] [ 3.84679708e-03 9.99990006e-01 2.27816224e-03 5.93777615e-01] [ 2.40643786e-02 -2.37009057e-03 9.99707601e-01 1.37323954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52255784400006 meters Centerline goodness : 0.130062 Centerline is valid? [False, False] Translation: X:3.36, Y:0.60, Z:1.37 [[ 9.99650710e-01 -2.67933315e-03 -2.62922051e-02 3.36498883e+00] [ 2.72978375e-03 9.99994501e-01 1.88313787e-03 6.03270314e-01] [ 2.62870149e-02 -1.95425214e-03 9.99652527e-01 1.37473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55255784400003 meters Centerline goodness : 0.154543 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99644420e-01 -2.85913800e-03 -2.65114788e-02 3.36557730e+00] [ 2.89730952e-03 9.99994821e-01 1.40151012e-03 6.05723281e-01] [ 2.65073344e-02 -1.47782374e-03 9.99647527e-01 1.37469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58255784400006 meters Centerline goodness : 0.154543 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99644420e-01 -2.85913800e-03 -2.65114788e-02 3.36557730e+00] [ 2.89730952e-03 9.99994821e-01 1.40151012e-03 6.05723281e-01] [ 2.65073344e-02 -1.47782374e-03 9.99647527e-01 1.37469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61255784400004 meters Centerline goodness : 0.161642 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99635639e-01 -3.04840395e-03 -2.68196976e-02 3.36653611e+00] [ 3.07406819e-03 9.99994856e-01 9.15739523e-04 6.08165652e-01] [ 2.68167681e-02 -9.97851442e-04 9.99639868e-01 1.37442507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64255784400007 meters Centerline goodness : 0.145084 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99626415e-01 -3.21480900e-03 -2.71421375e-02 3.36750565e+00] [ 3.22729928e-03 9.99994706e-01 4.16387023e-04 6.10717752e-01] [ 2.71406552e-02 -5.03827268e-04 9.99631498e-01 1.37421230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67255784400004 meters Centerline goodness : 0.142876 Centerline is valid? [False, False] Translation: X:3.37, Y:0.61, Z:1.37 [[ 9.99623546e-01 -3.43684706e-03 -2.72204857e-02 3.36765142e+00] [ 3.43441854e-03 9.99994093e-01 -1.35968196e-04 6.13410547e-01] [ 2.72207922e-02 4.24304693e-05 9.99629445e-01 1.37434187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70255784400007 meters Centerline goodness : 0.126036 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99625306e-01 -3.61387834e-03 -2.71327923e-02 3.36733293e+00] [ 3.59692565e-03 9.99993304e-01 -6.73584821e-04 6.16112431e-01] [ 2.71350448e-02 5.75737796e-04 9.99631611e-01 1.37455482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73255784400004 meters Centerline goodness : 0.121319 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99642613e-01 2.48275413e-05 -2.67328445e-02 3.36634285e+00] [ 3.81430117e-05 9.99997226e-01 2.35503754e-03 6.19937074e-01] [ 2.67328289e-02 -2.35521555e-03 9.99639840e-01 1.37455586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76255784400007 meters Centerline goodness : 0.124805 Centerline is valid? [False, False] Translation: X:3.37, Y:0.62, Z:1.37 [[ 9.99637138e-01 -6.27314931e-05 -2.69367457e-02 3.36680558e+00] [ 1.11520444e-04 9.99998356e-01 1.80974303e-03 6.22923918e-01] [ 2.69365879e-02 -1.81209034e-03 9.99635502e-01 1.37467583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79255784400004 meters Centerline goodness : 0.153267 Centerline is valid? [False, False] Translation: X:3.37, Y:0.63, Z:1.37 [[ 9.99631759e-01 -1.63442768e-04 -2.71352051e-02 3.36716174e+00] [ 1.97907652e-04 9.99999177e-01 1.26743618e-03 6.25847607e-01] [ 2.71349756e-02 -1.27233972e-03 9.99630969e-01 1.37488973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8225578440001 meters Centerline goodness : 0.141476 Centerline is valid? [False, False] Translation: X:3.39, Y:0.63, Z:1.38 [[ 9.99602409e-01 7.91161544e-03 -2.70634466e-02 3.38801013e+00] [-7.91518880e-03 9.99968674e-01 -2.49115440e-05 6.25164216e-01] [ 2.70624017e-02 2.39113929e-04 9.99633718e-01 1.37658938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85255784400005 meters Centerline goodness : 0.123217 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.38 [[ 9.99645773e-01 3.05237704e-03 -2.64388202e-02 3.36868625e+00] [-2.99358592e-03 9.99992959e-01 2.26296157e-03 6.39469621e-01] [ 2.64455414e-02 -2.18301309e-03 9.99647872e-01 1.37512725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8825578440001 meters Centerline goodness : 0.154305 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.37 [[ 9.99640754e-01 3.00649931e-03 -2.66331323e-02 3.36921751e+00] [-2.96195774e-03 9.99994148e-01 1.71170443e-03 6.42275046e-01] [ 2.66381227e-02 -1.63220330e-03 9.99643810e-01 1.37486217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91255784400005 meters Centerline goodness : 0.169480 Centerline is valid? [False, False] Translation: X:3.37, Y:0.64, Z:1.37 [[ 9.99636862e-01 2.86043963e-03 -2.67948263e-02 3.36969047e+00] [-2.82949336e-03 9.99995286e-01 1.19277843e-03 6.44691541e-01] [ 2.67981118e-02 -1.11652950e-03 9.99640243e-01 1.37473484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942557844 meters Centerline goodness : 0.200312 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99638417e-01 2.69432208e-03 -2.67539887e-02 3.36967104e+00] [-2.67711085e-03 9.99996186e-01 6.79111769e-04 6.46679887e-01] [ 2.67557164e-02 -6.07242821e-04 9.99641817e-01 1.37441251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97255784400005 meters Centerline goodness : 0.179910 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99634573e-01 2.62139334e-03 -2.69044330e-02 3.36997557e+00] [-2.61125349e-03 9.99996506e-01 4.12010402e-04 6.47894580e-01] [ 2.69054191e-02 -3.41605547e-04 9.99637925e-01 1.37449229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002557844 meters Centerline goodness : 0.188295 Centerline is valid? [False, False] Translation: X:3.37, Y:0.65, Z:1.37 [[ 9.99617636e-01 2.77365742e-03 -2.75116080e-02 3.37137436e+00] [-2.76504952e-03 9.99996116e-01 3.50920218e-04 6.49078211e-01] [ 2.75124745e-02 -2.74715080e-04 9.99621422e-01 1.37458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03255784400005 meters Centerline goodness : 0.145765 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.37 [[ 9.99629178e-01 -4.18550707e-03 -2.69070401e-02 3.39329143e+00] [ 4.26664172e-03 9.99986521e-01 2.95866400e-03 6.50949414e-01] [ 2.68942940e-02 -3.07236956e-03 9.99633562e-01 1.37479111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters Centerline goodness : 0.169465 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.37 [[ 9.99632450e-01 -4.15456445e-03 -2.67900091e-02 3.39289237e+00] [ 4.23688471e-03 9.99986474e-01 3.01676585e-03 6.50517132e-01] [ 2.67771134e-02 -3.12916322e-03 9.99636531e-01 1.37494201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09255784400005 meters Centerline goodness : 0.163621 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.38 [[ 9.99639200e-01 -4.10564428e-03 -2.65445532e-02 3.39190010e+00] [ 4.19073086e-03 9.99986256e-01 3.15058969e-03 6.49700926e-01] [ 2.65312532e-02 -3.26069404e-03 9.99642666e-01 1.37555045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122557844 meters Centerline goodness : 0.157442 Centerline is valid? [False, False] Translation: X:3.39, Y:0.65, Z:1.38 [[ 9.99645783e-01 -4.00735028e-03 -2.63106313e-02 3.39097962e+00] [ 4.09656594e-03 9.99986038e-01 3.33783482e-03 6.48783092e-01] [ 2.62968880e-02 -3.44443574e-03 9.99648243e-01 1.37608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15255784400006 meters Centerline goodness : 0.136650 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 9.99600568e-01 3.68412019e-03 -2.80202041e-02 3.41149622e+00] [-3.59521142e-03 9.99988344e-01 3.22274150e-03 6.40785106e-01] [ 2.80317504e-02 -3.12071568e-03 9.99602162e-01 1.37794151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18255784400003 meters Centerline goodness : 0.139282 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 0.99959364 0.00388037 -0.02824014 3.412351 ] [-0.00377818 0.99998612 0.00367089 0.63865449] [ 0.02825399 -0.0035627 0.99959443 1.37742472] [ 0. 0. 0. 1. ]] SLAMing on 306.21255784400006 meters Centerline goodness : 0.129738 Centerline is valid? [False, False] Translation: X:3.41, Y:0.64, Z:1.38 [[ 0.99959013 0.00403295 -0.02834282 3.4128025 ] [-0.0039187 0.99998398 0.00408531 0.63632553] [ 0.02835884 -0.00397257 0.99958991 1.37710694] [ 0. 0. 0. 1. ]] SLAMing on 306.24255784400003 meters Centerline goodness : 0.145767 Centerline is valid? [False, False] Translation: X:3.43, Y:0.64, Z:1.38 [[ 0.9996171 -0.00467163 -0.02727324 3.43323399] [ 0.00481325 0.99997526 0.00512922 0.63700098] [ 0.0272486 -0.00525853 0.99961486 1.3778146 ] [ 0. 0. 0. 1. ]] SLAMing on 306.27255784400006 meters Centerline goodness : 0.169363 Centerline is valid? [False, False] Translation: X:3.43, Y:0.63, Z:1.38 [[ 0.99962491 -0.00416938 -0.02706775 3.43234325] [ 0.00434212 0.99997056 0.00632599 0.63118044] [ 0.02704058 -0.00644115 0.99961358 1.37845929] [ 0. 0. 0. 1. ]] SLAMing on 306.30255784400003 meters Centerline goodness : 0.168196 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99587964e-01 1.95399879e-03 -2.86371123e-02 3.44810129e+00] [-1.80781200e-03 9.99985208e-01 5.12980368e-03 6.23164158e-01] [ 2.86467124e-02 -5.07591950e-03 9.99576711e-01 1.38236270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33255784400006 meters Centerline goodness : 0.145983 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99588315e-01 2.24143063e-03 -2.86037873e-02 3.44800602e+00] [-2.07473294e-03 9.99980700e-01 5.85616752e-03 6.19448595e-01] [ 2.86163615e-02 -5.79441140e-03 9.99573673e-01 1.38238742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters Centerline goodness : 0.126470 Centerline is valid? [False, False] Translation: X:3.45, Y:0.62, Z:1.38 [[ 9.99588989e-01 -8.42935948e-04 -2.86555740e-02 3.44808678e+00] [ 9.27425120e-04 9.99995262e-01 2.93527479e-03 6.16964309e-01] [ 2.86529639e-02 -2.96064426e-03 9.99585035e-01 1.38241683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39255784400007 meters Centerline goodness : 0.164578 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99584288e-01 -6.09349902e-04 -2.88249953e-02 3.44846524e+00] [ 7.10192237e-04 9.99993664e-01 3.48832531e-03 6.14135319e-01] [ 2.88226870e-02 -3.50734646e-03 9.99578387e-01 1.38242957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42255784400004 meters Centerline goodness : 0.159785 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99584339e-01 -3.84768017e-04 -2.88270980e-02 3.44834329e+00] [ 4.98211147e-04 9.99992160e-01 3.92821571e-03 6.12071672e-01] [ 2.88253606e-02 -3.94094488e-03 9.99576694e-01 1.38259941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45255784400007 meters Centerline goodness : 0.096224 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99591461e-01 1.97179603e-04 -2.85809790e-02 3.44736659e+00] [-6.45361629e-05 9.99989225e-01 4.64181722e-03 6.09355633e-01] [ 2.85815863e-02 -4.63807635e-03 9.99580703e-01 1.38315819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48255784400004 meters Centerline goodness : 0.147919 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99589735e-01 3.46452138e-04 -2.86398472e-02 3.44754214e+00] [-2.09178842e-04 9.99988478e-01 4.79594466e-03 6.08674859e-01] [ 2.86411787e-02 -4.78798621e-03 9.99578290e-01 1.38306152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51255784400007 meters Centerline goodness : 0.096826 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99583833e-01 5.23241756e-04 -2.88424674e-02 3.44812147e+00] [-3.80271172e-04 9.99987616e-01 4.96220934e-03 6.08093812e-01] [ 2.88447066e-02 -4.94917627e-03 9.99571653e-01 1.38287719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54255784400004 meters Centerline goodness : 0.160040 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99581213e-01 6.93745067e-04 -2.89295264e-02 3.44839522e+00] [-5.43631929e-04 9.99986351e-01 5.19646718e-03 6.07214007e-01] [ 2.89327366e-02 -5.17856395e-03 9.99567946e-01 1.38274042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5725578440001 meters Centerline goodness : 0.137812 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.38 [[ 9.99580861e-01 8.83789218e-04 -2.89364927e-02 3.44836219e+00] [-7.24213467e-04 9.99984476e-01 5.52470472e-03 6.05812170e-01] [ 2.89409261e-02 -5.50143290e-03 9.99565984e-01 1.38277123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60255784400005 meters Centerline goodness : 0.101726 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99580030e-01 1.04257029e-03 -2.89599266e-02 3.44849478e+00] [-8.71991102e-04 9.99982202e-01 5.90218479e-03 6.03872022e-01] [ 2.89655646e-02 -5.87445325e-03 9.99563148e-01 1.38263830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6325578440001 meters Centerline goodness : 0.143469 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99574175e-01 1.33305262e-03 -2.91494559e-02 3.44930348e+00] [-1.14033121e-03 9.99977390e-01 6.62711699e-03 5.99985572e-01] [ 2.91576311e-02 -6.59105497e-03 9.99553095e-01 1.38216389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66255784400005 meters Centerline goodness : 0.144166 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99571655e-01 1.43780961e-03 -2.92307928e-02 3.44959716e+00] [-1.23954464e-03 9.99976113e-01 6.79973259e-03 5.99318137e-01] [ 2.92398713e-02 -6.76058709e-03 9.99549561e-01 1.38201762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692557844 meters Centerline goodness : 0.180456 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99567198e-01 1.57541462e-03 -2.93757423e-02 3.45010188e+00] [-1.37211122e-03 9.99974979e-01 6.93966577e-03 5.99068685e-01] [ 2.93859401e-02 -6.89635548e-03 9.99544350e-01 1.38175548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72255784400005 meters Centerline goodness : 0.099713 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.38 [[ 9.99563476e-01 1.63029615e-03 -2.94991359e-02 3.45059416e+00] [-1.42620587e-03 9.99974913e-01 6.93823574e-03 5.99174213e-01] [ 2.95097072e-02 -6.89313520e-03 9.99540725e-01 1.38142130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752557844 meters Centerline goodness : 0.163122 Centerline is valid? [False, False] Translation: X:3.47, Y:0.60, Z:1.38 [[ 0.99950082 0.01011323 -0.02993059 3.47320467] [-0.00994501 0.99993393 0.00576393 0.59655482] [ 0.0299869 -0.00546339 0.99953536 1.38247578] [ 0. 0. 0. 1. ]] SLAMing on 306.78255784400005 meters Centerline goodness : 0.177388 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.9993999 0.01129077 -0.03274689 3.42758797] [-0.01109488 0.99991949 0.00615765 0.59718805] [ 0.03281378 -0.00579063 0.99944471 1.38289601] [ 0. 0. 0. 1. ]] SLAMing on 306.812557844 meters Centerline goodness : 0.096515 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939519 0.01141497 -0.03284754 3.42777228] [-0.01122874 0.99991985 0.00584828 0.59956905] [ 0.03291167 -0.0054759 0.99944326 1.38288675] [ 0. 0. 0. 1. ]] SLAMing on 306.84255784400005 meters Centerline goodness : 0.188967 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939507 0.01140141 -0.03285576 3.42776608] [-0.01122987 0.99992236 0.00540092 0.60217226] [ 0.03291479 -0.00502869 0.99944551 1.38280085] [ 0. 0. 0. 1. ]] SLAMing on 306.872557844 meters Centerline goodness : 0.154619 Centerline is valid? [False, False] Translation: X:3.43, Y:0.60, Z:1.38 [[ 0.99939424 0.01122632 -0.03294112 3.42795378] [-0.0110727 0.99992697 0.00484212 0.60474514] [ 0.03299307 -0.00447444 0.99944556 1.38272037] [ 0. 0. 0. 1. ]] SLAMing on 306.90255784400006 meters Centerline goodness : 0.160016 Centerline is valid? [False, False] Translation: X:3.43, Y:0.61, Z:1.38 [[ 0.99939775 0.01098985 -0.03291456 3.42761061] [-0.01085618 0.99993209 0.00423725 0.60733319] [ 0.03295889 -0.00387738 0.99944919 1.38298157] [ 0. 0. 0. 1. ]] SLAMing on 306.93255784400003 meters Centerline goodness : 0.101577 Centerline is valid? [False, False] Translation: X:3.43, Y:0.61, Z:1.38 [[ 0.99940491 0.01099167 -0.03269568 3.42679167] [-0.01085889 0.99993207 0.00423577 0.60755673] [ 0.03274001 -0.00387821 0.99945638 1.3834146 ] [ 0. 0. 0. 1. ]] SLAMing on 306.96255784400006 meters Centerline goodness : 0.171305 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99491409e-01 2.68737643e-03 -3.17757864e-02 3.44549349e+00] [-2.51497950e-03 9.99981909e-01 5.46414208e-03 6.12144623e-01] [ 3.17898958e-02 -5.38144762e-03 9.99480086e-01 1.38546922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99255784400003 meters Centerline goodness : 0.155134 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99489837e-01 2.68074418e-03 -3.18257555e-02 3.44541598e+00] [-2.50392892e-03 9.99981217e-01 5.59428407e-03 6.11282878e-01] [ 3.18401545e-02 -5.51174065e-03 9.99477776e-01 1.38587480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02255784400006 meters Centerline goodness : 0.096736 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99486039e-01 -1.21822765e-03 -3.20339407e-02 3.44582045e+00] [ 1.27279123e-03 9.99997774e-01 1.68296884e-03 6.11881693e-01] [ 3.20318191e-02 -1.72287638e-03 9.99485365e-01 1.38594153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05255784400003 meters Centerline goodness : 0.146114 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99474889e-01 -1.18091524e-03 -3.23813362e-02 3.44680923e+00] [ 1.24539945e-03 9.99997281e-01 1.97130353e-03 6.10082308e-01] [ 3.23789203e-02 -2.01059608e-03 9.99473643e-01 1.38582724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08255784400006 meters Centerline goodness : 0.148143 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99475605e-01 -9.26108812e-04 -3.23675273e-02 3.44658941e+00] [ 1.01183390e-03 9.99996024e-01 2.63221115e-03 6.07099518e-01] [ 3.23649609e-02 -2.66358139e-03 9.99472568e-01 1.38623090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11255784400004 meters Centerline goodness : 0.174075 Centerline is valid? [False, False] Translation: X:3.45, Y:0.61, Z:1.39 [[ 9.99487567e-01 -7.95328766e-04 -3.19995526e-02 3.44525257e+00] [ 8.90497389e-04 9.99995223e-01 2.95991956e-03 6.05612154e-01] [ 3.19970456e-02 -2.98689832e-03 9.99483500e-01 1.38690119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14255784400007 meters Centerline goodness : 0.397893 Centerline is valid? [False, False] Translation: X:3.44, Y:0.60, Z:1.39 [[ 9.99494867e-01 -6.78852486e-04 -3.17734129e-02 3.44432793e+00] [ 7.83609052e-04 9.99994298e-01 3.28465218e-03 6.03962684e-01] [ 3.17710019e-02 -3.30789093e-03 9.99489700e-01 1.38754185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17255784400004 meters Centerline goodness : 0.396551 Centerline is valid? [False, False] Translation: X:3.44, Y:0.60, Z:1.39 [[ 9.99494057e-01 -5.65288378e-04 -3.18010974e-02 3.44433779e+00] [ 6.79292237e-04 9.99993382e-01 3.57421368e-03 6.02466637e-01] [ 3.17988665e-02 -3.59400757e-03 9.99487826e-01 1.38766608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20255784400007 meters Centerline goodness : 0.156397 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99477131e-01 -4.25246811e-04 -3.23308450e-02 3.44597036e+00] [ 5.48820138e-04 9.99992578e-01 3.81337147e-03 6.01281069e-01] [ 3.23289834e-02 -3.82912140e-03 9.99469947e-01 1.38715250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23255784400004 meters Centerline goodness : 0.150766 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99474975e-01 -3.45336546e-04 -3.23983895e-02 3.44620566e+00] [ 4.73754950e-04 9.99992062e-01 3.95613528e-03 6.00667481e-01] [ 3.23967661e-02 -3.96940710e-03 9.99467205e-01 1.38705354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26255784400007 meters Centerline goodness : 0.144436 Centerline is valid? [False, False] Translation: X:3.45, Y:0.60, Z:1.39 [[ 9.99478826e-01 -2.68526734e-04 -3.22800992e-02 3.44586322e+00] [ 4.01528601e-04 9.99991458e-01 4.11383168e-03 5.99932967e-01] [ 3.22787188e-02 -4.12464904e-03 9.99470396e-01 1.38711754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29255784400004 meters Centerline goodness : 0.141950 Centerline is valid? [False, False] Translation: X:3.46, Y:0.60, Z:1.39 [[ 9.99477355e-01 7.65587234e-03 -3.14070687e-02 3.46490045e+00] [-7.56582194e-03 9.99966923e-01 2.98504183e-03 5.95304326e-01] [ 3.14288830e-02 -2.74586142e-03 9.99502219e-01 1.38905322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3225578440001 meters Centerline goodness : 0.189119 Centerline is valid? [False, False] Translation: X:3.46, Y:0.59, Z:1.39 [[ 9.99477859e-01 7.76599711e-03 -3.13639702e-02 3.46467415e+00] [-7.66709108e-03 9.99965253e-01 3.27252864e-03 5.93883087e-01] [ 3.13882948e-02 -3.03034951e-03 9.99502672e-01 1.38925739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35255784400005 meters Centerline goodness : 0.135412 Centerline is valid? [False, False] Translation: X:3.46, Y:0.59, Z:1.39 [[ 9.99475993e-01 7.85585113e-03 -3.14010490e-02 3.46479281e+00] [-7.74909350e-03 9.99963780e-01 3.52006276e-03 5.92690867e-01] [ 3.14275648e-02 -3.27488855e-03 9.99500667e-01 1.38923733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3825578440001 meters Centerline goodness : 0.158810 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99946214 0.00798616 -0.03180652 3.4662934 ] [-0.00786749 0.99996162 0.00385452 0.59113732] [ 0.03183609 -0.00360221 0.99948661 1.38845771] [ 0. 0. 0. 1. ]] SLAMing on 307.41255784400005 meters Centerline goodness : 0.202719 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945481 0.00799579 -0.03203366 3.46722756] [-0.00787389 0.99996128 0.00392968 0.59062073] [ 0.03206384 -0.00367531 0.99947907 1.38785013] [ 0. 0. 0. 1. ]] SLAMing on 307.442557844 meters Centerline goodness : 0.197777 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945264 0.00803741 -0.03209072 3.4674508 ] [-0.00791205 0.99996057 0.00403143 0.59000523] [ 0.03212186 -0.00377532 0.99947683 1.38771287] [ 0. 0. 0. 1. ]] SLAMing on 307.47255784400005 meters Centerline goodness : 0.197777 Centerline is valid? [False, False] Translation: X:3.47, Y:0.59, Z:1.39 [[ 0.99945264 0.00803741 -0.03209072 3.4674508 ] [-0.00791205 0.99996057 0.00403143 0.59000523] [ 0.03212186 -0.00377532 0.99947683 1.38771287] [ 0. 0. 0. 1. ]] SLAMing on 307.502557844 meters Centerline goodness : 0.158873 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99506663e-01 -1.30207523e-04 -3.14072274e-02 3.48729822e+00] [ 2.86146123e-04 9.99987655e-01 4.96061112e-03 5.93997993e-01] [ 3.14061938e-02 -4.96715092e-03 9.99494361e-01 1.38879626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53255784400005 meters Centerline goodness : 0.163208 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99506919e-01 -6.91081927e-05 -3.13992706e-02 3.48732009e+00] [ 2.30297479e-04 9.99986815e-01 5.12994852e-03 5.93110717e-01] [ 3.13985021e-02 -5.13465021e-03 9.99493757e-01 1.38871111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562557844 meters Centerline goodness : 0.119519 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99503542e-01 7.38334497e-05 -3.15065862e-02 3.48767201e+00] [ 1.03007542e-04 9.99984252e-01 5.61116615e-03 5.90560537e-01] [ 3.15065043e-02 -5.61162586e-03 9.99487794e-01 1.38864937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59255784400005 meters Centerline goodness : 0.117061 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99502210e-01 1.51849656e-04 -3.15485216e-02 3.48778773e+00] [ 3.43408412e-05 9.99982588e-01 5.90109297e-03 5.88888981e-01] [ 3.15488683e-02 -5.89923887e-03 9.99484801e-01 1.38873416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters Centerline goodness : 0.162514 Centerline is valid? [False, False] Translation: X:3.49, Y:0.59, Z:1.39 [[ 9.99501721e-01 2.22120274e-04 -3.15635919e-02 3.48779376e+00] [-2.70439632e-05 9.99980899e-01 6.18071427e-03 5.87249988e-01] [ 3.15643619e-02 -6.17678095e-03 9.99482635e-01 1.38882859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65255784400006 meters Centerline goodness : 0.116208 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99500690e-01 3.99877175e-04 -3.15944656e-02 3.48797766e+00] [-1.86974617e-04 9.99977260e-01 6.74127001e-03 5.84227784e-01] [ 3.15964429e-02 -6.73199667e-03 9.99478036e-01 1.38872954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters Centerline goodness : 0.142354 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99502125e-01 5.26188319e-04 -3.15471866e-02 3.48770475e+00] [-3.04485320e-04 9.99975228e-01 7.03205529e-03 5.82903230e-01] [ 3.15501053e-02 -7.01894855e-03 9.99477526e-01 1.38899828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71255784400006 meters Centerline goodness : 0.327617 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99505380e-01 6.67929883e-04 -3.14411972e-02 3.48718175e+00] [-4.36431084e-04 9.99972752e-01 7.36919990e-03 5.81371761e-01] [ 3.14452626e-02 -7.35183303e-03 9.99478437e-01 1.38947065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters Centerline goodness : 0.399324 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99506360e-01 8.06886940e-04 -3.14067586e-02 3.48683451e+00] [-5.66139365e-04 9.99970397e-01 7.67360810e-03 5.79946797e-01] [ 3.14120206e-02 -7.65203950e-03 9.99477229e-01 1.38988868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77255784400006 meters Centerline goodness : 0.107732 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99504855e-01 9.51679562e-04 -3.14505763e-02 3.48695675e+00] [-7.00909212e-04 9.99967885e-01 7.98353697e-03 5.78402036e-01] [ 3.14571641e-02 -7.95753996e-03 9.99473424e-01 1.38988735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80255784400003 meters Centerline goodness : 0.162441 Centerline is valid? [False, False] Translation: X:3.49, Y:0.58, Z:1.39 [[ 9.99502732e-01 1.09066269e-03 -3.15134742e-02 3.48708967e+00] [-8.30921716e-04 9.99965589e-01 8.25414003e-03 5.77026503e-01] [ 3.15213923e-02 -8.22385028e-03 9.99469244e-01 1.38992996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83255784400006 meters Centerline goodness : 0.164279 Centerline is valid? [False, False] Translation: X:3.49, Y:0.57, Z:1.39 [[ 9.99507417e-01 1.43564901e-03 -3.13506313e-02 3.48655409e+00] [-1.16220103e-03 9.99961141e-01 8.73872912e-03 5.74947297e-01] [ 3.13619588e-02 -8.69798884e-03 9.99470246e-01 1.39010716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters Centerline goodness : 0.155140 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99949627 0.01016854 -0.03006328 3.50710339] [-0.00992732 0.99991741 0.00816226 0.57178644] [ 0.03014379 -0.0078597 0.99951467 1.39136718] [ 0. 0. 0. 1. ]] SLAMing on 307.89255784400007 meters Centerline goodness : 0.403023 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950047 0.01025988 -0.02989216 3.50644477] [-0.01001733 0.99991577 0.00825263 0.57159203] [ 0.02997432 -0.00794907 0.99951906 1.39169714] [ 0. 0. 0. 1. ]] SLAMing on 307.92255784400004 meters Centerline goodness : 0.115390 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950361 0.01031237 -0.02976902 3.50593766] [-0.01006802 0.99991448 0.0083462 0.57111532] [ 0.02985255 -0.00804234 0.99952196 1.39194934] [ 0. 0. 0. 1. ]] SLAMing on 307.95255784400007 meters Centerline goodness : 0.120970 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950459 0.01035228 -0.0297221 3.50568931] [-0.01010501 0.99991318 0.00845743 0.57042386] [ 0.02980708 -0.0081529 0.99952242 1.3921508 ] [ 0. 0. 0. 1. ]] SLAMing on 307.98255784400004 meters Centerline goodness : 0.144979 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950548 0.01037068 -0.02968578 3.50547168] [-0.0101218 0.99991246 0.00852179 0.56986519] [ 0.02977156 -0.00821711 0.99952295 1.39228696] [ 0. 0. 0. 1. ]] SLAMing on 308.01255784400007 meters Centerline goodness : 0.155519 Centerline is valid? [False, False] Translation: X:3.51, Y:0.57, Z:1.39 [[ 0.99950691 0.01034373 -0.02964685 3.50520259] [-0.01009753 0.99991338 0.00844247 0.57034657] [ 0.02973161 -0.00813894 0.99952478 1.39251745] [ 0. 0. 0. 1. ]] SLAMing on 308.04255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 308.0725578440001 meters Centerline goodness : 0.096386 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.99951049 0.01026582 -0.02955319 3.50430889] [-0.01002823 0.99991629 0.00817642 0.57221185] [ 0.02963465 -0.00787605 0.99952977 1.39350443] [ 0. 0. 0. 1. ]] SLAMing on 308.10255784400005 meters Centerline goodness : 0.305680 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.99951666 0.01014536 -0.02938583 3.50363737] [-0.0099168 0.99991952 0.00791324 0.5734068 ] [ 0.02946375 -0.007618 0.99953682 1.39386829] [ 0. 0. 0. 1. ]] SLAMing on 308.1325578440001 meters Centerline goodness : 0.158700 Centerline is valid? [False, False] Translation: X:3.50, Y:0.58, Z:1.39 [[ 0.99952086 0.00990738 -0.02932411 3.50361413] [-0.00969308 0.99992533 0.00744137 0.57525469] [ 0.02939564 -0.00715356 0.99954226 1.39358628] [ 0. 0. 0. 1. ]] SLAMing on 308.16255784400005 meters Centerline goodness : 0.391320 Centerline is valid? [False, False] Translation: X:3.50, Y:0.58, Z:1.39 [[ 0.99951226 0.0098067 -0.02964916 3.50480701] [-0.00959669 0.99992791 0.00721702 0.57633715] [ 0.02971779 -0.00692897 0.99953431 1.39293295] [ 0. 0. 0. 1. ]] SLAMing on 308.192557844 meters Centerline goodness : 0.156274 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99950461 0.00976391 -0.0299199 3.50579315] [-0.00955518 0.99992906 0.00711131 0.57694331] [ 0.02998721 -0.0068219 0.999527 1.39246689] [ 0. 0. 0. 1. ]] SLAMing on 308.22255784400005 meters Centerline goodness : 0.106735 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99949796 0.00973938 -0.03014906 3.50647455] [-0.00952918 0.99992933 0.00710776 0.57698849] [ 0.03021615 -0.0068169 0.99952014 1.39230848] [ 0. 0. 0. 1. ]] SLAMing on 308.252557844 meters Centerline goodness : 0.270788 Centerline is valid? [False, False] Translation: X:3.51, Y:0.58, Z:1.39 [[ 0.99949513 0.00977283 -0.03023194 3.50654536] [-0.00955531 0.99992747 0.00733129 0.57571951] [ 0.03030139 -0.00703871 0.99951602 1.39260786] [ 0. 0. 0. 1. ]] SLAMing on 308.28255784400005 meters Centerline goodness : 0.401468 Centerline is valid? [False, False] Translation: X:3.48, Y:0.58, Z:1.39 [[ 9.99542914e-01 5.09388741e-04 -3.02275448e-02 3.48373178e+00] [-2.75923588e-04 9.99970106e-01 7.72725830e-03 5.77039816e-01] [ 3.02305774e-02 -7.71538578e-03 9.99513174e-01 1.39211274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 308.34255784400005 meters Centerline goodness : 0.096484 Centerline is valid? [False, False] Translation: X:3.48, Y:0.57, Z:1.39 [[ 9.99547828e-01 -2.28201282e-03 -2.99821965e-02 3.48138772e+00] [ 2.45422535e-03 9.99980696e-01 5.70828269e-03 5.71806460e-01] [ 2.99685914e-02 -5.77928463e-03 9.99534133e-01 1.39415090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372557844 meters Centerline goodness : 0.167642 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.40 [[ 0.99954324 0.00579715 -0.02965967 3.50201568] [-0.00565472 0.99997209 0.00488369 0.56695006] [ 0.02968715 -0.00471375 0.99954812 1.39530035] [ 0. 0. 0. 1. ]] SLAMing on 308.40255784400006 meters Centerline goodness : 0.135515 Centerline is valid? [False, False] Translation: X:3.50, Y:0.57, Z:1.39 [[ 0.9995388 0.00588392 -0.02979223 3.50258933] [-0.00573415 0.9999705 0.00511014 0.56573632] [ 0.02982141 -0.00493695 0.99954305 1.3949247 ] [ 0. 0. 0. 1. ]] SLAMing on 308.43255784400003 meters Centerline goodness : 0.391241 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.39 [[ 0.99953852 0.00596698 -0.02978488 3.5025193 ] [-0.00581242 0.9999692 0.00527334 0.56490745] [ 0.02981543 -0.00509779 0.99954242 1.39498294] [ 0. 0. 0. 1. ]] SLAMing on 308.46255784400006 meters Centerline goodness : 0.152341 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99953921 0.00618064 -0.02971819 3.50188821] [-0.00601474 0.99996584 0.00566859 0.56299356] [ 0.02975221 -0.00548723 0.99954224 1.39569194] [ 0. 0. 0. 1. ]] SLAMing on 308.49255784400003 meters Centerline goodness : 0.095840 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99953396 0.00628451 -0.02987249 3.5023431 ] [-0.00611071 0.99996389 0.00590573 0.56167911] [ 0.02990852 -0.00572044 0.99953627 1.39555009] [ 0. 0. 0. 1. ]] SLAMing on 308.52255784400006 meters Centerline goodness : 0.159877 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.40 [[ 0.99952518 0.00641467 -0.03013748 3.50328748] [-0.00622954 0.99996117 0.00623258 0.55987594] [ 0.03017629 -0.00604188 0.99952633 1.39514593] [ 0. 0. 0. 1. ]] SLAMing on 308.55255784400003 meters Centerline goodness : 0.160067 Centerline is valid? [False, False] Translation: X:3.50, Y:0.56, Z:1.39 [[ 0.99951539 0.00658407 -0.03042438 3.50418298] [-0.00638353 0.99995729 0.00668403 0.55749366] [ 0.03046709 -0.00648657 0.99951472 1.39486672] [ 0. 0. 0. 1. ]] SLAMing on 308.58255784400006 meters Centerline goodness : 0.161500 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99533963e-01 2.94160452e-03 -3.03842613e-02 3.50375424e+00] [-2.83248544e-03 9.99989386e-01 3.63372031e-03 5.53644768e-01] [ 3.03946277e-02 -3.54596389e-03 9.99531687e-01 1.39521846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61255784400004 meters Centerline goodness : 0.146033 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99536310e-01 3.17918517e-03 -3.02829511e-02 3.50316156e+00] [-3.04899051e-03 9.99985914e-01 4.34447964e-03 5.50203304e-01] [ 3.02963364e-02 -4.25013272e-03 9.99531925e-01 1.39588383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64255784400007 meters Centerline goodness : 0.144537 Centerline is valid? [False, False] Translation: X:3.50, Y:0.55, Z:1.40 [[ 9.99539267e-01 3.44253210e-03 -3.01563155e-02 3.50246341e+00] [-3.29167495e-03 9.99981827e-01 5.05072235e-03 5.46880700e-01] [ 3.01731548e-02 -4.94913053e-03 9.99532434e-01 1.39660702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67255784400004 meters Centerline goodness : 0.179968 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 0.99953839 0.00367813 -0.03015764 3.5023088 ] [-0.00350807 0.99997766 0.00569005 0.54380868] [ 0.0301779 -0.00558162 0.99952896 1.39697907] [ 0. 0. 0. 1. ]] SLAMing on 308.70255784400007 meters Centerline goodness : 0.154761 Centerline is valid? [False, False] Translation: X:3.52, Y:0.54, Z:1.40 [[ 9.99526526e-01 9.84416381e-03 -2.91515966e-02 3.52456927e+00] [-9.76346648e-03 9.99948104e-01 2.90924744e-03 5.40819973e-01] [ 2.91787228e-02 -2.62324936e-03 9.99570768e-01 1.39699121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73255784400004 meters Centerline goodness : 0.161454 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 9.99556146e-01 1.01327663e-03 -2.97738953e-02 3.50384394e+00] [-9.02192215e-04 9.99992584e-01 3.74413024e-03 5.42004677e-01] [ 2.97774683e-02 -3.71560661e-03 9.99549647e-01 1.39583908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76255784400007 meters Centerline goodness : 0.145513 Centerline is valid? [False, False] Translation: X:3.50, Y:0.54, Z:1.40 [[ 9.99554285e-01 1.24229424e-03 -2.98276340e-02 3.50398571e+00] [-1.11409783e-03 9.99990073e-01 4.31414200e-03 5.39086018e-01] [ 2.98326974e-02 -4.27898822e-03 9.99545747e-01 1.39586742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79255784400004 meters Centerline goodness : 0.124365 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99535565e-01 9.59444693e-03 -2.89240567e-02 3.52377189e+00] [-9.50050051e-03 9.99949144e-01 3.38371812e-03 5.34590077e-01] [ 2.89550507e-02 -3.10735359e-03 9.99575885e-01 1.39758002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8225578440001 meters Centerline goodness : 0.109487 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99535585e-01 9.72845080e-03 -2.88785696e-02 3.52360894e+00] [-9.62575861e-03 9.99946852e-01 3.69289415e-03 5.33119109e-01] [ 2.89129609e-02 -3.41320097e-03 9.99576106e-01 1.39765136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85255784400005 meters Centerline goodness : 0.146072 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 0.99953546 0.00985999 -0.02883818 3.52344346] [-0.00974732 0.99994431 0.00404489 0.53136051] [ 0.02887645 -0.00376192 0.99957591 1.39776981] [ 0. 0. 0. 1. ]] SLAMing on 308.8825578440001 meters Centerline goodness : 0.146920 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99567257e-01 6.86624754e-03 -2.86033659e-02 3.52258212e+00] [-6.83758557e-03 9.99976019e-01 1.09973846e-03 5.30530751e-01] [ 2.86102311e-02 -9.03684594e-04 9.99590235e-01 1.39793097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91255784400005 meters Centerline goodness : 0.138304 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:1.40 [[ 9.99561426e-01 6.98128657e-03 -2.87787785e-02 3.52312549e+00] [-6.94047877e-03 9.99974763e-01 1.51762958e-03 5.28159751e-01] [ 2.87886472e-02 -1.31722548e-03 9.99584653e-01 1.39778927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters Centerline goodness : 0.149243 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.40 [[ 9.99580740e-01 3.09438829e-03 -2.87883521e-02 3.52323214e+00] [-3.14834758e-03 9.99993371e-01 -1.82920591e-03 5.24843374e-01] [ 2.87825009e-02 1.91907473e-03 9.99583856e-01 1.39761750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97255784400005 meters Centerline goodness : 0.146848 Centerline is valid? [False, False] Translation: X:3.52, Y:0.52, Z:1.40 [[ 9.99580738e-01 3.29166978e-03 -2.87665131e-02 3.52299149e+00] [-3.32960858e-03 9.99993649e-01 -1.27105191e-03 5.22026315e-01] [ 2.87621465e-02 1.36630024e-03 9.99585350e-01 1.39797932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters Centerline goodness : 0.145791 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99598602e-01 -4.35599521e-03 -2.79939244e-02 3.54153330e+00] [ 4.36715064e-03 9.99990407e-01 3.37367661e-04 5.24449653e-01] [ 2.79921863e-02 -4.59485927e-04 9.99608036e-01 1.40014778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03255784400005 meters Centerline goodness : 0.143548 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99606696e-01 -4.02979185e-03 -2.77527217e-02 3.54048322e+00] [ 4.06040464e-03 9.99991209e-01 1.04678903e-03 5.21306726e-01] [ 2.77482594e-02 -1.15906461e-03 9.99614271e-01 1.40095460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters Centerline goodness : 0.139747 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99610594e-01 -3.85054245e-03 -2.76375530e-02 3.54010002e+00] [ 3.89108638e-03 9.99991431e-01 1.41335641e-03 5.19695835e-01] [ 2.76318740e-02 -1.52034614e-03 9.99617011e-01 1.40112936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09255784400005 meters Centerline goodness : 0.160403 Centerline is valid? [False, False] Translation: X:3.54, Y:0.52, Z:1.40 [[ 9.99613713e-01 -3.69974708e-03 -2.75451727e-02 3.53975492e+00] [ 3.74889151e-03 9.99991472e-01 1.73271164e-03 5.18226127e-01] [ 2.75385272e-02 -1.83530618e-03 9.99619058e-01 1.40133234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters Centerline goodness : 0.242088 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99632374e-01 4.67089781e-03 -2.67076593e-02 3.55883264e+00] [-4.65565692e-03 9.99988962e-01 6.32810015e-04 5.13044900e-01] [ 2.67103203e-02 -5.08235679e-04 9.99643087e-01 1.40345199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15255784400006 meters Centerline goodness : 0.125062 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99634966e-01 4.81474517e-03 -2.65848282e-02 3.55831050e+00] [-4.79076755e-03 9.99988058e-01 9.65547434e-04 5.11343829e-01] [ 2.65891596e-02 -8.37833244e-04 9.99646095e-01 1.40377974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters Centerline goodness : 0.142419 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99628449e-01 5.05739937e-03 -2.67840612e-02 3.55854217e+00] [-5.01787351e-03 9.99986220e-01 1.54272964e-03 5.08359807e-01] [ 2.67914943e-02 -1.40775740e-03 9.99640052e-01 1.40423918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21255784400006 meters Centerline goodness : 0.141116 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.40 [[ 9.99624382e-01 5.14357359e-03 -2.69191137e-02 3.55910775e+00] [-5.09827797e-03 9.99985471e-01 1.75101953e-03 5.07166338e-01] [ 2.69277291e-02 -1.61312069e-03 9.99636081e-01 1.40385751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters Centerline goodness : 0.132901 Centerline is valid? [False, False] Translation: X:3.51, Y:0.50, Z:1.40 [[ 9.99541001e-01 4.40600572e-03 -2.99728850e-02 3.51490381e+00] [-4.35571132e-03 9.99988995e-01 1.74308123e-03 5.02631760e-01] [ 2.99802352e-02 -1.61172792e-03 9.99549192e-01 1.40365766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27255784400006 meters Centerline goodness : 0.348302 Centerline is valid? [False, False] Translation: X:3.53, Y:0.51, Z:1.40 [[ 9.99554132e-01 -3.20021424e-03 -2.96866210e-02 3.53487224e+00] [ 3.28737014e-03 9.99990428e-01 2.88752290e-03 5.06200119e-01] [ 2.96770961e-02 -2.98382636e-03 9.99555084e-01 1.40458933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30255784400003 meters Centerline goodness : 0.143337 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99551903e-01 -3.05438026e-03 -2.97769037e-02 3.53522522e+00] [ 3.15169976e-03 9.99989843e-01 3.22190162e-03 5.04650446e-01] [ 2.97667604e-02 -3.31430575e-03 9.99551377e-01 1.40439908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33255784400006 meters Centerline goodness : 0.137637 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99550512e-01 -2.89752480e-03 -2.98392171e-02 3.53543724e+00] [ 3.00563019e-03 9.99989079e-01 3.57871457e-03 5.02921811e-01] [ 2.98285218e-02 -3.66679163e-03 9.99548305e-01 1.40431986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters Centerline goodness : 0.165385 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99548619e-01 -2.76479483e-03 -2.99151081e-02 3.53548951e+00] [ 2.88281023e-03 9.99988229e-01 3.90259989e-03 5.01209652e-01] [ 2.99039661e-02 -3.98707792e-03 9.99544824e-01 1.40458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39255784400007 meters Centerline goodness : 0.165385 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99548619e-01 -2.76479483e-03 -2.99151081e-02 3.53548951e+00] [ 2.88281023e-03 9.99988229e-01 3.90259989e-03 5.01209652e-01] [ 2.99039661e-02 -3.98707792e-03 9.99544824e-01 1.40458082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters Centerline goodness : 0.118670 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99553865e-01 -2.57348588e-03 -2.97564827e-02 3.53463979e+00] [ 2.70580265e-03 9.99986627e-01 4.40724237e-03 4.98456715e-01] [ 2.97447428e-02 -4.48579132e-03 9.99547462e-01 1.40536330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45255784400007 meters Centerline goodness : 0.140138 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99560962e-01 -2.48157334e-03 -2.95249939e-02 3.53394666e+00] [ 2.61711036e-03 9.99986211e-01 4.55282815e-03 4.97949029e-01] [ 2.95132887e-02 -4.62809945e-03 9.99553674e-01 1.40553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48255784400004 meters Centerline goodness : 0.149364 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99566580e-01 6.18275718e-03 -2.87823795e-02 3.55368684e+00] [-6.08694822e-03 9.99975643e-01 3.41516470e-03 4.95633755e-01] [ 2.88027935e-02 -3.23848765e-03 9.99579867e-01 1.40735865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51255784400007 meters Centerline goodness : 0.118541 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99574690e-01 6.46468346e-03 -2.84367221e-02 3.55313109e+00] [-6.37205033e-03 9.99974097e-01 3.34693200e-03 4.97021132e-01] [ 2.84576224e-02 -3.16430829e-03 9.99589991e-01 1.40678344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54255784400004 meters Centerline goodness : 0.132902 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99573532e-01 6.41741923e-03 -2.84880713e-02 3.55352956e+00] [-6.33486314e-03 9.99975473e-01 2.98722580e-03 4.98983351e-01] [ 2.85065429e-02 -2.80548381e-03 9.99589669e-01 1.40624330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5725578440001 meters Centerline goodness : 0.120438 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99570832e-01 6.33833803e-03 -2.86002871e-02 3.55400429e+00] [-6.26666888e-03 9.99976998e-01 2.59482735e-03 5.01023472e-01] [ 2.86160761e-02 -2.41448521e-03 9.99587560e-01 1.40579450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60255784400005 meters Centerline goodness : 0.139832 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99568950e-01 6.24591572e-03 -2.86862982e-02 3.55428457e+00] [-6.18429716e-03 9.99978377e-01 2.23623293e-03 5.02907150e-01] [ 2.86996452e-02 -2.05786441e-03 9.99585962e-01 1.40556510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6325578440001 meters Centerline goodness : 0.212562 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99567551e-01 6.17533642e-03 -2.87502548e-02 3.55455604e+00] [-6.12072288e-03 9.99979294e-01 1.98720261e-03 5.04257029e-01] [ 2.87619312e-02 -1.81037091e-03 9.99584651e-01 1.40528844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66255784400005 meters Centerline goodness : 0.137419 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99566323e-01 6.13007312e-03 -2.88025707e-02 3.55474223e+00] [-6.07836520e-03 9.99979755e-01 1.88246614e-03 5.04846396e-01] [ 2.88135273e-02 -1.70657721e-03 9.99583347e-01 1.40518357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692557844 meters Centerline goodness : 0.120329 Centerline is valid? [False, False] Translation: X:3.53, Y:0.51, Z:1.40 [[ 9.99545071e-01 -3.06880887e-03 -3.00039058e-02 3.53396213e+00] [ 3.15920897e-03 9.99990611e-01 2.96600348e-03 5.05309584e-01] [ 2.99945220e-02 -3.05944276e-03 9.99545381e-01 1.40415263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72255784400005 meters Centerline goodness : 0.156863 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.40 [[ 9.99533720e-01 -3.09982437e-03 -3.03765304e-02 3.53479826e+00] [ 3.19978424e-03 9.99989623e-01 3.24263621e-03 5.03458458e-01] [ 3.03661636e-02 -3.33832258e-03 9.99533267e-01 1.40439498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752557844 meters Centerline goodness : 0.115934 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99526746e-01 -3.07577566e-03 -3.06075743e-02 3.53533687e+00] [ 3.18637965e-03 9.99988567e-01 3.56549585e-03 5.01587832e-01] [ 3.05962577e-02 -3.66133582e-03 9.99525119e-01 1.40457097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78255784400005 meters Centerline goodness : 0.338485 Centerline is valid? [False, False] Translation: X:3.54, Y:0.50, Z:1.40 [[ 9.99528380e-01 -2.97853343e-03 -3.05638140e-02 3.53512467e+00] [ 3.09977006e-03 9.99987512e-01 3.92005741e-03 4.99776714e-01] [ 3.05517563e-02 -4.01294943e-03 9.99525130e-01 1.40480551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812557844 meters Centerline goodness : 0.117535 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99535913e-01 -2.86499709e-03 -3.03274020e-02 3.53425995e+00] [ 2.99470668e-03 9.99986559e-01 4.23241971e-03 4.98379100e-01] [ 3.03148685e-02 -4.32127717e-03 9.99531058e-01 1.40533569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84255784400005 meters Centerline goodness : 0.132776 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99542853e-01 -2.78612696e-03 -3.01051902e-02 3.53339297e+00] [ 2.92036439e-03 9.99985986e-01 4.41589769e-03 4.97538427e-01] [ 3.00924650e-02 -4.50179710e-03 9.99536981e-01 1.40588954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872557844 meters Centerline goodness : 0.118126 Centerline is valid? [False, False] Translation: X:3.53, Y:0.50, Z:1.41 [[ 9.99548325e-01 -2.71470399e-03 -2.99295254e-02 3.53290349e+00] [ 2.85347518e-03 9.99985372e-01 4.59486286e-03 4.96432632e-01] [ 2.99166139e-02 -4.67819064e-03 9.99541450e-01 1.40598056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90255784400006 meters Centerline goodness : 0.117320 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99525568e-01 5.75295842e-03 -3.02579364e-02 3.55358903e+00] [-5.65098249e-03 9.99978066e-01 3.45465538e-03 4.93391599e-01] [ 3.02771472e-02 -3.28202931e-03 9.99536154e-01 1.40754684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93255784400003 meters Centerline goodness : 0.179785 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99521923e-01 5.75972981e-03 -3.03768167e-02 3.55426249e+00] [-5.65892990e-03 9.99978197e-01 3.40324461e-03 4.93700642e-01] [ 3.03957561e-02 -3.22971733e-03 9.99532724e-01 1.40690353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96255784400006 meters Centerline goodness : 0.123618 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99522601e-01 5.83210895e-03 -3.03406646e-02 3.55443883e+00] [-5.73390502e-03 9.99978041e-01 3.32270955e-03 4.94543383e-01] [ 3.03593768e-02 -3.14715281e-03 9.99534093e-01 1.40637930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99255784400003 meters Centerline goodness : 0.136300 Centerline is valid? [False, False] Translation: X:3.55, Y:0.49, Z:1.41 [[ 9.99525795e-01 5.83374562e-03 -3.02349574e-02 3.55404006e+00] [-5.73718748e-03 9.99978165e-01 3.27936157e-03 4.94814314e-01] [ 3.02534282e-02 -3.10434286e-03 9.99537440e-01 1.40657635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02255784400006 meters Centerline goodness : 0.149190 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99527672e-01 5.80002930e-03 -3.01793493e-02 3.55374796e+00] [-5.70689308e-03 9.99978687e-01 3.17131177e-03 4.95322872e-01] [ 3.01970998e-02 -2.99758355e-03 9.99539469e-01 1.40678094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05255784400003 meters Centerline goodness : 0.116513 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99528055e-01 5.73164283e-03 -3.01797281e-02 3.55375572e+00] [-5.64417471e-03 9.99979623e-01 2.98263347e-03 4.96216691e-01] [ 3.01962086e-02 -2.81088617e-03 9.99540038e-01 1.40674014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08255784400006 meters Centerline goodness : 0.116863 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99528820e-01 5.64049098e-03 -3.01715462e-02 3.55382392e+00] [-5.56041442e-03 9.99980794e-01 2.73728713e-03 4.97429484e-01] [ 3.01864063e-02 -2.56823107e-03 9.99540987e-01 1.40652098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11255784400004 meters Centerline goodness : 0.169913 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99532739e-01 5.59467386e-03 -3.00500204e-02 3.55355343e+00] [-5.51895524e-03 9.99981385e-01 2.60210360e-03 4.98173152e-01] [ 3.00640189e-02 -2.43504302e-03 9.99545009e-01 1.40643144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14255784400007 meters Centerline goodness : 0.119416 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99540550e-01 5.54009326e-03 -2.97992720e-02 3.55268647e+00] [-5.46761155e-03 9.99981894e-01 2.51326614e-03 4.98676084e-01] [ 2.98126562e-02 -2.34918057e-03 9.99552743e-01 1.40680173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17255784400004 meters Centerline goodness : 0.148735 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99537999e-01 5.54070889e-03 -2.98845879e-02 3.55273116e+00] [-5.46572631e-03 9.99981708e-01 2.59017797e-03 4.98191748e-01] [ 2.98983927e-02 -2.42564032e-03 9.99550000e-01 1.40709389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20255784400007 meters Centerline goodness : 0.118944 Centerline is valid? [False, False] Translation: X:3.55, Y:0.50, Z:1.41 [[ 9.99530509e-01 5.55525989e-03 -3.01313769e-02 3.55320209e+00] [-5.47536836e-03 9.99981275e-01 2.73330180e-03 4.97314947e-01] [ 3.01459969e-02 -2.56703815e-03 9.99542210e-01 1.40737349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23255784400004 meters Centerline goodness : 0.334591 Centerline is valid? [False, False] Translation: X:3.57, Y:0.50, Z:1.41 [[ 9.99532360e-01 -2.37792744e-03 -3.04861614e-02 3.57312386e+00] [ 2.49087573e-03 9.99990173e-01 3.66746163e-03 5.01125264e-01] [ 3.04771409e-02 -3.74168382e-03 9.99528461e-01 1.40929974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26255784400007 meters Centerline goodness : 0.119932 Centerline is valid? [False, False] Translation: X:3.57, Y:0.50, Z:1.41 [[ 9.99533545e-01 -2.49956746e-03 -3.04375534e-02 3.57304069e+00] [ 2.62317210e-03 9.99988472e-01 4.02167216e-03 4.98501077e-01] [ 3.04271501e-02 -4.09963917e-03 9.99528580e-01 1.40944258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29255784400004 meters Centerline goodness : 0.118488 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99552790e-01 5.59152945e-03 -2.93761041e-02 3.59241653e+00] [-5.51416387e-03 9.99981114e-01 2.71397331e-03 4.94680864e-01] [ 2.93907245e-02 -2.55077494e-03 9.99564745e-01 1.41096435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3225578440001 meters Centerline goodness : 0.117210 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99555077e-01 5.62059609e-03 -2.92926191e-02 3.59213326e+00] [-5.54059355e-03 9.99980698e-01 2.81160224e-03 4.94148294e-01] [ 2.93078566e-02 -2.64805280e-03 9.99566925e-01 1.41109650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35255784400005 meters Centerline goodness : 0.131713 Centerline is valid? [False, False] Translation: X:3.59, Y:0.49, Z:1.41 [[ 9.99556456e-01 5.63968103e-03 -2.92418566e-02 3.59200009e+00] [-5.56014894e-03 9.99980621e-01 2.80040259e-03 4.94412890e-01] [ 2.92570833e-02 -2.63657141e-03 9.99568443e-01 1.41107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3825578440001 meters Centerline goodness : 0.130761 Centerline is valid? [False, False] Translation: X:3.59, Y:0.50, Z:1.41 [[ 9.99556420e-01 5.63136137e-03 -2.92446623e-02 3.59206499e+00] [-5.55518910e-03 9.99980964e-01 2.68525067e-03 4.95212998e-01] [ 2.92592272e-02 -2.52159992e-03 9.99568677e-01 1.41094049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41255784400005 meters Centerline goodness : 0.127737 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99562545e-01 4.88553679e-04 -2.95716183e-02 3.61540849e+00] [-3.21289930e-04 9.99983926e-01 5.66071308e-03 4.99011809e-01] [ 2.95739086e-02 -5.64873571e-03 9.99546635e-01 1.41096382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442557844 meters Centerline goodness : 0.118687 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99562164e-01 5.24672997e-04 -2.95838636e-02 3.61541312e+00] [-3.64896249e-04 9.99985321e-01 5.40594742e-03 5.00567965e-01] [ 2.95862657e-02 -5.39278546e-03 9.99547683e-01 1.41086514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47255784400005 meters Centerline goodness : 0.115618 Centerline is valid? [False, False] Translation: X:3.62, Y:0.50, Z:1.41 [[ 9.99564624e-01 5.11933989e-04 -2.95008601e-02 3.61510651e+00] [-3.55563497e-04 9.99985862e-01 5.30554221e-03 5.01148963e-01] [ 2.95031591e-02 -5.29274288e-03 9.99550674e-01 1.41094225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502557844 meters Centerline goodness : 0.117261 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99569557e-01 5.04916485e-04 -2.93333627e-02 3.61461860e+00] [-3.51252876e-04 9.99986191e-01 5.24344356e-03 5.01573592e-01] [ 2.93356051e-02 -5.23088313e-03 9.99555931e-01 1.41101147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53255784400005 meters Centerline goodness : 0.118241 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99573485e-01 4.67830615e-04 -2.91998213e-02 3.61429323e+00] [-3.17354347e-04 9.99986648e-01 5.15774999e-03 5.01942957e-01] [ 2.92018444e-02 -5.14628344e-03 9.99560287e-01 1.41094992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562557844 meters Centerline goodness : 0.138334 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99576378e-01 4.35343670e-04 -2.91011253e-02 3.61415127e+00] [-2.85630501e-04 9.99986705e-01 5.14854251e-03 5.01754156e-01] [ 2.91029798e-02 -5.13804930e-03 9.99563213e-01 1.41077055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59255784400005 meters Centerline goodness : 0.167560 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99576675e-01 3.94481650e-04 -2.90914938e-02 3.61390719e+00] [-2.43748280e-04 9.99986530e-01 5.18471967e-03 5.01339724e-01] [ 2.90931472e-02 -5.17543385e-03 9.99563306e-01 1.41112751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622557844 meters Centerline goodness : 0.139941 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99575432e-01 3.63755135e-04 -2.91345645e-02 3.61393132e+00] [-2.14701595e-04 9.99986875e-01 5.11900296e-03 5.01716717e-01] [ 2.91360441e-02 -5.11057435e-03 9.99562391e-01 1.41126441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65255784400006 meters Centerline goodness : 0.121265 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99574269e-01 3.29252878e-04 -2.91748607e-02 3.61399851e+00] [-1.83924022e-04 9.99987564e-01 4.98384774e-03 5.02488804e-01] [ 2.91761388e-02 -4.97636000e-03 9.99561898e-01 1.41128602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters Centerline goodness : 0.141630 Centerline is valid? [False, False] Translation: X:3.61, Y:0.50, Z:1.41 [[ 9.99571937e-01 2.32606132e-04 -2.92555875e-02 3.61432146e+00] [-9.56473945e-05 9.99989031e-01 4.68276800e-03 5.03967482e-01] [ 2.92563558e-02 -4.67796525e-03 9.99560995e-01 1.41102101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71255784400006 meters Centerline goodness : 0.127159 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99571245e-01 5.40814473e-05 -2.92800931e-02 3.61457767e+00] [ 6.89022959e-05 9.99991181e-01 4.19922585e-03 5.06207030e-01] [ 2.92800620e-02 -4.19944287e-03 9.99562426e-01 1.41063008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters Centerline goodness : 0.133557 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99572174e-01 -1.32495897e-04 -2.92480872e-02 3.61461842e+00] [ 2.38482672e-04 9.99993418e-01 3.62025791e-03 5.09027345e-01] [ 2.92474150e-02 -3.62568423e-03 9.99565627e-01 1.41027315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77255784400006 meters Centerline goodness : 0.133512 Centerline is valid? [False, False] Translation: X:3.61, Y:0.51, Z:1.41 [[ 9.99579971e-01 -2.69681698e-04 -2.89794670e-02 3.61403198e+00] [ 3.49363055e-04 9.99996173e-01 2.74455176e-03 5.14410139e-01] [ 2.89786159e-02 -2.75352332e-03 9.99576239e-01 1.40987104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80255784400003 meters Centerline goodness : 0.141263 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99581471e-01 -3.89002867e-04 -2.89262994e-02 3.61405737e+00] [ 4.57908187e-04 9.99997074e-01 2.37551337e-03 5.16525653e-01] [ 2.89252907e-02 -2.38776474e-03 9.99578724e-01 1.40955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83255784400006 meters Centerline goodness : 0.144419 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99582586e-01 -5.19738636e-04 -2.88857054e-02 3.61388165e+00] [ 5.80831400e-04 9.99997612e-01 2.10663222e-03 5.17798381e-01] [ 2.88845415e-02 -2.12253061e-03 9.99580501e-01 1.40964717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters Centerline goodness : 0.133952 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99584036e-01 -6.55463363e-04 -2.88327150e-02 3.61355933e+00] [ 7.12161592e-04 9.99997833e-01 1.95622976e-03 5.18201115e-01] [ 2.88313703e-02 -1.97594959e-03 9.99582337e-01 1.40994903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89255784400007 meters Centerline goodness : 0.142074 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99584356e-01 -7.80348285e-04 -2.88184895e-02 3.61320796e+00] [ 8.34622396e-04 9.99997901e-01 1.87132791e-03 5.18212330e-01] [ 2.88169687e-02 -1.89460266e-03 9.99582909e-01 1.41049066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters Centerline goodness : 0.125755 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99580871e-01 -8.68197195e-04 -2.89366431e-02 3.61328061e+00] [ 9.23337034e-04 9.99997783e-01 1.89222934e-03 5.17862587e-01] [ 2.89349361e-02 -1.91815453e-03 9.99579457e-01 1.41090155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95255784400007 meters Centerline goodness : 0.138200 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99576415e-01 -1.19375905e-03 -2.90786177e-02 3.61365686e+00] [ 1.24239748e-03 9.99997859e-01 1.65464274e-03 5.18385695e-01] [ 2.90765802e-02 -1.69006906e-03 9.99575758e-01 1.41093857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98255784400004 meters Centerline goodness : 0.141845 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99577167e-01 -1.27841930e-03 -2.90491541e-02 3.61362446e+00] [ 1.32176872e-03 9.99998041e-01 1.47312484e-03 5.19296750e-01] [ 2.90472139e-02 -1.51089821e-03 9.99576899e-01 1.41083704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01255784400007 meters Centerline goodness : 0.145051 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99582526e-01 -1.39318892e-03 -2.88588456e-02 3.61311273e+00] [ 1.42758621e-03 9.99998295e-01 1.17134570e-03 5.20894937e-01] [ 2.88571644e-02 -1.21205518e-03 9.99582810e-01 1.41085528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04255784400004 meters Centerline goodness : 0.122379 Centerline is valid? [False, False] Translation: X:3.61, Y:0.52, Z:1.41 [[ 9.99586456e-01 -1.51063885e-03 -2.87164585e-02 3.61252801e+00] [ 1.53287066e-03 9.99998542e-01 7.52185411e-04 5.23263262e-01] [ 2.87152804e-02 -7.95892966e-04 9.99587314e-01 1.41116990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0725578440001 meters Centerline goodness : 0.150461 Centerline is valid? [False, False] Translation: X:3.59, Y:0.52, Z:1.41 [[ 9.99572769e-01 6.73082452e-03 -2.84425004e-02 3.59150714e+00] [-6.74067538e-03 9.99977250e-01 -2.50475892e-04 5.20859144e-01] [ 2.84401674e-02 4.42090543e-04 9.99595399e-01 1.40997770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10255784400005 meters Centerline goodness : 0.121911 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99595869e-01 9.40100940e-04 -2.84115139e-02 3.61338439e+00] [-8.79168717e-04 9.99997287e-01 2.15704705e-03 5.27103421e-01] [ 2.84134646e-02 -2.13119680e-03 9.99593984e-01 1.41076827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1325578440001 meters Centerline goodness : 0.151465 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99591143e-01 6.14113535e-04 -2.85861697e-02 3.61392828e+00] [-5.72910177e-04 9.99998785e-01 1.44954189e-03 5.30155990e-01] [ 2.85870252e-02 -1.43257193e-03 9.99590281e-01 1.41048445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16255784400005 meters Centerline goodness : 0.154946 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99591392e-01 5.13701277e-04 -2.85794643e-02 3.61392231e+00] [-4.78000937e-04 9.99999097e-01 1.25597847e-03 5.31010829e-01] [ 2.85800837e-02 -1.24180425e-03 9.99590735e-01 1.41042785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192557844 meters Centerline goodness : 0.125834 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99593718e-01 4.49840470e-04 -2.84990719e-02 3.61352998e+00] [-4.17385091e-04 9.99999258e-01 1.14476086e-03 5.31670666e-01] [ 2.84995657e-02 -1.13240068e-03 9.99593163e-01 1.41074383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22255784400005 meters Centerline goodness : 0.160003 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99601369e-01 4.25464431e-04 -2.82298226e-02 3.61257439e+00] [-3.94534176e-04 9.99999316e-01 1.10121971e-03 5.32119489e-01] [ 2.82302718e-02 -1.08964310e-03 9.99600853e-01 1.41116909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252557844 meters Centerline goodness : 0.156201 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604405e-01 3.75933103e-04 -2.81227902e-02 3.61208966e+00] [-3.46002301e-04 9.99999369e-01 1.06914857e-03 5.32270773e-01] [ 2.81231744e-02 -1.05899507e-03 9.99603904e-01 1.41155553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28255784400005 meters Centerline goodness : 0.156201 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604405e-01 3.75933103e-04 -2.81227902e-02 3.61208966e+00] [-3.46002301e-04 9.99999369e-01 1.06914857e-03 5.32270773e-01] [ 2.81231744e-02 -1.05899507e-03 9.99603904e-01 1.41155553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312557844 meters Centerline goodness : 0.131919 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99602842e-01 2.90826039e-04 -2.81793053e-02 3.61211853e+00] [-2.62671253e-04 9.99999463e-01 1.00282643e-03 5.32272073e-01] [ 2.81795818e-02 -9.95026253e-04 9.99602381e-01 1.41177719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34255784400005 meters Centerline goodness : 0.156818 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99600987e-01 1.80071893e-04 -2.82459547e-02 3.61228245e+00] [-1.54997481e-04 9.99999592e-01 8.89903867e-04 5.32419356e-01] [ 2.82461035e-02 -8.85170733e-04 9.99600607e-01 1.41178861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372557844 meters Centerline goodness : 0.107161 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99604402e-01 1.48649383e-04 -2.81250460e-02 3.61203334e+00] [-1.26515150e-04 9.99999681e-01 7.88771492e-04 5.33064274e-01] [ 2.81251542e-02 -7.84901211e-04 9.99604101e-01 1.41165503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40255784400006 meters Centerline goodness : 0.152039 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99534396e-01 -1.76861616e-04 -3.05116492e-02 3.56614168e+00] [ 2.08227007e-04 9.99999453e-01 1.02480652e-03 5.30048125e-01] [ 3.05114512e-02 -1.03068272e-03 9.99533886e-01 1.41166603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43255784400003 meters Centerline goodness : 0.105667 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99583086e-01 -1.54275420e-04 -2.88726660e-02 3.61039320e+00] [ 1.63782958e-04 9.99999933e-01 3.26927371e-04 5.32858034e-01] [ 2.88726136e-02 -3.31519921e-04 9.99583044e-01 1.41247451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46255784400006 meters Centerline goodness : 0.153715 Centerline is valid? [False, False] Translation: X:3.61, Y:0.53, Z:1.41 [[ 9.99579183e-01 -1.39076440e-04 -2.90075301e-02 3.61078062e+00] [ 1.51941049e-04 9.99999891e-01 4.41288358e-04 5.31990445e-01] [ 2.90074656e-02 -4.45510091e-04 9.99579096e-01 1.41239735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49255784400003 meters Centerline goodness : 0.160195 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99484306e-01 -7.97608556e-04 -3.21011973e-02 3.56658298e+00] [ 8.14008411e-04 9.99999545e-01 4.97814389e-04 5.27739613e-01] [ 3.21007857e-02 -5.23688314e-04 9.99484500e-01 1.41178696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52255784400006 meters Centerline goodness : 0.150799 Centerline is valid? [False, False] Translation: X:3.57, Y:0.53, Z:1.41 [[ 9.99473075e-01 -6.43807930e-04 -3.24523809e-02 3.56774379e+00] [ 6.75775149e-04 9.99999297e-01 9.74091533e-04 5.25302490e-01] [ 3.24517310e-02 -9.95508773e-04 9.99472808e-01 1.41135456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55255784400003 meters Centerline goodness : 0.161147 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99474403e-01 -5.21934920e-04 -3.24136499e-02 3.56751899e+00] [ 5.66562865e-04 9.99998904e-01 1.36765635e-03 5.23252228e-01] [ 3.24129006e-02 -1.38530188e-03 9.99473604e-01 1.41162693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58255784400006 meters Centerline goodness : 0.159770 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99478113e-01 -4.15895293e-04 -3.23005840e-02 3.56697098e+00] [ 4.72745219e-04 9.99998353e-01 1.75241079e-03 5.21168991e-01] [ 3.22998020e-02 -1.76676617e-03 9.99476664e-01 1.41210428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61255784400004 meters Centerline goodness : 0.151959 Centerline is valid? [False, False] Translation: X:3.57, Y:0.52, Z:1.41 [[ 9.99481762e-01 -2.80720390e-04 -3.21889494e-02 3.56657094e+00] [ 3.49031307e-04 9.99997699e-01 2.11658608e-03 5.19366009e-01] [ 3.21882811e-02 -2.12672413e-03 9.99479560e-01 1.41232493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64255784400007 meters Centerline goodness : 0.107896 Centerline is valid? [False, False] Translation: X:3.59, Y:0.51, Z:1.41 [[ 9.99474414e-01 7.92365386e-03 -3.14342434e-02 3.58614085e+00] [-7.88886224e-03 9.99968125e-01 1.23067488e-03 5.14303707e-01] [ 3.14429929e-02 -9.82047636e-04 9.99505064e-01 1.41406535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67255784400004 meters Centerline goodness : 0.155642 Centerline is valid? [False, False] Translation: X:3.54, Y:0.51, Z:1.41 [[ 9.99404935e-01 7.21188903e-03 -3.37307539e-02 3.54018731e+00] [-7.16390481e-03 9.99973148e-01 1.54320752e-03 5.09359282e-01] [ 3.37409777e-02 -1.30064530e-03 9.99429765e-01 1.41401344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70255784400007 meters Centerline goodness : 0.151912 Centerline is valid? [False, False] Translation: X:3.59, Y:0.51, Z:1.41 [[ 9.99464515e-01 5.99053045e-03 -3.21682545e-02 3.58612696e+00] [-5.98041103e-03 9.99982033e-01 4.10784294e-04 5.06951309e-01] [ 3.21701373e-02 -2.18184942e-04 9.99482383e-01 1.41421294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73255784400004 meters Centerline goodness : 0.280524 Centerline is valid? [False, False] Translation: X:3.56, Y:0.51, Z:1.41 [[ 9.99435471e-01 -3.18738662e-03 -3.34451662e-02 3.56426241e+00] [ 3.22552269e-03 9.99994208e-01 1.08636429e-03 5.06936732e-01] [ 3.34415098e-02 -1.19362915e-03 9.99439964e-01 1.41345847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76255784400007 meters Centerline goodness : 0.129300 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99434221e-01 4.69265697e-03 -3.33049104e-02 3.58368849e+00] [-4.70168196e-03 9.99988928e-01 -1.92669147e-04 5.00873375e-01] [ 3.33036376e-02 3.49149235e-04 9.99445219e-01 1.41562555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79255784400004 meters Centerline goodness : 0.282339 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99437057e-01 4.86225542e-03 -3.31953010e-02 3.58334635e+00] [-4.85790733e-03 9.99988178e-01 2.11636333e-04 4.98908159e-01] [ 3.31959376e-02 -5.02574974e-05 9.99448862e-01 1.41575620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8225578440001 meters Centerline goodness : 0.142888 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99439104e-01 5.02611877e-03 -3.31091408e-02 3.58303517e+00] [-5.01056765e-03 9.99987294e-01 5.52646832e-04 4.97341311e-01] [ 3.31114978e-02 -3.86441265e-04 9.99451589e-01 1.41590109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85255784400005 meters Centerline goodness : 0.260771 Centerline is valid? [False, False] Translation: X:3.58, Y:0.50, Z:1.42 [[ 9.99441666e-01 5.13783146e-03 -3.30145222e-02 3.58277994e+00] [-5.11540251e-03 9.99986625e-01 7.63795189e-04 4.96390835e-01] [ 3.30180049e-02 -5.94486167e-04 9.99454580e-01 1.41594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8825578440001 meters Centerline goodness : 0.119562 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99440566e-01 5.35078153e-03 -3.30139926e-02 3.58276627e+00] [-5.31499470e-03 9.99985189e-01 1.17165373e-03 4.94223641e-01] [ 3.30197729e-02 -9.95529076e-04 9.99454203e-01 1.41597194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91255784400005 meters Centerline goodness : 0.123100 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99440758e-01 5.48906765e-03 -3.29854851e-02 3.58271974e+00] [-5.44174314e-03 9.99984032e-01 1.52431007e-03 4.92374421e-01] [ 3.29933255e-02 -1.34395907e-03 9.99454668e-01 1.41593291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters Centerline goodness : 0.152175 Centerline is valid? [False, False] Translation: X:3.60, Y:0.49, Z:1.42 [[ 9.99459280e-01 -2.05780944e-03 -3.28163574e-02 3.60143855e+00] [ 2.15245642e-03 9.99993625e-01 2.84907373e-03 4.94997061e-01] [ 3.28102853e-02 -2.91816896e-03 9.99457337e-01 1.41787458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97255784400005 meters Centerline goodness : 0.124882 Centerline is valid? [False, False] Translation: X:3.58, Y:0.49, Z:1.42 [[ 9.99458172e-01 5.62781399e-03 -3.24297782e-02 3.58214879e+00] [-5.56174401e-03 9.99982271e-01 2.12717179e-03 4.86971767e-01] [ 3.24411746e-02 -1.94565311e-03 9.99471753e-01 1.41567164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002557844 meters Centerline goodness : 0.123202 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 9.99458244e-01 5.81086422e-03 -3.23952449e-02 3.58215506e+00] [-5.73092172e-03 9.99980301e-01 2.56002973e-03 4.84930320e-01] [ 3.24094828e-02 -2.37298821e-03 9.99471858e-01 1.41555666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03255784400005 meters Centerline goodness : 0.342955 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 9.99445629e-01 6.17209504e-03 -3.27160470e-02 3.58325519e+00] [-6.06188006e-03 9.99975617e-01 3.46695348e-03 4.80280953e-01] [ 3.27366476e-02 -3.26671075e-03 9.99458674e-01 1.41515717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters Centerline goodness : 0.119930 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 0.99943794 0.006335 -0.03291911 3.58378431] [-0.00620957 0.99997307 0.00391108 0.4779719 ] [ 0.032943 -0.00370447 0.99945037 1.41518093] [ 0. 0. 0. 1. ]] SLAMing on 312.09255784400005 meters Centerline goodness : 0.121659 Centerline is valid? [False, False] Translation: X:3.58, Y:0.48, Z:1.42 [[ 0.99943325 0.00652321 -0.03302453 3.58402994] [-0.00638226 0.99997008 0.00437161 0.47569879] [ 0.03305205 -0.00415836 0.99944498 1.4152506 ] [ 0. 0. 0. 1. ]] SLAMing on 312.122557844 meters Centerline goodness : 0.162955 Centerline is valid? [False, False] Translation: X:3.60, Y:0.48, Z:1.42 [[ 9.99467331e-01 -1.11648877e-03 -3.26160539e-02 3.60345379e+00] [ 1.29894858e-03 9.99983624e-01 5.57351863e-03 4.78201997e-01] [ 3.26092970e-02 -5.61291637e-03 9.99452415e-01 1.41705697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15255784400006 meters Centerline goodness : 0.119014 Centerline is valid? [False, False] Translation: X:3.60, Y:0.48, Z:1.42 [[ 9.99470862e-01 -9.48482710e-04 -3.25130257e-02 3.60309918e+00] [ 1.14273326e-03 9.99981607e-01 5.95648430e-03 4.76410494e-01] [ 3.25067781e-02 -5.99048621e-03 9.99453562e-01 1.41723404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters Centerline goodness : 0.154050 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99474857e-01 -8.10282613e-04 -3.23937383e-02 3.60275974e+00] [ 1.01430324e-03 9.99979752e-01 6.28221352e-03 4.74851002e-01] [ 3.23879920e-02 -6.31177153e-03 9.99455441e-01 1.41734427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21255784400006 meters Centerline goodness : 0.145790 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99476866e-01 -6.81761319e-04 -3.23346537e-02 3.60300997e+00] [ 8.94888799e-04 9.99977969e-01 6.57728871e-03 4.73232910e-01] [ 3.23294572e-02 -6.60278382e-03 9.99455456e-01 1.41675900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters Centerline goodness : 0.121702 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99473244e-01 -6.43690701e-04 -3.24471906e-02 3.60368687e+00] [ 8.58841248e-04 9.99977737e-01 6.61729024e-03 4.73031994e-01] [ 3.24422087e-02 -6.64167153e-03 9.99451545e-01 1.41608854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27255784400006 meters Centerline goodness : 0.118341 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99468066e-01 -6.22156855e-04 -3.26067022e-02 3.60433553e+00] [ 8.37692264e-04 9.99977889e-01 6.59691274e-03 4.73211255e-01] [ 3.26018769e-02 -6.62071801e-03 9.99446489e-01 1.41564933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters Centerline goodness : 0.172551 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99465995e-01 -6.31030885e-04 -3.26699637e-02 3.60464109e+00] [ 8.44998395e-04 9.99978283e-01 6.53597239e-03 4.73540117e-01] [ 3.26651298e-02 -6.56008822e-03 9.99444823e-01 1.41539821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33255784400006 meters Centerline goodness : 0.123883 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99466637e-01 -6.64489909e-04 -3.26496457e-02 3.60453168e+00] [ 8.75763086e-04 9.99978770e-01 6.45704358e-03 4.73902486e-01] [ 3.26446619e-02 -6.48219299e-03 9.99446000e-01 1.41546004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters Centerline goodness : 0.120865 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99470420e-01 -6.94054557e-04 -3.25330150e-02 3.60410200e+00] [ 9.02162618e-04 9.99979224e-01 6.38258439e-03 4.74202529e-01] [ 3.25279092e-02 -6.40855437e-03 9.99450282e-01 1.41563839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39255784400007 meters Centerline goodness : 0.122543 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99480669e-01 -7.59513280e-04 -3.22151569e-02 3.60285199e+00] [ 9.63603639e-04 9.99979563e-01 6.32017570e-03 4.74374426e-01] [ 3.22096983e-02 -6.34793607e-03 9.99460974e-01 1.41632843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters Centerline goodness : 0.139973 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99484276e-01 -7.91965444e-04 -3.21022532e-02 3.60248930e+00] [ 9.93992742e-04 9.99979801e-01 6.27777334e-03 4.74685411e-01] [ 3.20966330e-02 -6.30644515e-03 9.99464874e-01 1.41644269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45255784400007 meters Centerline goodness : 0.118182 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99481920e-01 -8.29034885e-04 -3.21745904e-02 3.60272465e+00] [ 1.03031925e-03 9.99980001e-01 6.23992905e-03 4.74885540e-01] [ 3.21687738e-02 -6.26984636e-03 9.99462785e-01 1.41632740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48255784400004 meters Centerline goodness : 0.135915 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99478867e-01 -8.73887553e-04 -3.22681177e-02 3.60318486e+00] [ 1.07489078e-03 9.99980126e-01 6.21233727e-03 4.74828867e-01] [ 3.22620476e-02 -6.24378452e-03 9.99459942e-01 1.41597138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51255784400007 meters Centerline goodness : 0.139653 Centerline is valid? [False, False] Translation: X:3.60, Y:0.47, Z:1.42 [[ 9.99478327e-01 -9.22835491e-04 -3.22834618e-02 3.60340726e+00] [ 1.12414824e-03 9.99980035e-01 6.21819100e-03 4.74453079e-01] [ 3.22770789e-02 -6.25123853e-03 9.99459410e-01 1.41567068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54255784400004 meters Centerline goodness : 0.138272 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99602886e-01 3.05542990e-03 -2.80131099e-02 3.62612058e+00] [-2.99180648e-03 9.99992850e-01 2.31283350e-03 4.77214513e-01] [ 2.80199763e-02 -2.22810523e-03 9.99604880e-01 1.41420889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5725578440001 meters Centerline goodness : 0.119684 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99610387e-01 3.05419491e-03 -2.77442836e-02 3.62509136e+00] [-2.98903449e-03 9.99992677e-01 2.38977594e-03 4.76914277e-01] [ 2.77513793e-02 -2.30591623e-03 9.99612197e-01 1.41479282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60255784400005 meters Centerline goodness : 0.118069 Centerline is valid? [False, False] Translation: X:3.62, Y:0.48, Z:1.42 [[ 9.99612485e-01 3.04339688e-03 -2.76697834e-02 3.62470126e+00] [-2.97552090e-03 9.99992463e-01 2.49391559e-03 4.76381272e-01] [ 2.76771649e-02 -2.41061714e-03 9.99614007e-01 1.41517099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6325578440001 meters Centerline goodness : 0.121193 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99607357e-01 2.96529039e-03 -2.78628756e-02 3.62529920e+00] [-2.89640171e-03 9.99992649e-01 2.51245179e-03 4.75978885e-01] [ 2.78701209e-02 -2.43076321e-03 9.99608597e-01 1.41499654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66255784400005 meters Centerline goodness : 0.117272 Centerline is valid? [False, False] Translation: X:3.63, Y:0.48, Z:1.41 [[ 9.99590725e-01 2.82802558e-03 -2.84672542e-02 3.62713446e+00] [-2.75759264e-03 9.99993040e-01 2.51312835e-03 4.75278418e-01] [ 2.84741632e-02 -2.43359870e-03 9.99591566e-01 1.41449006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692557844 meters Centerline goodness : 0.119900 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99577792e-01 2.75104086e-03 -2.89252297e-02 3.62864133e+00] [-2.67764878e-03 9.99993098e-01 2.57573114e-03 4.74481336e-01] [ 2.89321160e-02 -2.49719204e-03 9.99578259e-01 1.41389389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72255784400005 meters Centerline goodness : 0.122490 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99557324e-01 2.47900446e-03 -2.96480966e-02 3.63074563e+00] [-2.40045352e-03 9.99993515e-01 2.68474163e-03 4.72919311e-01] [ 2.96545598e-02 -2.61238428e-03 9.99556793e-01 1.41340033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752557844 meters Centerline goodness : 0.141608 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99558366e-01 2.51646983e-03 -2.96098039e-02 3.63049564e+00] [-2.42907470e-03 9.99992588e-01 2.98716043e-03 4.71218631e-01] [ 2.96171016e-02 -2.91391677e-03 9.99557070e-01 1.41369589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78255784400005 meters Centerline goodness : 0.119977 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99566046e-01 2.55263015e-03 -2.93462730e-02 3.62957784e+00] [-2.45653669e-03 9.99991504e-01 3.31005591e-03 4.69209611e-01] [ 2.93544731e-02 -3.23652930e-03 9.99563825e-01 1.41418175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812557844 meters Centerline goodness : 0.121560 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:1.41 [[ 9.99570734e-01 2.64834405e-03 -2.91776312e-02 3.62876472e+00] [-2.54120955e-03 9.99989895e-01 3.70827196e-03 4.66984118e-01] [ 2.91871571e-02 -3.63253365e-03 9.99567364e-01 1.41484517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84255784400005 meters Centerline goodness : 0.143712 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.42 [[ 9.99574527e-01 2.77105056e-03 -2.90359578e-02 3.62816720e+00] [-2.65295012e-03 9.99988055e-01 4.10512019e-03 4.64934788e-01] [ 2.90469865e-02 -4.02634262e-03 9.99569938e-01 1.41526010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872557844 meters Centerline goodness : 0.144296 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.42 [[ 9.99574128e-01 2.94973056e-03 -2.90320751e-02 3.62819904e+00] [-2.81900571e-03 9.99985709e-01 4.54267309e-03 4.62894181e-01] [ 2.90450599e-02 -4.45889691e-03 9.99568158e-01 1.41521537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90255784400006 meters Centerline goodness : 0.151914 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.41 [[ 9.99568490e-01 3.26778063e-03 -2.91916936e-02 3.62897052e+00] [-3.11350029e-03 9.99980954e-01 5.32896831e-03 4.58927047e-01] [ 2.92085515e-02 -5.23578046e-03 9.99559627e-01 1.41469310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93255784400003 meters Centerline goodness : 0.122711 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:1.41 [[ 9.99566151e-01 3.42812898e-03 -2.92533364e-02 3.62917570e+00] [-3.26180437e-03 9.99978255e-01 5.73148979e-03 4.56845265e-01] [ 2.92723486e-02 -5.63358453e-03 9.99555597e-01 1.41462833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96255784400006 meters Centerline goodness : 0.117975 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.41 [[ 9.99565434e-01 3.59472145e-03 -2.92578425e-02 3.62918118e+00] [-3.41740474e-03 9.99975505e-01 6.10823396e-03 4.54918125e-01] [ 2.92790832e-02 -6.00559364e-03 9.99553234e-01 1.41465793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99255784400003 meters Centerline goodness : 0.138345 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.41 [[ 9.99568375e-01 3.76071320e-03 -2.91362340e-02 3.62875424e+00] [-3.57353375e-03 9.99972660e-01 6.47369377e-03 4.53165813e-01] [ 2.91597832e-02 -6.36678025e-03 9.99554486e-01 1.41487195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02255784400006 meters Centerline goodness : 0.132732 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957303 0.00392247 -0.02895448 3.62817752] [-0.0037267 0.99996985 0.00681205 0.45163541] [ 0.02898033 -0.00670124 0.99955752 1.41506658] [ 0. 0. 0. 1. ]] SLAMing on 313.05255784400003 meters Centerline goodness : 0.141551 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957515 0.0040801 -0.02885963 3.62770271] [-0.003875 0.99996686 0.00715917 0.44999751] [ 0.02888789 -0.0070443 0.99955784 1.41547085] [ 0. 0. 0. 1. ]] SLAMing on 313.08255784400006 meters Centerline goodness : 0.135161 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957496 0.00443373 -0.02881379 3.62749119] [-0.00420997 0.99996055 0.0078218 0.44704963] [ 0.02884733 -0.00769717 0.99955419 1.41583511] [ 0. 0. 0. 1. ]] SLAMing on 313.11255784400004 meters Centerline goodness : 0.116658 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:1.42 [[ 0.99957048 0.00459257 -0.02894427 3.62797232] [-0.00435755 0.99995707 0.0081777 0.44521595] [ 0.02898058 -0.00804807 0.99954757 1.41562984] [ 0. 0. 0. 1. ]] SLAMing on 313.14255784400007 meters Centerline goodness : 0.133935 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.42 [[ 0.99956539 0.00474003 -0.0290959 3.62855253] [-0.00449283 0.99995331 0.00855544 0.44315281] [ 0.02913509 -0.00842099 0.99954001 1.41532427] [ 0. 0. 0. 1. ]] SLAMing on 313.17255784400004 meters Centerline goodness : 0.193198 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955762 0.0049134 -0.02933287 3.62947528] [-0.00465452 0.99994967 0.00888733 0.44149057] [ 0.02937506 -0.00874687 0.99953019 1.41497579] [ 0. 0. 0. 1. ]] SLAMing on 313.20255784400007 meters Centerline goodness : 0.193198 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955762 0.0049134 -0.02933287 3.62947528] [-0.00465452 0.99994967 0.00888733 0.44149057] [ 0.02937506 -0.00874687 0.99953019 1.41497579] [ 0. 0. 0. 1. ]] SLAMing on 313.23255784400004 meters Centerline goodness : 0.115186 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955197 0.00506061 -0.02949988 3.63012772] [-0.00479 0.99994587 0.0092366 0.43962589] [ 0.02954503 -0.00909116 0.99952211 1.41466455] [ 0. 0. 0. 1. ]] SLAMing on 313.26255784400007 meters Centerline goodness : 0.115430 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954291 0.0051846 -0.02978423 3.63110112] [-0.00490416 0.99994303 0.00948128 0.43816785] [ 0.02983169 -0.00933088 0.99951138 1.41441178] [ 0. 0. 0. 1. ]] SLAMing on 313.29255784400004 meters Centerline goodness : 0.160695 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99953926 0.00541784 -0.02986495 3.63177209] [-0.00512253 0.99993732 0.0099558 0.43574757] [ 0.02991701 -0.00979823 0.99950436 1.41369314] [ 0. 0. 0. 1. ]] SLAMing on 313.3225578440001 meters Centerline goodness : 0.118473 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99953983 0.00548387 -0.02983389 3.63180858] [-0.00518796 0.99993667 0.00998681 0.43580342] [ 0.02988676 -0.00982744 0.99950498 1.41350056] [ 0. 0. 0. 1. ]] SLAMing on 313.35255784400005 meters Centerline goodness : 0.138763 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954141 0.00550562 -0.02977685 3.63190022] [-0.00521377 0.9999377 0.00987017 0.43656501] [ 0.02982933 -0.00971039 0.99950784 1.41307125] [ 0. 0. 0. 1. ]] SLAMing on 313.3825578440001 meters Centerline goodness : 0.114678 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.9995403 0.00552648 -0.02981016 3.63217541] [-0.00523915 0.99993915 0.00970827 0.43762372] [ 0.02986199 -0.00954762 0.99950843 1.41270613] [ 0. 0. 0. 1. ]] SLAMing on 313.41255784400005 meters Centerline goodness : 0.117505 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954184 0.00546815 -0.02976911 3.63227732] [-0.0051878 0.99994154 0.00948679 0.43875478] [ 0.02981924 -0.009328 0.99951178 1.41233052] [ 0. 0. 0. 1. ]] SLAMing on 313.442557844 meters Centerline goodness : 0.168817 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954461 0.00541676 -0.02968552 3.63212626] [-0.00514332 0.99994371 0.00928008 0.43987258] [ 0.02973412 -0.00912317 0.99951621 1.41216938] [ 0. 0. 0. 1. ]] SLAMing on 313.47255784400005 meters Centerline goodness : 0.147878 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99954866 0.00530976 -0.02956814 3.63180289] [-0.005046 0.99994688 0.00898765 0.44140733] [ 0.02961429 -0.00883439 0.99952236 1.41211946] [ 0. 0. 0. 1. ]] SLAMing on 313.502557844 meters Centerline goodness : 0.147191 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955168 0.00524301 -0.02947779 3.6313702 ] [-0.00498185 0.99994775 0.00892625 0.44158992] [ 0.02952305 -0.00877539 0.99952558 1.4124552 ] [ 0. 0. 0. 1. ]] SLAMing on 313.53255784400005 meters Centerline goodness : 0.116528 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 0.99955666 0.005168 -0.0293219 3.63056966] [-0.00490824 0.99994814 0.00892389 0.44138173] [ 0.0293665 -0.00877601 0.99953018 1.41310598] [ 0. 0. 0. 1. ]] SLAMing on 313.562557844 meters Centerline goodness : 0.117427 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99586547e-01 1.97535746e-03 -2.86850716e-02 3.62799591e+00] [-1.80973239e-03 9.99981550e-01 5.79872568e-03 4.41824934e-01] [ 2.86959969e-02 -5.74441588e-03 9.99571679e-01 1.41410466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59255784400005 meters Centerline goodness : 0.174310 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99576335e-01 1.83165233e-03 -2.90481626e-02 3.62889469e+00] [-1.66432236e-03 9.99981890e-01 5.78356435e-03 4.41354712e-01] [ 2.90582300e-02 -5.73276855e-03 9.99561281e-01 1.41412998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters Centerline goodness : 0.161053 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99567985e-01 1.76055427e-03 -2.93384246e-02 3.62971002e+00] [-1.59015818e-03 9.99981740e-01 5.83026917e-03 4.40883425e-01] [ 2.93481533e-02 -5.78109767e-03 9.99552532e-01 1.41401572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65255784400006 meters Centerline goodness : 0.121816 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99567229e-01 1.80847732e-03 -2.93612793e-02 3.62987397e+00] [-1.63217965e-03 9.99980504e-01 6.02728397e-03 4.40169510e-01] [ 2.93716071e-02 -5.97675266e-03 9.99550693e-01 1.41385958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters Centerline goodness : 0.142851 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99565847e-01 1.80317136e-03 -2.94086067e-02 3.63008096e+00] [-1.62628902e-03 9.99980452e-01 6.03745532e-03 4.40106389e-01] [ 2.94189184e-02 -5.98700725e-03 9.99549240e-01 1.41372124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71255784400006 meters Centerline goodness : 0.116291 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99563727e-01 1.78001802e-03 -2.94819925e-02 3.63032648e+00] [-1.60307758e-03 9.99980569e-01 6.02419352e-03 4.39990817e-01] [ 2.94921428e-02 -5.97430341e-03 9.99547158e-01 1.41365682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters Centerline goodness : 0.138783 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99565469e-01 1.76547587e-03 -2.94237354e-02 3.63013560e+00] [-1.58842172e-03 9.99980499e-01 6.03967983e-03 4.39681857e-01] [ 2.94338245e-02 -5.99031810e-03 9.99548781e-01 1.41371087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77255784400006 meters Centerline goodness : 0.142446 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99569619e-01 1.80811059e-03 -2.92798009e-02 3.62956541e+00] [-1.62866799e-03 9.99979755e-01 6.15123532e-03 4.39159738e-01] [ 2.92903302e-02 -6.10090088e-03 9.99552328e-01 1.41400821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters Centerline goodness : 0.116152 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99576494e-01 1.95339355e-03 -2.90347599e-02 3.62867395e+00] [-1.76756556e-03 9.99977801e-01 6.42447873e-03 4.38169626e-01] [ 2.90466649e-02 -6.37043708e-03 9.99557757e-01 1.41444333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83255784400006 meters Centerline goodness : 0.141574 Centerline is valid? [False, False] Translation: X:3.63, Y:0.44, Z:1.41 [[ 9.99588168e-01 2.11958824e-03 -2.86182040e-02 3.62740656e+00] [-1.92365388e-03 9.99974535e-01 6.87229005e-03 4.35976215e-01] [ 2.86320417e-02 -6.81440830e-03 9.99566791e-01 1.41487261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters Centerline goodness : 0.124447 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99588663e-01 2.19779797e-03 -2.85950063e-02 3.62719333e+00] [-1.99357955e-03 9.99972320e-01 7.16830144e-03 4.34176830e-01] [ 2.86099693e-02 -7.10834643e-03 9.99565376e-01 1.41516480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89255784400007 meters Centerline goodness : 0.135361 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99586111e-01 2.26659571e-03 -2.86787113e-02 3.62741409e+00] [-2.05468109e-03 9.99970386e-01 7.41657820e-03 4.32678280e-01] [ 2.86946724e-02 -7.35458296e-03 9.99561167e-01 1.41515599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters Centerline goodness : 0.139454 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99584486e-01 2.37912741e-03 -2.87261941e-02 3.62765891e+00] [-2.15922360e-03 9.99968148e-01 7.68376101e-03 4.31403597e-01] [ 2.87435597e-02 -7.61854203e-03 9.99557785e-01 1.41493690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95255784400007 meters Centerline goodness : 0.118023 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99582241e-01 2.45161328e-03 -2.87981328e-02 3.62808203e+00] [-2.22714818e-03 9.99966912e-01 7.82392355e-03 4.30874482e-01] [ 2.88163612e-02 -7.75651733e-03 9.99554628e-01 1.41455370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98255784400004 meters Centerline goodness : 0.115649 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99579402e-01 2.56414453e-03 -2.88867558e-02 3.62838396e+00] [-2.33407003e-03 9.99965311e-01 7.99561061e-03 4.29833307e-01] [ 2.89062557e-02 -7.92482396e-03 9.99550712e-01 1.41447599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01255784400007 meters Centerline goodness : 0.134496 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99575384e-01 2.56262107e-03 -2.90255896e-02 3.62865311e+00] [-2.33035584e-03 9.99965019e-01 8.03308710e-03 4.29278448e-01] [ 2.90451600e-02 -7.96203617e-03 9.99546389e-01 1.41459112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04255784400004 meters Centerline goodness : 0.138020 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99572713e-01 2.60499110e-03 -2.91136723e-02 3.62876895e+00] [-2.36952875e-03 9.99964231e-01 8.11926589e-03 4.28828214e-01] [ 2.91337815e-02 -8.04681095e-03 9.99543131e-01 1.41472426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0725578440001 meters Centerline goodness : 0.133392 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.41 [[ 9.99572534e-01 2.72139670e-03 -2.91091566e-02 3.62871046e+00] [-2.47997602e-03 9.99962259e-01 8.32652333e-03 4.28095965e-01] [ 2.91307178e-02 -8.25077401e-03 9.99541558e-01 1.41479100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10255784400005 meters Centerline goodness : 0.114703 Centerline is valid? [False, False] Translation: X:3.63, Y:0.43, Z:1.42 [[ 9.99573445e-01 2.88206230e-03 -2.90623869e-02 3.62846277e+00] [-2.63064995e-03 9.99958822e-01 8.68530830e-03 4.26515918e-01] [ 2.90862218e-02 -8.60515057e-03 9.99539866e-01 1.41500280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1325578440001 meters Centerline goodness : 0.139598 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99571786e-01 3.00521958e-03 -2.91069325e-02 3.62855292e+00] [-2.74141327e-03 9.99954845e-01 9.09901866e-03 4.24225645e-01] [ 2.91329627e-02 -9.01532820e-03 9.99534889e-01 1.41505622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16255784400005 meters Centerline goodness : 0.137389 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99576370e-01 -9.02014061e-04 -2.90906655e-02 3.62854193e+00] [ 1.07081874e-03 9.99982678e-01 5.78765296e-03 4.20629516e-01] [ 2.90849410e-02 -5.81635196e-03 9.99560021e-01 1.41500314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192557844 meters Centerline goodness : 0.113670 Centerline is valid? [False, False] Translation: X:3.63, Y:0.42, Z:1.42 [[ 9.99566490e-01 -7.60323764e-04 -2.94321983e-02 3.62934848e+00] [ 9.49130272e-04 9.99979060e-01 6.40152564e-03 4.17364235e-01] [ 2.94267148e-02 -6.42668551e-03 9.99546280e-01 1.41514775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22255784400005 meters Centerline goodness : 0.114694 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 9.99564653e-01 -5.87674092e-04 -2.94984522e-02 3.62954643e+00] [ 7.95797604e-04 9.99974873e-01 7.04416046e-03 4.13971194e-01] [ 2.94935713e-02 -7.06456860e-03 9.99540005e-01 1.41516275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252557844 meters Centerline goodness : 0.138653 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 9.99564540e-01 -4.44678571e-04 -2.95047912e-02 3.62933632e+00] [ 6.71163963e-04 9.99970385e-01 7.66676484e-03 4.10375777e-01] [ 2.95005082e-02 -7.68322882e-03 9.99535236e-01 1.41562940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28255784400005 meters Centerline goodness : 0.162036 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 0.99959087 0.00551631 -0.02806524 3.6498459 ] [-0.00540352 0.99997702 0.00409339 0.40587838] [ 0.02808718 -0.00394006 0.99959771 1.41638429] [ 0. 0. 0. 1. ]] SLAMing on 314.312557844 meters Centerline goodness : 0.125990 Centerline is valid? [False, False] Translation: X:3.63, Y:0.41, Z:1.42 [[ 0.99957966 -0.00405277 -0.02870684 3.62782736] [ 0.00419854 0.99997859 0.0050193 0.40538213] [ 0.02868588 -0.00513772 0.99957527 1.41589152] [ 0. 0. 0. 1. ]] SLAMing on 314.34255784400005 meters Centerline goodness : 0.115726 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 9.99502971e-01 3.18585238e-03 -3.13633695e-02 3.65337320e+00] [-3.05248104e-03 9.99986099e-01 4.29941744e-03 3.95527163e-01] [ 3.13766308e-02 -4.20154442e-03 9.99498801e-01 1.41534735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372557844 meters Centerline goodness : 0.114912 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99489776e-01 3.41348901e-03 -3.17574567e-02 3.65506290e+00] [-3.26091161e-03 9.99982898e-01 4.85501163e-03 3.92798740e-01] [ 3.17734861e-02 -4.74897622e-03 9.99483813e-01 1.41431348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40255784400006 meters Centerline goodness : 0.149375 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99480156e-01 3.63001206e-03 -3.20350029e-02 3.65617101e+00] [-3.45978746e-03 9.99979609e-01 5.36753925e-03 3.90159477e-01] [ 3.20538339e-02 -5.25391466e-03 9.99472335e-01 1.41369882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43255784400003 meters Centerline goodness : 0.170338 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 9.99472054e-01 3.81036309e-03 -3.22660059e-02 3.65670216e+00] [-3.62984784e-03 9.99977443e-01 5.65132440e-03 3.88670064e-01] [ 3.22868117e-02 -5.53122012e-03 9.99463340e-01 1.41399721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46255784400006 meters Centerline goodness : 0.113518 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99946971 0.00394355 -0.0323224 3.65640412] [-0.00375824 0.99997616 0.00579208 0.38785759] [ 0.03234447 -0.00566753 0.99946071 1.41488656] [ 0. 0. 0. 1. ]] SLAMing on 314.49255784400003 meters Centerline goodness : 0.130241 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 0.99943287 0.00763544 -0.03279688 3.65738927] [-0.00733887 0.99993118 0.00915342 0.38789435] [ 0.03286452 -0.00890753 0.99942012 1.41578698] [ 0. 0. 0. 1. ]] SLAMing on 314.52255784400006 meters Centerline goodness : 0.136638 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 0.99941002 0.00788646 -0.03342778 3.65955433] [-0.00758705 0.99993004 0.00907447 0.38869996] [ 0.03349701 -0.00881549 0.99939994 1.41516816] [ 0. 0. 0. 1. ]] SLAMing on 314.55255784400003 meters Centerline goodness : 0.151504 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.9993987 0.00802241 -0.03373254 3.66096249] [-0.00772488 0.99993019 0.00894114 0.38974319] [ 0.03380191 -0.00867518 0.9993909 1.41433831] [ 0. 0. 0. 1. ]] SLAMing on 314.58255784400006 meters Centerline goodness : 0.129926 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99940179 0.00807396 -0.03362837 3.66101333] [-0.00778293 0.9999312 0.00877631 0.39082809] [ 0.03369692 -0.00850934 0.99939587 1.41394614] [ 0. 0. 0. 1. ]] SLAMing on 314.61255784400004 meters Centerline goodness : 0.136380 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99941152 0.00803742 -0.03334685 3.66017114] [-0.00775662 0.99993344 0.00854158 0.39217368] [ 0.03341328 -0.00827789 0.99940734 1.41420267] [ 0. 0. 0. 1. ]] SLAMing on 314.64255784400007 meters Centerline goodness : 0.141188 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99941966 0.00796628 -0.03311915 3.65923649] [-0.00769581 0.99993605 0.00828624 0.39342619] [ 0.03318304 -0.00802655 0.99941706 1.41472452] [ 0. 0. 0. 1. ]] SLAMing on 314.67255784400004 meters Centerline goodness : 0.096346 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 0.99942395 0.00781943 -0.03302464 3.65862793] [-0.00756236 0.99994018 0.00790187 0.39530795] [ 0.03308445 -0.00764758 0.9994233 1.41516521] [ 0. 0. 0. 1. ]] SLAMing on 314.70255784400007 meters Centerline goodness : 0.135466 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.41 [[ 0.99941728 0.00773756 -0.03324492 3.65939576] [-0.00748193 0.99994154 0.00780681 0.39546585] [ 0.03330339 -0.00755352 0.99941674 1.4147865 ] [ 0. 0. 0. 1. ]] SLAMing on 314.73255784400004 meters Centerline goodness : 0.137098 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.41 [[ 0.99941965 0.00763928 -0.03319658 3.65941101] [-0.00738293 0.99994203 0.0078378 0.39500439] [ 0.03325453 -0.00758816 0.99941811 1.41448328] [ 0. 0. 0. 1. ]] SLAMing on 314.76255784400007 meters Centerline goodness : 0.127346 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.9994615 0.00415614 -0.03254908 3.65802448] [-0.00400579 0.99998101 0.00468305 0.39435345] [ 0.03256792 -0.00455014 0.99945917 1.41383421] [ 0. 0. 0. 1. ]] SLAMing on 314.79255784400004 meters Centerline goodness : 0.122929 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99946536 0.00410673 -0.03243664 3.65733181] [-0.0039523 0.99998056 0.00482346 0.3935305 ] [ 0.03245582 -0.00469268 0.99946215 1.41450737] [ 0. 0. 0. 1. ]] SLAMing on 314.8225578440001 meters Centerline goodness : 0.122153 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.41 [[ 0.99948548 0.00390117 -0.03183624 3.65543736] [-0.00374136 0.99998011 0.00507767 0.391954 ] [ 0.03185542 -0.00495595 0.9994802 1.41486026] [ 0. 0. 0. 1. ]] SLAMing on 314.85255784400005 meters Centerline goodness : 0.094648 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.42 [[ 9.99519568e-01 1.08833451e-03 -3.09749557e-02 3.65233878e+00] [-9.90661069e-04 9.99994490e-01 3.16847559e-03 3.87339590e-01] [ 3.09782334e-02 -3.13626767e-03 9.99515139e-01 1.41539673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8825578440001 meters Centerline goodness : 0.127287 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.42 [[ 9.99512931e-01 1.06300636e-03 -3.11892729e-02 3.65307579e+00] [-9.60861705e-04 9.99994127e-01 3.28979834e-03 3.86601365e-01] [ 3.11925868e-02 -3.25822741e-03 9.99508082e-01 1.41507084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91255784400005 meters Centerline goodness : 0.131410 Centerline is valid? [False, False] Translation: X:3.65, Y:0.39, Z:1.41 [[ 9.99500749e-01 1.02735725e-03 -3.15784156e-02 3.65430276e+00] [-9.20340586e-04 9.99993785e-01 3.40326639e-03 3.85876860e-01] [ 3.15817158e-02 -3.37250441e-03 9.99495483e-01 1.41467239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters Centerline goodness : 0.123331 Centerline is valid? [False, False] Translation: X:3.65, Y:0.38, Z:1.41 [[ 9.99500046e-01 1.09857235e-03 -3.15982706e-02 3.65447967e+00] [-9.78217506e-04 9.99992210e-01 3.82411271e-03 3.84056071e-01] [ 3.16022255e-02 -3.79129085e-03 9.99493334e-01 1.41425590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97255784400005 meters Centerline goodness : 0.122849 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99487135e-01 8.50959436e-04 -3.20116105e-02 3.65560684e+00] [-7.22479971e-04 9.99991639e-01 4.02487983e-03 3.81742746e-01] [ 3.20147679e-02 -3.99968786e-03 9.99479393e-01 1.41424112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters Centerline goodness : 0.115511 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99484625e-01 8.95579456e-04 -3.20886612e-02 3.65580866e+00] [-7.61550034e-04 9.99990937e-01 4.18882509e-03 3.80948175e-01] [ 3.20921218e-02 -4.16222915e-03 9.99476249e-01 1.41418999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03255784400005 meters Centerline goodness : 0.113125 Centerline is valid? [False, False] Translation: X:3.66, Y:0.38, Z:1.41 [[ 9.99484506e-01 8.94503351e-04 -3.20923982e-02 3.65571483e+00] [-7.62976660e-04 9.99991261e-01 4.11038722e-03 3.81332234e-01] [ 3.20957945e-02 -4.08378259e-03 9.99476454e-01 1.41439171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters Centerline goodness : 0.132504 Centerline is valid? [False, False] Translation: X:3.68, Y:0.38, Z:1.42 [[ 9.99476844e-01 1.00100249e-02 -3.07544697e-02 3.67596336e+00] [-9.92325429e-03 9.99946344e-01 2.97273674e-03 3.80184786e-01] [ 3.07825768e-02 -2.66599711e-03 9.99522549e-01 1.41529331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09255784400005 meters Centerline goodness : 0.132504 Centerline is valid? [False, False] Translation: X:3.68, Y:0.38, Z:1.42 [[ 9.99476844e-01 1.00100249e-02 -3.07544697e-02 3.67596336e+00] [-9.92325429e-03 9.99946344e-01 2.97273674e-03 3.80184786e-01] [ 3.07825768e-02 -2.66599711e-03 9.99522549e-01 1.41529331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters Centerline goodness : 0.128981 Centerline is valid? [False, False] Translation: X:3.65, Y:0.38, Z:1.42 [[ 9.99493373e-01 2.89517024e-03 -3.16956528e-02 3.65267864e+00] [-2.72039490e-03 9.99980865e-01 5.55590895e-03 3.83246461e-01] [ 3.17111316e-02 -5.46686948e-03 9.99482125e-01 1.41549717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15255784400006 meters Centerline goodness : 0.183552 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 0.99952476 0.00632473 -0.03017028 3.69827619] [-0.00615624 0.99996495 0.00567438 0.39487099] [ 0.03020511 -0.00548595 0.99952867 1.41533398] [ 0. 0. 0. 1. ]] SLAMing on 315.18255784400003 meters Centerline goodness : 0.130414 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 0.99952701 0.00629595 -0.03010184 3.69828277] [-0.0061447 0.99996804 0.00511448 0.39803837] [ 0.03013307 -0.00492709 0.99953375 1.41514621] [ 0. 0. 0. 1. ]] SLAMing on 315.21255784400006 meters Centerline goodness : 0.144524 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 0.99952968 0.00619224 -0.03003449 3.6981064 ] [-0.0060582 0.99997129 0.00455163 0.4011373 ] [ 0.03006181 -0.00436754 0.9995385 1.41511126] [ 0. 0. 0. 1. ]] SLAMing on 315.24255784400003 meters Centerline goodness : 0.150270 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945114 0.0059414 -0.03259027 3.6524876 ] [-0.00577452 0.99996974 0.00521229 0.40047128] [ 0.03262025 -0.00502123 0.9994552 1.41574544] [ 0. 0. 0. 1. ]] SLAMing on 315.27255784400006 meters Centerline goodness : 0.136250 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945352 0.00577813 -0.03254635 3.65219921] [-0.00562378 0.99997251 0.00483213 0.40220169] [ 0.03257337 -0.00464645 0.99945855 1.41594679] [ 0. 0. 0. 1. ]] SLAMing on 315.30255784400003 meters Centerline goodness : 0.134554 Centerline is valid? [False, False] Translation: X:3.65, Y:0.40, Z:1.42 [[ 0.99945541 0.00568 -0.03250585 3.65187005] [-0.00553232 0.99997397 0.0046314 0.40313776] [ 0.03253131 -0.00444904 0.99946081 1.41630255] [ 0. 0. 0. 1. ]] SLAMing on 315.33255784400006 meters Centerline goodness : 0.139814 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99488223e-01 1.73157077e-03 -3.19420298e-02 3.65015050e+00] [-1.71640035e-03 9.99998401e-01 5.02349390e-04 4.05351901e-01] [ 3.19428486e-02 -4.47266988e-04 9.99489597e-01 1.41650080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters Centerline goodness : 0.136360 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484588e-01 1.66911303e-03 -3.20589047e-02 3.65052638e+00] [-1.65803220e-03 9.99998556e-01 3.72220661e-04 4.06053411e-01] [ 3.20594797e-02 -3.18874117e-04 9.99485912e-01 1.41633668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39255784400007 meters Centerline goodness : 0.137375 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484916e-01 1.59489190e-03 -3.20524544e-02 3.65072336e+00] [-1.59054590e-03 9.99998722e-01 1.61086921e-04 4.07341848e-01] [ 3.20526703e-02 -1.10023048e-04 9.99486175e-01 1.41599324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters Centerline goodness : 0.130667 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99483670e-01 1.49167277e-03 -3.20962421e-02 3.65094741e+00] [-1.49627787e-03 9.99998873e-01 -1.19459913e-04 4.08840065e-01] [ 3.20960277e-02 1.67423129e-04 9.99484776e-01 1.41578992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45255784400007 meters Centerline goodness : 0.116295 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99484550e-01 1.27781813e-03 -3.20780601e-02 3.65090131e+00] [-1.30104946e-03 9.99998906e-01 -7.03350150e-04 4.11748154e-01] [ 3.20771263e-02 7.44722751e-04 9.99485119e-01 1.41576768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48255784400004 meters Centerline goodness : 0.134129 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99490377e-01 1.22674931e-03 -3.18979893e-02 3.65032341e+00] [-1.25724184e-03 9.99998772e-01 -9.35899616e-04 4.13089533e-01] [ 3.18968020e-02 9.75526147e-04 9.99490691e-01 1.41594648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51255784400007 meters Centerline goodness : 0.114502 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99497963e-01 1.16389620e-03 -3.16617733e-02 3.64973770e+00] [-1.20263760e-03 9.99998551e-01 -1.20458578e-03 4.14707425e-01] [ 3.16603254e-02 1.24205868e-03 9.99497914e-01 1.41586284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54255784400004 meters Centerline goodness : 0.128467 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99500683e-01 1.08887663e-03 -3.15784475e-02 3.64962973e+00] [-1.13639735e-03 9.99998249e-01 -1.48693822e-03 4.16374434e-01] [ 3.15767731e-02 1.52208143e-03 9.99500170e-01 1.41564800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5725578440001 meters Centerline goodness : 0.135020 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99502532e-01 9.74140277e-04 -3.15236220e-02 3.64961460e+00] [-1.03289077e-03 9.99997760e-01 -1.84746668e-03 4.18304849e-01] [ 3.15217517e-02 1.87910808e-03 9.99501300e-01 1.41541765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60255784400005 meters Centerline goodness : 0.135832 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99508092e-01 8.41655946e-04 -3.13506757e-02 3.64915600e+00] [-9.12613075e-04 9.99997054e-01 -2.24909625e-03 4.20445501e-01] [ 3.13486904e-02 2.27660094e-03 9.99505916e-01 1.41542801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6325578440001 meters Centerline goodness : 0.127770 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99535002e-01 7.18550112e-04 -3.04838254e-02 3.64627625e+00] [-8.03497727e-04 9.99995828e-01 -2.77448734e-03 4.23353415e-01] [ 3.04817046e-02 2.79769090e-03 9.99531410e-01 1.41650786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66255784400005 meters Centerline goodness : 0.127460 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99541138e-01 6.08201044e-04 -3.02843767e-02 3.64556510e+00] [-6.99774265e-04 9.99995215e-01 -3.01327093e-03 4.24440566e-01] [ 3.02823991e-02 3.03308048e-03 9.99536781e-01 1.41681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692557844 meters Centerline goodness : 0.134037 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99538739e-01 5.10033206e-04 -3.03652694e-02 3.64566199e+00] [-6.07033890e-04 9.99994743e-01 -3.18532870e-03 4.25124498e-01] [ 3.03634852e-02 3.20229218e-03 9.99533793e-01 1.41695264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72255784400005 meters Centerline goodness : 0.126448 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99528617e-01 3.95689688e-04 -3.06983106e-02 3.64675484e+00] [-4.98262869e-04 9.99994319e-01 -3.33375205e-03 4.25635086e-01] [ 3.06968171e-02 3.34747640e-03 9.99523136e-01 1.41652814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752557844 meters Centerline goodness : 0.129121 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99513447e-01 2.74253576e-04 -3.11896359e-02 3.64835530e+00] [-3.81162284e-04 9.99994073e-01 -3.42180584e-03 4.25692534e-01] [ 3.11885126e-02 3.43202927e-03 9.99507628e-01 1.41592834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78255784400005 meters Centerline goodness : 0.139529 Centerline is valid? [False, False] Translation: X:3.65, Y:0.43, Z:1.42 [[ 9.99496662e-01 1.91744759e-04 -3.17235942e-02 3.64995865e+00] [-2.98733834e-04 9.99994284e-01 -3.36783422e-03 4.25000079e-01] [ 3.17227671e-02 3.37561597e-03 9.99491006e-01 1.41546746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812557844 meters Centerline goodness : 0.131714 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99484315e-01 9.51389292e-05 -3.21106698e-02 3.65109652e+00] [-1.99533777e-04 9.99994706e-01 -3.24790654e-03 4.23877731e-01] [ 3.21101908e-02 3.25263881e-03 9.99479042e-01 1.41521983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84255784400005 meters Centerline goodness : 0.142092 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99479910e-01 1.19700289e-04 -3.22474180e-02 3.65142269e+00] [-2.15835327e-04 9.99995543e-01 -2.97770561e-03 4.22301015e-01] [ 3.22469178e-02 2.98311707e-03 9.99475481e-01 1.41523949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872557844 meters Centerline goodness : 0.114505 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99470915e-01 -1.92442254e-04 -3.25246641e-02 3.65214883e+00] [ 1.07344074e-04 9.99996567e-01 -2.61814585e-03 4.19137349e-01] [ 3.25250563e-02 2.61326930e-03 9.99467504e-01 1.41532848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90255784400006 meters Centerline goodness : 0.116701 Centerline is valid? [False, False] Translation: X:3.65, Y:0.42, Z:1.42 [[ 9.99458100e-01 -1.45191627e-04 -3.29163305e-02 3.65299385e+00] [ 7.15963028e-05 9.99997495e-01 -2.23699779e-03 4.16882894e-01] [ 3.29165729e-02 2.23342887e-03 9.99455607e-01 1.41555922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93255784400003 meters Centerline goodness : 0.157347 Centerline is valid? [False, False] Translation: X:3.65, Y:0.41, Z:1.42 [[ 9.99438408e-01 -1.67835669e-03 -3.34671833e-02 3.65405736e+00] [ 1.56600592e-03 9.99993052e-01 -3.38297252e-03 4.10968059e-01] [ 3.34726286e-02 3.32866286e-03 9.99434091e-01 1.41569088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96255784400006 meters Centerline goodness : 0.205457 Centerline is valid? [False, False] Translation: X:3.66, Y:0.41, Z:1.42 [[ 9.99419593e-01 -1.66970162e-03 -3.40248389e-02 3.65579000e+00] [ 1.57705156e-03 9.99994976e-01 -2.74966783e-03 4.07064565e-01] [ 3.40292591e-02 2.69441298e-03 9.99417205e-01 1.41511990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99255784400003 meters Centerline goodness : 0.142932 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99417577e-01 -1.48631836e-03 -3.40924870e-02 3.65593060e+00] [ 1.41072858e-03 9.99996494e-01 -2.24114507e-03 4.04769412e-01] [ 3.40956985e-02 2.19174453e-03 9.99416169e-01 1.41512004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02255784400006 meters Centerline goodness : 0.135427 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99414825e-01 -1.28780305e-03 -3.41811325e-02 3.65599329e+00] [ 1.22939212e-03 9.99997748e-01 -1.72982704e-03 4.02272671e-01] [ 3.41832832e-02 1.68679278e-03 9.99414157e-01 1.41540705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05255784400003 meters Centerline goodness : 0.119769 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99416268e-01 -1.10342573e-03 -3.41453544e-02 3.65570213e+00] [ 1.06053901e-03 9.99998626e-01 -1.27409054e-03 3.99951315e-01] [ 3.41467133e-02 1.23713434e-03 9.99416065e-01 1.41574737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08255784400006 meters Centerline goodness : 0.164465 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99415318e-01 -9.19643453e-04 -3.41785844e-02 3.65554114e+00] [ 8.92654002e-04 9.99999278e-01 -8.04910611e-04 3.97542609e-01] [ 3.41792999e-02 7.73930344e-04 9.99415417e-01 1.41619558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11255784400004 meters Centerline goodness : 0.144597 Centerline is valid? [False, False] Translation: X:3.66, Y:0.40, Z:1.42 [[ 9.99416683e-01 -7.04523874e-04 -3.41437744e-02 3.65525133e+00] [ 6.94523598e-04 9.99999712e-01 -3.04746648e-04 3.95152086e-01] [ 3.41439793e-02 2.80855227e-04 9.99416885e-01 1.41649577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14255784400007 meters Centerline goodness : 0.136770 Centerline is valid? [False, False] Translation: X:3.66, Y:0.39, Z:1.42 [[ 9.99416062e-01 -2.65678150e-04 -3.41681866e-02 3.65550711e+00] [ 2.87203170e-04 9.99999763e-01 6.25066063e-04 3.90987773e-01] [ 3.41680124e-02 -6.34514275e-04 9.99415902e-01 1.41626590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17255784400004 meters Centerline goodness : 0.112910 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99374068e-01 9.02038108e-03 -3.42067874e-02 3.67694679e+00] [-9.02345932e-03 9.99959286e-01 6.43899010e-05 3.86132614e-01] [ 3.42059755e-02 2.44313957e-04 9.99414775e-01 1.41725197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20255784400007 meters Centerline goodness : 0.158317 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99352589e-01 9.30016154e-03 -3.47550025e-02 3.67877980e+00] [-9.29656107e-03 9.99956751e-01 2.65197603e-04 3.85594997e-01] [ 3.47559657e-02 5.80760918e-05 9.99395827e-01 1.41678552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23255784400004 meters Centerline goodness : 0.116629 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99333782e-01 9.45443409e-03 -3.52506176e-02 3.68020833e+00] [-9.45312046e-03 9.99955297e-01 2.03935100e-04 3.85892654e-01] [ 3.52509699e-02 1.29429100e-04 9.99378483e-01 1.41679321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26255784400007 meters Centerline goodness : 0.095292 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99326072e-01 9.42948302e-03 -3.54751625e-02 3.68081201e+00] [-9.43555951e-03 9.99955484e-01 -3.87218148e-06 3.86574874e-01] [ 3.54735468e-02 3.38597579e-04 9.99370558e-01 1.41697047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29255784400004 meters Centerline goodness : 0.147905 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99323158e-01 9.41523432e-03 -3.55609129e-02 3.68090884e+00] [-9.42747980e-03 9.99955545e-01 -1.76686216e-04 3.87287669e-01] [ 3.55576685e-02 5.11816416e-04 9.99367495e-01 1.41728060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3225578440001 meters Centerline goodness : 0.112971 Centerline is valid? [False, False] Translation: X:3.68, Y:0.39, Z:1.42 [[ 9.99341135e-01 9.71277127e-03 -3.49708028e-02 3.67934880e+00] [-9.71641539e-03 9.99952792e-01 6.57454131e-05 3.87383705e-01] [ 3.49697905e-02 2.74088750e-04 9.99388332e-01 1.41744941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35255784400005 meters Centerline goodness : 0.125016 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99360447e-01 2.75210835e-03 -3.56528066e-02 3.69665744e+00] [-2.69863586e-03 9.99995161e-01 1.54784715e-03 3.95331130e-01] [ 3.56568939e-02 -1.45064328e-03 9.99363038e-01 1.41969136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3825578440001 meters Centerline goodness : 0.152389 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99360868e-01 2.73123859e-03 -3.56426167e-02 3.69656564e+00] [-2.67932316e-03 9.99995279e-01 1.50423814e-03 3.95518648e-01] [ 3.56465568e-02 -1.40777865e-03 9.99363468e-01 1.41979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41255784400005 meters Centerline goodness : 0.142104 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99358586e-01 2.69863935e-03 -3.57090264e-02 3.69663496e+00] [-2.64697668e-03 9.99995381e-01 1.49396453e-03 3.95407071e-01] [ 3.57128932e-02 -1.39848532e-03 9.99361113e-01 1.41991424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442557844 meters Centerline goodness : 0.143646 Centerline is valid? [False, False] Translation: X:3.70, Y:0.40, Z:1.42 [[ 9.99361750e-01 2.71489890e-03 -3.56191341e-02 3.69615926e+00] [-2.66100561e-03 9.99995242e-01 1.56036225e-03 3.95051714e-01] [ 3.56232008e-02 -1.46458363e-03 9.99364219e-01 1.42028174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47255784400005 meters Centerline goodness : 0.144447 Centerline is valid? [False, False] Translation: X:3.69, Y:0.39, Z:1.42 [[ 9.99373262e-01 2.73721614e-03 -3.52929222e-02 3.69480229e+00] [-2.67786487e-03 9.99994920e-01 1.72883620e-03 3.94140105e-01] [ 3.52974751e-02 -1.63324300e-03 9.99375515e-01 1.42120013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters Centerline goodness : 0.117805 Centerline is valid? [False, False] Translation: X:3.69, Y:0.39, Z:1.42 [[ 9.99370818e-01 2.73538142e-03 -3.53622047e-02 3.69489681e+00] [-2.67205118e-03 9.99994741e-01 1.83803766e-03 3.93350176e-01] [ 3.53670465e-02 -1.74239158e-03 9.99372871e-01 1.42129906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53255784400005 meters Centerline goodness : 0.134144 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99358887e-01 2.69551073e-03 -3.57008316e-02 3.69602965e+00] [-2.62911998e-03 9.99994727e-01 1.90645686e-03 3.92689048e-01] [ 3.57057822e-02 -1.81137283e-03 9.99360704e-01 1.42083248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters Centerline goodness : 0.150589 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99352132e-01 2.72736200e-03 -3.58870128e-02 3.69676995e+00] [-2.65553976e-03 9.99994375e-01 2.04885661e-03 3.91880839e-01] [ 3.58923989e-02 -1.95222984e-03 9.99353753e-01 1.42039111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59255784400005 meters Centerline goodness : 0.134350 Centerline is valid? [False, False] Translation: X:3.70, Y:0.39, Z:1.42 [[ 9.99354475e-01 2.79090768e-03 -3.58168271e-02 3.69662090e+00] [-2.71359603e-03 9.99993883e-01 2.20695917e-03 3.91252303e-01] [ 3.58227674e-02 -2.10834212e-03 9.99355935e-01 1.42032257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters Centerline goodness : 0.148405 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99346038e-01 1.19283569e-02 -3.41351725e-02 3.71596010e+00] [-1.18970325e-02 9.99928600e-01 1.12062982e-03 3.88657561e-01] [ 3.41461025e-02 -7.13789714e-04 9.99416597e-01 1.42211945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65255784400006 meters Centerline goodness : 0.119860 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99337182e-01 1.18994671e-02 -3.44034866e-02 3.71671065e+00] [-1.18796367e-02 9.99929130e-01 7.80766193e-04 3.90324367e-01] [ 3.44103391e-02 -3.71547765e-04 9.99407720e-01 1.42214898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68255784400003 meters Centerline goodness : 0.158421 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99321653e-01 1.18932338e-02 -3.48537642e-02 3.71837579e+00] [-1.18874897e-02 9.99929272e-01 3.72035834e-04 3.92480955e-01] [ 3.48557238e-02 4.25402974e-05 9.99392354e-01 1.42148070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71255784400006 meters Centerline goodness : 0.156529 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:1.42 [[ 9.99306128e-01 1.19618984e-02 -3.52728627e-02 3.72002357e+00] [-1.19695619e-02 9.99928362e-01 -6.09639360e-06 3.94775917e-01] [ 3.52702629e-02 4.28292876e-04 9.99377719e-01 1.42063825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters Centerline goodness : 0.145440 Centerline is valid? [False, False] Translation: X:3.72, Y:0.40, Z:1.42 [[ 9.99299031e-01 1.19948748e-02 -3.54622420e-02 3.72105747e+00] [-1.20188974e-02 9.99927663e-01 -4.64307380e-04 3.97527765e-01] [ 3.54541075e-02 8.90198964e-04 9.99370909e-01 1.41985806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77255784400006 meters Centerline goodness : 0.151436 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99352285e-01 5.18194926e-03 -3.56112010e-02 3.73884445e+00] [-5.16655746e-03 9.99986516e-01 5.24227952e-04 4.08965346e-01] [ 3.56134373e-02 -3.39901086e-04 9.99365583e-01 1.42123651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80255784400003 meters Centerline goodness : 0.121798 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99396736e-01 5.54818479e-03 -3.42838455e-02 3.73500115e+00] [-5.54468741e-03 9.99984609e-01 1.97086848e-04 4.12782055e-01] [ 3.42844113e-02 -6.87474647e-06 9.99412117e-01 1.42175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83255784400006 meters Centerline goodness : 0.117286 Centerline is valid? [False, False] Translation: X:3.73, Y:0.42, Z:1.42 [[ 9.99406693e-01 5.40342356e-03 -3.40156694e-02 3.73430839e+00] [-5.41576394e-03 9.99985298e-01 -2.70657855e-04 4.15220102e-01] [ 3.40137068e-02 4.54718108e-04 9.99421263e-01 1.42171198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters Centerline goodness : 0.119685 Centerline is valid? [False, False] Translation: X:3.73, Y:0.42, Z:1.42 [[ 9.99407305e-01 5.24532316e-03 -3.40224263e-02 3.73442017e+00] [-5.27214586e-03 9.99985858e-01 -6.98718562e-04 4.17278938e-01] [ 3.40182802e-02 8.77675629e-04 9.99420825e-01 1.42149390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89255784400007 meters Centerline goodness : 0.141387 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99399982e-01 4.95020163e-03 -3.42807658e-02 3.73575079e+00] [-5.00055070e-03 9.99986541e-01 -1.38314538e-03 4.20564253e-01] [ 3.42734576e-02 1.55373817e-03 9.99411285e-01 1.42036391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters Centerline goodness : 0.131228 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99391796e-01 4.82548686e-03 -3.45362543e-02 3.73656873e+00] [-4.88219893e-03 9.99986868e-01 -1.55795879e-03 4.21184448e-01] [ 3.45282828e-02 1.72562410e-03 9.99402231e-01 1.42009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95255784400007 meters Centerline goodness : 0.144956 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99386402e-01 4.71909572e-03 -3.47066242e-02 3.73690332e+00] [-4.77618247e-03 9.99987374e-01 -1.56211341e-03 4.20775292e-01] [ 3.46988143e-02 1.72692007e-03 9.99396323e-01 1.42028426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98255784400004 meters Centerline goodness : 0.110746 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99384754e-01 4.60044371e-03 -3.47699354e-02 3.73674103e+00] [-4.65475628e-03 9.99988069e-01 -1.48126931e-03 4.19786155e-01] [ 3.47627061e-02 1.64220354e-03 9.99394245e-01 1.42082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01255784400007 meters Centerline goodness : 0.110746 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99384754e-01 4.60044371e-03 -3.47699354e-02 3.73674103e+00] [-4.65475628e-03 9.99988069e-01 -1.48126931e-03 4.19786155e-01] [ 3.47627061e-02 1.64220354e-03 9.99394245e-01 1.42082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04255784400004 meters Centerline goodness : 0.151184 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99381439e-01 4.51852822e-03 -3.48758170e-02 3.73664408e+00] [-4.56799667e-03 9.99988670e-01 -1.33886617e-03 4.18675693e-01] [ 3.48693722e-02 1.49735062e-03 9.99390757e-01 1.42145089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0725578440001 meters Centerline goodness : 0.120451 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99357945e-01 4.17595732e-03 -3.55845339e-02 3.73856148e+00] [-4.22300942e-03 9.99990305e-01 -1.24720422e-03 4.17242042e-01] [ 3.55789807e-02 1.39667726e-03 9.99365892e-01 1.42123549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10255784400005 meters Centerline goodness : 0.126755 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99347573e-01 4.18131112e-03 -3.58740134e-02 3.73941197e+00] [-4.22132870e-03 9.99990550e-01 -1.03983311e-03 4.16080814e-01] [ 3.58693265e-02 1.19059070e-03 9.99355779e-01 1.42103096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1325578440001 meters Centerline goodness : 0.117356 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99345908e-01 1.29177342e-03 -3.61398244e-02 3.74079682e+00] [-1.42920154e-03 9.99991845e-01 -3.77710236e-03 4.14269203e-01] [ 3.61346505e-02 3.82628289e-03 9.99339605e-01 1.42010958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16255784400005 meters Centerline goodness : 0.117846 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99343902e-01 1.36031452e-03 -3.61927482e-02 3.74080714e+00] [-1.48629447e-03 9.99992930e-01 -3.45412877e-03 4.12361457e-01] [ 3.61877937e-02 3.50565561e-03 9.99338858e-01 1.42035817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192557844 meters Centerline goodness : 0.267086 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99347414e-01 1.46195827e-03 -3.60916701e-02 3.74024838e+00] [-1.57704794e-03 9.99993762e-01 -3.16055279e-03 4.10823898e-01] [ 3.60868244e-02 3.21540855e-03 9.99343486e-01 1.42085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22255784400005 meters Centerline goodness : 0.144569 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99353774e-01 1.54166834e-03 -3.59117926e-02 3.73965970e+00] [-1.64926653e-03 9.99994239e-01 -2.96674904e-03 4.09930497e-01] [ 3.59070120e-02 3.02405997e-03 9.99350560e-01 1.42106932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252557844 meters Centerline goodness : 0.115394 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99364444e-01 1.74028560e-03 -3.56044969e-02 3.73895722e+00] [-1.84155929e-03 9.99994351e-01 -2.81181082e-03 4.10034351e-01] [ 3.55994025e-02 2.87559155e-03 9.99362003e-01 1.42096509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28255784400005 meters Centerline goodness : 0.155573 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99365922e-01 1.76446285e-03 -3.55617970e-02 3.73898677e+00] [-1.86786069e-03 9.99994124e-01 -2.87454064e-03 4.10535008e-01] [ 3.55565160e-02 2.93914244e-03 9.99363345e-01 1.42074362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312557844 meters Centerline goodness : 0.145561 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99365080e-01 1.72908773e-03 -3.55871798e-02 3.73903272e+00] [-1.83773640e-03 9.99993749e-01 -3.02054452e-03 4.11191573e-01] [ 3.55817345e-02 3.08402657e-03 9.99362011e-01 1.42075527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34255784400005 meters Centerline goodness : 0.116210 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99372235e-01 1.73600674e-03 -3.53853400e-02 3.73832705e+00] [-1.84641429e-03 9.99993528e-01 -3.08771013e-03 4.11598499e-01] [ 3.53797507e-02 3.15110777e-03 9.99368973e-01 1.42102532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372557844 meters Centerline goodness : 0.113131 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99381039e-01 1.77491837e-03 -3.51338672e-02 3.73753662e+00] [-1.88459767e-03 9.99993454e-01 -3.08888363e-03 4.11785683e-01] [ 3.51281547e-02 3.15318494e-03 9.99377842e-01 1.42122885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40255784400006 meters Centerline goodness : 0.113336 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99388282e-01 1.81369324e-03 -3.49252351e-02 3.73699546e+00] [-1.92333808e-03 9.99993327e-01 -3.10607507e-03 4.12191812e-01] [ 3.49193686e-02 3.17134806e-03 9.99385101e-01 1.42123461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43255784400003 meters Centerline goodness : 0.114757 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99395439e-01 1.82882375e-03 -3.47190312e-02 3.73662727e+00] [-1.93806895e-03 9.99993276e-01 -3.11315764e-03 4.12236992e-01] [ 3.47131043e-02 3.17856342e-03 9.99392264e-01 1.42099693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46255784400006 meters Centerline goodness : 0.136575 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99386243e-01 1.77336952e-03 -3.49855980e-02 3.73744286e+00] [-1.88617212e-03 9.99993128e-01 -3.19151702e-03 4.12298905e-01] [ 3.49796979e-02 3.25554707e-03 9.99382721e-01 1.42074279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49255784400003 meters Centerline goodness : 0.123809 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99379980e-01 1.77042430e-03 -3.51641911e-02 3.73793140e+00] [-1.88421503e-03 9.99993095e-01 -3.20310810e-03 4.12347060e-01] [ 3.51582774e-02 3.26737901e-03 9.99376415e-01 1.42066297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52255784400006 meters Centerline goodness : 0.134324 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99381004e-01 1.82232704e-03 -3.51324447e-02 3.73787630e+00] [-1.93616260e-03 9.99992985e-01 -3.20643394e-03 4.12777453e-01] [ 3.51263551e-02 3.27247129e-03 9.99377521e-01 1.42055307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55255784400003 meters Centerline goodness : 0.136333 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99379966e-01 1.83236101e-03 -3.51614261e-02 3.73811868e+00] [-1.94738786e-03 9.99992863e-01 -3.23742519e-03 4.13105099e-01] [ 3.51552431e-02 3.30389081e-03 9.99376402e-01 1.42030031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58255784400006 meters Centerline goodness : 0.115299 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99376464e-01 1.78965011e-03 -3.52630033e-02 3.73863206e+00] [-1.90818224e-03 9.99992642e-01 -3.32800582e-03 4.13386295e-01] [ 3.52567878e-02 3.39321893e-03 9.99372526e-01 1.41988540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61255784400004 meters Centerline goodness : 0.138556 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99372504e-01 1.67130699e-03 -3.53808459e-02 3.73942978e+00] [-1.79885477e-03 9.99991997e-01 -3.57346957e-03 4.14109346e-01] [ 3.53745903e-02 3.63487224e-03 9.99367513e-01 1.41907361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64255784400007 meters Centerline goodness : 0.154678 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99374109e-01 1.67095423e-03 -3.53355219e-02 3.73934233e+00] [-1.80062537e-03 9.99991761e-01 -3.63820602e-03 4.14553877e-01] [ 3.53291515e-02 3.69955494e-03 9.99368883e-01 1.41901273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67255784400004 meters Centerline goodness : 0.153110 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99377242e-01 1.71260649e-03 -3.52447968e-02 3.73891588e+00] [-1.84039710e-03 9.99991849e-01 -3.59367793e-03 4.14513555e-01] [ 3.52383550e-02 3.65630435e-03 9.99372248e-01 1.41930672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70255784400007 meters Centerline goodness : 0.148267 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99394565e-01 -5.54537561e-03 -3.43475086e-02 3.75786270e+00] [ 5.46340579e-03 9.99982001e-01 -2.47988095e-03 4.19449930e-01] [ 3.43606423e-02 2.29072516e-03 9.99406874e-01 1.42125297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73255784400004 meters Centerline goodness : 0.137401 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99401023e-01 -5.50918882e-03 -3.41649430e-02 3.75728492e+00] [ 5.43022873e-03 9.99982368e-01 -2.40350256e-03 4.19111669e-01] [ 3.41775820e-02 2.21653947e-03 9.99413318e-01 1.42141777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76255784400007 meters Centerline goodness : 0.142607 Centerline is valid? [False, False] Translation: X:3.74, Y:0.41, Z:1.42 [[ 9.99467893e-01 1.16971767e-03 -3.25969780e-02 3.73888968e+00] [-1.28189967e-03 9.99993327e-01 -3.42079844e-03 4.13474655e-01] [ 3.25927591e-02 3.46076426e-03 9.99462723e-01 1.41838892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79255784400004 meters Centerline goodness : 0.175283 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99475794e-01 -6.00065513e-03 -3.18139685e-02 3.75767423e+00] [ 5.93476951e-03 9.99980045e-01 -2.16498988e-03 4.19531067e-01] [ 3.18263251e-02 1.97504641e-03 9.99491463e-01 1.42011048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8225578440001 meters Centerline goodness : 0.115139 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99476227e-01 -6.04179760e-03 -3.17925739e-02 3.75755028e+00] [ 5.97243707e-03 9.99979574e-01 -2.27617048e-03 4.20147683e-01] [ 3.18056767e-02 2.08509913e-03 9.99491897e-01 1.42022220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85255784400005 meters Centerline goodness : 0.138120 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99472024e-01 -6.09710862e-03 -3.19139147e-02 3.75775287e+00] [ 6.02284674e-03 9.99978928e-01 -2.42255833e-03 4.20861211e-01] [ 3.19280128e-02 2.22906666e-03 9.99487685e-01 1.42036214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8825578440001 meters Centerline goodness : 0.115629 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99447107e-01 -6.27211797e-03 -3.26518122e-02 3.75998212e+00] [ 6.18180673e-03 9.99976785e-01 -2.86610446e-03 4.22767916e-01] [ 3.26690307e-02 2.66267262e-03 9.99462678e-01 1.41968647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91255784400005 meters Centerline goodness : 0.145918 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99426102e-01 1.19755960e-03 -3.38530972e-02 3.74136393e+00] [-1.33959285e-03 9.99990395e-01 -4.17320617e-03 4.18680981e-01] [ 3.38477744e-02 4.21616054e-03 9.99418107e-01 1.41728087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters Centerline goodness : 0.143558 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99422371e-01 1.09037007e-03 -3.39666953e-02 3.74190299e+00] [-1.24182536e-03 9.99989380e-01 -4.43815765e-03 4.19933894e-01] [ 3.39614953e-02 4.47777474e-03 9.99413111e-01 1.41683146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97255784400005 meters Centerline goodness : 0.138625 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99425037e-01 1.01571105e-03 -3.38904752e-02 3.74167647e+00] [-1.17343147e-03 9.99988573e-01 -4.63426204e-03 4.20941361e-01] [ 3.38853808e-02 4.67136566e-03 9.99414808e-01 1.41686555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters Centerline goodness : 0.164428 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99429146e-01 9.45782411e-04 -3.37710920e-02 3.74106575e+00] [-1.10733099e-03 9.99988033e-01 -4.76525217e-03 4.21557797e-01] [ 3.37661810e-02 4.79992768e-03 9.99418234e-01 1.41732782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03255784400005 meters Centerline goodness : 0.115241 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99438228e-01 -6.43828485e-03 -3.28903657e-02 3.75967734e+00] [ 6.32199324e-03 9.99973396e-01 -3.63850771e-03 4.26857557e-01] [ 3.29129165e-02 3.42853103e-03 9.99452343e-01 1.41979593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters Centerline goodness : 0.173530 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99448177e-01 -6.69733594e-03 -3.25343970e-02 3.75840863e+00] [ 6.57786649e-03 9.99971230e-01 -3.77774289e-03 4.27052000e-01] [ 3.25587618e-02 3.56165132e-03 9.99463477e-01 1.42040962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09255784400005 meters Centerline goodness : 0.135215 Centerline is valid? [False, False] Translation: X:3.74, Y:0.42, Z:1.42 [[ 9.99473934e-01 6.27936213e-04 -3.24262390e-02 3.73895406e+00] [-7.80852549e-04 9.99988634e-01 -4.70337290e-03 4.21544793e-01] [ 3.24229170e-02 4.72621873e-03 9.99463065e-01 1.41859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters Centerline goodness : 0.137735 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99456434e-01 -7.06917014e-03 -3.22003648e-02 3.75917378e+00] [ 6.94749365e-03 9.99968303e-01 -3.88905053e-03 4.26608245e-01] [ 3.22268365e-02 3.66322474e-03 9.99473867e-01 1.42017438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15255784400006 meters Centerline goodness : 0.147055 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99456801e-01 -7.08050733e-03 -3.21864849e-02 3.75908574e+00] [ 6.96094511e-03 9.99968456e-01 -3.82520968e-03 4.26222577e-01] [ 3.22125540e-02 3.59908347e-03 9.99474561e-01 1.42025161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters Centerline goodness : 0.115635 Centerline is valid? [False, False] Translation: X:3.76, Y:0.43, Z:1.42 [[ 9.99445917e-01 -7.19139084e-03 -3.24983529e-02 3.75985485e+00] [ 7.07125969e-03 9.99967740e-01 -3.80995378e-03 4.25896941e-01] [ 3.25247034e-02 3.57803846e-03 9.99464527e-01 1.42025565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21255784400006 meters Centerline goodness : 0.119273 Centerline is valid? [False, False] Translation: X:3.76, Y:0.42, Z:1.42 [[ 9.99445545e-01 -7.16336977e-03 -3.25159840e-02 3.76012775e+00] [ 7.05509521e-03 9.99969184e-01 -3.44340021e-03 4.24744277e-01] [ 3.25396483e-02 3.21208763e-03 9.99465284e-01 1.41958220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters Centerline goodness : 0.117108 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99475224e-01 1.15528440e-03 -3.23719304e-02 3.77909481e+00] [-1.31157272e-03 9.99987586e-01 -4.80707737e-03 4.20629806e-01] [ 3.23659750e-02 4.84701288e-03 9.99464332e-01 1.42151144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27255784400006 meters Centerline goodness : 0.143327 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99479056e-01 1.16837006e-03 -3.22529405e-02 3.77856432e+00] [-1.31894057e-03 9.99988330e-01 -4.64754670e-03 4.19628109e-01] [ 3.22471341e-02 4.68766530e-03 9.99468933e-01 1.42183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters Centerline goodness : 0.115990 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99490101e-01 1.15937108e-03 -3.19091648e-02 3.77720589e+00] [-1.30204448e-03 9.99989247e-01 -4.45082015e-03 4.18511233e-01] [ 3.19036615e-02 4.49009783e-03 9.99480863e-01 1.42252199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33255784400006 meters Centerline goodness : 0.129839 Centerline is valid? [False, False] Translation: X:3.78, Y:0.42, Z:1.42 [[ 9.99497052e-01 1.17186121e-03 -3.16902155e-02 3.77623100e+00] [-1.31012921e-03 9.99989712e-01 -4.34270104e-03 4.17803783e-01] [ 3.16848005e-02 4.38203517e-03 9.99488305e-01 1.42321910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters Centerline goodness : 0.113026 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99949182 0.01029361 -0.03016863 3.79504103] [-0.01044909 0.9999329 -0.00500076 0.41140516] [ 0.03011513 0.00531345 0.99953231 1.42475303] [ 0. 0. 0. 1. ]] SLAMing on 318.39255784400007 meters Centerline goodness : 0.133166 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948936 0.01042322 -0.03020551 3.79547776] [-0.01057373 0.99993244 -0.00482744 0.4109034 ] [ 0.03015315 0.00514436 0.99953205 1.42432066] [ 0. 0. 0. 1. ]] SLAMing on 318.42255784400004 meters Centerline goodness : 0.130599 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948613 0.01055785 -0.03026552 3.79602729] [-0.01070307 0.99993195 -0.00464043 0.41039068] [ 0.03021447 0.00496198 0.99953112 1.42375857] [ 0. 0. 0. 1. ]] SLAMing on 318.45255784400007 meters Centerline goodness : 0.128846 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99948545 0.01065766 -0.03025307 3.79625063] [-0.01079699 0.99993183 -0.00444563 0.4095218 ] [ 0.03020363 0.00476998 0.99953238 1.42344312] [ 0. 0. 0. 1. ]] SLAMing on 318.48255784400004 meters Centerline goodness : 0.136295 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99947863 0.010762 -0.03044101 3.79681937] [-0.01089582 0.99993168 -0.00423354 0.40828576] [ 0.03039337 0.00456302 0.9995276 1.42346171] [ 0. 0. 0. 1. ]] SLAMing on 318.51255784400007 meters Centerline goodness : 0.117361 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 0.99946953 0.00881907 -0.031351 3.80030387] [-0.00902027 0.99993958 -0.00628216 0.40596476] [ 0.0312937 0.00656162 0.99948869 1.42233718] [ 0. 0. 0. 1. ]] SLAMing on 318.54255784400004 meters Centerline goodness : 0.121422 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:1.42 [[ 0.99941499 0.00906352 -0.0329778 3.80503251] [-0.00925716 0.99994077 -0.00572398 0.40209464] [ 0.03292397 0.00602592 0.99943969 1.42169498] [ 0. 0. 0. 1. ]] SLAMing on 318.5725578440001 meters Centerline goodness : 0.135129 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:1.42 [[ 9.99419102e-01 1.76577962e-03 -3.40344112e-02 3.82536534e+00] [-1.90958758e-03 9.99989385e-01 -4.19332738e-03 4.05949309e-01] [ 3.40266454e-02 4.25588317e-03 9.99411864e-01 1.42307010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60255784400005 meters Centerline goodness : 0.096427 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:1.42 [[ 9.99314615e-01 5.45236732e-04 -3.70135605e-02 3.78166519e+00] [-6.66207825e-04 9.99994477e-01 -3.25603625e-03 3.98905238e-01] [ 3.70115808e-02 3.27846333e-03 9.99309459e-01 1.42245813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6325578440001 meters Centerline goodness : 0.152642 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:1.42 [[ 9.99313425e-01 7.83552414e-04 -3.70413829e-02 3.78179172e+00] [-8.82603960e-04 9.99996079e-01 -2.65780155e-03 3.95886510e-01] [ 3.70391551e-02 2.68866964e-03 9.99310198e-01 1.42239618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66255784400005 meters Centerline goodness : 0.131703 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99315938e-01 1.01662384e-03 -3.69678539e-02 3.78147279e+00] [-1.09511582e-03 9.99997189e-01 -2.10306253e-03 3.93145107e-01] [ 3.69656119e-02 2.14210798e-03 9.99314242e-01 1.42264613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692557844 meters Centerline goodness : 0.127140 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99317655e-01 1.42961531e-03 -3.69077219e-02 3.78136202e+00] [-1.47756855e-03 9.99998099e-01 -1.27203062e-03 3.89298144e-01] [ 3.69058333e-02 1.32569634e-03 9.99317868e-01 1.42270249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72255784400005 meters Centerline goodness : 0.178440 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99311250e-01 1.52777412e-03 -3.70768254e-02 3.78203046e+00] [-1.57211673e-03 9.99998083e-01 -1.16684058e-03 3.88773503e-01] [ 3.70749717e-02 1.22432602e-03 9.99311737e-01 1.42231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752557844 meters Centerline goodness : 0.137955 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99310234e-01 1.60271977e-03 -3.71010475e-02 3.78233062e+00] [-1.64431145e-03 9.99998053e-01 -1.09055165e-03 3.88461624e-01] [ 3.70992275e-02 1.15080510e-03 9.99310924e-01 1.42192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78255784400005 meters Centerline goodness : 0.125362 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99317613e-01 1.71645753e-03 -3.68966487e-02 3.78180706e+00] [-1.75262156e-03 9.99998015e-01 -9.47822295e-04 3.87948388e-01] [ 3.68949486e-02 1.01184137e-03 9.99318637e-01 1.42192777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812557844 meters Centerline goodness : 0.135349 Centerline is valid? [False, False] Translation: X:3.80, Y:0.39, Z:1.42 [[ 9.99401069e-01 1.00112874e-02 -3.31251910e-02 3.80132500e+00] [-1.00924721e-02 9.99946460e-01 -2.28454383e-03 3.85541672e-01] [ 3.31005463e-02 2.61749061e-03 9.99448599e-01 1.42204321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84255784400005 meters Centerline goodness : 0.133544 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99458276e-01 7.70906998e-04 -3.29022935e-02 3.78161741e+00] [-8.32049444e-04 9.99997952e-01 -1.84465206e-03 3.90730665e-01] [ 3.29008041e-02 1.87102911e-03 9.99456871e-01 1.42081811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872557844 meters Centerline goodness : 0.135509 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99454886e-01 7.73877649e-04 -3.30050412e-02 3.78202962e+00] [-8.34187451e-04 9.99998008e-01 -1.81355983e-03 3.90503866e-01] [ 3.30035719e-02 1.84010363e-03 9.99453540e-01 1.42055573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90255784400006 meters Centerline goodness : 0.135509 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99454886e-01 7.73877649e-04 -3.30050412e-02 3.78202962e+00] [-8.34187451e-04 9.99998008e-01 -1.81355983e-03 3.90503866e-01] [ 3.30035719e-02 1.84010363e-03 9.99453540e-01 1.42055573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93255784400003 meters Centerline goodness : 0.128172 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99450842e-01 7.48387515e-04 -3.31278375e-02 3.78264787e+00] [-8.11469886e-04 9.99997883e-01 -1.89080647e-03 3.90903759e-01] [ 3.31263523e-02 1.91665037e-03 9.99449334e-01 1.42004815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96255784400006 meters Centerline goodness : 0.128887 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99452044e-01 7.75110372e-04 -3.30909355e-02 3.78280242e+00] [-8.39270172e-04 9.99997795e-01 -1.92504760e-03 3.91457214e-01] [ 3.30893704e-02 1.95176499e-03 9.99450491e-01 1.41960516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99255784400003 meters Centerline goodness : 0.168565 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99458872e-01 7.64736497e-04 -3.28843057e-02 3.78217877e+00] [-8.31166112e-04 9.99997642e-01 -2.00647848e-03 3.92144420e-01] [ 3.28826937e-02 2.03272504e-03 9.99457151e-01 1.41977009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02255784400006 meters Centerline goodness : 0.133761 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99460442e-01 6.68277750e-04 -3.28386678e-02 3.78178108e+00] [-7.37731994e-04 9.99997517e-01 -2.10294326e-03 3.92256374e-01] [ 3.28371809e-02 2.12603473e-03 9.99458453e-01 1.42023112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05255784400003 meters Centerline goodness : 0.131599 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:1.42 [[ 9.99463273e-01 6.35660054e-04 -3.27530498e-02 3.78127890e+00] [-7.05547462e-04 9.99997499e-01 -2.12225464e-03 3.92232009e-01] [ 3.27516189e-02 2.14422440e-03 9.99461222e-01 1.42069014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08255784400006 meters Centerline goodness : 0.136712 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99457906e-01 -6.50352481e-03 -3.22738010e-02 3.79995173e+00] [ 6.47206188e-03 9.99978474e-01 -1.07924690e-03 3.98006414e-01] [ 3.22801252e-02 8.69783807e-04 9.99478483e-01 1.42289486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11255784400004 meters Centerline goodness : 0.130157 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99456201e-01 -6.53384465e-03 -3.23204397e-02 3.80001974e+00] [ 6.49960959e-03 9.99978200e-01 -1.16418897e-03 3.98458277e-01] [ 3.23273418e-02 9.53485643e-04 9.99476880e-01 1.42292730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14255784400007 meters Centerline goodness : 0.095569 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99450681e-01 -6.60897370e-03 -3.24755089e-02 3.80077733e+00] [ 6.57017342e-03 9.99977569e-01 -1.30132402e-03 3.99006969e-01] [ 3.24833809e-02 1.08723945e-03 9.99471684e-01 1.42231454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17255784400004 meters Centerline goodness : 0.124234 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99439663e-01 -6.71190506e-03 -3.27919196e-02 3.80191184e+00] [ 6.66733612e-03 9.99976695e-01 -1.46830307e-03 3.99612417e-01] [ 3.28010105e-02 1.24884557e-03 9.99461122e-01 1.42174947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20255784400007 meters Centerline goodness : 0.128505 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99442870e-01 -6.69211293e-03 -3.26980935e-02 3.80132384e+00] [ 6.64687464e-03 9.99976796e-01 -1.49201914e-03 3.99950807e-01] [ 3.27073195e-02 1.27384776e-03 9.99464161e-01 1.42228928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23255784400004 meters Centerline goodness : 0.129252 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99452191e-01 -6.63674131e-03 -3.24233224e-02 3.80006013e+00] [ 6.59066218e-03 9.99977114e-01 -1.52784076e-03 4.00561270e-01] [ 3.24327203e-02 1.31331263e-03 9.99473058e-01 1.42317208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26255784400007 meters Centerline goodness : 0.130840 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99460694e-01 -6.62968442e-03 -3.21616114e-02 3.79905872e+00] [ 6.57891406e-03 9.99976940e-01 -1.68416733e-03 4.01646386e-01] [ 3.21720353e-02 1.47167057e-03 9.99481263e-01 1.42372234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29255784400004 meters Centerline goodness : 0.129262 Centerline is valid? [False, False] Translation: X:3.80, Y:0.40, Z:1.42 [[ 9.99462715e-01 -6.69032747e-03 -3.20861461e-02 3.79895269e+00] [ 6.62915465e-03 9.99976002e-01 -2.01252006e-03 4.03438914e-01] [ 3.20988405e-02 1.79873474e-03 9.99483081e-01 1.42352944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3225578440001 meters Centerline goodness : 0.114946 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 9.99454194e-01 -6.74299701e-03 -3.23395405e-02 3.80007373e+00] [ 6.66678935e-03 9.99974742e-01 -2.46373670e-03 4.05955686e-01] [ 3.23553366e-02 2.24679107e-03 9.99473904e-01 1.42262876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35255784400005 meters Centerline goodness : 0.128588 Centerline is valid? [False, False] Translation: X:3.80, Y:0.41, Z:1.42 [[ 9.99453968e-01 -3.62932821e-03 -3.28419374e-02 3.80345327e+00] [ 3.62425681e-03 9.99993409e-01 -2.13947184e-04 4.11497403e-01] [ 3.28424974e-02 9.48027466e-05 9.99460535e-01 1.41980878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3825578440001 meters Centerline goodness : 0.156793 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:1.42 [[ 9.99480989e-01 5.38162130e-03 -3.17614609e-02 3.82311902e+00] [-5.44730970e-03 9.99983199e-01 -1.98201218e-03 4.13419991e-01] [ 3.17502609e-02 2.15399801e-03 9.99493512e-01 1.42132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41255784400005 meters Centerline goodness : 0.123660 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:1.42 [[ 9.99488828e-01 5.19028753e-03 -3.15458834e-02 3.82229561e+00] [-5.27398686e-03 9.99982788e-01 -2.57062860e-03 4.16454138e-01] [ 3.15319981e-02 2.73568714e-03 9.99498999e-01 1.42166994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters Centerline goodness : 0.096944 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:1.42 [[ 9.99499722e-01 -2.50379515e-03 -3.15283458e-02 3.79884016e+00] [ 2.48835045e-03 9.99996764e-01 -5.29094100e-04 4.21019700e-01] [ 3.15295685e-02 4.50375832e-04 9.99502718e-01 1.42172527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47255784400005 meters Centerline goodness : 0.137242 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99500131e-01 -2.86400451e-03 -3.14846921e-02 3.79881308e+00] [ 2.81847433e-03 9.99994917e-01 -1.49039079e-03 4.25958880e-01] [ 3.14888006e-02 1.40090699e-03 9.99503123e-01 1.42143578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters Centerline goodness : 0.128950 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99501801e-01 -3.04614156e-03 -3.14144883e-02 3.79885614e+00] [ 2.98821756e-03 9.99993748e-01 -1.89064609e-03 4.27765922e-01] [ 3.14200511e-02 1.79583085e-03 9.99504655e-01 1.42102508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53255784400005 meters Centerline goodness : 0.129396 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99505543e-01 -3.21765993e-03 -3.12780320e-02 3.79867185e+00] [ 3.14795824e-03 9.99992452e-01 -2.27744276e-03 4.29580529e-01] [ 3.12851239e-02 2.17785473e-03 9.99508128e-01 1.42070075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562557844 meters Centerline goodness : 0.096002 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99507848e-01 -3.36336369e-03 -3.11889256e-02 3.79852404e+00] [ 3.28377686e-03 9.99991222e-01 -2.60263573e-03 4.31192789e-01] [ 3.11974054e-02 2.49893736e-03 9.99510119e-01 1.42053785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59255784400005 meters Centerline goodness : 0.126301 Centerline is valid? [False, False] Translation: X:3.80, Y:0.43, Z:1.42 [[ 9.99508998e-01 -3.51652664e-03 -3.11351496e-02 3.79842021e+00] [ 3.42601156e-03 9.99989750e-01 -2.96003782e-03 4.32944873e-01] [ 3.11452395e-02 2.85191505e-03 9.99510801e-01 1.42042320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622557844 meters Centerline goodness : 0.131409 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 9.99509789e-01 -3.84546831e-03 -3.10707952e-02 3.79799668e+00] [ 3.73045916e-03 9.99985978e-01 -3.75864016e-03 4.37027607e-01] [ 3.10848133e-02 3.64088930e-03 9.99510119e-01 1.42068362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65255784400006 meters Centerline goodness : 0.132620 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 0.99951243 -0.0040017 -0.03096602 3.79779885] [ 0.00387345 0.99998368 -0.00420063 0.43937979] [ 0.03098233 0.00407864 0.99951161 1.42052534] [ 0. 0. 0. 1. ]] SLAMing on 319.68255784400003 meters Centerline goodness : 0.097619 Centerline is valid? [False, False] Translation: X:3.80, Y:0.44, Z:1.42 [[ 0.99950932 -0.0042142 -0.03103795 3.79814498] [ 0.00406901 0.99998049 -0.00473963 0.44203796] [ 0.03105732 0.00461101 0.99950697 1.42019529] [ 0. 0. 0. 1. ]] SLAMing on 319.71255784400006 meters Centerline goodness : 0.114801 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:1.42 [[ 0.99954334 0.0043716 -0.0298999 3.81828246] [-0.00456179 0.99996978 -0.00629584 0.44307107] [ 0.02987148 0.00642936 0.99953307 1.42077811] [ 0. 0. 0. 1. ]] SLAMing on 319.74255784400003 meters Centerline goodness : 0.136633 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 0.9995448 0.00399187 -0.02990405 3.81834717] [-0.00420715 0.99996566 -0.0071394 0.4470761 ] [ 0.02987452 0.00726197 0.99952728 1.4206264 ] [ 0. 0. 0. 1. ]] SLAMing on 319.77255784400006 meters Centerline goodness : 0.151838 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 0.99954366 0.00381991 -0.02996481 3.81851151] [-0.00404481 0.99996408 -0.00744835 0.44842027] [ 0.02993528 0.00756615 0.9995232 1.4206038 ] [ 0. 0. 0. 1. ]] SLAMing on 319.80255784400003 meters Centerline goodness : 0.135039 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99536248e-01 3.60846255e-03 -3.02368746e-02 3.81927489e+00] [-3.84500702e-03 9.99962432e-01 -7.76855747e-03 4.49592626e-01] [ 3.02077061e-02 7.88121577e-03 9.99512572e-01 1.42046063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83255784400006 meters Centerline goodness : 0.157962 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99529223e-01 3.43581956e-03 -3.04881521e-02 3.81981272e+00] [-3.67906276e-03 9.99961823e-01 -7.92577892e-03 4.49971077e-01] [ 3.04597566e-02 8.03421547e-03 9.99503704e-01 1.42061711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters Centerline goodness : 0.127125 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99529746e-01 3.32743298e-03 -3.04830253e-02 3.81946093e+00] [-3.57076142e-03 9.99962170e-01 -7.93146827e-03 4.49728476e-01] [ 3.04554807e-02 8.03658608e-03 9.99503815e-01 1.42121127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89255784400007 meters Centerline goodness : 0.116586 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99539126e-01 3.20890472e-03 -3.01867419e-02 3.81834861e+00] [-3.45012929e-03 9.99962507e-01 -7.94238754e-03 4.49537817e-01] [ 3.01601238e-02 8.04287526e-03 9.99512721e-01 1.42186848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters Centerline goodness : 0.136270 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99535749e-01 2.91554853e-03 -3.03279824e-02 3.81883399e+00] [-3.16379323e-03 9.99961860e-01 -8.14057135e-03 4.49909557e-01] [ 3.03030914e-02 8.23274355e-03 9.99506851e-01 1.42172471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95255784400007 meters Centerline goodness : 0.140081 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99532456e-01 2.86402235e-03 -3.04412061e-02 3.81933158e+00] [-3.11531336e-03 9.99961439e-01 -8.21074255e-03 4.50230623e-01] [ 3.04165165e-02 8.30173756e-03 9.99502835e-01 1.42133279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98255784400004 meters Centerline goodness : 0.215328 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99530185e-01 2.84850536e-03 -3.05171172e-02 3.81958982e+00] [-3.10162089e-03 9.99961157e-01 -8.25009063e-03 4.50545462e-01] [ 3.04924314e-02 8.34086714e-03 9.99500196e-01 1.42120897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01255784400007 meters Centerline goodness : 0.138905 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99528121e-01 2.81767465e-03 -3.05875304e-02 3.81982029e+00] [-3.07303201e-03 9.99960794e-01 -8.30461738e-03 4.50863851e-01] [ 3.05629314e-02 8.39469506e-03 9.99497592e-01 1.42113694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04255784400004 meters Centerline goodness : 0.170511 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99520810e-01 2.71865485e-03 -3.08343961e-02 3.82035941e+00] [-2.97718487e-03 9.99960776e-01 -8.34165899e-03 4.50289256e-01] [ 3.08105086e-02 8.42946145e-03 9.99489698e-01 1.42131485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0725578440001 meters Centerline goodness : 0.137826 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99517943e-01 2.69105019e-03 -3.09295953e-02 3.82046742e+00] [-2.94927990e-03 9.99961152e-01 -8.30636583e-03 4.49662455e-01] [ 3.09060409e-02 8.39358172e-03 9.99487051e-01 1.42153547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10255784400005 meters Centerline goodness : 0.158606 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99516362e-01 2.66911979e-03 -3.09825342e-02 3.82072477e+00] [-2.92840895e-03 9.99961046e-01 -8.32652487e-03 4.49582688e-01] [ 3.09591029e-02 8.41322738e-03 9.99485243e-01 1.42132692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1325578440001 meters Centerline goodness : 0.159786 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:1.42 [[ 9.99514948e-01 2.68239919e-03 -3.10269701e-02 3.82094570e+00] [-2.94256071e-03 9.99960872e-01 -8.34239319e-03 4.49760602e-01] [ 3.10033784e-02 8.42964544e-03 9.99483733e-01 1.42113044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16255784400005 meters Centerline goodness : 0.113755 Centerline is valid? [False, False] Translation: X:3.84, Y:0.46, Z:1.42 [[ 9.99497448e-01 -4.01575317e-03 -3.14440135e-02 3.83986326e+00] [ 3.79802072e-03 9.99968419e-01 -6.98111691e-03 4.55182851e-01] [ 3.14710549e-02 6.85818352e-03 9.99481134e-01 1.42306301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192557844 meters Centerline goodness : 0.137398 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99498779e-01 -3.96061379e-03 -3.14086676e-02 3.83987242e+00] [ 3.74629601e-03 9.99969319e-01 -6.87943828e-03 4.54681335e-01] [ 3.14349507e-02 6.75832400e-03 9.99482951e-01 1.42291334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22255784400005 meters Centerline goodness : 0.132179 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99509061e-01 -3.71698027e-03 -3.11098197e-02 3.83881469e+00] [ 3.52225961e-03 9.99973878e-01 -6.31160112e-03 4.51877220e-01] [ 3.11324671e-02 6.19892565e-03 9.99496044e-01 1.42339665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252557844 meters Centerline goodness : 0.129963 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99512202e-01 -3.54527846e-03 -3.10288348e-02 3.83837117e+00] [ 3.36185591e-03 9.99976579e-01 -5.96153293e-03 4.50378951e-01] [ 3.10492433e-02 5.85431044e-03 9.99500711e-01 1.42375749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28255784400005 meters Centerline goodness : 0.156050 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99513412e-01 -3.37038798e-03 -3.10093525e-02 3.83819845e+00] [ 3.19892923e-03 9.99979331e-01 -5.57720911e-03 4.48674659e-01] [ 3.10275090e-02 5.47529858e-03 9.99503534e-01 1.42397040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312557844 meters Centerline goodness : 0.137306 Centerline is valid? [False, False] Translation: X:3.84, Y:0.45, Z:1.42 [[ 9.99507915e-01 -3.24309963e-03 -3.11995134e-02 3.83874707e+00] [ 3.08179352e-03 9.99981643e-01 -5.21684683e-03 4.46842488e-01] [ 3.12158594e-02 5.11812924e-03 9.99499562e-01 1.42389823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34255784400005 meters Centerline goodness : 0.111548 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99502494e-01 -3.10513498e-03 -3.13866644e-02 3.83940917e+00] [ 2.95573357e-03 9.99984086e-01 -4.80530480e-03 4.44618514e-01] [ 3.14010860e-02 4.71014351e-03 9.99495766e-01 1.42362413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372557844 meters Centerline goodness : 0.165111 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99502492e-01 -2.82226994e-03 -3.14134185e-02 3.83928734e+00] [ 2.69793339e-03 9.99988361e-01 -3.99975410e-03 4.40546412e-01] [ 3.14243413e-02 3.91301288e-03 9.99498474e-01 1.42396714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40255784400006 meters Centerline goodness : 0.136642 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99509015e-01 -2.65720998e-03 -3.12196837e-02 3.83853731e+00] [ 2.54504954e-03 9.99990166e-01 -3.63180778e-03 4.38899529e-01] [ 3.12290271e-02 3.55056898e-03 9.99505949e-01 1.42439031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43255784400003 meters Centerline goodness : 0.143598 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99510202e-01 -2.54959928e-03 -3.11906392e-02 3.83834792e+00] [ 2.44476394e-03 9.99991236e-01 -3.39879027e-03 4.37786210e-01] [ 3.11990314e-02 3.32087180e-03 9.99507675e-01 1.42458640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46255784400006 meters Centerline goodness : 0.136265 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99508375e-01 -2.51635731e-03 -3.12518157e-02 3.83875473e+00] [ 2.41275336e-03 9.99991470e-01 -3.35240232e-03 4.37491338e-01] [ 3.12599850e-02 3.27535127e-03 9.99505921e-01 1.42417279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49255784400003 meters Centerline goodness : 0.135516 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99499724e-01 -2.47771671e-03 -3.15303453e-02 3.84009073e+00] [ 2.36788311e-03 9.99991000e-01 -3.52028803e-03 4.38610412e-01] [ 3.15387839e-02 3.44386674e-03 9.99496596e-01 1.42310390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52255784400006 meters Centerline goodness : 0.132138 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99504138e-01 -2.49016486e-03 -3.13891177e-02 3.83979208e+00] [ 2.37775089e-03 9.99990628e-01 -3.61812221e-03 4.39312358e-01] [ 3.13978333e-02 3.54169262e-03 9.99500692e-01 1.42300311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55255784400003 meters Centerline goodness : 0.114469 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99511599e-01 -2.50049316e-03 -3.11498159e-02 3.83897226e+00] [ 2.38609221e-03 9.99990274e-01 -3.70923524e-03 4.39896753e-01] [ 3.11587878e-02 3.63309731e-03 9.99507844e-01 1.42332454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58255784400006 meters Centerline goodness : 0.138998 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99515844e-01 -2.52727980e-03 -3.10111362e-02 3.83836081e+00] [ 2.41092909e-03 9.99989916e-01 -3.78871947e-03 4.40289651e-01] [ 3.10203986e-02 3.71211949e-03 9.99511858e-01 1.42371464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61255784400004 meters Centerline goodness : 0.120999 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99515223e-01 -2.56696918e-03 -3.10278771e-02 3.83833769e+00] [ 2.44857855e-03 9.99989579e-01 -3.85301576e-03 4.40554398e-01] [ 3.10374444e-02 3.77517371e-03 9.99511093e-01 1.42380272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64255784400007 meters Centerline goodness : 0.124762 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99512743e-01 -2.61205874e-03 -3.11039254e-02 3.83863879e+00] [ 2.49094944e-03 9.99989168e-01 -3.93181069e-03 4.40947564e-01] [ 3.11138586e-02 3.85241659e-03 9.99508423e-01 1.42358641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67255784400004 meters Centerline goodness : 0.115696 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99491111e-01 -2.83551257e-03 -3.17723088e-02 3.84078334e+00] [ 2.70799212e-03 9.99988108e-01 -4.05588407e-03 4.41035544e-01] [ 3.17834315e-02 3.96778092e-03 9.99486903e-01 1.42280526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70255784400007 meters Centerline goodness : 0.115772 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99483163e-01 -2.93718752e-03 -3.20121807e-02 3.84150087e+00] [ 2.80888671e-03 9.99987845e-01 -4.05210911e-03 4.40564169e-01] [ 3.20236934e-02 3.96009625e-03 9.99479265e-01 1.42263917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73255784400004 meters Centerline goodness : 0.152151 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482285e-01 -2.97112482e-03 -3.20364388e-02 3.84140829e+00] [ 2.84671727e-03 9.99988233e-01 -3.92822627e-03 4.39633445e-01] [ 3.20477331e-02 3.83499388e-03 9.99478982e-01 1.42287875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76255784400007 meters Centerline goodness : 0.112463 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482425e-01 -2.98387436e-03 -3.20309004e-02 3.84106585e+00] [ 2.86315012e-03 9.99988627e-01 -3.81419816e-03 4.38918141e-01] [ 3.20419172e-02 3.72051475e-03 9.99479601e-01 1.42340122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79255784400004 meters Centerline goodness : 0.115595 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482982e-01 -2.95575379e-03 -3.20161089e-02 3.84082346e+00] [ 2.83871103e-03 9.99989124e-01 -3.70058329e-03 4.38498485e-01] [ 3.20266987e-02 3.60778554e-03 9.99480502e-01 1.42372465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8225578440001 meters Centerline goodness : 0.115595 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99482982e-01 -2.95575379e-03 -3.20161089e-02 3.84082346e+00] [ 2.83871103e-03 9.99989124e-01 -3.70058329e-03 4.38498485e-01] [ 3.20266987e-02 3.60778554e-03 9.99480502e-01 1.42372465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85255784400005 meters Centerline goodness : 0.115260 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99480895e-01 -2.98559765e-03 -3.20784596e-02 3.84080263e+00] [ 2.87353014e-03 9.99989609e-01 -3.53907764e-03 4.37598071e-01] [ 3.20886926e-02 3.44506206e-03 9.99479088e-01 1.42403669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8825578440001 meters Centerline goodness : 0.115292 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99475959e-01 -3.04286664e-03 -3.22265186e-02 3.84120180e+00] [ 2.93201475e-03 9.99989624e-01 -3.48647067e-03 4.36958335e-01] [ 3.22367931e-02 3.39015498e-03 9.99474510e-01 1.42400187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91255784400005 meters Centerline goodness : 0.117916 Centerline is valid? [False, False] Translation: X:3.84, Y:0.44, Z:1.42 [[ 9.99475550e-01 -3.03886669e-03 -3.22395787e-02 3.84131998e+00] [ 2.93318652e-03 9.99990171e-01 -3.32475242e-03 4.36269542e-01] [ 3.22493653e-02 3.22844406e-03 9.99474640e-01 1.42369715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters Centerline goodness : 0.141892 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:1.42 [[ 9.99481541e-01 -2.94469497e-03 -3.20620808e-02 3.84095045e+00] [ 2.85578005e-03 9.99991950e-01 -2.81865111e-03 4.34533215e-01] [ 3.20701228e-02 2.72562751e-03 9.99481905e-01 1.42324006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97255784400005 meters Centerline goodness : 0.137097 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:1.42 [[ 9.99604227e-01 2.47907874e-03 -2.80221965e-02 3.82015987e+00] [-2.57329184e-03 9.99991156e-01 -3.32652686e-03 4.22300207e-01] [ 2.80137020e-02 3.39731960e-03 9.99601766e-01 1.42064694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002557844 meters Centerline goodness : 0.117329 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99608135e-01 -5.76231935e-03 -2.73929370e-02 3.84062846e+00] [ 5.69140975e-03 9.99980250e-01 -2.66587185e-03 4.23192774e-01] [ 2.74077576e-02 2.50892276e-03 9.99621188e-01 1.42213889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03255784400005 meters Centerline goodness : 0.143838 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99611496e-01 -6.08018175e-03 -2.72008878e-02 3.83978301e+00] [ 6.01222617e-03 9.99978600e-01 -2.57937307e-03 4.21714305e-01] [ 2.72159887e-02 2.41483309e-03 9.99626660e-01 1.42242181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters Centerline goodness : 0.138334 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99620112e-01 -6.16057823e-03 -2.68641005e-02 3.83871334e+00] [ 6.10058147e-03 9.99978712e-01 -2.31473052e-03 4.20367090e-01] [ 2.68777887e-02 2.14996454e-03 9.99636415e-01 1.42255940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09255784400005 meters Centerline goodness : 0.137882 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:1.42 [[ 9.99623088e-01 -6.00567382e-03 -2.67883117e-02 3.83829905e+00] [ 5.95431585e-03 9.99980280e-01 -1.99653426e-03 4.19132816e-01] [ 2.67997740e-02 1.83627567e-03 9.99639135e-01 1.42291911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters Centerline goodness : 0.169234 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99624025e-01 3.39968529e-03 -2.72075447e-02 3.85768882e+00] [-3.43283430e-03 9.99993421e-01 -1.17176003e-03 4.13988576e-01] [ 2.72033821e-02 1.26471847e-03 9.99629119e-01 1.42349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15255784400006 meters Centerline goodness : 0.156091 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99622304e-01 3.36865654e-03 -2.72745663e-02 3.85810393e+00] [-3.40446147e-03 9.99993403e-01 -1.26642904e-03 4.14384506e-01] [ 2.72701202e-02 1.35880592e-03 9.99627178e-01 1.42311696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters Centerline goodness : 0.141276 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99623928e-01 3.33827053e-03 -2.72186994e-02 3.85804098e+00] [-3.37700332e-03 9.99993350e-01 -1.37717811e-03 4.14843743e-01] [ 2.72139210e-02 1.46857783e-03 9.99628554e-01 1.42295532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21255784400006 meters Centerline goodness : 0.144839 Centerline is valid? [False, False] Translation: X:3.86, Y:0.42, Z:1.42 [[ 9.99623234e-01 3.30143437e-03 -2.72486929e-02 3.85812595e+00] [-3.34255287e-03 9.99993343e-01 -1.46359721e-03 4.15202839e-01] [ 2.72436796e-02 1.55412597e-03 9.99627614e-01 1.42290486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters Centerline goodness : 0.144851 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99622148e-01 3.34843796e-03 -2.72827790e-02 3.85817026e+00] [-3.38517177e-03 9.99993425e-01 -1.30033413e-03 4.14472779e-01] [ 2.72782455e-02 1.39219969e-03 9.99626910e-01 1.42293870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27255784400006 meters Centerline goodness : 0.136944 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99621079e-01 3.37254437e-03 -2.73189408e-02 3.85821281e+00] [-3.40546208e-03 9.99993530e-01 -1.15850492e-03 4.13689122e-01] [ 2.73148569e-02 1.25109955e-03 9.99626097e-01 1.42298404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters Centerline goodness : 0.138855 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99620147e-01 3.34401813e-03 -2.73565288e-02 3.85817735e+00] [-3.37482759e-03 9.99993722e-01 -1.08012631e-03 4.13068914e-01] [ 2.73527451e-02 1.17203959e-03 9.99625157e-01 1.42316735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33255784400006 meters Centerline goodness : 0.118126 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99618185e-01 3.30304279e-03 -2.74330897e-02 3.85828452e+00] [-3.33071460e-03 9.99993989e-01 -9.63068623e-04 4.12197021e-01] [ 2.74297437e-02 1.05407270e-03 9.99623178e-01 1.42326561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters Centerline goodness : 0.136891 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99607451e-01 2.85689038e-03 -2.78708079e-02 3.85941533e+00] [-2.88848969e-03 9.99995230e-01 -1.09358364e-03 4.11631595e-01] [ 2.78675507e-02 1.17365890e-03 9.99610935e-01 1.42316388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39255784400007 meters Centerline goodness : 0.148985 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99604450e-01 2.79367067e-03 -2.79846209e-02 3.85956074e+00] [-2.82106352e-03 9.99995580e-01 -9.39420561e-04 4.10596121e-01] [ 2.79818727e-02 1.01799537e-03 9.99607912e-01 1.42336196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters Centerline goodness : 0.136543 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99604510e-01 2.69423126e-03 -2.79922255e-02 3.85932524e+00] [-2.71757777e-03 9.99995991e-01 -7.96026028e-04 4.09547931e-01] [ 2.79899686e-02 8.71782258e-04 9.99607824e-01 1.42376320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45255784400007 meters Centerline goodness : 0.171779 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99595698e-01 2.52236521e-03 -2.83209871e-02 3.85984918e+00] [-2.54194430e-03 9.99996555e-01 -6.55346653e-04 4.08332628e-01] [ 2.83192365e-02 7.27072067e-04 9.99598666e-01 1.42418078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48255784400004 meters Centerline goodness : 0.164634 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99591266e-01 2.40418012e-03 -2.84871973e-02 3.86016990e+00] [-2.41955235e-03 9.99996945e-01 -5.05161016e-04 4.07237845e-01] [ 2.84858958e-02 5.73880805e-04 9.99594030e-01 1.42423801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51255784400007 meters Centerline goodness : 0.139958 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99603496e-01 -6.88264404e-03 -2.73034781e-02 3.88080028e+00] [ 6.87521892e-03 9.99976298e-01 -3.65815885e-04 4.08515699e-01] [ 2.73053488e-02 1.77953448e-04 9.99627124e-01 1.42489017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54255784400004 meters Centerline goodness : 0.165833 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99594171e-01 -7.08257617e-03 -2.75922180e-02 3.88158389e+00] [ 7.07951922e-03 9.99974918e-01 -2.08478011e-04 4.06906194e-01] [ 2.75930025e-02 1.30537665e-05 9.99619241e-01 1.42473793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5725578440001 meters Centerline goodness : 0.175275 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.42 [[ 9.99578898e-01 -7.24447895e-03 -2.80988178e-02 3.88284546e+00] [ 7.24748615e-03 9.99973737e-01 5.17931451e-06 4.05099862e-01] [ 2.80980423e-02 -2.08822926e-04 9.99605150e-01 1.42465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60255784400005 meters Centerline goodness : 0.121055 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99567551e-01 -7.28977975e-03 -2.84880784e-02 3.88378913e+00] [ 7.30173657e-03 9.99973292e-01 3.15706830e-04 4.03235185e-01] [ 2.84850161e-02 -5.23582747e-04 9.99594082e-01 1.42460722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6325578440001 meters Centerline goodness : 0.117131 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99562967e-01 -7.25122075e-03 -2.86582586e-02 3.88430496e+00] [ 7.27056675e-03 9.99973406e-01 5.70912180e-04 4.01969775e-01] [ 2.86533567e-02 -7.79024455e-04 9.99589105e-01 1.42439265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66255784400005 meters Centerline goodness : 0.197516 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99569649e-01 -7.28594075e-03 -2.84153293e-02 3.88345651e+00] [ 7.31468946e-03 9.99972835e-01 9.07916660e-04 4.00120095e-01] [ 2.84079423e-02 -1.11537525e-03 9.99595791e-01 1.42477283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 321.72255784400005 meters Centerline goodness : 0.052286 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.43 [[ 9.99576095e-01 -7.30230729e-03 -2.81834363e-02 3.88252182e+00] [ 7.33479005e-03 9.99972549e-01 1.04933830e-03 3.99402417e-01] [ 2.81750001e-02 -1.25561307e-03 9.99602217e-01 1.42528513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 321.78255784400005 meters Centerline goodness : 0.115297 Centerline is valid? [False, False] Translation: X:3.88, Y:0.40, Z:1.42 [[ 9.99571507e-01 -7.33942422e-03 -2.83360980e-02 3.88326065e+00] [ 7.37160955e-03 9.99972297e-01 1.03154541e-03 3.99568841e-01] [ 2.83277420e-02 -1.23998605e-03 9.99597920e-01 1.42468101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812557844 meters Centerline goodness : 0.155712 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99647366e-01 8.75441108e-05 -2.65544039e-02 3.86234475e+00] [-7.40833818e-05 9.99999868e-01 5.07894730e-04 3.95703250e-01] [ 2.65544449e-02 -5.05748389e-04 9.99647241e-01 1.42285964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84255784400005 meters Centerline goodness : 0.150241 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99653065e-01 1.52424260e-04 -2.63387000e-02 3.86157086e+00] [-1.38839686e-04 9.99999856e-01 5.17592758e-04 3.96003665e-01] [ 2.63387751e-02 -5.13756330e-04 9.99652942e-01 1.42324082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872557844 meters Centerline goodness : 0.206177 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99656870e-01 1.29958379e-04 -2.61940125e-02 3.86114018e+00] [-1.19539323e-04 9.99999913e-01 3.99330264e-04 3.96715586e-01] [ 2.61940621e-02 -3.96062027e-04 9.99656798e-01 1.42332695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90255784400006 meters Centerline goodness : 0.170043 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99653308e-01 8.31637984e-05 -2.63297595e-02 3.86179202e+00] [-7.63200054e-05 9.99999963e-01 2.60930958e-04 3.97477683e-01] [ 2.63297802e-02 -2.58831008e-04 9.99653278e-01 1.42275281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93255784400003 meters Centerline goodness : 0.179651 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99643096e-01 7.54033685e-06 -2.67148076e-02 3.86317826e+00] [-6.52663605e-06 9.99999999e-01 3.80324723e-05 3.98732376e-01] [ 2.67148079e-02 -3.78445406e-05 9.99643095e-01 1.42204573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96255784400006 meters Centerline goodness : 0.159812 Centerline is valid? [False, False] Translation: X:3.86, Y:0.40, Z:1.42 [[ 9.99638120e-01 -9.48503968e-05 -2.69002038e-02 3.86400269e+00] [ 8.62361310e-05 9.99999945e-01 -3.21390418e-04 4.00755549e-01] [ 2.69002328e-02 3.18954344e-04 9.99638072e-01 1.42149637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99255784400003 meters Centerline goodness : 0.162761 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99656219e-01 1.84199064e-03 -2.61543622e-02 3.85997092e+00] [-1.81428497e-03 9.99997768e-01 1.08300407e-03 4.05742710e-01] [ 2.61562987e-02 -1.03518028e-03 9.99657330e-01 1.42386215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02255784400006 meters Centerline goodness : 0.121387 Centerline is valid? [False, False] Translation: X:3.86, Y:0.41, Z:1.42 [[ 9.99661937e-01 1.71268628e-03 -2.59437441e-02 3.85916647e+00] [-1.69468374e-03 9.99998308e-01 7.15877973e-04 4.07485654e-01] [ 2.59449263e-02 -6.71669520e-04 9.99663148e-01 1.42431915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05255784400003 meters Centerline goodness : 0.164366 Centerline is valid? [False, False] Translation: X:3.88, Y:0.41, Z:1.43 [[ 9.99655223e-01 -5.66185809e-03 -2.56394112e-02 3.87830195e+00] [ 5.70141306e-03 9.99982666e-01 1.46990077e-03 4.13608583e-01] [ 2.56306444e-02 -1.61557486e-03 9.99670176e-01 1.42640277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08255784400006 meters Centerline goodness : 0.178766 Centerline is valid? [False, False] Translation: X:3.88, Y:0.42, Z:1.43 [[ 9.99656835e-01 -5.82232730e-03 -2.55403977e-02 3.87828965e+00] [ 5.85084487e-03 9.99982341e-01 1.04198015e-03 4.15830386e-01] [ 2.55338799e-02 -1.19105548e-03 9.99673248e-01 1.42598506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11255784400004 meters Centerline goodness : 0.121073 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99658577e-01 3.12264531e-03 -2.59418330e-02 3.90004578e+00] [-3.12041140e-03 9.99995123e-01 1.26593632e-04 4.17115226e-01] [ 2.59421018e-02 -4.56012189e-05 9.99663446e-01 1.42535958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14255784400007 meters Centerline goodness : 0.179086 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.42 [[ 9.99654358e-01 2.84922422e-03 -2.61351596e-02 3.90075907e+00] [-2.86101314e-03 9.99995822e-01 -4.13693172e-04 4.19591877e-01] [ 2.61338717e-02 4.88323218e-04 9.99658333e-01 1.42497083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17255784400004 meters Centerline goodness : 0.161751 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99653075e-01 2.61323140e-03 -2.62087806e-02 3.90081645e+00] [-2.63750063e-03 9.99996124e-01 -8.91470088e-04 4.21781296e-01] [ 2.62063494e-02 9.60286490e-04 9.99656093e-01 1.42514745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20255784400007 meters Centerline goodness : 0.164242 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:1.43 [[ 9.99656773e-01 2.38701871e-03 -2.60890296e-02 3.90043056e+00] [-2.42364745e-03 9.99996121e-01 -1.37245934e-03 4.24087505e-01] [ 2.60856524e-02 1.43521889e-03 9.99658681e-01 1.42524748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23255784400004 meters Centerline goodness : 0.117004 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:1.43 [[ 9.99594827e-01 1.69711358e-03 -2.84130709e-02 3.85327087e+00] [-1.71800206e-03 9.99998272e-01 -7.10775792e-04 4.27849376e-01] [ 2.84118155e-02 7.59301519e-04 9.99596014e-01 1.42608255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26255784400007 meters Centerline goodness : 0.128785 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:1.42 [[ 9.99588721e-01 1.17847402e-03 -2.86531086e-02 3.85458599e+00] [-1.21858372e-03 9.99998302e-01 -1.38241611e-03 4.30731924e-01] [ 2.86514308e-02 1.41676376e-03 9.99588459e-01 1.42488568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29255784400004 meters Centerline goodness : 0.151868 Centerline is valid? [False, False] Translation: X:3.86, Y:0.43, Z:1.42 [[ 9.99581721e-01 9.34063175e-04 -2.89051926e-02 3.85541212e+00] [-9.81046485e-04 9.99998221e-01 -1.61128909e-03 4.31444642e-01] [ 2.89036361e-02 1.63897246e-03 9.99580859e-01 1.42447412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3225578440001 meters Centerline goodness : 0.157220 Centerline is valid? [False, False] Translation: X:3.86, Y:0.43, Z:1.42 [[ 9.99579047e-01 7.71861080e-04 -2.90023005e-02 3.85580900e+00] [-8.23775150e-04 9.99998080e-01 -1.77809278e-03 4.32018771e-01] [ 2.90008724e-02 1.80123566e-03 9.99577763e-01 1.42412344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 322.3825578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 322.41255784400005 meters Centerline goodness : 0.161794 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:1.43 [[ 9.99519615e-01 -7.26517148e-03 -3.01289865e-02 3.87687486e+00] [ 7.22026879e-03 9.99972655e-01 -1.59887654e-03 4.41339386e-01] [ 3.01397787e-02 1.38056908e-03 9.99544740e-01 1.42585573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442557844 meters Centerline goodness : 0.214172 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:1.42 [[ 9.99533777e-01 6.28789040e-04 -3.05259479e-02 3.85698745e+00] [-7.13395119e-04 9.99995935e-01 -2.76079993e-03 4.39128092e-01] [ 3.05240878e-02 2.78128984e-03 9.99530162e-01 1.42367733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47255784400005 meters Centerline goodness : 0.151793 Centerline is valid? [False, False] Translation: X:3.88, Y:0.44, Z:1.43 [[ 9.99485415e-01 -6.46860381e-03 -3.14175528e-02 3.87628943e+00] [ 6.41673988e-03 9.99977879e-01 -1.75133959e-03 4.44499958e-01] [ 3.14281865e-02 1.54884011e-03 9.99504812e-01 1.42611607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters Centerline goodness : 0.114955 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:1.42 [[ 9.99513991e-01 1.43907329e-03 -3.11401932e-02 3.85596320e+00] [-1.53087026e-03 9.99994553e-01 -2.92422071e-03 4.43306763e-01] [ 3.11358154e-02 2.97047111e-03 9.99510749e-01 1.42397490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53255784400005 meters Centerline goodness : 0.093127 Centerline is valid? [False, False] Translation: X:3.86, Y:0.45, Z:1.42 [[ 9.99514802e-01 1.27457321e-03 -3.11213156e-02 3.85586378e+00] [-1.38022710e-03 9.99993357e-01 -3.37365805e-03 4.45487202e-01] [ 3.11168089e-02 3.41497564e-03 9.99509921e-01 1.42413500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters Centerline goodness : 0.094455 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99526912e-01 9.44262282e-04 -3.07418415e-02 3.85477246e+00] [-1.07783051e-03 9.99990051e-01 -4.32855386e-03 4.50207776e-01] [ 3.07374483e-02 4.35964057e-03 9.99517985e-01 1.42447901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59255784400005 meters Centerline goodness : 0.170830 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99532643e-01 7.73507271e-04 -3.05597228e-02 3.85415406e+00] [-9.20066777e-04 9.99988143e-01 -4.78206820e-03 4.52443238e-01] [ 3.05556614e-02 4.80795025e-03 9.99521503e-01 1.42475675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622557844 meters Centerline goodness : 0.124892 Centerline is valid? [False, False] Translation: X:3.85, Y:0.45, Z:1.42 [[ 9.99532935e-01 5.98183923e-04 -3.05541180e-02 3.85412654e+00] [-7.58252117e-04 9.99986049e-01 -5.22752403e-03 4.54725759e-01] [ 3.05505647e-02 5.24825016e-03 9.99519444e-01 1.42478949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65255784400006 meters Centerline goodness : 0.198227 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99529033e-01 2.83529073e-04 -3.06860130e-02 3.85478936e+00] [-4.67642615e-04 9.99981933e-01 -5.99290694e-03 4.58450369e-01] [ 3.06837594e-02 6.00443457e-03 9.99511107e-01 1.42431835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68255784400003 meters Centerline goodness : 0.168782 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99528374e-01 1.39344212e-04 -3.07084696e-02 3.85486628e+00] [-3.32899972e-04 9.99980112e-01 -6.29798648e-03 4.59798184e-01] [ 3.07069813e-02 6.30523904e-03 9.99508542e-01 1.42427802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71255784400006 meters Centerline goodness : 0.168782 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99528374e-01 1.39344212e-04 -3.07084696e-02 3.85486628e+00] [-3.32899972e-04 9.99980112e-01 -6.29798648e-03 4.59798184e-01] [ 3.07069813e-02 6.30523904e-03 9.99508542e-01 1.42427802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74255784400003 meters Centerline goodness : 0.157390 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99531842e-01 3.34860219e-05 -3.05956733e-02 3.85455345e+00] [-2.33793042e-04 9.99978565e-01 -6.54335284e-03 4.60953044e-01] [ 3.05947983e-02 6.54744258e-03 9.99510425e-01 1.42430456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77255784400006 meters Centerline goodness : 0.097084 Centerline is valid? [False, False] Translation: X:3.85, Y:0.46, Z:1.42 [[ 9.99535819e-01 -7.89034145e-05 -3.04654076e-02 3.85414337e+00] [-1.28385459e-04 9.99976857e-01 -6.80205748e-03 4.62245431e-01] [ 3.04652392e-02 6.80281141e-03 9.99512677e-01 1.42441772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80255784400003 meters Centerline goodness : 0.188850 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99947996 -0.00752996 -0.03135458 3.87458939] [ 0.0073459 0.99995513 -0.00598133 0.46949297] [ 0.03139821 0.00574789 0.99949043 1.42664092] [ 0. 0. 0. 1. ]] SLAMing on 322.83255784400006 meters Centerline goodness : 0.400929 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947313 -0.0076544 -0.03154154 3.87531293] [ 0.0074617 0.9999528 -0.00622268 0.47057978] [ 0.03158768 0.00598404 0.99948307 1.42623086] [ 0. 0. 0. 1. ]] SLAMing on 322.86255784400004 meters Centerline goodness : 0.126626 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.9994686 -0.00773261 -0.03166579 3.87585489] [ 0.00753563 0.99995154 -0.00633537 0.47101823] [ 0.03171325 0.00609338 0.99947843 1.42582344] [ 0. 0. 0. 1. ]] SLAMing on 322.89255784400007 meters Centerline goodness : 0.130385 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947161 -0.00777258 -0.03156101 3.87569959] [ 0.00757519 0.99995102 -0.006369 0.47112211] [ 0.03160897 0.00612655 0.99948153 1.42562127] [ 0. 0. 0. 1. ]] SLAMing on 322.92255784400004 meters Centerline goodness : 0.390709 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947454 -0.00780439 -0.03145997 3.87544887] [ 0.00760629 0.99995052 -0.00641174 0.47132378] [ 0.03150846 0.00616908 0.99948445 1.42557222] [ 0. 0. 0. 1. ]] SLAMing on 322.95255784400007 meters Centerline goodness : 0.381815 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99947893 -0.00784083 -0.03131132 3.87498559] [ 0.0076411 0.99994972 -0.00649341 0.47178986] [ 0.03136066 0.00625077 0.99948859 1.42567768] [ 0. 0. 0. 1. ]] SLAMing on 322.98255784400004 meters Centerline goodness : 0.411968 Centerline is valid? [False, False] Translation: X:3.87, Y:0.47, Z:1.43 [[ 0.99948088 -0.00791498 -0.03123007 3.87463321] [ 0.00770905 0.99994778 -0.0067088 0.4729903 ] [ 0.03128154 0.00646457 0.99948971 1.42592573] [ 0. 0. 0. 1. ]] SLAMing on 323.01255784400007 meters Centerline goodness : 0.190054 Centerline is valid? [False, False] Translation: X:3.88, Y:0.47, Z:1.43 [[ 0.99947595 -0.00794694 -0.03137936 3.87510104] [ 0.00773586 0.99994667 -0.00684245 0.47379107] [ 0.03143207 0.00659612 0.99948413 1.42575874] [ 0. 0. 0. 1. ]] SLAMing on 323.04255784400004 meters Centerline goodness : 0.195327 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99946812 -0.0080216 -0.03160904 3.87578469] [ 0.00780185 0.99994458 -0.00706935 0.47504135] [ 0.03166399 0.00681898 0.99947531 1.42560315] [ 0. 0. 0. 1. ]] SLAMing on 323.0725578440001 meters Centerline goodness : 0.153452 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99946211 -0.00809951 -0.03177867 3.87625718] [ 0.00787067 0.99994224 -0.00731961 0.47639953] [ 0.03183611 0.00706555 0.99946813 1.42555866] [ 0. 0. 0. 1. ]] SLAMing on 323.10255784400005 meters Centerline goodness : 0.155744 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:1.43 [[ 0.99948187 -0.00488847 -0.03181335 3.87613486] [ 0.00476023 0.99998024 -0.00410566 0.47656897] [ 0.03183279 0.00395209 0.99948539 1.42566274] [ 0. 0. 0. 1. ]] SLAMing on 323.1325578440001 meters Centerline goodness : 0.164755 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:1.43 [[ 9.99527671e-01 -2.64122936e-03 -3.06179539e-02 3.87101049e+00] [ 2.56849918e-03 9.99993786e-01 -2.41449657e-03 4.81569770e-01] [ 3.06241409e-02 2.33471395e-03 9.99528244e-01 1.42797617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16255784400005 meters Centerline goodness : 0.167953 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:1.43 [[ 9.99530283e-01 -2.80508534e-03 -3.05179488e-02 3.87059226e+00] [ 2.71638883e-03 9.99991967e-01 -2.94744267e-03 4.84412323e-01] [ 3.05259715e-02 2.86315959e-03 9.99529873e-01 1.42832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192557844 meters Centerline goodness : 0.169351 Centerline is valid? [False, False] Translation: X:3.87, Y:0.49, Z:1.43 [[ 9.99525324e-01 -3.00616420e-03 -3.06608961e-02 3.87098547e+00] [ 2.89882006e-03 9.99989515e-01 -3.54486128e-03 4.87445029e-01] [ 3.06712311e-02 3.45429820e-03 9.99523558e-01 1.42833832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22255784400005 meters Centerline goodness : 0.138801 Centerline is valid? [False, False] Translation: X:3.87, Y:0.49, Z:1.43 [[ 9.99514832e-01 -3.23809153e-03 -3.09776537e-02 3.87200368e+00] [ 3.11028422e-03 9.99986456e-01 -4.17308768e-03 4.90570749e-01] [ 3.09907470e-02 4.07471372e-03 9.99511366e-01 1.42805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252557844 meters Centerline goodness : 0.386893 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 9.99509789e-01 -3.71190761e-03 -3.10870292e-02 3.87265480e+00] [ 3.54526485e-03 9.99979060e-01 -5.41392867e-03 4.96888779e-01] [ 3.11064742e-02 5.30106295e-03 9.99502019e-01 1.42756523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28255784400005 meters Centerline goodness : 0.223941 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 9.99512464e-01 -3.94891638e-03 -3.09716080e-02 3.87239949e+00] [ 3.76372377e-03 9.99974704e-01 -6.03545249e-03 4.99998091e-01] [ 3.09946581e-02 5.91594141e-03 9.99502042e-01 1.42754892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312557844 meters Centerline goodness : 0.126510 Centerline is valid? [False, False] Translation: X:3.87, Y:0.50, Z:1.43 [[ 0.99951246 -0.00417875 -0.03094157 3.87243317] [ 0.0039754 0.99997011 -0.0066308 0.50304859] [ 0.03096835 0.00650456 0.9994992 1.42741363] [ 0. 0. 0. 1. ]] SLAMing on 323.34255784400005 meters Centerline goodness : 0.165164 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.43 [[ 9.99502725e-01 -2.31701821e-03 -3.14473254e-02 3.87573330e+00] [ 2.15448338e-03 9.99984152e-01 -5.20137951e-03 5.08848017e-01] [ 3.14588787e-02 5.13104025e-03 9.99491877e-01 1.42520554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372557844 meters Centerline goodness : 0.158367 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99500231e-01 -2.52021271e-03 -3.15108870e-02 3.87615823e+00] [ 2.34539245e-03 9.99981661e-01 -5.58366366e-03 5.10489772e-01] [ 3.15243812e-02 5.50696772e-03 9.99487812e-01 1.42477391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40255784400006 meters Centerline goodness : 0.169078 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99504111e-01 -2.67528811e-03 -3.13747657e-02 3.87582562e+00] [ 2.49139856e-03 9.99979499e-01 -5.89869477e-03 5.11824417e-01] [ 3.13899032e-02 5.81760262e-03 9.99490285e-01 1.42475283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43255784400003 meters Centerline goodness : 0.141097 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99509538e-01 -2.80903107e-03 -3.11896418e-02 3.87528673e+00] [ 2.61707967e-03 9.99977396e-01 -6.19344986e-03 5.13217028e-01] [ 3.12063344e-02 6.10878643e-03 9.99494296e-01 1.42485330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46255784400006 meters Centerline goodness : 0.131922 Centerline is valid? [False, False] Translation: X:3.88, Y:0.51, Z:1.42 [[ 9.99513003e-01 -2.94358054e-03 -3.10659475e-02 3.87504090e+00] [ 2.74363300e-03 9.99975261e-01 -6.47689461e-03 5.14693722e-01] [ 3.10842442e-02 6.38850682e-03 9.99496352e-01 1.42474597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49255784400003 meters Centerline goodness : 0.147383 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99511066e-01 -3.03742357e-03 -3.11191838e-02 3.87540482e+00] [ 2.83039950e-03 9.99973586e-01 -6.69451108e-03 5.15867064e-01] [ 3.11386959e-02 6.60315818e-03 9.99493262e-01 1.42440123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52255784400006 meters Centerline goodness : 0.167705 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99494215e-01 -3.25121263e-03 -3.16345484e-02 3.87754463e+00] [ 3.03050451e-03 9.99970752e-01 -7.02225328e-03 5.17058744e-01] [ 3.16564539e-02 6.92283289e-03 9.99474834e-01 1.42306927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55255784400003 meters Centerline goodness : 0.157389 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99488100e-01 -3.31775081e-03 -3.18202751e-02 3.87823132e+00] [ 3.09179707e-03 9.99969676e-01 -7.14751277e-03 5.17518053e-01] [ 3.18430239e-02 7.04547213e-03 9.99468050e-01 1.42266443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58255784400006 meters Centerline goodness : 0.128018 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99482924e-01 -3.36637683e-03 -3.19773635e-02 3.87855456e+00] [ 3.13377448e-03 9.99968288e-01 -7.32130394e-03 5.18511605e-01] [ 3.20009957e-02 7.21730843e-03 9.99461779e-01 1.42279547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61255784400004 meters Centerline goodness : 0.165080 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99486505e-01 -3.41962700e-03 -3.18595600e-02 3.87800616e+00] [ 3.17987272e-03 9.99966269e-01 -7.57297917e-03 5.20105323e-01] [ 3.18843821e-02 7.46778115e-03 9.99463665e-01 1.42320361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64255784400007 meters Centerline goodness : 0.148222 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99506302e-01 3.76601622e-04 -3.14167200e-02 3.87657010e+00] [-5.05672991e-04 9.99991465e-01 -4.10052145e-03 5.21830110e-01] [ 3.14149076e-02 4.11438362e-03 9.99497962e-01 1.42367825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67255784400004 meters Centerline goodness : 0.149656 Centerline is valid? [False, False] Translation: X:3.88, Y:0.52, Z:1.42 [[ 9.99505122e-01 2.21875498e-04 -3.14557219e-02 3.87673988e+00] [-3.63995728e-04 9.99989753e-01 -4.51244993e-03 5.23838898e-01] [ 3.14543984e-02 4.52166657e-03 9.99494960e-01 1.42364229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70255784400007 meters Centerline goodness : 0.121554 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99505930e-01 7.39450550e-05 -3.14307359e-02 3.87677297e+00] [-2.28949390e-04 9.99987831e-01 -4.92804616e-03 5.25879743e-01] [ 3.14299890e-02 4.93280740e-03 9.99493783e-01 1.42351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73255784400004 meters Centerline goodness : 0.154769 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99509111e-01 -8.82242405e-05 -3.13293523e-02 3.87641467e+00] [-8.18692875e-05 9.99985266e-01 -5.42788239e-03 5.28370472e-01] [ 3.13293695e-02 5.42778281e-03 9.99494377e-01 1.42375220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76255784400007 meters Centerline goodness : 0.157035 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 0.99958083 0.00767366 -0.02791571 3.89596152] [-0.00787647 0.99994333 -0.00716236 0.53072076] [ 0.02785917 0.00737924 0.99958462 1.42451105] [ 0. 0. 0. 1. ]] SLAMing on 323.79255784400004 meters Centerline goodness : 0.113351 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.43 [[ 0.99958724 0.00746151 -0.027743 3.89514492] [-0.00767757 0.99994096 -0.00768956 0.53324712] [ 0.02768399 0.00789939 0.99958551 1.42520386] [ 0. 0. 0. 1. ]] SLAMing on 323.8225578440001 meters Centerline goodness : 0.118891 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.43 [[ 0.99959121 0.00723395 -0.02766025 3.89480944] [-0.00746523 0.99993796 -0.00826727 0.53602454] [ 0.02759872 0.00847038 0.99958319 1.42550324] [ 0. 0. 0. 1. ]] SLAMing on 323.85255784400005 meters Centerline goodness : 0.139047 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99611763e-01 -5.99212134e-04 -2.78561378e-02 3.87642511e+00] [ 3.99341131e-04 9.99974143e-01 -7.18012488e-03 5.45129008e-01] [ 2.78597199e-02 7.16621319e-03 9.99586155e-01 1.42351989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8825578440001 meters Centerline goodness : 0.137289 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99609211e-01 -8.35933180e-04 -2.79414700e-02 3.87680565e+00] [ 6.18778189e-04 9.99969548e-01 -7.77952437e-03 5.48083757e-01] [ 2.79471223e-02 7.75919465e-03 9.99579288e-01 1.42329293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91255784400005 meters Centerline goodness : 0.138628 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99603169e-01 -1.30753608e-03 -2.81388417e-02 3.87767856e+00] [ 1.05708939e-03 9.99959716e-01 -8.91342691e-03 5.53815538e-01] [ 2.81493628e-02 8.88014452e-03 9.99564283e-01 1.42283933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942557844 meters Centerline goodness : 0.153941 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99599581e-01 -1.53786239e-03 -2.82544195e-02 3.87804976e+00] [ 1.27090196e-03 9.99954408e-01 -9.46397804e-03 5.56560103e-01] [ 2.82676857e-02 9.42427989e-03 9.99555962e-01 1.42276957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97255784400005 meters Centerline goodness : 0.180282 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99595569e-01 -1.73197096e-03 -2.83848324e-02 3.87837882e+00] [ 1.45113035e-03 9.99949825e-01 -9.91165216e-03 5.58786564e-01] [ 2.84005749e-02 9.86645348e-03 9.99547928e-01 1.42280131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters Centerline goodness : 0.171877 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99589325e-01 -2.07420016e-03 -2.85811043e-02 3.87893428e+00] [ 1.77284878e-03 9.99942617e-01 -1.05650367e-02 5.61830764e-01] [ 2.86013782e-02 1.05100279e-02 9.99535642e-01 1.42271068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03255784400005 meters Centerline goodness : 0.383036 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99589020e-01 -2.24327274e-03 -2.85789857e-02 3.87915217e+00] [ 1.93628767e-03 9.99940183e-01 -1.07647860e-02 5.62508538e-01] [ 2.86014245e-02 1.07050248e-02 9.99533572e-01 1.42229730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters Centerline goodness : 0.133597 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99590924e-01 -2.37816431e-03 -2.85013796e-02 3.87917471e+00] [ 2.06880248e-03 9.99938683e-01 -1.08788524e-02 5.62759331e-01] [ 2.85255037e-02 1.08154384e-02 9.99534553e-01 1.42190340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09255784400005 meters Centerline goodness : 0.238183 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99596947e-01 -2.45725199e-03 -2.82825863e-02 3.87876348e+00] [ 2.15020686e-03 9.99938481e-01 -1.08816292e-02 5.62574929e-01] [ 2.83075853e-02 1.08164299e-02 9.99540737e-01 1.42158163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters Centerline goodness : 0.338564 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99601341e-01 -2.47920443e-03 -2.81249364e-02 3.87821396e+00] [ 2.17512347e-03 9.99938910e-01 -1.08372384e-02 5.62374891e-01] [ 2.81500860e-02 1.07717428e-02 9.99545668e-01 1.42178099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15255784400006 meters Centerline goodness : 0.141777 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99606427e-01 -2.47513387e-03 -2.79439582e-02 3.87766992e+00] [ 2.17388455e-03 9.99939253e-01 -1.08057184e-02 5.62385688e-01] [ 2.79690063e-02 1.07407187e-02 9.99551085e-01 1.42189171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters Centerline goodness : 0.286272 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99599256e-01 -2.56310024e-03 -2.81914423e-02 3.87843320e+00] [ 2.25480569e-03 9.99937372e-01 -1.09621078e-02 5.63200666e-01] [ 2.82177738e-02 1.08941485e-02 9.99542433e-01 1.42167600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21255784400006 meters Centerline goodness : 0.157217 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99592716e-01 -2.58231452e-03 -2.84206432e-02 3.87927162e+00] [ 2.26887412e-03 9.99936314e-01 -1.10553453e-02 5.63781151e-01] [ 2.84473816e-02 1.09863597e-02 9.99534915e-01 1.42129811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters Centerline goodness : 0.141085 Centerline is valid? [False, False] Translation: X:3.88, Y:0.56, Z:1.42 [[ 9.99590038e-01 -2.64253969e-03 -2.85091607e-02 3.87973448e+00] [ 2.32280770e-03 9.99934105e-01 -1.12423555e-02 5.64718125e-01] [ 2.85369905e-02 1.11715252e-02 9.99530308e-01 1.42093043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27255784400006 meters Centerline goodness : 0.393835 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99586991e-01 -2.68642439e-03 -2.86117183e-02 3.88010190e+00] [ 2.35927467e-03 9.99931529e-01 -1.14617434e-02 5.65866431e-01] [ 2.86405503e-02 1.13895067e-02 9.99524886e-01 1.42081822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters Centerline goodness : 0.337079 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99579247e-01 -2.78888759e-03 -2.88712884e-02 3.88074617e+00] [ 2.44640001e-03 9.99926306e-01 -1.18911004e-02 5.68028459e-01] [ 2.89023237e-02 1.18154665e-02 9.99512406e-01 1.42092647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33255784400006 meters Centerline goodness : 0.378275 Centerline is valid? [False, False] Translation: X:3.88, Y:0.57, Z:1.42 [[ 9.99576660e-01 -2.81976017e-03 -2.89577392e-02 3.88084441e+00] [ 2.47139230e-03 9.99924234e-01 -1.20589687e-02 5.69090747e-01] [ 2.89895486e-02 1.19822977e-02 9.99507894e-01 1.42115420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters Centerline goodness : 0.346449 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99956651 -0.00863495 -0.02814663 3.90267306] [ 0.00839393 0.99992718 -0.00866987 0.56998419] [ 0.02821945 0.00842985 0.99956621 1.42190789] [ 0. 0. 0. 1. ]] SLAMing on 324.39255784400007 meters Centerline goodness : 0.313991 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99956933 -0.00864408 -0.02804347 3.90219374] [ 0.00840213 0.99992656 -0.00873408 0.57049439] [ 0.0281169 0.00849469 0.99956855 1.42223288] [ 0. 0. 0. 1. ]] SLAMing on 324.42255784400004 meters Centerline goodness : 0.182724 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99957342 -0.00863934 -0.02789871 3.90162311] [ 0.00839945 0.99992684 -0.00870439 0.57028205] [ 0.02797187 0.00846634 0.99957286 1.42251077] [ 0. 0. 0. 1. ]] SLAMing on 324.45255784400007 meters Centerline goodness : 0.170022 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99957775 -0.0086184 -0.0277498 3.90121236] [ 0.00838264 0.99992787 -0.00860123 0.56961667] [ 0.02782192 0.00836498 0.99957789 1.42249782] [ 0. 0. 0. 1. ]] SLAMing on 324.48255784400004 meters Centerline goodness : 0.378107 Centerline is valid? [False, False] Translation: X:3.90, Y:0.57, Z:1.42 [[ 0.99958092 -0.00859853 -0.02764128 3.90111363] [ 0.00837737 0.99993205 -0.008107 0.56673844] [ 0.02770911 0.00787204 0.99958503 1.42202038] [ 0. 0. 0. 1. ]] SLAMing on 324.51255784400007 meters Centerline goodness : 0.240752 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.9995786 -0.00845379 -0.02776983 3.90151409] [ 0.00824307 0.99993643 -0.0076937 0.56482841] [ 0.0278331 0.00746155 0.99958474 1.42177349] [ 0. 0. 0. 1. ]] SLAMing on 324.54255784400004 meters Centerline goodness : 0.239981 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99957824 -0.00827909 -0.02783506 3.90181908] [ 0.00808174 0.99994146 -0.00719526 0.5624925 ] [ 0.027893 0.00696727 0.99958663 1.42141656] [ 0. 0. 0. 1. ]] SLAMing on 324.5725578440001 meters Centerline goodness : 0.371514 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99957636 -0.00815137 -0.02794005 3.90212467] [ 0.00796402 0.9999451 -0.00681001 0.56058307] [ 0.02799402 0.00658461 0.9995864 1.42127409] [ 0. 0. 0. 1. ]] SLAMing on 324.60255784400005 meters Centerline goodness : 0.141808 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958006 -0.00801844 -0.02784609 3.90160039] [ 0.00784356 0.99994886 -0.00638367 0.55825307] [ 0.02789586 0.00616257 0.99959184 1.4216614 ] [ 0. 0. 0. 1. ]] SLAMing on 324.6325578440001 meters Centerline goodness : 0.141808 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958006 -0.00801844 -0.02784609 3.90160039] [ 0.00784356 0.99994886 -0.00638367 0.55825307] [ 0.02789586 0.00616257 0.99959184 1.4216614 ] [ 0. 0. 0. 1. ]] SLAMing on 324.66255784400005 meters Centerline goodness : 0.139824 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958352 -0.00797644 -0.02773378 3.90118228] [ 0.00780514 0.99994982 -0.00627968 0.55774134] [ 0.02778248 0.0060606 0.99959562 1.42187317] [ 0. 0. 0. 1. ]] SLAMing on 324.692557844 meters Centerline goodness : 0.142296 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.9995882 -0.00790999 -0.02758371 3.90081927] [ 0.00774189 0.99995084 -0.00619577 0.55749675] [ 0.02763136 0.00597967 0.9996003 1.42184407] [ 0. 0. 0. 1. ]] SLAMing on 324.72255784400005 meters Centerline goodness : 0.111222 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99959095 -0.0078792 -0.02749281 3.90060346] [ 0.00771329 0.99995143 -0.0061354 0.55722379] [ 0.02753982 0.00592083 0.99960317 1.42179232] [ 0. 0. 0. 1. ]] SLAMing on 324.752557844 meters Centerline goodness : 0.139199 Centerline is valid? [False, False] Translation: X:3.90, Y:0.56, Z:1.42 [[ 0.99958991 -0.00782815 -0.02754524 3.90095231] [ 0.00766549 0.99995258 -0.00600582 0.55649837] [ 0.02759095 0.00579221 0.99960252 1.42141501] [ 0. 0. 0. 1. ]] SLAMing on 324.78255784400005 meters Centerline goodness : 0.120764 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99590182e-01 4.53015466e-04 -2.86227567e-02 3.88128453e+00] [-6.53890405e-04 9.99975223e-01 -7.00904490e-03 5.50492433e-01] [ 2.86188723e-02 7.02488861e-03 9.99565711e-01 1.41915107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812557844 meters Centerline goodness : 0.196740 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99591231e-01 5.57950488e-04 -2.85842416e-02 3.88094325e+00] [-7.50341364e-04 9.99977136e-01 -6.72037830e-03 5.49073188e-01] [ 2.85798385e-02 6.73907916e-03 9.99568796e-01 1.41943395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84255784400005 meters Centerline goodness : 0.139382 Centerline is valid? [False, False] Translation: X:3.88, Y:0.55, Z:1.42 [[ 9.99597940e-01 6.81558522e-04 -2.83459495e-02 3.87989807e+00] [-8.63953057e-04 9.99979000e-01 -6.42283960e-03 5.47671090e-01] [ 2.83409766e-02 6.44474681e-03 9.99577538e-01 1.42008330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872557844 meters Centerline goodness : 0.119614 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99603497e-01 8.92941730e-04 -2.81434174e-02 3.87921079e+00] [-1.05715713e-03 9.99982501e-01 -5.82061005e-03 5.44588499e-01] [ 2.81377275e-02 5.84805417e-03 9.99586949e-01 1.42025542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90255784400006 meters Centerline goodness : 0.148795 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99604129e-01 9.87100872e-04 -2.81178202e-02 3.87927051e+00] [-1.14224807e-03 9.99984210e-01 -5.50222615e-03 5.42861934e-01] [ 2.81119450e-02 5.53216551e-03 9.99589473e-01 1.41995126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93255784400003 meters Centerline goodness : 0.252530 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99605642e-01 1.10819916e-03 -2.80594354e-02 3.87915885e+00] [-1.25385871e-03 9.99985828e-01 -5.17404501e-03 5.41207119e-01] [ 2.80533039e-02 5.20718715e-03 9.99592866e-01 1.41978427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96255784400006 meters Centerline goodness : 0.156008 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99610368e-01 1.26620568e-03 -2.78838619e-02 3.87858197e+00] [-1.40083422e-03 9.99987455e-01 -4.80918376e-03 5.39559694e-01] [ 2.78774227e-02 4.84637061e-03 9.99599601e-01 1.41990321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99255784400003 meters Centerline goodness : 0.140668 Centerline is valid? [False, False] Translation: X:3.88, Y:0.54, Z:1.42 [[ 9.99613894e-01 1.41080255e-03 -2.77501716e-02 3.87802827e+00] [-1.53623900e-03 9.99988698e-01 -4.49940454e-03 5.38195643e-01] [ 2.77435102e-02 4.54029819e-03 9.99604764e-01 1.42019465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02255784400006 meters Centerline goodness : 0.164288 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99612782e-01 1.62113956e-03 -2.77787353e-02 3.87822555e+00] [-1.73024771e-03 9.99990882e-01 -3.90417142e-03 5.34953132e-01] [ 2.77721528e-02 3.95072374e-03 9.99606472e-01 1.41988089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05255784400003 meters Centerline goodness : 0.172393 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99613122e-01 1.70744265e-03 -2.77613098e-02 3.87825372e+00] [-1.80911477e-03 9.99991747e-01 -3.63766341e-03 5.33455658e-01] [ 2.77548696e-02 3.68647948e-03 9.99607962e-01 1.41967040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08255784400006 meters Centerline goodness : 0.139970 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99613284e-01 1.84333040e-03 -2.77467898e-02 3.87823032e+00] [-1.93575111e-03 9.99992667e-01 -3.30436925e-03 5.31883039e-01] [ 2.77404953e-02 3.35680228e-03 9.99609522e-01 1.41954179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11255784400004 meters Centerline goodness : 0.172213 Centerline is valid? [False, False] Translation: X:3.88, Y:0.53, Z:1.42 [[ 9.99605012e-01 2.14810420e-03 -2.80215200e-02 3.87901533e+00] [-2.22337188e-03 9.99994003e-01 -2.65518614e-03 5.29333441e-01] [ 2.80156483e-02 2.71643963e-03 9.99603794e-01 1.41928139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14255784400007 meters Centerline goodness : 0.163151 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588163e-01 -6.07774456e-03 -2.80457679e-02 3.90027229e+00] [ 6.03365797e-03 9.99980426e-01 -1.65631087e-03 5.29883638e-01] [ 2.80552855e-02 1.48641017e-03 9.99605268e-01 1.42066194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17255784400004 meters Centerline goodness : 0.263753 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588189e-01 -5.98357704e-03 -2.80650837e-02 3.90035233e+00] [ 5.94676673e-03 9.99981345e-01 -1.39488746e-03 5.28431496e-01] [ 2.80729065e-02 1.22741653e-03 9.99605125e-01 1.42056101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20255784400007 meters Centerline goodness : 0.164459 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99589985e-01 -5.90749442e-03 -2.80171839e-02 3.90015251e+00] [ 5.87533636e-03 9.99981984e-01 -1.22998107e-03 5.27562902e-01] [ 2.80239452e-02 1.06486638e-03 9.99606685e-01 1.42065790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23255784400004 meters Centerline goodness : 0.160071 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99588714e-01 -5.83144003e-03 -2.80784084e-02 3.90025921e+00] [ 5.80205576e-03 9.99982532e-01 -1.12786719e-03 5.27251094e-01] [ 2.80844950e-02 9.64490821e-04 9.99605087e-01 1.42073673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26255784400007 meters Centerline goodness : 0.142686 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99583494e-01 -5.72078885e-03 -2.82862389e-02 3.90089537e+00] [ 5.69263515e-03 9.99983218e-01 -1.07574248e-03 5.27515488e-01] [ 2.82919183e-02 9.14271193e-04 9.99599285e-01 1.42059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29255784400004 meters Centerline goodness : 0.162080 Centerline is valid? [False, False] Translation: X:3.90, Y:0.53, Z:1.42 [[ 9.99581358e-01 -5.68343750e-03 -2.83691158e-02 3.90117595e+00] [ 5.65698535e-03 9.99983486e-01 -1.01259946e-03 5.27189688e-01] [ 2.83744024e-02 8.51691874e-04 9.99597003e-01 1.42045448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3225578440001 meters Centerline goodness : 0.145537 Centerline is valid? [False, False] Translation: X:3.86, Y:0.53, Z:1.42 [[ 9.99508484e-01 -5.89358920e-03 -3.07905156e-02 3.85519806e+00] [ 5.85594132e-03 9.99981992e-01 -1.31274328e-03 5.29770308e-01] [ 3.07976979e-02 1.13179059e-03 9.99524998e-01 1.42072764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35255784400005 meters Centerline goodness : 0.122884 Centerline is valid? [False, False] Translation: X:3.85, Y:0.53, Z:1.42 [[ 9.99514657e-01 -5.83479439e-03 -3.06007580e-02 3.85464293e+00] [ 5.80205772e-03 9.99982497e-01 -1.15848536e-03 5.28941757e-01] [ 3.06069819e-02 9.80375730e-04 9.99531016e-01 1.42081802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3825578440001 meters Centerline goodness : 0.138410 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554756e-01 2.15724778e-03 -2.97596236e-02 3.87263972e+00] [-2.21647669e-03 9.99995628e-01 -1.95739938e-03 5.21230780e-01] [ 2.97552709e-02 2.02248938e-03 9.99555168e-01 1.42239724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41255784400005 meters Centerline goodness : 0.141658 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99551789e-01 2.23163615e-03 -2.98536512e-02 3.87293759e+00] [-2.28571770e-03 9.99995808e-01 -1.77755203e-03 5.20387122e-01] [ 2.98495592e-02 1.84499233e-03 9.99552700e-01 1.42222817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters Centerline goodness : 0.162723 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99547233e-01 2.27289147e-03 -3.00027134e-02 3.87350510e+00] [-2.32413128e-03 9.99995900e-01 -1.67307669e-03 5.19893869e-01] [ 2.99987876e-02 1.74204942e-03 9.99548417e-01 1.42192446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47255784400005 meters Centerline goodness : 0.140554 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99541360e-01 2.33943477e-03 -3.01926515e-02 3.87416477e+00] [-2.38678085e-03 9.99995978e-01 -1.53218798e-03 5.19281696e-01] [ 3.01889456e-02 1.60354850e-03 9.99542924e-01 1.42159274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters Centerline goodness : 0.139509 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99538751e-01 2.39131393e-03 -3.02748574e-02 3.87459240e+00] [-2.43600982e-03 9.99995997e-01 -1.43953942e-03 5.18843406e-01] [ 3.02712938e-02 1.51262528e-03 9.99540575e-01 1.42122579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53255784400005 meters Centerline goodness : 0.167205 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99502648e-01 -5.81965415e-03 -3.09933437e-02 3.85520158e+00] [ 5.81374611e-03 9.99983061e-01 -2.80735449e-04 5.24146433e-01] [ 3.09944525e-02 1.00408393e-04 9.99519552e-01 1.41987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters Centerline goodness : 0.159655 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99513319e-01 -5.68078471e-03 -3.06733479e-02 3.85394231e+00] [ 5.68342642e-03 9.99983849e-01 -1.06164690e-06 5.22677639e-01] [ 3.06728585e-02 -1.73268585e-04 9.99529462e-01 1.42055829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59255784400005 meters Centerline goodness : 0.161621 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99518996e-01 -5.58072071e-03 -3.05062609e-02 3.85320899e+00] [ 5.59031092e-03 9.99984348e-01 2.29087111e-04 5.21627991e-01] [ 3.05045050e-02 -3.99516403e-04 9.99534549e-01 1.42099080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters Centerline goodness : 0.163687 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99522321e-01 -5.46192660e-03 -3.04186972e-02 3.85287615e+00] [ 5.47942982e-03 9.99984867e-01 4.92081344e-04 5.20441010e-01] [ 3.04155491e-02 -6.58523403e-04 9.99537123e-01 1.42112830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65255784400006 meters Centerline goodness : 0.139105 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99522869e-01 -5.36189306e-03 -3.04184747e-02 3.85284677e+00] [ 5.38789819e-03 9.99985186e-01 7.73011477e-04 5.19066923e-01] [ 3.04138793e-02 -9.36534295e-04 9.99536952e-01 1.42110698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters Centerline goodness : 0.159653 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99518449e-01 -5.19513997e-03 -3.05921556e-02 3.85351443e+00] [ 5.23946917e-03 9.99985337e-01 1.36905389e-03 5.15617773e-01] [ 3.05845946e-02 -1.52868128e-03 9.99531013e-01 1.42062814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71255784400006 meters Centerline goodness : 0.160365 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99517211e-01 -5.05862882e-03 -3.06554250e-02 3.85367376e+00] [ 5.11216291e-03 9.99985541e-01 1.66819191e-03 5.14172664e-01] [ 3.06465430e-02 -1.82410205e-03 9.99528620e-01 1.42059202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters Centerline goodness : 0.142123 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99518117e-01 -4.95992674e-03 -3.06420214e-02 3.85359283e+00] [ 5.01842600e-03 9.99985729e-01 1.83250784e-03 5.13519439e-01] [ 3.06324950e-02 -1.98539951e-03 9.99528743e-01 1.42064470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77255784400006 meters Centerline goodness : 0.128807 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99523888e-01 -4.88774425e-03 -3.04648591e-02 3.85297717e+00] [ 4.94803464e-03 9.99985946e-01 1.90394023e-03 5.13383508e-01] [ 3.04551250e-02 -2.05377492e-03 9.99534025e-01 1.42093024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters Centerline goodness : 0.140763 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99542159e-01 -4.79402511e-03 -2.98745809e-02 3.85118190e+00] [ 4.84967633e-03 9.99986637e-01 1.79064950e-03 5.14209875e-01] [ 2.98655972e-02 -1.93471172e-03 9.99552051e-01 1.42158346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83255784400006 meters Centerline goodness : 0.166084 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99538066e-01 -4.82668259e-03 -3.00059706e-02 3.85167952e+00] [ 4.87908642e-03 9.99986697e-01 1.67347426e-03 5.14755621e-01] [ 2.99974941e-02 -1.81910295e-03 9.99548319e-01 1.42132969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters Centerline goodness : 0.136543 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99529883e-01 -4.82290079e-03 -3.02779310e-02 3.85277595e+00] [ 4.87504026e-03 9.99986758e-01 1.64844468e-03 5.14903555e-01] [ 3.02695798e-02 -1.79527585e-03 9.99540159e-01 1.42064435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89255784400007 meters Centerline goodness : 0.092641 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99524207e-01 -4.77735017e-03 -3.04718872e-02 3.85366004e+00] [ 4.83335676e-03 9.99986762e-01 1.76458237e-03 5.14434215e-01] [ 3.04630538e-02 -1.91102430e-03 9.99534067e-01 1.41996633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters Centerline goodness : 0.226302 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99524031e-01 -4.74634623e-03 -3.04825275e-02 3.85385306e+00] [ 4.80639317e-03 9.99986650e-01 1.89690958e-03 5.13724089e-01] [ 3.04731172e-02 -2.04251772e-03 9.99533500e-01 1.41964979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95255784400007 meters Centerline goodness : 0.169683 Centerline is valid? [False, False] Translation: X:3.85, Y:0.51, Z:1.42 [[ 9.99522507e-01 -4.78189462e-03 -3.05268885e-02 3.85415827e+00] [ 4.84737808e-03 9.99986106e-01 2.07146289e-03 5.12437357e-01] [ 3.05165588e-02 -2.21844916e-03 9.99531799e-01 1.41921763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98255784400004 meters Centerline goodness : 0.140022 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99514392e-01 -4.78641785e-03 -3.07907606e-02 3.85520547e+00] [ 4.85179026e-03 9.99986131e-01 2.04875481e-03 5.12678870e-01] [ 3.07805274e-02 -2.19715023e-03 9.99523752e-01 1.41857164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01255784400007 meters Centerline goodness : 0.204559 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99508654e-01 -4.78909258e-03 -3.09760264e-02 3.85609383e+00] [ 4.85143581e-03 9.99986354e-01 1.93778421e-03 5.13602262e-01] [ 3.09663235e-02 -2.08711029e-03 9.99518249e-01 1.41790732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04255784400004 meters Centerline goodness : 0.160962 Centerline is valid? [False, False] Translation: X:3.86, Y:0.51, Z:1.42 [[ 9.99504570e-01 -4.85008454e-03 -3.10980763e-02 3.85650944e+00] [ 4.90538335e-03 9.99986520e-01 1.70216064e-03 5.14927869e-01] [ 3.10894014e-02 -1.85386532e-03 9.99514888e-01 1.41777191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0725578440001 meters Centerline goodness : 0.159922 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99506451e-01 -4.91085342e-03 -3.10280116e-02 3.85610065e+00] [ 4.96182105e-03 9.99986464e-01 1.56584976e-03 5.15473267e-01] [ 3.10199019e-02 -1.71903237e-03 9.99517289e-01 1.41815825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10255784400005 meters Centerline goodness : 0.165400 Centerline is valid? [False, False] Translation: X:3.86, Y:0.52, Z:1.42 [[ 9.99513193e-01 -4.93522932e-03 -3.08061733e-02 3.85524186e+00] [ 4.98319973e-03 9.99986488e-01 1.48058770e-03 5.15936647e-01] [ 3.07984500e-02 -1.63338026e-03 9.99524281e-01 1.41859850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1325578440001 meters Centerline goodness : 0.163260 Centerline is valid? [False, False] Translation: X:3.87, Y:0.51, Z:1.42 [[ 9.99569757e-01 3.29965940e-03 -2.91446889e-02 3.87439814e+00] [-3.28421983e-03 9.99994440e-01 5.77608970e-04 5.11488464e-01] [ 2.91464328e-02 -4.81642893e-04 9.99575036e-01 1.41947791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16255784400005 meters Centerline goodness : 0.159679 Centerline is valid? [False, False] Translation: X:3.87, Y:0.51, Z:1.42 [[ 9.99575055e-01 3.27982662e-03 -2.89646648e-02 3.87371476e+00] [-3.26637259e-03 9.99994534e-01 5.11800358e-04 5.11982776e-01] [ 2.89661851e-02 -4.16973484e-04 9.99580305e-01 1.41981365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192557844 meters Centerline goodness : 0.141134 Centerline is valid? [False, False] Translation: X:3.85, Y:0.52, Z:1.42 [[ 9.99569227e-01 -4.97418500e-03 -2.89243458e-02 3.85432272e+00] [ 5.02012804e-03 9.99986250e-01 1.51598559e-03 5.18638668e-01] [ 2.89164073e-02 -1.66053647e-03 9.99580454e-01 1.41809449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22255784400005 meters Centerline goodness : 0.140500 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99586779e-01 2.48128830e-03 -2.86376265e-02 3.87403017e+00] [-2.49601132e-03 9.99996771e-01 -4.78378735e-04 5.15438008e-01] [ 2.86363471e-02 5.49660899e-04 9.99589745e-01 1.41946952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252557844 meters Centerline goodness : 0.164789 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99584314e-01 2.35282005e-03 -2.87343712e-02 3.87451190e+00] [-2.37760725e-03 9.99996830e-01 -8.28496421e-04 5.17285238e-01] [ 2.87323308e-02 8.96471076e-04 9.99586739e-01 1.41911618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28255784400005 meters Centerline goodness : 0.141425 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99582215e-01 2.20717670e-03 -2.88188231e-02 3.87462964e+00] [-2.24480055e-03 9.99996670e-01 -1.27324254e-03 5.19762031e-01] [ 2.88159169e-02 1.33740311e-03 9.99583841e-01 1.41933559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312557844 meters Centerline goodness : 0.155075 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99586229e-01 2.06459176e-03 -2.86898464e-02 3.87413826e+00] [-2.11504045e-03 9.99996270e-01 -1.72818130e-03 5.22223029e-01] [ 2.86861714e-02 1.78814641e-03 9.99586868e-01 1.41969782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34255784400005 meters Centerline goodness : 0.174236 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99591476e-01 1.70948391e-03 -2.85299783e-02 3.87346469e+00] [-1.78477487e-03 9.99994991e-01 -2.61375567e-03 5.26384083e-01] [ 2.85253672e-02 2.66360747e-03 9.99589520e-01 1.42030088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372557844 meters Centerline goodness : 0.142708 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99596172e-01 1.54012370e-03 -2.83746662e-02 3.87298870e+00] [-1.62463497e-03 9.99994313e-01 -2.95559269e-03 5.27767700e-01] [ 2.83699528e-02 3.00049761e-03 9.99592989e-01 1.42046378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40255784400006 meters Centerline goodness : 0.141383 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99602387e-01 1.39396033e-03 -2.81624629e-02 3.87236795e+00] [-1.48582218e-03 9.99993643e-01 -3.24119130e-03 5.28992556e-01] [ 2.81577658e-02 3.28174697e-03 9.99598104e-01 1.42060402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43255784400003 meters Centerline goodness : 0.142165 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99607630e-01 1.33040493e-03 -2.79788556e-02 3.87173872e+00] [-1.42427140e-03 9.99993424e-01 -3.33524627e-03 5.29417596e-01] [ 2.79742344e-02 3.37378710e-03 9.99602951e-01 1.42083276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46255784400006 meters Centerline goodness : 0.145369 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99612578e-01 1.34520125e-03 -2.78007837e-02 3.87124051e+00] [-1.43592432e-03 9.99993709e-01 -3.24362160e-03 5.28965909e-01] [ 2.77962454e-02 3.28228477e-03 9.99608221e-01 1.42084242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49255784400003 meters Centerline goodness : 0.159174 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99603622e-01 1.00797426e-03 -2.81350745e-02 3.87236776e+00] [-1.09205862e-03 9.99994983e-01 -2.97338976e-03 5.26329265e-01] [ 2.81319362e-02 3.00293632e-03 9.99599708e-01 1.42013043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52255784400006 meters Centerline goodness : 0.159174 Centerline is valid? [False, False] Translation: X:3.87, Y:0.53, Z:1.42 [[ 9.99603622e-01 1.00797426e-03 -2.81350745e-02 3.87236776e+00] [-1.09205862e-03 9.99994983e-01 -2.97338976e-03 5.26329265e-01] [ 2.81319362e-02 3.00293632e-03 9.99599708e-01 1.42013043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55255784400003 meters Centerline goodness : 0.139431 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99595408e-01 1.06623308e-03 -2.84232894e-02 3.87333529e+00] [-1.13831049e-03 9.99996177e-01 -2.51979742e-03 5.23799296e-01] [ 2.84204940e-02 2.55113246e-03 9.99592801e-01 1.41956639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58255784400006 meters Centerline goodness : 0.161910 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99591077e-01 1.24473293e-03 -2.85679952e-02 3.87386662e+00] [-1.30254748e-03 9.99997141e-01 -2.00523243e-03 5.21349473e-01] [ 2.85654176e-02 2.04162361e-03 9.99589840e-01 1.41914849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61255784400004 meters Centerline goodness : 0.331885 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99593714e-01 1.46293057e-03 -2.84651720e-02 3.87350788e+00] [-1.50579261e-03 9.99997765e-01 -1.48439370e-03 5.18981562e-01] [ 2.84629368e-02 1.52665326e-03 9.99593683e-01 1.41918782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64255784400007 meters Centerline goodness : 0.160235 Centerline is valid? [False, False] Translation: X:3.89, Y:0.52, Z:1.42 [[ 9.99669321e-01 -6.09457527e-03 -2.49821008e-02 3.89296378e+00] [ 6.09991938e-03 9.99981386e-01 1.37715810e-04 5.16133634e-01] [ 2.49807964e-02 -2.90059071e-04 9.99687889e-01 1.41982086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67255784400004 meters Centerline goodness : 0.139682 Centerline is valid? [False, False] Translation: X:3.89, Y:0.52, Z:1.42 [[ 9.99670616e-01 -6.03746095e-03 -2.49440910e-02 3.89265403e+00] [ 6.04559374e-03 9.99981694e-01 2.50640209e-04 5.15399365e-01] [ 2.49421211e-02 -4.01359493e-04 9.99688816e-01 1.42016456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70255784400007 meters Centerline goodness : 0.154676 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.42 [[ 9.99669736e-01 1.98978558e-03 -2.56214804e-02 3.91246070e+00] [-2.01449414e-03 9.99997530e-01 -9.38593830e-04 5.09644340e-01] [ 2.56195496e-02 9.89898169e-04 9.99671275e-01 1.42212745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73255784400004 meters Centerline goodness : 0.121007 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.42 [[ 9.99650233e-01 2.10464456e-03 -2.63625306e-02 3.91467332e+00] [-2.13218879e-03 9.99997210e-01 -1.01675898e-03 5.10734395e-01] [ 2.63603171e-02 1.07261324e-03 9.99651931e-01 1.42157506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76255784400007 meters Centerline goodness : 0.143334 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:1.42 [[ 9.99623245e-01 6.27339983e-03 -2.67209952e-02 3.91612324e+00] [-6.20212751e-03 9.99976987e-01 2.74932221e-03 5.12601420e-01] [ 2.67376278e-02 -2.58255937e-03 9.99639150e-01 1.42081551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79255784400004 meters Centerline goodness : 0.173980 Centerline is valid? [False, False] Translation: X:3.92, Y:0.51, Z:1.42 [[ 9.99622932e-01 6.17786025e-03 -2.67549622e-02 3.91619823e+00] [-6.11761328e-03 9.99978566e-01 2.33307418e-03 5.14664705e-01] [ 2.67688021e-02 -2.16851794e-03 9.99639299e-01 1.42094977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8225578440001 meters Centerline goodness : 0.276727 Centerline is valid? [False, False] Translation: X:3.92, Y:0.52, Z:1.42 [[ 9.99623673e-01 5.99694500e-03 -2.67684381e-02 3.91606833e+00] [-5.94901450e-03 9.99980556e-01 1.86983926e-03 5.16566741e-01] [ 2.67791310e-02 -1.70988976e-03 9.99639912e-01 1.42125978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85255784400005 meters Centerline goodness : 0.340425 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554298e-01 6.23825415e-03 -2.91940123e-02 3.86894535e+00] [-6.19205664e-03 9.99979430e-01 1.67256942e-03 5.22092038e-01] [ 2.92038457e-02 -1.49105297e-03 9.99572365e-01 1.42237462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8825578440001 meters Centerline goodness : 0.398197 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99554827e-01 6.17363607e-03 -2.91896120e-02 3.86892950e+00] [-6.13505161e-03 9.99980185e-01 1.41123093e-03 5.23633842e-01] [ 2.91977460e-02 -1.23152291e-03 9.99572896e-01 1.42236809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91255784400005 meters Centerline goodness : 0.143434 Centerline is valid? [False, False] Translation: X:3.87, Y:0.52, Z:1.42 [[ 9.99555191e-01 6.10132053e-03 -2.91923465e-02 3.86902280e+00] [-6.06894217e-03 9.99980867e-01 1.19761320e-03 5.24917940e-01] [ 2.91990950e-02 -1.01991383e-03 9.99573095e-01 1.42224397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters Centerline goodness : 0.154294 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99550717e-01 -2.46237936e-03 -2.98714036e-02 3.89103899e+00] [ 2.51301443e-03 9.99995468e-01 1.65767841e-03 5.28263213e-01] [ 2.98671865e-02 -1.73200091e-03 9.99552375e-01 1.42333021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97255784400005 meters Centerline goodness : 0.171390 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99552562e-01 -2.51648164e-03 -2.98051017e-02 3.89092938e+00] [ 2.56620145e-03 9.99995379e-01 1.63003025e-03 5.28176229e-01] [ 2.98008621e-02 -1.70578681e-03 9.99554400e-01 1.42315322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters Centerline goodness : 0.167426 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99555901e-01 -2.51525461e-03 -2.96930169e-02 3.89044342e+00] [ 2.56514254e-03 9.99995362e-01 1.64215110e-03 5.28202740e-01] [ 2.96887487e-02 -1.71758864e-03 9.99557716e-01 1.42343699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03255784400005 meters Centerline goodness : 0.158939 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99553133e-01 -2.55083357e-03 -2.97830158e-02 3.89072204e+00] [ 2.60210636e-03 9.99995198e-01 1.68291386e-03 5.28030027e-01] [ 2.97785800e-02 -1.75966039e-03 9.99554971e-01 1.42332416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters Centerline goodness : 0.125577 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99556621e-01 -2.56785191e-03 -2.96642509e-02 3.89029690e+00] [ 2.61833845e-03 9.99995189e-01 1.66321335e-03 5.27988041e-01] [ 2.96598373e-02 -1.74014696e-03 9.99558536e-01 1.42349833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09255784400005 meters Centerline goodness : 0.144751 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99563089e-01 -2.60905641e-03 -2.94418876e-02 3.88942467e+00] [ 2.65509363e-03 9.99995313e-01 1.52467824e-03 5.28659953e-01] [ 2.94377716e-02 -1.60218306e-03 9.99565331e-01 1.42400131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters Centerline goodness : 0.399673 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99568315e-01 -2.66813337e-03 -2.92585829e-02 3.88863259e+00] [ 2.70742658e-03 9.99995485e-01 1.30342945e-03 5.29921545e-01] [ 2.92549731e-02 -1.38208224e-03 9.99571026e-01 1.42454974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15255784400006 meters Centerline goodness : 0.146640 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99572342e-01 -2.78905596e-03 -2.91093505e-02 3.88806783e+00] [ 2.81605829e-03 9.99995642e-01 8.86662815e-04 5.32213102e-01] [ 2.91067507e-02 -9.68257254e-04 9.99575840e-01 1.42496279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters Centerline goodness : 0.127238 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99571273e-01 -2.91057517e-03 -2.91341486e-02 3.88820287e+00] [ 2.93005518e-03 9.99995511e-01 6.25962289e-04 5.33323278e-01] [ 2.91321959e-02 -7.11058584e-04 9.99575315e-01 1.42488045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21255784400006 meters Centerline goodness : 0.156461 Centerline is valid? [False, False] Translation: X:3.89, Y:0.53, Z:1.42 [[ 9.99570410e-01 -3.03075285e-03 -2.91514846e-02 3.88838435e+00] [ 3.04195583e-03 9.99995315e-01 3.39961601e-04 5.34622310e-01] [ 2.91503177e-02 -4.28493086e-04 9.99574947e-01 1.42467303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters Centerline goodness : 0.164191 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99565864e-01 -3.15404057e-03 -2.92939628e-02 3.88898741e+00] [ 3.15530139e-03 9.99995022e-01 -3.18526717e-06 5.36474641e-01] [ 2.92938270e-02 -8.92473970e-05 9.99570840e-01 1.42432023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27255784400006 meters Centerline goodness : 0.141565 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99556461e-01 -3.21973774e-03 -2.96059920e-02 3.89000269e+00] [ 3.21150340e-03 9.99994790e-01 -3.25677046e-04 5.38626783e-01] [ 2.96068864e-02 2.30452852e-04 9.99561593e-01 1.42402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters Centerline goodness : 0.370946 Centerline is valid? [False, False] Translation: X:3.87, Y:0.54, Z:1.42 [[ 9.99521181e-01 5.49224149e-03 -3.04506833e-02 3.86830929e+00] [-5.53861859e-03 9.99983627e-01 -1.43888487e-03 5.40370578e-01] [ 3.04422820e-02 1.60685062e-03 9.99535235e-01 1.42275772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33255784400006 meters Centerline goodness : 0.147776 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99562522e-01 -2.80590000e-03 -2.94430239e-02 3.88779856e+00] [ 2.78994102e-03 9.99995938e-01 -5.83096193e-04 5.43465858e-01] [ 2.94445404e-02 5.00696801e-04 9.99566290e-01 1.42472519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36255784400004 meters Centerline goodness : 0.113134 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99569572e-01 -2.89503478e-03 -2.91940141e-02 3.88699394e+00] [ 2.87477972e-03 9.99995597e-01 -7.35757084e-04 5.44043564e-01] [ 2.91960156e-02 6.51514033e-04 9.99573493e-01 1.42496088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39255784400007 meters Centerline goodness : 0.119528 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99569422e-01 -2.93790033e-03 -2.91948600e-02 3.88704483e+00] [ 2.91523081e-03 9.99995415e-01 -8.19023647e-04 5.44536199e-01] [ 2.91971323e-02 7.33561238e-04 9.99573404e-01 1.42483188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42255784400004 meters Centerline goodness : 0.118576 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99545710e-01 -3.17031928e-03 -2.99720365e-02 3.88979674e+00] [ 3.14491891e-03 9.99994655e-01 -8.94571577e-04 5.44545220e-01] [ 2.99747123e-02 7.99905557e-04 9.99550337e-01 1.42342334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45255784400007 meters Centerline goodness : 0.106585 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99539282e-01 -3.20508111e-03 -3.01819740e-02 3.89069769e+00] [ 3.18162850e-03 9.99994598e-01 -8.25033214e-04 5.43847762e-01] [ 3.01844553e-02 7.28625278e-04 9.99544080e-01 1.42278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48255784400004 meters Centerline goodness : 0.227371 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99536763e-01 -3.21231954e-03 -3.02644966e-02 3.89099114e+00] [ 3.18984750e-03 9.99994600e-01 -7.90772880e-04 5.43613446e-01] [ 3.02668734e-02 6.93867436e-04 9.99541612e-01 1.42260882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51255784400007 meters Centerline goodness : 0.146165 Centerline is valid? [False, False] Translation: X:3.89, Y:0.54, Z:1.42 [[ 9.99534341e-01 -3.18242862e-03 -3.03475534e-02 3.89102354e+00] [ 3.15943322e-03 9.99994684e-01 -8.05656398e-04 5.43980253e-01] [ 3.03499561e-02 7.09400168e-04 9.99539082e-01 1.42291709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54255784400004 meters Centerline goodness : 0.144052 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.42 [[ 9.99538477e-01 -3.18939322e-03 -3.02102804e-02 3.89047474e+00] [ 3.16044293e-03 9.99994500e-01 -1.00599415e-03 5.45284565e-01] [ 3.02133228e-02 9.10051995e-04 9.99543059e-01 1.42333188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5725578440001 meters Centerline goodness : 0.144290 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99563891e-01 -6.55429639e-04 -2.95228585e-02 3.88693127e+00] [ 6.83389178e-04 9.99999328e-01 9.36967117e-04 5.48471145e-01] [ 2.95222245e-02 -9.56734099e-04 9.99563666e-01 1.42545983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60255784400005 meters Centerline goodness : 0.145889 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99565973e-01 -5.70322154e-04 -2.94540472e-02 3.88674112e+00] [ 5.88969275e-04 9.99999632e-01 6.24420207e-04 5.50398980e-01] [ 2.94536802e-02 -6.41496720e-04 9.99565940e-01 1.42560163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6325578440001 meters Centerline goodness : 0.144518 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99567165e-01 -2.92898911e-04 -2.94176177e-02 3.88664558e+00] [ 3.04116861e-04 9.99999883e-01 3.76860973e-04 5.52771793e-01] [ 2.94175039e-02 -3.85644248e-04 9.99567137e-01 1.42569599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66255784400005 meters Centerline goodness : 0.146421 Centerline is valid? [False, False] Translation: X:3.89, Y:0.55, Z:1.43 [[ 9.99557932e-01 3.69666382e-03 -2.95004430e-02 3.88670622e+00] [-3.58042759e-03 9.99985622e-01 3.99200338e-03 5.54185596e-01] [ 2.95147759e-02 -3.88461444e-03 9.99556796e-01 1.42587262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692557844 meters Centerline goodness : 0.142770 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952921 0.00780031 -0.02967331 3.88668469] [-0.00759541 0.99994657 0.00701183 0.55994746] [ 0.02972642 -0.00678315 0.99953506 1.42669752] [ 0. 0. 0. 1. ]] SLAMing on 327.72255784400005 meters Centerline goodness : 0.125405 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952713 0.00778372 -0.02974782 3.88658101] [-0.00759578 0.99995051 0.00642533 0.56328436] [ 0.02979636 -0.00619634 0.99953678 1.42722017] [ 0. 0. 0. 1. ]] SLAMing on 327.752557844 meters Centerline goodness : 0.143290 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99607451e-01 1.10114549e-03 -2.79952064e-02 3.86753954e+00] [-8.97528216e-04 9.99973063e-01 7.28481641e-03 5.72391876e-01] [ 2.80024740e-02 -7.25683028e-03 9.99581512e-01 1.42503779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78255784400005 meters Centerline goodness : 0.223641 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99615343e-01 9.45460699e-04 -2.77177135e-02 3.86677037e+00] [-7.60272112e-04 9.99977326e-01 6.69101345e-03 5.75360371e-01] [ 2.77234111e-02 -6.66736670e-03 9.99593397e-01 1.42518510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812557844 meters Centerline goodness : 0.142907 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99623131e-01 8.06005646e-04 -2.74398758e-02 3.86602708e+00] [-6.36498282e-04 9.99980667e-01 6.18558404e-03 5.78040634e-01] [ 2.74443309e-02 -6.16578745e-03 9.99604318e-01 1.42529085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84255784400005 meters Centerline goodness : 0.113248 Centerline is valid? [False, False] Translation: X:3.87, Y:0.58, Z:1.43 [[ 9.99626993e-01 7.05190538e-04 -2.73016185e-02 3.86573860e+00] [-5.59978539e-04 9.99985660e-01 5.32608580e-03 5.83334544e-01] [ 2.73049829e-02 -5.30881081e-03 9.99613052e-01 1.42525867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872557844 meters Centerline goodness : 0.141255 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.43 [[ 9.99620328e-01 5.52971514e-04 -2.75480448e-02 3.86648433e+00] [-4.21218979e-04 9.99988448e-01 4.78821902e-03 5.86292715e-01] [ 2.75503743e-02 -4.77479731e-03 9.99609013e-01 1.42507222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90255784400006 meters Centerline goodness : 0.114036 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.42 [[ 9.99613986e-01 3.98153453e-04 -2.77798606e-02 3.86723950e+00] [-2.81398388e-04 9.99991112e-01 4.20664997e-03 5.89490841e-01] [ 2.77812886e-02 -4.19720894e-03 9.99605214e-01 1.42483410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93255784400003 meters Centerline goodness : 0.187024 Centerline is valid? [False, False] Translation: X:3.87, Y:0.59, Z:1.42 [[ 9.99609384e-01 2.70509864e-04 -2.79464984e-02 3.86771715e+00] [-1.67976245e-04 9.99993247e-01 3.67120792e-03 5.92437924e-01] [ 2.79473028e-02 -3.66507954e-03 9.99602679e-01 1.42478291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96255784400006 meters Centerline goodness : 0.112949 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.43 [[ 9.99613288e-01 9.33440015e-05 -2.78076711e-02 3.86723787e+00] [-7.81169691e-06 9.99995269e-01 3.07594561e-03 5.95520964e-01] [ 2.78078267e-02 -3.07453888e-03 9.99608559e-01 1.42502279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99255784400003 meters Centerline goodness : 0.141949 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.43 [[ 9.99624860e-01 2.62472562e-04 -2.73874162e-02 3.86613004e+00] [-1.94550325e-04 9.99996899e-01 2.48268791e-03 6.00135057e-01] [ 2.73879830e-02 -2.47642833e-03 9.99621811e-01 1.42515586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02255784400006 meters Centerline goodness : 0.114235 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.42 [[ 9.99622356e-01 1.74218172e-04 -2.74793602e-02 3.86654010e+00] [-1.15341097e-04 9.99997695e-01 2.14416312e-03 6.01966591e-01] [ 2.74796704e-02 -2.14018389e-03 9.99620071e-01 1.42485566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05255784400003 meters Centerline goodness : 0.035673 Centerline is valid? [False, False] Translation: X:3.87, Y:0.60, Z:1.42 [[ 9.99619909e-01 1.06090273e-04 -2.75685572e-02 3.86692450e+00] [-5.38158276e-05 9.99998199e-01 1.89689686e-03 6.03226847e-01] [ 2.75687088e-02 -1.89469224e-03 9.99618115e-01 1.42457498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08255784400006 meters Centerline goodness : 0.141474 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99615281e-01 4.41816587e-05 -2.77360481e-02 3.86731193e+00] [-4.32040958e-06 9.99998967e-01 1.43722226e-03 6.05652924e-01] [ 2.77360829e-02 -1.43654950e-03 9.99614249e-01 1.42464305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11255784400004 meters Centerline goodness : 0.144620 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99613646e-01 -2.15506435e-05 -2.77949338e-02 3.86745816e+00] [ 5.13389558e-05 9.99999425e-01 1.07100416e-03 6.07748885e-01] [ 2.77948948e-02 -1.07201733e-03 9.99613072e-01 1.42461213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14255784400007 meters Centerline goodness : 0.118216 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99612553e-01 -1.64134344e-05 -2.78342103e-02 3.86764163e+00] [ 3.54914783e-05 9.99999765e-01 6.84923212e-04 6.10336619e-01] [ 2.78341925e-02 -6.85645718e-04 9.99612319e-01 1.42449784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17255784400004 meters Centerline goodness : 0.155589 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99612227e-01 -4.36609490e-05 -2.78458970e-02 3.86771166e+00] [ 5.35401410e-05 9.99999936e-01 3.54035403e-04 6.12395255e-01] [ 2.78458798e-02 -3.55388991e-04 9.99612165e-01 1.42440315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20255784400007 meters Centerline goodness : 0.161715 Centerline is valid? [False, False] Translation: X:3.87, Y:0.61, Z:1.42 [[ 9.99615853e-01 -7.61195502e-05 -2.77153663e-02 3.86745211e+00] [ 7.66962285e-05 9.99999997e-01 1.97441339e-05 6.14320886e-01] [ 2.77153647e-02 -2.18622133e-05 9.99615855e-01 1.42425225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23255784400004 meters Centerline goodness : 0.121690 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99602005e-01 3.07774070e-04 -2.82088125e-02 3.86911030e+00] [-3.16639098e-04 9.99999902e-01 -3.09798156e-04 6.17130156e-01] [ 2.82087144e-02 3.18606871e-04 9.99602004e-01 1.42346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26255784400007 meters Centerline goodness : 0.119273 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99589653e-01 3.82873500e-04 -2.86422761e-02 3.87044827e+00] [-3.99084852e-04 9.99999763e-01 -5.60279483e-04 6.18749568e-01] [ 2.86420548e-02 5.71480272e-04 9.99589569e-01 1.42298751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29255784400004 meters Centerline goodness : 0.089099 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99505685e-01 7.97105540e-04 -3.14284981e-02 3.82488587e+00] [-8.30494713e-04 9.99999105e-01 -1.04934573e-03 6.19980982e-01] [ 3.14276335e-02 1.07492823e-03 9.99505452e-01 1.42315307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3225578440001 meters Centerline goodness : 0.087152 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99563036e-01 1.07323026e-03 -2.95395545e-02 3.86848301e+00] [-1.10326213e-03 9.99998891e-01 -1.00038676e-03 6.21048597e-01] [ 2.95384481e-02 1.03253950e-03 9.99563112e-01 1.42424921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35255784400005 meters Centerline goodness : 0.086252 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571678e-01 1.16797362e-03 -2.92420444e-02 3.86733342e+00] [-1.19677932e-03 9.99998816e-01 -9.67595691e-04 6.21119616e-01] [ 2.92408796e-02 1.00217752e-03 9.99571892e-01 1.42483182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3825578440001 meters Centerline goodness : 0.160700 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99572686e-01 1.24384170e-03 -2.92044057e-02 3.86715955e+00] [-1.27078190e-03 9.99998784e-01 -9.03928277e-04 6.21058908e-01] [ 2.92032459e-02 9.40654446e-04 9.99573052e-01 1.42490197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41255784400005 meters Centerline goodness : 0.146895 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571623e-01 1.30668761e-03 -2.92380325e-02 3.86736092e+00] [-1.33110379e-03 9.99998781e-01 -8.15634689e-04 6.20708510e-01] [ 2.92369311e-02 8.54204146e-04 9.99572145e-01 1.42467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442557844 meters Centerline goodness : 0.146895 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99571623e-01 1.30668761e-03 -2.92380325e-02 3.86736092e+00] [-1.33110379e-03 9.99998781e-01 -8.15634689e-04 6.20708510e-01] [ 2.92369311e-02 8.54204146e-04 9.99572145e-01 1.42467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47255784400005 meters Centerline goodness : 0.149792 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99568072e-01 1.35130915e-03 -2.93571619e-02 3.86792256e+00] [-1.37376299e-03 9.99998779e-01 -7.44695014e-04 6.20369500e-01] [ 2.93561198e-02 7.84703142e-04 9.99568708e-01 1.42425547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502557844 meters Centerline goodness : 0.183543 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99564189e-01 1.48076721e-03 -2.94828517e-02 3.86853387e+00] [-1.49894306e-03 9.99998700e-01 -5.94396973e-04 6.19709859e-01] [ 2.94819332e-02 6.38331044e-04 9.99565110e-01 1.42374954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53255784400005 meters Centerline goodness : 0.154042 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99563303e-01 1.55100768e-03 -2.95092678e-02 3.86859192e+00] [-1.56695876e-03 9.99998638e-01 -5.17427367e-04 6.19430655e-01] [ 2.95084251e-02 5.63441214e-04 9.99564373e-01 1.42370298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562557844 meters Centerline goodness : 0.145908 Centerline is valid? [False, False] Translation: X:3.87, Y:0.62, Z:1.42 [[ 9.99559822e-01 1.65388828e-03 -2.96213968e-02 3.86889110e+00] [-1.66737192e-03 9.99998517e-01 -4.30504886e-04 6.19202748e-01] [ 2.96206409e-02 4.79705273e-04 9.99561097e-01 1.42363651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59255784400005 meters Centerline goodness : 0.084666 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99462193e-01 1.72606121e-03 -3.27466730e-02 3.82407705e+00] [-1.74685252e-03 9.99998290e-01 -6.06314744e-04 6.17467259e-01] [ 3.27455705e-02 6.63192272e-04 9.99463500e-01 1.42365446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters Centerline goodness : 0.094017 Centerline is valid? [False, False] Translation: X:3.83, Y:0.62, Z:1.42 [[ 9.99453828e-01 1.80952850e-03 -3.29965238e-02 3.82509030e+00] [-1.82619134e-03 9.99998220e-01 -4.74857619e-04 6.16473535e-01] [ 3.29956058e-02 5.34856232e-04 9.99455354e-01 1.42301031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65255784400006 meters Centerline goodness : 0.087197 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99455743e-01 1.81938306e-03 -3.29379273e-02 3.82482350e+00] [-1.83877469e-03 9.99998154e-01 -5.58451226e-04 6.16995727e-01] [ 3.29368504e-02 6.18712712e-04 9.99457243e-01 1.42316347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters Centerline goodness : 0.084287 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.42 [[ 9.99468217e-01 1.89620259e-03 -3.25528468e-02 3.82350303e+00] [-1.92017026e-03 9.99997908e-01 -7.05023378e-04 6.18303624e-01] [ 3.25514418e-02 7.67155467e-04 9.99469767e-01 1.42370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71255784400006 meters Centerline goodness : 0.169878 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.42 [[ 9.99534378e-01 -2.90442033e-03 -3.03741976e-02 3.84449042e+00] [ 3.00104896e-03 9.99990579e-01 3.13616969e-03 6.21427850e-01] [ 3.03648027e-02 -3.22586387e-03 9.99533678e-01 1.42410521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74255784400003 meters Centerline goodness : 0.293950 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.42 [[ 9.99545544e-01 -2.89575262e-03 -3.00053387e-02 3.84335416e+00] [ 2.98047856e-03 9.99991696e-01 2.77935492e-03 6.23668197e-01] [ 2.99970412e-02 -2.86752209e-03 9.99545874e-01 1.42436485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77255784400006 meters Centerline goodness : 0.103962 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99545118e-01 -3.04462645e-03 -3.00047833e-02 3.84338590e+00] [ 3.11475538e-03 9.99992525e-01 2.29079602e-03 6.25949201e-01] [ 2.99975844e-02 -2.38321154e-03 9.99547130e-01 1.42419015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters Centerline goodness : 0.083828 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99547829e-01 -3.19802443e-03 -2.98983206e-02 3.84322037e+00] [ 3.24829576e-03 9.99993391e-01 1.63299096e-03 6.29237763e-01] [ 2.98929006e-02 -1.72937115e-03 9.99551611e-01 1.42383626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83255784400006 meters Centerline goodness : 0.146459 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99553641e-01 -3.24492831e-03 -2.96982982e-02 3.84252182e+00] [ 3.28771847e-03 9.99993626e-01 1.39211136e-03 6.30834841e-01] [ 2.96935916e-02 -1.48912963e-03 9.99557939e-01 1.42407678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters Centerline goodness : 0.397607 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99550342e-01 -3.36519161e-03 -2.97958069e-02 3.84268485e+00] [ 3.39844568e-03 9.99993658e-01 1.06549467e-03 6.32732872e-01] [ 2.97920323e-02 -1.16627499e-03 9.99555438e-01 1.42418807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89255784400007 meters Centerline goodness : 0.103774 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99539530e-01 -3.45636434e-03 -3.01459886e-02 3.84397541e+00] [ 3.48728953e-03 9.99993446e-01 9.73331797e-04 6.32787789e-01] [ 3.01424268e-02 -1.07801140e-03 9.99545033e-01 1.42355001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters Centerline goodness : 0.155844 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99529033e-01 -3.53629668e-03 -3.04828864e-02 3.84513190e+00] [ 3.56555544e-03 9.99993233e-01 9.05538633e-04 6.32753350e-01] [ 3.04794779e-02 -1.01380058e-03 9.99534879e-01 1.42303566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95255784400007 meters Centerline goodness : 0.136821 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523587e-01 -3.59284260e-03 -3.06543825e-02 3.84564549e+00] [ 3.62158410e-03 9.99993053e-01 8.82128257e-04 6.32642942e-01] [ 3.06510002e-02 -9.92725424e-04 9.99529655e-01 1.42291381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98255784400004 meters Centerline goodness : 0.147038 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523502e-01 -3.58769768e-03 -3.06577596e-02 3.84549162e+00] [ 3.61732198e-03 9.99993043e-01 9.10882322e-04 6.32578959e-01] [ 3.06542783e-02 -1.02134728e-03 9.99529525e-01 1.42316621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01255784400007 meters Centerline goodness : 0.162822 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523042e-01 -3.53957870e-03 -3.06783402e-02 3.84544798e+00] [ 3.57278191e-03 9.99993090e-01 1.02755235e-03 6.32166900e-01] [ 3.06744911e-02 -1.13666927e-03 9.99528781e-01 1.42334533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04255784400004 meters Centerline goodness : 0.085232 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99523828e-01 -3.55208741e-03 -3.06512743e-02 3.84525819e+00] [ 3.58576608e-03 9.99993026e-01 1.04387194e-03 6.31963303e-01] [ 3.06473526e-02 -1.15328318e-03 9.99529594e-01 1.42358421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0725578440001 meters Centerline goodness : 0.116852 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99525621e-01 -3.56864868e-03 -3.05908093e-02 3.84501401e+00] [ 3.60101253e-03 9.99993013e-01 1.00293316e-03 6.32146887e-01] [ 3.05870165e-02 -1.11261528e-03 9.99531489e-01 1.42371614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10255784400005 meters Centerline goodness : 0.141976 Centerline is valid? [False, False] Translation: X:3.82, Y:0.63, Z:1.42 [[ 9.99500845e-01 4.88894584e-03 -3.12115056e-02 3.82464768e+00] [-4.89103227e-03 9.99988039e-01 9.49876765e-06 6.27367747e-01] [ 3.12111787e-02 1.43162455e-04 9.99512802e-01 1.42228709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1325578440001 meters Centerline goodness : 0.084061 Centerline is valid? [False, False] Translation: X:3.82, Y:0.63, Z:1.42 [[ 9.99497162e-01 4.87698069e-03 -3.13310994e-02 3.82499557e+00] [-4.88093738e-03 9.99988087e-01 -4.98060020e-05 6.27718921e-01] [ 3.13304833e-02 2.02706092e-04 9.99509059e-01 1.42219144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16255784400005 meters Centerline goodness : 0.048935 Centerline is valid? [False, False] Translation: X:3.83, Y:0.63, Z:1.42 [[ 9.99494607e-01 4.88485660e-03 -3.14112715e-02 3.82529780e+00] [-4.88821689e-03 9.99988052e-01 -3.01860817e-05 6.27565890e-01] [ 3.14107488e-02 1.83715934e-04 9.99506544e-01 1.42201057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192557844 meters Centerline goodness : 0.083747 Centerline is valid? [False, False] Translation: X:3.85, Y:0.63, Z:1.42 [[ 9.99513619e-01 -3.37086102e-03 -3.10026260e-02 3.84510383e+00] [ 3.40010194e-03 9.99993823e-01 8.90505082e-04 6.30977036e-01] [ 3.09994327e-02 -9.95484046e-04 9.99518906e-01 1.42332034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22255784400005 meters Centerline goodness : 0.086814 Centerline is valid? [False, False] Translation: X:3.84, Y:0.63, Z:1.42 [[ 9.99515438e-01 -3.32901802e-03 -3.09484548e-02 3.84482554e+00] [ 3.36162858e-03 9.99993848e-01 1.00173403e-03 6.30345789e-01] [ 3.09449296e-02 -1.10528584e-03 9.99520480e-01 1.42354844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252557844 meters Centerline goodness : 0.092432 Centerline is valid? [False, False] Translation: X:3.86, Y:0.63, Z:1.43 [[ 9.99509945e-01 4.58206893e-03 -3.09657028e-02 3.86419993e+00] [-4.58751753e-03 9.99989472e-01 -1.04912849e-04 6.26149060e-01] [ 3.09648961e-02 2.46917140e-04 9.99520442e-01 1.42567318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28255784400005 meters Centerline goodness : 0.119437 Centerline is valid? [False, False] Translation: X:3.86, Y:0.63, Z:1.43 [[ 9.99509497e-01 4.65330239e-03 -3.09695427e-02 3.86422308e+00] [-4.65586492e-03 9.99989161e-01 -1.06315012e-05 6.25885750e-01] [ 3.09691575e-02 1.54816294e-04 9.99520329e-01 1.42564701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 329.34255784400005 meters Centerline goodness : 0.086441 Centerline is valid? [False, False] Translation: X:3.82, Y:0.62, Z:1.43 [[ 9.99437905e-01 5.08930455e-03 -3.31356740e-02 3.81720357e+00] [-5.07775775e-03 9.99987015e-01 4.32612302e-04 6.18895771e-01] [ 3.31374454e-02 -2.64114208e-04 9.99450769e-01 1.42664585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372557844 meters Centerline goodness : 0.155282 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99490127e-01 -3.08023356e-03 -3.17804777e-02 3.83695935e+00] [ 3.13340839e-03 9.99993773e-01 1.62352405e-03 6.20443133e-01] [ 3.17752790e-02 -1.72227748e-03 9.99493554e-01 1.42778782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40255784400006 meters Centerline goodness : 0.085776 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99498147e-01 -2.86810500e-03 -3.15472283e-02 3.83624796e+00] [ 2.93667995e-03 9.99993425e-01 2.12760448e-03 6.18006029e-01] [ 3.15409187e-02 -2.21918085e-03 9.99499998e-01 1.42801186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43255784400003 meters Centerline goodness : 0.093397 Centerline is valid? [False, False] Translation: X:3.84, Y:0.62, Z:1.43 [[ 9.99504705e-01 -2.68484079e-03 -3.13550170e-02 3.83568929e+00] [ 2.76823459e-03 9.99992745e-01 2.61655683e-03 6.15500678e-01] [ 3.13477645e-02 -2.70205891e-03 9.99504886e-01 1.42815885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46255784400006 meters Centerline goodness : 0.161499 Centerline is valid? [False, False] Translation: X:3.84, Y:0.61, Z:1.43 [[ 9.99498835e-01 -2.33457204e-03 -3.15694268e-02 3.83683688e+00] [ 2.44923009e-03 9.99990543e-01 3.59375111e-03 6.09549739e-01] [ 3.15607383e-02 -3.66927084e-03 9.99495101e-01 1.42734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49255784400003 meters Centerline goodness : 0.142321 Centerline is valid? [False, False] Translation: X:3.84, Y:0.61, Z:1.43 [[ 9.99486730e-01 -2.11307353e-03 -3.19657869e-02 3.83823633e+00] [ 2.24769272e-03 9.99988754e-01 4.17600497e-03 6.06685228e-01] [ 3.19566032e-02 -4.24571082e-03 9.99480240e-01 1.42670802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52255784400006 meters Centerline goodness : 0.156861 Centerline is valid? [False, False] Translation: X:3.84, Y:0.60, Z:1.43 [[ 9.99479785e-01 -1.81038454e-03 -3.22006620e-02 3.83916602e+00] [ 1.96825109e-03 9.99986197e-01 4.87156542e-03 6.03499585e-01] [ 3.21913981e-02 -4.93241015e-03 9.99469552e-01 1.42621379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55255784400003 meters Centerline goodness : 0.086043 Centerline is valid? [False, False] Translation: X:3.84, Y:0.60, Z:1.43 [[ 9.99486284e-01 -1.26238319e-03 -3.20245822e-02 3.83860634e+00] [ 1.46359461e-03 9.99979333e-01 6.26036705e-03 5.95599903e-01] [ 3.20160174e-02 -6.30402201e-03 9.99467475e-01 1.42655897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58255784400006 meters Centerline goodness : 0.151786 Centerline is valid? [False, False] Translation: X:3.83, Y:0.59, Z:1.43 [[ 9.99509379e-01 -3.44045536e-03 -3.11314220e-02 3.83433139e+00] [ 3.58420559e-03 9.99983167e-01 4.56290286e-03 5.91021561e-01] [ 3.11151994e-02 -4.67224561e-03 9.99504885e-01 1.42878027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61255784400004 meters Centerline goodness : 0.106737 Centerline is valid? [False, False] Translation: X:3.83, Y:0.59, Z:1.43 [[ 9.99512815e-01 -3.21195979e-03 -3.10453848e-02 3.83388073e+00] [ 3.37861539e-03 9.99980156e-01 5.31716183e-03 5.86915306e-01] [ 3.10276903e-02 -5.41946180e-03 9.99503833e-01 1.42924398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64255784400007 meters Centerline goodness : 0.155584 Centerline is valid? [False, False] Translation: X:3.83, Y:0.58, Z:1.43 [[ 9.99511887e-01 -2.93955737e-03 -3.11021936e-02 3.83392146e+00] [ 3.12788750e-03 9.99977058e-01 6.00828355e-03 5.83503437e-01] [ 3.10838184e-02 -6.10263500e-03 9.99498151e-01 1.42948072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67255784400004 meters Centerline goodness : 0.148987 Centerline is valid? [False, False] Translation: X:3.83, Y:0.58, Z:1.43 [[ 9.99510486e-01 -2.68951598e-03 -3.11697854e-02 3.83426866e+00] [ 2.89703630e-03 9.99973927e-01 6.61449213e-03 5.80626874e-01] [ 3.11511830e-02 -6.70155424e-03 9.99492218e-01 1.42924056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70255784400007 meters Centerline goodness : 0.108535 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99512705e-01 -2.22520511e-03 -3.11352066e-02 3.83475146e+00] [ 2.46755119e-03 9.99966944e-01 7.74740973e-03 5.74755576e-01] [ 3.11169379e-02 -7.82046217e-03 9.99485156e-01 1.42851263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73255784400004 meters Centerline goodness : 0.149345 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99510901e-01 -1.99926318e-03 -3.12083606e-02 3.83509286e+00] [ 2.26069512e-03 9.99962633e-01 8.34394799e-03 5.71644022e-01] [ 3.11905127e-02 -8.41041956e-03 9.99478072e-01 1.42829377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76255784400007 meters Centerline goodness : 0.150370 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99501617e-01 -1.62328026e-03 -3.15259071e-02 3.83610004e+00] [ 1.91546205e-03 9.99955476e-01 9.24000143e-03 5.67249785e-01] [ 3.15095044e-02 -9.29578305e-03 9.99460224e-01 1.42805836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79255784400004 meters Centerline goodness : 0.153808 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99497927e-01 -1.49889468e-03 -3.16488095e-02 3.83649264e+00] [ 1.80023880e-03 9.99953300e-01 9.49515242e-03 5.66079631e-01] [ 3.16330993e-02 -9.54736058e-03 9.99453948e-01 1.42792576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8225578440001 meters Centerline goodness : 0.148131 Centerline is valid? [False, False] Translation: X:3.84, Y:0.57, Z:1.43 [[ 9.99495248e-01 -1.41036024e-03 -3.17373639e-02 3.83679237e+00] [ 1.71826296e-03 9.99951706e-01 9.67640335e-03 5.65088522e-01] [ 3.17221840e-02 -9.72605230e-03 9.99449402e-01 1.42780335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85255784400005 meters Centerline goodness : 0.146600 Centerline is valid? [False, False] Translation: X:3.84, Y:0.56, Z:1.43 [[ 9.99492582e-01 -1.37823970e-03 -3.18226240e-02 3.83708884e+00] [ 1.68875034e-03 9.99951210e-01 9.73272933e-03 5.64641379e-01] [ 3.18076573e-02 -9.78153123e-03 9.99446144e-01 1.42764290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8825578440001 meters Centerline goodness : 0.148163 Centerline is valid? [False, False] Translation: X:3.84, Y:0.56, Z:1.43 [[ 9.99496571e-01 -1.34556403e-03 -3.16984883e-02 3.83690164e+00] [ 1.65437232e-03 9.99951412e-01 9.71783902e-03 5.64831332e-01] [ 3.16838721e-02 -9.76538788e-03 9.99450234e-01 1.42737201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91255784400005 meters Centerline goodness : 0.142537 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99533276e-01 -5.75661061e-04 -3.05433911e-02 3.83372940e+00] [ 8.88884662e-04 9.99947150e-01 1.02424501e-02 5.65075325e-01] [ 3.05358807e-02 -1.02648193e-02 9.99480962e-01 1.42776137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters Centerline goodness : 0.154603 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99538507e-01 -5.62590160e-04 -3.03719565e-02 3.83327536e+00] [ 8.71301161e-04 9.99948087e-01 1.01520660e-02 5.65752702e-01] [ 3.03646683e-02 -1.01738441e-02 9.99487108e-01 1.42775375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97255784400005 meters Centerline goodness : 0.113371 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99536481e-01 -6.01042233e-04 -3.04378365e-02 3.83347395e+00] [ 9.06970304e-04 9.99949206e-01 1.00381052e-02 5.66180028e-01] [ 3.04302571e-02 -1.00610585e-02 9.99486255e-01 1.42765171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters Centerline goodness : 0.146041 Centerline is valid? [False, False] Translation: X:3.83, Y:0.57, Z:1.43 [[ 9.99532470e-01 -6.42554375e-04 -3.05684264e-02 3.83383348e+00] [ 9.48582762e-04 9.99949571e-01 9.99780937e-03 5.66163019e-01] [ 3.05604607e-02 -1.00221318e-02 9.99482674e-01 1.42755604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03255784400005 meters Centerline goodness : 0.138446 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99949882 0.00738211 -0.03078345 3.85295982] [-0.00711753 0.99993686 0.00869541 0.56284992] [ 0.03084569 -0.00847195 0.99948825 1.43006119] [ 0. 0. 0. 1. ]] SLAMing on 330.062557844 meters Centerline goodness : 0.127032 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950261 0.00745224 -0.03064315 3.85221316] [-0.00718253 0.99993458 0.0089022 0.56209501] [ 0.03070749 -0.00867767 0.99949074 1.43073167] [ 0. 0. 0. 1. ]] SLAMing on 330.09255784400005 meters Centerline goodness : 0.147628 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950556 0.00743536 -0.03055093 3.85182258] [-0.00716595 0.99993455 0.00891873 0.5619328 ] [ 0.03061525 -0.0086954 0.99949342 1.43101177] [ 0. 0. 0. 1. ]] SLAMing on 330.122557844 meters Centerline goodness : 0.147403 Centerline is valid? [False, False] Translation: X:3.85, Y:0.56, Z:1.43 [[ 0.99950835 0.00738654 -0.03047131 3.85155473] [-0.00712123 0.99993587 0.00880618 0.56243609] [ 0.0305344 -0.00858485 0.99949685 1.43108743] [ 0. 0. 0. 1. ]] SLAMing on 330.15255784400006 meters Centerline goodness : 0.147372 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99506545e-01 1.18210970e-04 -3.14110283e-02 3.86963379e+00] [ 1.84689650e-04 9.99953517e-01 9.64005336e-03 5.69034380e-01] [ 3.14107078e-02 -9.64109772e-03 9.99460063e-01 1.43338531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters Centerline goodness : 0.180348 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99497873e-01 1.12643538e-06 -3.16859996e-02 3.87060480e+00] [ 2.92067483e-04 9.99957189e-01 9.24847626e-03 5.71208981e-01] [ 3.16846535e-02 -9.25308680e-03 9.99455083e-01 1.43287713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21255784400006 meters Centerline goodness : 0.146708 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99496267e-01 -2.00902008e-05 -3.17365912e-02 3.87077040e+00] [ 3.12935861e-04 9.99957423e-01 9.22244226e-03 5.71268963e-01] [ 3.17350547e-02 -9.22772813e-03 9.99453718e-01 1.43281143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters Centerline goodness : 0.146462 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 9.99494876e-01 -1.05669048e-05 -3.17803952e-02 3.87081490e+00] [ 3.08202346e-04 9.99956142e-01 9.36049481e-03 5.70273258e-01] [ 3.17789025e-02 -9.36556139e-03 9.99451043e-01 1.43294615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27255784400006 meters Centerline goodness : 0.108662 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.99949394 -0.0040982 -0.0315447 3.87015227] [ 0.00427426 0.99997565 0.00551594 0.56921032] [ 0.03152132 -0.00564797 0.99948712 1.43311473] [ 0. 0. 0. 1. ]] SLAMing on 330.30255784400003 meters Centerline goodness : 0.149406 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.9994955 -0.00399105 -0.03150913 3.86999936] [ 0.00417652 0.99997433 0.0058225 0.56770604] [ 0.03148508 -0.00595116 0.9994865 1.43323966] [ 0. 0. 0. 1. ]] SLAMing on 330.33255784400006 meters Centerline goodness : 0.149406 Centerline is valid? [False, False] Translation: X:3.87, Y:0.57, Z:1.43 [[ 0.9994955 -0.00399105 -0.03150913 3.86999936] [ 0.00417652 0.99997433 0.0058225 0.56770604] [ 0.03148508 -0.00595116 0.9994865 1.43323966] [ 0. 0. 0. 1. ]] SLAMing on 330.36255784400004 meters Centerline goodness : 0.128398 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99952069 0.00425535 -0.03066392 3.88960163] [-0.00410445 0.99997916 0.00498242 0.56296395] [ 0.03068448 -0.00485418 0.99951733 1.43486735] [ 0. 0. 0. 1. ]] SLAMing on 330.39255784400007 meters Centerline goodness : 0.164523 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951861 0.004355 -0.0307179 3.88980428] [-0.00419596 0.99997747 0.00524011 0.56169545] [ 0.03074002 -0.0051087 0.99951436 1.43479012] [ 0. 0. 0. 1. ]] SLAMing on 330.42255784400004 meters Centerline goodness : 0.110749 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951315 0.00439564 -0.03088915 3.89047682] [-0.00423095 0.9999765 0.00539507 0.5607282 ] [ 0.03091214 -0.00526175 0.99950826 1.43444225] [ 0. 0. 0. 1. ]] SLAMing on 330.45255784400007 meters Centerline goodness : 0.156334 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951254 0.00444488 -0.03090191 3.89079856] [-0.0042759 0.99997556 0.00553213 0.55982121] [ 0.03092575 -0.0053973 0.99950711 1.43399037] [ 0. 0. 0. 1. ]] SLAMing on 330.48255784400004 meters Centerline goodness : 0.151224 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99951342 0.00455505 -0.03085737 3.89064708] [-0.00438061 0.99997406 0.00571827 0.55880212] [ 0.03088262 -0.00558031 0.99950744 1.43402896] [ 0. 0. 0. 1. ]] SLAMing on 330.51255784400007 meters Centerline goodness : 0.126816 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950953 0.00464055 -0.03097034 3.89091453] [-0.00446576 0.99997372 0.00571059 0.55916074] [ 0.03099603 -0.00556948 0.99950399 1.4340168 ] [ 0. 0. 0. 1. ]] SLAMing on 330.54255784400004 meters Centerline goodness : 0.155978 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950212 0.00466057 -0.03120564 3.89162059] [-0.00448701 0.99997409 0.00562955 0.55971228] [ 0.03123107 -0.00548672 0.99949713 1.4337981 ] [ 0. 0. 0. 1. ]] SLAMing on 330.5725578440001 meters Centerline goodness : 0.248523 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99948655 0.00475738 -0.03168602 3.89329147] [-0.00458421 0.99997417 0.00553549 0.56038047] [ 0.03171154 -0.00538739 0.99948254 1.43291894] [ 0. 0. 0. 1. ]] SLAMing on 330.60255784400005 meters Centerline goodness : 0.313616 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99949039 0.00476961 -0.03156293 3.89296997] [-0.00459719 0.99997413 0.00553275 0.56044646] [ 0.03158851 -0.00538483 0.99948645 1.43289527] [ 0. 0. 0. 1. ]] SLAMing on 330.6325578440001 meters Centerline goodness : 0.150114 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99949695 0.00481523 -0.03134726 3.89222236] [-0.00464132 0.99997345 0.00561831 0.56015952] [ 0.03137348 -0.00546999 0.99949276 1.43322444] [ 0. 0. 0. 1. ]] SLAMing on 330.66255784400005 meters Centerline goodness : 0.151891 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 0.99950087 0.00487537 -0.0312127 3.89177811] [-0.00469632 0.99997211 0.00580727 0.55917902] [ 0.03124015 -0.00565779 0.99949589 1.43343333] [ 0. 0. 0. 1. ]] SLAMing on 330.692557844 meters Centerline goodness : 0.143816 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99517398e-01 8.76643082e-04 -3.10516113e-02 3.89115249e+00] [-8.14676058e-04 9.99997652e-01 2.00820914e-03 5.59177452e-01] [ 3.10532988e-02 -1.98194297e-03 9.99515765e-01 1.43370010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72255784400005 meters Centerline goodness : 0.171397 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99510185e-01 9.11092486e-04 -3.12819401e-02 3.89162787e+00] [-8.40415683e-04 9.99997065e-01 2.27242226e-03 5.57721302e-01] [ 3.12839186e-02 -2.24501937e-03 9.99508017e-01 1.43389855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752557844 meters Centerline goodness : 0.148299 Centerline is valid? [False, False] Translation: X:3.87, Y:0.56, Z:1.43 [[ 9.99451379e-01 -7.82283410e-03 -3.21829893e-02 3.87071188e+00] [ 7.94279169e-03 9.99961971e-01 3.60120384e-03 5.59235224e-01] [ 3.21535938e-02 -3.85485092e-03 9.99475506e-01 1.43257321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78255784400005 meters Centerline goodness : 0.151286 Centerline is valid? [False, False] Translation: X:3.89, Y:0.56, Z:1.43 [[ 9.99506485e-01 2.07590594e-04 -3.14124816e-02 3.88936689e+00] [-1.31898201e-04 9.99997083e-01 2.41168088e-03 5.55246526e-01] [ 3.14128906e-02 -2.40634743e-03 9.99503597e-01 1.43453204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812557844 meters Centerline goodness : 0.116503 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99576807e-01 6.08948929e-03 -2.84451146e-02 3.90870128e+00] [-6.11916303e-03 9.99980821e-01 -9.56260876e-04 5.53490169e-01] [ 2.84387459e-02 1.12991649e-03 9.99594898e-01 1.43565348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84255784400005 meters Centerline goodness : 0.148415 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99574882e-01 6.12085734e-03 -2.85059675e-02 3.90856590e+00] [-6.14769709e-03 9.99980738e-01 -8.54002027e-04 5.52895002e-01] [ 2.85001912e-02 1.02888503e-03 9.99593258e-01 1.43613726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872557844 meters Centerline goodness : 0.128358 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.44 [[ 9.99573405e-01 6.17625837e-03 -2.85457873e-02 3.90851078e+00] [-6.19908323e-03 9.99980533e-01 -7.11159121e-04 5.52153709e-01] [ 2.85408393e-02 8.87813456e-04 9.99592233e-01 1.43635376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90255784400006 meters Centerline goodness : 0.124132 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.44 [[ 9.99609800e-01 -1.76431641e-03 -2.78771498e-02 3.92821668e+00] [ 1.77228075e-03 9.99998395e-01 2.60988606e-04 5.56166559e-01] [ 2.78766446e-02 -3.10292904e-04 9.99611323e-01 1.43753682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93255784400003 meters Centerline goodness : 0.137423 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99624802e-01 -1.62682428e-03 -2.73424237e-02 3.92683092e+00] [ 1.64938336e-03 9.99998318e-01 8.02524753e-04 5.53031850e-01] [ 2.73410721e-02 -8.47321786e-04 9.99625804e-01 1.43770016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96255784400006 meters Centerline goodness : 0.280627 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99629139e-01 -1.48869816e-03 -2.71913130e-02 3.92611511e+00] [ 1.52255491e-03 9.99998091e-01 1.22446936e-03 5.50849446e-01] [ 2.71894383e-02 -1.26541552e-03 9.99629498e-01 1.43828498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99255784400003 meters Centerline goodness : 0.144204 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99629374e-01 -1.32418841e-03 -2.71912087e-02 3.92585255e+00] [ 1.36985224e-03 9.99997683e-01 1.66080123e-03 5.48784497e-01] [ 2.71889465e-02 -1.69743363e-03 9.99628871e-01 1.43875519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02255784400006 meters Centerline goodness : 0.146480 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99603018e-01 6.67097200e-03 -2.73734250e-02 3.94622831e+00] [-6.65710439e-03 9.99977663e-01 5.97709403e-04 5.43235085e-01] [ 2.73768009e-02 -4.15244375e-04 9.99625099e-01 1.44058438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05255784400003 meters Centerline goodness : 0.133407 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99568394e-01 4.65580164e-03 -2.90060176e-02 3.95317590e+00] [-4.68586047e-03 9.99988552e-01 -9.68409007e-04 5.38075636e-01] [ 2.90011768e-02 1.10390919e-03 9.99578768e-01 1.43718293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08255784400006 meters Centerline goodness : 0.143657 Centerline is valid? [False, False] Translation: X:3.95, Y:0.54, Z:1.44 [[ 9.99563720e-01 4.83998579e-03 -2.91366550e-02 3.95376216e+00] [-4.85699027e-03 9.99988073e-01 -5.12865891e-04 5.35871685e-01] [ 2.91338253e-02 6.54158587e-04 9.99575306e-01 1.43675962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11255784400004 meters Centerline goodness : 0.134514 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99565179e-01 5.03004867e-03 -2.90542874e-02 3.95365783e+00] [-5.03528410e-03 9.99987317e-01 -1.07033491e-04 5.34114840e-01] [ 2.90533805e-02 2.53283542e-04 9.99577829e-01 1.43657784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14255784400007 meters Centerline goodness : 0.133776 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99568738e-01 5.21935083e-03 -2.88980256e-02 3.95333333e+00] [-5.21387601e-03 9.99986373e-01 2.64801271e-04 5.32565813e-01] [ 2.88990139e-02 -1.14016350e-04 9.99582330e-01 1.43647953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17255784400004 meters Centerline goodness : 0.372779 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99569697e-01 5.37324611e-03 -2.88365760e-02 3.95312813e+00] [-5.35913608e-03 9.99985479e-01 5.66573956e-04 5.31221933e-01] [ 2.88392016e-02 -4.11791022e-04 9.99583979e-01 1.43656852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20255784400007 meters Centerline goodness : 0.115612 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99562390e-01 5.62269405e-03 -2.90415958e-02 3.95379630e+00] [-5.59974432e-03 9.99983942e-01 8.71506873e-04 5.29791852e-01] [ 2.90460296e-02 -7.08499982e-04 9.99577824e-01 1.43629497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23255784400004 meters Centerline goodness : 0.134163 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99555000e-01 5.71309006e-03 -2.92773516e-02 3.95465803e+00] [-5.68935738e-03 9.99983416e-01 8.93854767e-04 5.29847285e-01] [ 2.92819728e-02 -7.26887685e-04 9.99570927e-01 1.43583603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26255784400007 meters Centerline goodness : 0.120152 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:1.44 [[ 9.99550238e-01 5.78277159e-03 -2.94258485e-02 3.95523243e+00] [-5.75932072e-03 9.99983026e-01 8.81641176e-04 5.30086734e-01] [ 2.94304474e-02 -7.11771748e-04 9.99566577e-01 1.43545884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29255784400004 meters Centerline goodness : 0.290125 Centerline is valid? [False, False] Translation: X:3.96, Y:0.53, Z:1.44 [[ 9.99548095e-01 6.22459079e-03 -2.94085087e-02 3.95531724e+00] [-6.19527773e-03 9.99980217e-01 1.08776677e-03 5.30096605e-01] [ 2.94146978e-02 -9.05081322e-04 9.99566884e-01 1.43507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3225578440001 meters Centerline goodness : 0.248278 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99556788e-01 6.28855804e-03 -2.90978031e-02 3.95442157e+00] [-6.25917280e-03 9.99979805e-01 1.10085249e-03 5.30262192e-01] [ 2.91041383e-02 -9.18236400e-04 9.99575963e-01 1.43519149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35255784400005 meters Centerline goodness : 0.129018 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99566575e-01 6.36284814e-03 -2.87432842e-02 3.95333638e+00] [-6.33290819e-03 9.99979306e-01 1.13254695e-03 5.30410052e-01] [ 2.87498956e-02 -9.50027496e-04 9.99586185e-01 1.43545912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3825578440001 meters Centerline goodness : 0.106646 Centerline is valid? [False, False] Translation: X:3.95, Y:0.53, Z:1.44 [[ 9.99572458e-01 6.35778579e-03 -2.85391018e-02 3.95273393e+00] [-6.33039123e-03 9.99979411e-01 1.05014437e-03 5.30901372e-01] [ 2.85451908e-02 -8.69031709e-04 9.99592125e-01 1.43555545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41255784400005 meters Centerline goodness : 0.125150 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99581770e-01 -2.29441793e-03 -2.88274380e-02 3.93200168e+00] [ 2.34958255e-03 9.99995473e-01 1.87988751e-03 5.35005031e-01] [ 2.88229942e-02 -1.94683373e-03 9.99582635e-01 1.43434427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters Centerline goodness : 0.124547 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99579884e-01 -2.31294973e-03 -2.88912724e-02 3.93214466e+00] [ 2.36623655e-03 9.99995562e-01 1.81033870e-03 5.35316128e-01] [ 2.88869569e-02 -1.87794173e-03 9.99580921e-01 1.43434541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47255784400005 meters Centerline goodness : 0.120440 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99581833e-01 -2.33028746e-03 -2.88223591e-02 3.93190224e+00] [ 2.38166303e-03 9.99995636e-01 1.74828886e-03 5.35676539e-01] [ 2.88181593e-02 -1.81620293e-03 9.99583021e-01 1.43445708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters Centerline goodness : 0.122725 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99584663e-01 -2.36761673e-03 -2.87210078e-02 3.93155641e+00] [ 2.41535956e-03 9.99995758e-01 1.62771723e-03 5.36358644e-01] [ 2.87170321e-02 -1.69641274e-03 9.99586141e-01 1.43454667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53255784400005 meters Centerline goodness : 0.118247 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.43 [[ 9.99586860e-01 -2.39881715e-03 -2.86418345e-02 3.93122975e+00] [ 2.44277736e-03 9.99995892e-01 1.49993380e-03 5.37138557e-01] [ 2.86381187e-02 -1.56927974e-03 9.99588613e-01 1.43471502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters Centerline goodness : 0.135060 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99593727e-01 -2.60421403e-03 -2.83830736e-02 3.93030038e+00] [ 2.63170842e-03 9.99996103e-01 9.31377227e-04 5.40038957e-01] [ 2.83805375e-02 -1.00569481e-03 9.99596686e-01 1.43504642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59255784400005 meters Centerline goodness : 0.129882 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99600227e-01 -2.73082794e-03 -2.81412298e-02 3.92950685e+00] [ 2.74773024e-03 9.99996067e-01 5.61971603e-04 5.41929687e-01] [ 2.81395845e-02 -6.39071451e-04 9.99603799e-01 1.43526557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters Centerline goodness : 0.138491 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99606864e-01 -2.90963288e-03 -2.78863983e-02 3.92867862e+00] [ 2.91293387e-03 9.99995754e-01 7.77497463e-05 5.44404368e-01] [ 2.78860537e-02 -1.58950414e-04 9.99611096e-01 1.43547813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65255784400006 meters Centerline goodness : 0.314526 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99612428e-01 -3.06054604e-03 -2.76699456e-02 3.92803423e+00] [ 3.05017434e-03 9.99995261e-01 -4.17035587e-04 5.47099562e-01] [ 2.76710908e-02 3.32475797e-04 9.99617027e-01 1.43551716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters Centerline goodness : 0.128183 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99613367e-01 -3.43517959e-03 -2.75919710e-02 3.92785185e+00] [ 3.39509723e-03 9.99993113e-01 -1.49939849e-03 5.52601605e-01] [ 2.75969317e-02 1.40514135e-03 9.99618145e-01 1.43530902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71255784400006 meters Centerline goodness : 0.131933 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.43 [[ 9.99603005e-01 -3.67017931e-03 -2.79349684e-02 3.92906212e+00] [ 3.61386109e-03 9.99991335e-01 -2.06626703e-03 5.55141324e-01] [ 2.79423099e-02 1.96449363e-03 9.99607607e-01 1.43469664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters Centerline goodness : 0.128559 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.43 [[ 9.99556449e-01 3.95462911e-03 -2.95172145e-02 3.91066660e+00] [-4.06700548e-03 9.99984706e-01 -3.74808168e-03 5.51890298e-01] [ 2.95019408e-02 3.86646588e-03 9.99557245e-01 1.43256419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77255784400006 meters Centerline goodness : 0.123440 Centerline is valid? [False, False] Translation: X:3.91, Y:0.55, Z:1.43 [[ 9.99556877e-01 3.78041878e-03 -2.95255518e-02 3.91072110e+00] [-3.90612535e-03 9.99983547e-01 -4.20103483e-03 5.54201494e-01] [ 2.95091843e-02 4.31450376e-03 9.99555198e-01 1.43244889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters Centerline goodness : 0.132037 Centerline is valid? [False, False] Translation: X:3.93, Y:0.56, Z:1.43 [[ 9.99591261e-01 -3.87889446e-03 -2.83242894e-02 3.92909055e+00] [ 3.79761244e-03 9.99988517e-01 -2.92292293e-03 5.59987930e-01] [ 2.83353019e-02 2.81416354e-03 9.99594513e-01 1.43443819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83255784400006 meters Centerline goodness : 0.129033 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965359 0.0041734 -0.02598619 3.94787061] [-0.00428717 0.99998146 -0.00432396 0.55756881] [ 0.02596766 0.00443387 0.99965295 1.43587796] [ 0. 0. 0. 1. ]] SLAMing on 331.86255784400004 meters Centerline goodness : 0.131684 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965625 0.0042008 -0.02587908 3.94725778] [-0.00431099 0.99998187 -0.00420364 0.55688537] [ 0.02586096 0.00431376 0.99965624 1.43644892] [ 0. 0. 0. 1. ]] SLAMing on 331.89255784400007 meters Centerline goodness : 0.135371 Centerline is valid? [False, False] Translation: X:3.95, Y:0.56, Z:1.44 [[ 0.99965633 0.00422251 -0.02587272 3.9471538 ] [-0.00432936 0.99998232 -0.00407535 0.55617872] [ 0.02585505 0.00418596 0.99965694 1.43662329] [ 0. 0. 0. 1. ]] SLAMing on 331.92255784400004 meters Centerline goodness : 0.129251 Centerline is valid? [False, False] Translation: X:3.90, Y:0.55, Z:1.44 [[ 9.99569966e-01 3.07919857e-03 -2.91616470e-02 3.90368446e+00] [-3.20218760e-03 9.99986171e-01 -4.17173164e-03 5.51535168e-01] [ 2.91483981e-02 4.26331872e-03 9.99566003e-01 1.43613252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95255784400007 meters Centerline goodness : 0.130920 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99517742e-01 -5.45876015e-03 -3.05693379e-02 3.92798986e+00] [ 5.34447236e-03 9.99978425e-01 -3.81910240e-03 5.52795870e-01] [ 3.05895259e-02 3.65388363e-03 9.99525352e-01 1.43624684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98255784400004 meters Centerline goodness : 0.132425 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99502204e-01 -5.32058751e-03 -3.10971821e-02 3.92947886e+00] [ 5.22117600e-03 9.99981000e-01 -3.27712969e-03 5.49831059e-01] [ 3.11140275e-02 3.11313449e-03 9.99510993e-01 1.43603383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01255784400007 meters Centerline goodness : 0.115779 Centerline is valid? [False, False] Translation: X:3.93, Y:0.55, Z:1.44 [[ 9.99495244e-01 -5.15527358e-03 -3.13477436e-02 3.93015429e+00] [ 5.07466532e-03 9.99983611e-01 -2.65043763e-03 5.46376468e-01] [ 3.13608936e-02 2.49002050e-03 9.99505025e-01 1.43604995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04255784400004 meters Centerline goodness : 0.131510 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 0.99947807 -0.00855038 -0.03115243 3.92888667] [ 0.0083982 0.99995217 -0.00501282 0.5393498 ] [ 0.0311938 0.00474858 0.99950207 1.43726319] [ 0. 0. 0. 1. ]] SLAMing on 332.0725578440001 meters Centerline goodness : 0.131193 Centerline is valid? [False, False] Translation: X:3.93, Y:0.54, Z:1.44 [[ 9.99474822e-01 -8.32569301e-03 -3.13171412e-02 3.92921357e+00] [ 8.19907788e-03 9.99957695e-01 -4.16924710e-03 5.35076658e-01] [ 3.13505282e-02 3.91028582e-03 9.99500802e-01 1.43753671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10255784400005 meters Centerline goodness : 0.130159 Centerline is valid? [False, False] Translation: X:3.93, Y:0.53, Z:1.44 [[ 9.99467771e-01 -8.07282915e-03 -3.16070427e-02 3.93001590e+00] [ 7.97090971e-03 9.99962623e-01 -3.34925517e-03 5.31010465e-01] [ 3.16328993e-02 3.09553571e-03 9.99494761e-01 1.43754307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1325578440001 meters Centerline goodness : 0.128366 Centerline is valid? [False, False] Translation: X:3.93, Y:0.53, Z:1.44 [[ 9.99462901e-01 -7.83321630e-03 -3.18205980e-02 3.93072249e+00] [ 7.75289323e-03 9.99966443e-01 -2.64684769e-03 5.27397418e-01] [ 3.18402636e-02 2.39872437e-03 9.99490092e-01 1.43735768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16255784400005 meters Centerline goodness : 0.129421 Centerline is valid? [False, False] Translation: X:3.93, Y:0.52, Z:1.44 [[ 9.99461170e-01 -7.50977776e-03 -3.19526724e-02 3.93101476e+00] [ 7.45871113e-03 9.99970709e-01 -1.71709097e-03 5.22082595e-01] [ 3.19646314e-02 1.47783999e-03 9.99487908e-01 1.43756506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192557844 meters Centerline goodness : 0.132958 Centerline is valid? [False, False] Translation: X:3.91, Y:0.51, Z:1.44 [[ 9.99478089e-01 4.78367232e-04 -3.23004646e-02 3.91082349e+00] [-5.54073772e-04 9.99997121e-01 -2.33491193e-03 5.14034189e-01] [ 3.22992546e-02 2.35159015e-03 9.99475477e-01 1.43622251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22255784400005 meters Centerline goodness : 0.158325 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99538120e-01 1.64184492e-03 -3.03455152e-02 3.95459317e+00] [-1.71028083e-03 9.99996052e-01 -2.22940525e-03 5.15681243e-01] [ 3.03417350e-02 2.28027488e-03 9.99536983e-01 1.43725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252557844 meters Centerline goodness : 0.158325 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99538120e-01 1.64184492e-03 -3.03455152e-02 3.95459317e+00] [-1.71028083e-03 9.99996052e-01 -2.22940525e-03 5.15681243e-01] [ 3.03417350e-02 2.28027488e-03 9.99536983e-01 1.43725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28255784400005 meters Centerline goodness : 0.119433 Centerline is valid? [False, False] Translation: X:3.95, Y:0.52, Z:1.44 [[ 9.99542862e-01 1.75189310e-03 -3.01827392e-02 3.95413122e+00] [-1.81557225e-03 9.99996183e-01 -2.08251042e-03 5.15186962e-01] [ 3.01789757e-02 2.13635737e-03 9.99542228e-01 1.43729364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312557844 meters Centerline goodness : 0.144914 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99548999e-01 1.83004455e-03 -2.99741378e-02 3.95341048e+00] [-1.88965844e-03 9.99996293e-01 -1.96063818e-03 5.14673956e-01] [ 2.99704386e-02 2.01639481e-03 9.99548752e-01 1.43760252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34255784400005 meters Centerline goodness : 0.135540 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99553277e-01 1.88388781e-03 -2.98277920e-02 3.95287557e+00] [-1.94003631e-03 9.99996400e-01 -1.85359444e-03 5.14038960e-01] [ 2.98241926e-02 1.91063340e-03 9.99553334e-01 1.43785101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372557844 meters Centerline goodness : 0.129654 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99558995e-01 1.96976311e-03 -2.96299796e-02 3.95194500e+00] [-2.01663858e-03 9.99996762e-01 -1.55222856e-03 5.12164070e-01] [ 2.96268261e-02 1.61129698e-03 9.99559731e-01 1.43852726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40255784400006 meters Centerline goodness : 0.158155 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99561453e-01 2.06850127e-03 -2.95401912e-02 3.95158592e+00] [-2.10833210e-03 9.99996910e-01 -1.31727734e-03 5.11166412e-01] [ 2.95373752e-02 1.37898018e-03 9.99562725e-01 1.43871963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43255784400003 meters Centerline goodness : 0.162910 Centerline is valid? [False, False] Translation: X:3.97, Y:0.52, Z:1.44 [[ 9.99569865e-01 -5.49240898e-03 -2.88083140e-02 3.97109891e+00] [ 5.49433512e-03 9.99984906e-01 -1.22971313e-05 5.15429755e-01] [ 2.88079467e-02 -1.45990689e-04 9.99584954e-01 1.44024580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46255784400006 meters Centerline goodness : 0.131547 Centerline is valid? [False, False] Translation: X:3.95, Y:0.51, Z:1.44 [[ 9.99622808e-01 1.08824431e-03 -2.74418790e-02 3.95336678e+00] [-1.11641472e-03 9.99998865e-01 -1.01124804e-03 5.07413793e-01] [ 2.74407474e-02 1.04150312e-03 9.99622889e-01 1.43744704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49255784400003 meters Centerline goodness : 0.137968 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99615756e-01 -2.83134362e-03 -2.75739560e-02 3.95387488e+00] [ 2.70986773e-03 9.99986463e-01 -4.44182932e-03 5.04465329e-01] [ 2.75861590e-02 4.36540081e-03 9.99609897e-01 1.43724373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52255784400006 meters Centerline goodness : 0.106308 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99608873e-01 -2.62484572e-03 -2.78426308e-02 3.95450086e+00] [ 2.51810178e-03 9.99989348e-01 -3.86820046e-03 5.01591396e-01] [ 2.78524877e-02 3.79657692e-03 9.99604834e-01 1.43736757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55255784400003 meters Centerline goodness : 0.136915 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99604120e-01 -2.41949176e-03 -2.80312194e-02 3.95493773e+00] [ 2.32573785e-03 9.99991594e-01 -3.37674548e-03 4.99288904e-01] [ 2.80391538e-02 3.31021543e-03 9.99601345e-01 1.43748146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58255784400006 meters Centerline goodness : 0.121557 Centerline is valid? [False, False] Translation: X:3.96, Y:0.50, Z:1.44 [[ 9.99602622e-01 -2.20331868e-03 -2.81023854e-02 3.95510760e+00] [ 2.12240316e-03 9.99993517e-01 -2.90881464e-03 4.97174075e-01] [ 2.81086123e-02 2.84801415e-03 9.99600818e-01 1.43753898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61255784400004 meters Centerline goodness : 0.130502 Centerline is valid? [False, False] Translation: X:3.95, Y:0.50, Z:1.44 [[ 9.99606867e-01 -2.03970064e-03 -2.79633750e-02 3.95481612e+00] [ 1.96801724e-03 9.99994707e-01 -2.59075638e-03 4.95750185e-01] [ 2.79685114e-02 2.53470546e-03 9.99605591e-01 1.43746851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64255784400007 meters Centerline goodness : 0.128949 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99629049e-01 -1.57894034e-03 -2.71895466e-02 3.95310433e+00] [ 1.52460455e-03 9.99996800e-01 -2.01902212e-03 4.93592382e-01] [ 2.71926475e-02 1.97681986e-03 9.99628257e-01 1.43718723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67255784400004 meters Centerline goodness : 0.127350 Centerline is valid? [False, False] Translation: X:3.97, Y:0.49, Z:1.44 [[ 9.99627209e-01 7.29739848e-03 -2.63095267e-02 3.97326287e+00] [-7.38508046e-03 9.99967490e-01 -3.23708330e-03 4.90886936e-01] [ 2.62850491e-02 3.43017451e-03 9.99648603e-01 1.43869262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70255784400007 meters Centerline goodness : 0.127088 Centerline is valid? [False, False] Translation: X:3.97, Y:0.49, Z:1.44 [[ 9.99627456e-01 7.38761937e-03 -2.62749246e-02 3.97316234e+00] [-7.47396426e-03 9.99966983e-01 -3.18952111e-03 4.90884727e-01] [ 2.62504941e-02 3.38471072e-03 9.99649666e-01 1.43867682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73255784400004 meters Centerline goodness : 0.130441 Centerline is valid? [False, False] Translation: X:3.99, Y:0.50, Z:1.44 [[ 9.99648109e-01 4.17643497e-04 -2.65232568e-02 3.99195969e+00] [-4.73484632e-04 9.99997685e-01 -2.09911955e-03 4.96119934e-01] [ 2.65223187e-02 2.11093924e-03 9.99645993e-01 1.44052721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76255784400007 meters Centerline goodness : 0.136327 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99546605e-01 -8.92821411e-04 -3.00963120e-02 3.94953303e+00] [ 8.35538063e-04 9.99997816e-01 -1.91585690e-03 4.88891298e-01] [ 3.00979568e-02 1.88984164e-03 9.99545167e-01 1.43981359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79255784400004 meters Centerline goodness : 0.147942 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:1.44 [[ 9.99529943e-01 -8.88009065e-04 -3.06448170e-02 3.95113672e+00] [ 8.42699078e-04 9.99998533e-01 -1.49143660e-03 4.86119411e-01] [ 3.06460964e-02 1.46491118e-03 9.99529225e-01 1.43943733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8225578440001 meters Centerline goodness : 0.165880 Centerline is valid? [False, False] Translation: X:3.95, Y:0.48, Z:1.44 [[ 9.99513466e-01 -9.91917026e-04 -3.11744519e-02 3.95262388e+00] [ 9.61358257e-04 9.99999043e-01 -9.95223642e-04 4.82691069e-01] [ 3.11754092e-02 9.64769616e-04 9.99513463e-01 1.43928298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85255784400005 meters Centerline goodness : 0.138428 Centerline is valid? [False, False] Translation: X:3.95, Y:0.48, Z:1.44 [[ 9.99507324e-01 -1.07946201e-03 -3.13678689e-02 3.95303831e+00] [ 1.06666758e-03 9.99999341e-01 -4.24614091e-04 4.79047348e-01] [ 3.13683066e-02 3.90945806e-04 9.99507817e-01 1.43952753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8825578440001 meters Centerline goodness : 0.117069 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99498581e-01 -4.74959434e-03 -3.13053830e-02 3.95259804e+00] [ 4.65870789e-03 9.99984721e-01 -2.97552174e-03 4.72437047e-01] [ 3.13190372e-02 2.82818712e-03 9.99505437e-01 1.44010056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91255784400005 meters Centerline goodness : 0.116144 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99491303e-01 -4.73310988e-03 -3.15393781e-02 3.95291739e+00] [ 4.65898087e-03 9.99986210e-01 -2.42343869e-03 4.69148310e-01] [ 3.15504136e-02 2.27526454e-03 9.99499572e-01 1.44061044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9425578440001 meters Centerline goodness : 0.136828 Centerline is valid? [False, False] Translation: X:3.95, Y:0.47, Z:1.44 [[ 9.99488699e-01 -4.68342655e-03 -3.16291852e-02 3.95298332e+00] [ 4.62353205e-03 9.99987378e-01 -1.96651927e-03 4.66559380e-01] [ 3.16379960e-02 1.81927523e-03 9.99497738e-01 1.44094194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97255784400005 meters Centerline goodness : 0.135321 Centerline is valid? [False, False] Translation: X:3.95, Y:0.46, Z:1.44 [[ 9.99483631e-01 -4.57065121e-03 -3.18053400e-02 3.95335302e+00] [ 4.52268965e-03 9.99988525e-01 -1.57974978e-03 4.64623192e-01] [ 3.18121955e-02 1.43508837e-03 9.99492834e-01 1.44107388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters Centerline goodness : 0.131764 Centerline is valid? [False, False] Translation: X:3.95, Y:0.46, Z:1.44 [[ 9.99487957e-01 -4.46143141e-03 -3.16846991e-02 3.95310916e+00] [ 4.42469399e-03 9.99989455e-01 -1.22948971e-03 4.63084472e-01] [ 3.16898502e-02 1.08866506e-03 9.99497158e-01 1.44092718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03255784400005 meters Centerline goodness : 0.135625 Centerline is valid? [False, False] Translation: X:3.97, Y:0.46, Z:1.44 [[ 9.99529246e-01 3.38790902e-03 -3.04927495e-02 3.97107795e+00] [-3.47799818e-03 9.99989741e-01 -2.90189110e-03 4.57122256e-01] [ 3.04826054e-02 3.00657875e-03 9.99530776e-01 1.44279287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters Centerline goodness : 0.181911 Centerline is valid? [False, False] Translation: X:3.97, Y:0.46, Z:1.44 [[ 9.99533175e-01 3.43952040e-03 -3.03578965e-02 3.97053693e+00] [-3.52203405e-03 9.99990247e-01 -2.66497487e-03 4.55765685e-01] [ 3.03484342e-02 2.77065234e-03 9.99535540e-01 1.44314486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09255784400005 meters Centerline goodness : 0.158169 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99532999e-01 3.48882793e-03 -3.03580475e-02 3.97037782e+00] [-3.56490094e-03 9.99990639e-01 -2.45209635e-03 4.54529467e-01] [ 3.03492084e-02 2.55917465e-03 9.99536080e-01 1.44340338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters Centerline goodness : 0.136842 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99528866e-01 3.51610132e-03 -3.04906979e-02 3.97071157e+00] [-3.58688967e-03 9.99990997e-01 -2.26725199e-03 4.53458194e-01] [ 3.04824515e-02 2.37555058e-03 9.99532479e-01 1.44338187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15255784400006 meters Centerline goodness : 0.137485 Centerline is valid? [False, False] Translation: X:3.95, Y:0.45, Z:1.44 [[ 9.99450506e-01 1.14180287e-02 -3.11177533e-02 3.95111699e+00] [-1.15250170e-02 9.99928267e-01 -3.26098350e-03 4.45285817e-01] [ 3.10782871e-02 3.61782424e-03 9.99510406e-01 1.44186281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters Centerline goodness : 0.183321 Centerline is valid? [False, False] Translation: X:3.95, Y:0.44, Z:1.44 [[ 9.99447700e-01 1.14096623e-02 -3.12108003e-02 3.95150830e+00] [-1.15146077e-02 9.99928633e-01 -3.18480067e-03 4.44788484e-01] [ 3.11722353e-02 3.54242183e-03 9.99507750e-01 1.44155642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21255784400006 meters Centerline goodness : 0.142666 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99493603e-01 3.06827893e-03 -3.16721251e-02 3.97406899e+00] [-3.16994460e-03 9.99989982e-01 -3.16022886e-03 4.48701220e-01] [ 3.16621113e-02 3.25902741e-03 9.99493316e-01 1.44209996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters Centerline goodness : 0.146568 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99488698e-01 3.03563048e-03 -3.18296526e-02 3.97454859e+00] [-3.13813908e-03 9.99990048e-01 -3.17107705e-03 4.48647586e-01] [ 3.18197096e-02 3.26934155e-03 9.99488278e-01 1.44192791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27255784400006 meters Centerline goodness : 0.146525 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99486394e-01 3.02916075e-03 -3.19025370e-02 3.97482007e+00] [-3.13111095e-03 9.99990149e-01 -3.14620368e-03 4.48626871e-01] [ 3.18926923e-02 3.24447816e-03 9.99486033e-01 1.44177775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters Centerline goodness : 0.140511 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99489023e-01 3.05723667e-03 -3.18173956e-02 3.97454395e+00] [-3.15620380e-03 9.99990335e-01 -3.06071325e-03 4.48289321e-01] [ 3.18077308e-02 3.15957148e-03 9.99489012e-01 1.44183654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33255784400006 meters Centerline goodness : 0.150032 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99493364e-01 3.07634648e-03 -3.16788919e-02 3.97402148e+00] [-3.17092959e-03 9.99990663e-01 -2.93587687e-03 4.47658844e-01] [ 3.16695643e-02 3.03484098e-03 9.99493786e-01 1.44210384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters Centerline goodness : 0.145592 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99498697e-01 3.05505778e-03 -3.15122443e-02 3.97344428e+00] [-3.14460634e-03 9.99991157e-01 -2.79253928e-03 4.46706991e-01] [ 3.15034342e-02 2.89023297e-03 9.99499465e-01 1.44236040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39255784400007 meters Centerline goodness : 0.136726 Centerline is valid? [False, False] Translation: X:3.97, Y:0.45, Z:1.44 [[ 9.99502755e-01 2.81912685e-03 -3.14053278e-02 3.97306748e+00] [-2.90329346e-03 9.99992315e-01 -2.63473224e-03 4.45011689e-01] [ 3.13976588e-02 2.72460102e-03 9.99503258e-01 1.44255921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters Centerline goodness : 0.138899 Centerline is valid? [False, False] Translation: X:3.97, Y:0.44, Z:1.44 [[ 9.99499753e-01 2.84991169e-03 -3.14979571e-02 3.97339060e+00] [-2.92775138e-03 9.99992773e-01 -2.42541713e-03 4.43865410e-01] [ 3.14908172e-02 2.51642201e-03 9.99500873e-01 1.44238017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45255784400007 meters Centerline goodness : 0.142018 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:1.44 [[ 9.99491659e-01 -4.91137890e-03 -3.15008359e-02 3.99384926e+00] [ 4.87231717e-03 9.99987263e-01 -1.31666260e-03 4.46919377e-01] [ 3.15069013e-02 1.16251122e-03 9.99502858e-01 1.44408606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48255784400004 meters Centerline goodness : 0.165867 Centerline is valid? [False, False] Translation: X:3.99, Y:0.45, Z:1.44 [[ 9.99490210e-01 -4.87856544e-03 -3.15518663e-02 3.99382302e+00] [ 4.84790842e-03 9.99987700e-01 -1.04806571e-03 4.45459000e-01] [ 3.15565912e-02 8.94570857e-04 9.99501566e-01 1.44431805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51255784400007 meters Centerline goodness : 0.145535 Centerline is valid? [False, False] Translation: X:3.99, Y:0.44, Z:1.45 [[ 9.99509085e-01 -5.30238094e-03 -3.08783749e-02 3.99173686e+00] [ 5.27306596e-03 9.99985566e-01 -1.03072372e-03 4.43892918e-01] [ 3.08833945e-02 8.67394017e-04 9.99522618e-01 1.44512161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54255784400004 meters Centerline goodness : 0.140053 Centerline is valid? [False, False] Translation: X:4.01, Y:0.44, Z:1.45 [[ 9.99553193e-01 2.85792964e-03 -2.97530933e-02 4.00932881e+00] [-2.93523639e-03 9.99992428e-01 -2.55492463e-03 4.39233874e-01] [ 2.97455662e-02 2.64111544e-03 9.99554013e-01 1.44719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5725578440001 meters Centerline goodness : 0.163584 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99576066e-01 -5.01554401e-03 -2.86798269e-02 4.02932303e+00] [ 4.97182351e-03 9.99986368e-01 -1.59554156e-03 4.42448545e-01] [ 2.86874385e-02 1.45227412e-03 9.99587376e-01 1.44875243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60255784400005 meters Centerline goodness : 0.115649 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99579765e-01 -4.96709076e-03 -2.85590848e-02 4.02881224e+00] [ 4.92834106e-03 9.99986837e-01 -1.42705479e-03 4.41677846e-01] [ 2.85657972e-02 1.28570618e-03 9.99591087e-01 1.44902846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6325578440001 meters Centerline goodness : 0.115510 Centerline is valid? [False, False] Translation: X:4.03, Y:0.44, Z:1.45 [[ 9.99581790e-01 -4.95359550e-03 -2.84904556e-02 4.02844431e+00] [ 4.91911637e-03 9.99987082e-01 -1.28016059e-03 4.40857243e-01] [ 2.84964290e-02 1.13947735e-03 9.99593245e-01 1.44931301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66255784400005 meters Centerline goodness : 0.140271 Centerline is valid? [False, False] Translation: X:4.05, Y:0.44, Z:1.45 [[ 9.99612545e-01 3.27796622e-03 -2.76408145e-02 4.04742961e+00] [-3.35117276e-03 9.99990998e-01 -2.60258673e-03 4.35968558e-01] [ 2.76320345e-02 2.69420749e-03 9.99614532e-01 1.45054769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6925578440001 meters Centerline goodness : 0.134611 Centerline is valid? [False, False] Translation: X:4.05, Y:0.43, Z:1.45 [[ 9.99608383e-01 3.14118126e-03 -2.78067015e-02 4.04782123e+00] [-3.20560366e-03 9.99992280e-01 -2.27251984e-03 4.33664483e-01] [ 2.77993485e-02 2.36076715e-03 9.99610736e-01 1.45049575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72255784400005 meters Centerline goodness : 0.176184 Centerline is valid? [False, False] Translation: X:4.07, Y:0.44, Z:1.45 [[ 9.99606589e-01 -4.98935306e-03 -2.76002354e-02 4.06936763e+00] [ 4.94906598e-03 9.99986586e-01 -1.52778311e-03 4.35019098e-01] [ 2.76074879e-02 1.39058668e-03 9.99617873e-01 1.45161791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752557844 meters Centerline goodness : 0.124432 Centerline is valid? [False, False] Translation: X:4.07, Y:0.43, Z:1.45 [[ 9.99599728e-01 -4.97235174e-03 -2.78506777e-02 4.06992517e+00] [ 4.94211888e-03 9.99987121e-01 -1.15426348e-03 4.32656725e-01] [ 2.78560585e-02 1.01616010e-03 9.99611428e-01 1.45166729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78255784400005 meters Centerline goodness : 0.166562 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99598542e-01 4.03116558e-04 -2.83300638e-02 4.09069414e+00] [-5.21239628e-04 9.99991202e-01 -4.16226951e-03 4.24340948e-01] [ 2.83281366e-02 4.17536528e-03 9.99589957e-01 1.45216735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812557844 meters Centerline goodness : 0.166449 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99596640e-01 6.11271640e-04 -2.83933613e-02 4.09084787e+00] [-7.15846288e-04 9.99992998e-01 -3.67304818e-03 4.22181200e-01] [ 2.83909172e-02 3.69189190e-03 9.99590079e-01 1.45210971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84255784400005 meters Centerline goodness : 0.182996 Centerline is valid? [False, False] Translation: X:4.11, Y:0.42, Z:1.45 [[ 9.99563772e-01 -6.30399714e-03 -2.88535133e-02 4.11013750e+00] [ 6.24451554e-03 9.99978189e-01 -2.15114655e-03 4.24840801e-01] [ 2.88664448e-02 1.97003195e-03 9.99581336e-01 1.45435635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872557844 meters Centerline goodness : 0.201241 Centerline is valid? [False, False] Translation: X:4.11, Y:0.42, Z:1.45 [[ 9.99562208e-01 -6.19129173e-03 -2.89319835e-02 4.11041517e+00] [ 6.13609356e-03 9.99979181e-01 -1.99625466e-03 4.24303239e-01] [ 2.89437406e-02 1.81785135e-03 9.99579389e-01 1.45423814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90255784400006 meters Centerline goodness : 0.161631 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99527025e-01 2.31693914e-03 -3.06652524e-02 4.09080480e+00] [-2.40572135e-03 9.99993020e-01 -2.85862754e-03 4.20978432e-01] [ 3.06584152e-02 2.93104753e-03 9.99525623e-01 1.45256688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93255784400003 meters Centerline goodness : 0.147745 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99523083e-01 2.39320537e-03 -3.07876520e-02 4.09121024e+00] [-2.48890493e-03 9.99992189e-01 -3.07042747e-03 4.22390737e-01] [ 3.07800634e-02 3.14559067e-03 9.99521232e-01 1.45245269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96255784400006 meters Centerline goodness : 0.186114 Centerline is valid? [False, False] Translation: X:4.09, Y:0.42, Z:1.45 [[ 9.99529543e-01 2.57537069e-03 -3.05624125e-02 4.09071052e+00] [-2.67524130e-03 9.99991214e-01 -3.22731894e-03 4.23924479e-01] [ 3.05538325e-02 3.30756245e-03 9.99527650e-01 1.45240058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99255784400003 meters Centerline goodness : 0.177483 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99541239e-01 2.71271188e-03 -3.01654270e-02 4.08959824e+00] [-2.81567939e-03 9.99990353e-01 -3.37147444e-03 4.25278283e-01] [ 3.01559902e-02 3.45486391e-03 9.99539234e-01 1.45270008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02255784400006 meters Centerline goodness : 0.142039 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99549325e-01 2.72200337e-03 -2.98954314e-02 4.08877358e+00] [-2.83107406e-03 9.99989488e-01 -3.60668514e-03 4.26635353e-01] [ 2.98852997e-02 3.68969588e-03 9.99546525e-01 1.45299443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05255784400003 meters Centerline goodness : 0.182649 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99538965e-01 2.74011716e-03 -3.02381936e-02 4.08996054e+00] [-2.85752871e-03 9.99988543e-01 -3.84035914e-03 4.27729523e-01] [ 3.02273241e-02 3.92499511e-03 9.99535344e-01 1.45245128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08255784400006 meters Centerline goodness : 0.133019 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99528279e-01 2.73906085e-03 -3.05895066e-02 4.09136990e+00] [-2.86000679e-03 9.99988263e-01 -3.91078431e-03 4.28088954e-01] [ 3.05784357e-02 3.99642571e-03 9.99524381e-01 1.45156003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11255784400004 meters Centerline goodness : 0.135238 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520359e-01 2.72109077e-03 -3.08487927e-02 4.09235664e+00] [-2.84595551e-03 9.99987932e-01 -4.00445298e-03 4.28600294e-01] [ 3.08375239e-02 4.09032657e-03 9.99516041e-01 1.45099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14255784400007 meters Centerline goodness : 0.135238 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520359e-01 2.72109077e-03 -3.08487927e-02 4.09235664e+00] [-2.84595551e-03 9.99987932e-01 -4.00445298e-03 4.28600294e-01] [ 3.08375239e-02 4.09032657e-03 9.99516041e-01 1.45099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17255784400004 meters Centerline goodness : 0.127204 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99514757e-01 2.68950720e-03 -3.10325245e-02 4.09314073e+00] [-2.81952439e-03 9.99987427e-01 -4.14670891e-03 4.29384506e-01] [ 3.10209818e-02 4.23219371e-03 9.99509773e-01 1.45049830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20255784400007 meters Centerline goodness : 0.137109 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99505914e-01 2.62355387e-03 -3.13216411e-02 4.09416854e+00] [-2.76527823e-03 9.99986131e-01 -4.48234683e-03 4.31122248e-01] [ 3.13094470e-02 4.56674522e-03 9.99499306e-01 1.45002302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23255784400004 meters Centerline goodness : 0.119291 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99510667e-01 2.58615592e-03 -3.11727135e-02 4.09384501e+00] [-2.73170776e-03 9.99985562e-01 -4.62752342e-03 4.31886129e-01] [ 3.11602959e-02 4.71041377e-03 9.99503301e-01 1.44992172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26255784400007 meters Centerline goodness : 0.184581 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99516567e-01 2.60740871e-03 -3.09811679e-02 4.09322418e+00] [-2.75348774e-03 9.99985289e-01 -4.67336370e-03 4.32307968e-01] [ 3.09685267e-02 4.75641071e-03 9.99509043e-01 1.45015741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29255784400004 meters Centerline goodness : 0.137787 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99522721e-01 2.63283231e-03 -3.07798399e-02 4.09267896e+00] [-2.78007239e-03 9.99984893e-01 -4.74183689e-03 4.33016546e-01] [ 3.07668905e-02 4.82514389e-03 9.99514941e-01 1.45023183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3225578440001 meters Centerline goodness : 0.151115 Centerline is valid? [False, False] Translation: X:4.09, Y:0.43, Z:1.45 [[ 9.99520741e-01 2.62311862e-03 -3.08448990e-02 4.09297631e+00] [-2.77054382e-03 9.99984939e-01 -4.73779798e-03 4.32905550e-01] [ 3.08320066e-02 4.82098449e-03 9.99512954e-01 1.44998510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35255784400005 meters Centerline goodness : 0.138342 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99483275e-01 -4.69394085e-03 -3.17985760e-02 4.11262943e+00] [ 4.57051001e-03 9.99981741e-01 -3.95322222e-03 4.37229463e-01] [ 3.18165516e-02 3.80584378e-03 9.99486479e-01 1.45201494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3825578440001 meters Centerline goodness : 0.165164 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99477851e-01 -4.69021763e-03 -3.19691685e-02 4.11303026e+00] [ 4.56600875e-03 9.99981746e-01 -3.95716905e-03 4.37100390e-01] [ 3.19871449e-02 3.80913132e-03 9.99481022e-01 1.45202063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41255784400005 meters Centerline goodness : 0.153112 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99487149e-01 -4.78093309e-03 -3.16635720e-02 4.11195336e+00] [ 4.65627433e-03 9.99981121e-01 -4.00954395e-03 4.37507818e-01] [ 3.16821436e-02 3.86005338e-03 9.99490541e-01 1.45231873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4425578440001 meters Centerline goodness : 0.137357 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99491634e-01 -4.76803979e-03 -3.15236295e-02 4.11129929e+00] [ 4.64243066e-03 9.99980996e-01 -4.05659407e-03 4.38001640e-01] [ 3.15423725e-02 3.90818558e-03 9.99494775e-01 1.45279331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47255784400005 meters Centerline goodness : 0.137552 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 9.99497935e-01 -4.81109398e-03 -3.13166436e-02 4.11053092e+00] [ 4.68232696e-03 9.99980286e-01 -4.18381369e-03 4.38625975e-01] [ 3.13361550e-02 4.03507838e-03 9.99500757e-01 1.45317193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters Centerline goodness : 0.208031 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 0.9995065 -0.00507766 -0.03099959 4.10924776] [ 0.00493701 0.99997718 -0.00461205 0.43972097] [ 0.03102231 0.00445673 0.99950876 1.45404798] [ 0. 0. 0. 1. ]] SLAMing on 334.53255784400005 meters Centerline goodness : 0.127532 Centerline is valid? [False, False] Translation: X:4.11, Y:0.44, Z:1.45 [[ 0.99951648 -0.00507302 -0.03067686 4.10810153] [ 0.00493035 0.99997668 -0.00472468 0.44047317] [ 0.03070012 0.00457114 0.99951819 1.45461132] [ 0. 0. 0. 1. ]] SLAMing on 334.562557844 meters Centerline goodness : 0.161697 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960219 0.00445191 -0.02785029 4.12645149] [-0.00460358 0.99997491 -0.00538395 0.43974771] [ 0.02782562 0.00551002 0.99959761 1.45560574] [ 0. 0. 0. 1. ]] SLAMing on 334.59255784400005 meters Centerline goodness : 0.136304 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960698 0.00443861 -0.02767995 4.12602756] [-0.00459449 0.99997393 -0.00557027 0.44077771] [ 0.0276545 0.00569526 0.99960132 1.4556412 ] [ 0. 0. 0. 1. ]] SLAMing on 334.622557844 meters Centerline goodness : 0.131661 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960658 0.00440195 -0.02770025 4.12600994] [-0.00456204 0.99997324 -0.00571901 0.44138208] [ 0.02767434 0.00584313 0.99959991 1.45574429] [ 0. 0. 0. 1. ]] SLAMing on 334.65255784400006 meters Centerline goodness : 0.121683 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.9996022 0.00440803 -0.02785696 4.12648021] [-0.00456969 0.99997307 -0.00574219 0.4413884 ] [ 0.0278309 0.0058672 0.99959543 1.45559324] [ 0. 0. 0. 1. ]] SLAMing on 334.68255784400003 meters Centerline goodness : 0.133641 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99959499 0.00456008 -0.02809019 4.12734388] [-0.00471842 0.99997334 -0.00557323 0.4409313 ] [ 0.02806403 0.00570352 0.99958986 1.4550848 ] [ 0. 0. 0. 1. ]] SLAMing on 334.71255784400006 meters Centerline goodness : 0.134441 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960196 0.00469508 -0.0278188 4.12651453] [-0.00484549 0.99997399 -0.00534188 0.44010035] [ 0.02779299 0.00547455 0.99959871 1.45532332] [ 0. 0. 0. 1. ]] SLAMing on 334.74255784400003 meters Centerline goodness : 0.133535 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99961106 0.00483059 -0.02746606 4.12531345] [-0.00497197 0.99997473 -0.00508141 0.43898892] [ 0.02744082 0.005216 0.99960982 1.45586891] [ 0. 0. 0. 1. ]] SLAMing on 334.77255784400006 meters Centerline goodness : 0.113585 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99961147 0.00487703 -0.02744321 4.12527384] [-0.00501461 0.99997519 -0.00494671 0.43816601] [ 0.0274184 0.00508241 0.99961112 1.45585794] [ 0. 0. 0. 1. ]] SLAMing on 334.80255784400003 meters Centerline goodness : 0.117512 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.46 [[ 0.99960102 0.00489658 -0.02781754 4.12664662] [-0.00503526 0.99997523 -0.00491779 0.43785928] [ 0.02779277 0.0050559 0.99960092 1.45516024] [ 0. 0. 0. 1. ]] SLAMing on 334.83255784400006 meters Centerline goodness : 0.149340 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954778 0.00543736 -0.02957486 4.13208039] [-0.00557927 0.99997331 -0.00471793 0.43843664] [ 0.02954841 0.0048808 0.99955143 1.4532613 ] [ 0. 0. 0. 1. ]] SLAMing on 334.86255784400004 meters Centerline goodness : 0.126086 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954278 0.00550318 -0.02973114 4.13259806] [-0.00564733 0.99997269 -0.00476671 0.4390594 ] [ 0.02970409 0.00493243 0.99954657 1.45302011] [ 0. 0. 0. 1. ]] SLAMing on 334.89255784400007 meters Centerline goodness : 0.132477 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:1.45 [[ 0.99954125 0.00558552 -0.0297673 4.13246314] [-0.00573106 0.99997203 -0.0048059 0.43939112] [ 0.02973962 0.00497429 0.9995453 1.45348454] [ 0. 0. 0. 1. ]] SLAMing on 334.92255784400004 meters Centerline goodness : 0.113186 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.46 [[ 9.99571438e-01 -2.25147742e-03 -2.91868494e-02 4.14947974e+00] [ 2.14694482e-03 9.99991171e-01 -3.61233985e-03 4.44824104e-01] [ 2.91947248e-02 3.54812918e-03 9.99567446e-01 1.45573385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95255784400007 meters Centerline goodness : 0.128726 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.46 [[ 9.99577243e-01 -2.31100898e-03 -2.89826497e-02 4.14857305e+00] [ 2.20876517e-03 9.99991226e-01 -3.55927787e-03 4.44159536e-01] [ 2.89906210e-02 3.49375730e-03 9.99573578e-01 1.45629034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98255784400004 meters Centerline goodness : 0.134157 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99956066 -0.00557812 -0.02910949 4.14995336] [ 0.00540083 0.99996641 -0.00616565 0.44052083] [ 0.0291429 0.00600573 0.99955721 1.45463156] [ 0. 0. 0. 1. ]] SLAMing on 335.01255784400007 meters Centerline goodness : 0.116581 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.9995551 -0.00538953 -0.02933536 4.15082037] [ 0.00522096 0.99996943 -0.00581987 0.43921887] [ 0.02936582 0.00566412 0.99955268 1.45417492] [ 0. 0. 0. 1. ]] SLAMing on 335.04255784400004 meters Centerline goodness : 0.142813 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99954478 -0.00512487 -0.02973156 4.15224024] [ 0.0049683 0.99997341 -0.00533774 0.43738305] [ 0.02975813 0.0051876 0.99954367 1.45351179] [ 0. 0. 0. 1. ]] SLAMing on 335.0725578440001 meters Centerline goodness : 0.131933 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99954058 -0.00498335 -0.0298963 4.15274861] [ 0.00482999 0.99997482 -0.00519957 0.43696547] [ 0.02992145 0.00505279 0.99953948 1.45343112] [ 0. 0. 0. 1. ]] SLAMing on 335.10255784400005 meters Centerline goodness : 0.127909 Centerline is valid? [False, False] Translation: X:4.15, Y:0.44, Z:1.45 [[ 0.99953751 -0.00491509 -0.03001016 4.15298559] [ 0.00476124 0.99997517 -0.00519592 0.43703578] [ 0.03003495 0.00505063 0.99953609 1.45358855] [ 0. 0. 0. 1. ]] SLAMing on 335.1325578440001 meters Centerline goodness : 0.128110 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954911 0.0043007 -0.02971663 4.17222885] [-0.00446538 0.99997503 -0.0054776 0.43277818] [ 0.02969233 0.00560782 0.99954335 1.45453711] [ 0. 0. 0. 1. ]] SLAMing on 335.16255784400005 meters Centerline goodness : 0.130569 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954878 0.00428751 -0.02972975 4.17242745] [-0.0044561 0.99997435 -0.00560669 0.43358137] [ 0.02970495 0.00573664 0.99954225 1.45434232] [ 0. 0. 0. 1. ]] SLAMing on 335.1925578440001 meters Centerline goodness : 0.125345 Centerline is valid? [False, False] Translation: X:4.17, Y:0.43, Z:1.45 [[ 0.99954529 0.00427426 -0.02984877 4.17296735] [-0.00444776 0.99997358 -0.00574867 0.43435075] [ 0.02982341 0.00587881 0.9995379 1.45398864] [ 0. 0. 0. 1. ]] SLAMing on 335.22255784400005 meters Centerline goodness : 0.143279 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99534660e-01 4.13129503e-03 -3.02224290e-02 4.17414811e+00] [-4.31786288e-03 9.99972009e-01 -6.11050240e-03 4.35716027e-01] [ 3.01963387e-02 6.23815524e-03 9.99524520e-01 1.45363592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252557844 meters Centerline goodness : 0.129690 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99536113e-01 4.08103553e-03 -3.01811985e-02 4.17403205e+00] [-4.26868522e-03 9.99971943e-01 -6.15562028e-03 4.35893262e-01] [ 3.01552304e-02 6.28159880e-03 9.99525489e-01 1.45359567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28255784400005 meters Centerline goodness : 0.126412 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99541589e-01 4.08056454e-03 -2.99993466e-02 4.17354722e+00] [-4.26501323e-03 9.99972379e-01 -6.08700822e-03 4.35666192e-01] [ 2.99736795e-02 6.21216548e-03 9.99531384e-01 1.45356037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312557844 meters Centerline goodness : 0.127888 Centerline is valid? [False, False] Translation: X:4.17, Y:0.44, Z:1.45 [[ 9.99550187e-01 4.08106406e-03 -2.97114353e-02 4.17283374e+00] [-4.25938473e-03 9.99973281e-01 -5.94093746e-03 4.35093321e-01] [ 2.96863961e-02 6.06481758e-03 9.99540863e-01 1.45342381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34255784400005 meters Centerline goodness : 0.129000 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99584056e-01 -3.74244042e-03 -2.85956126e-02 4.19182443e+00] [ 3.61121584e-03 9.99982718e-01 -4.63924207e-03 4.41238362e-01] [ 2.86124805e-02 4.53404748e-03 9.99580296e-01 1.45416153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372557844 meters Centerline goodness : 0.122448 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99581368e-01 -3.67036030e-03 -2.86987266e-02 4.19198682e+00] [ 3.54393601e-03 9.99983797e-01 -4.45484689e-03 4.40445816e-01] [ 2.87146125e-02 4.35127550e-03 9.99578180e-01 1.45432928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40255784400006 meters Centerline goodness : 0.127487 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99573486e-01 -3.61504107e-03 -2.89789302e-02 4.19285923e+00] [ 3.48575493e-03 9.99983752e-01 -4.51066102e-03 4.40766666e-01] [ 2.89947656e-02 4.40772371e-03 9.99569845e-01 1.45416508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43255784400003 meters Centerline goodness : 0.180631 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99571272e-01 -3.67005172e-03 -2.90482951e-02 4.19311393e+00] [ 3.53526490e-03 9.99982752e-01 -4.69009232e-03 4.41575900e-01] [ 2.90650070e-02 4.58538813e-03 9.99567006e-01 1.45400652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46255784400006 meters Centerline goodness : 0.127003 Centerline is valid? [False, False] Translation: X:4.19, Y:0.44, Z:1.45 [[ 9.99585530e-01 -3.55259604e-03 -2.85682996e-02 4.19191213e+00] [ 3.41100734e-03 9.99981666e-01 -5.00335451e-03 4.43917863e-01] [ 2.85855507e-02 4.90383409e-03 9.99579321e-01 1.45395536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49255784400003 meters Centerline goodness : 0.138063 Centerline is valid? [False, False] Translation: X:4.21, Y:0.44, Z:1.45 [[ 0.99961248 0.00559535 -0.02726877 4.21130341] [-0.00576516 0.99996445 -0.00615289 0.44321057] [ 0.02723337 0.00630772 0.9996092 1.45499861] [ 0. 0. 0. 1. ]] SLAMing on 335.52255784400006 meters Centerline goodness : 0.137401 Centerline is valid? [False, False] Translation: X:4.21, Y:0.44, Z:1.46 [[ 0.99961961 0.00557223 -0.02701097 4.210583 ] [-0.00574552 0.99996338 -0.00634242 0.44452624] [ 0.02697464 0.0064952 0.99961502 1.45509238] [ 0. 0. 0. 1. ]] SLAMing on 335.55255784400003 meters Centerline goodness : 0.131308 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99962449 0.00542933 -0.02685887 4.21002342] [-0.00561096 0.99996187 -0.00669136 0.4461123 ] [ 0.02682152 0.00683955 0.99961684 1.4554098 ] [ 0. 0. 0. 1. ]] SLAMing on 335.58255784400006 meters Centerline goodness : 0.139736 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99962582 0.00526107 -0.02684277 4.20973535] [-0.00545281 0.99996011 -0.00707471 0.44755494] [ 0.02680448 0.00721843 0.99961463 1.45579875] [ 0. 0. 0. 1. ]] SLAMing on 335.61255784400004 meters Centerline goodness : 0.134212 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99961293 0.00501561 -0.02736479 4.21098679] [-0.00523251 0.99995542 -0.0078603 0.45076806] [ 0.02732414 0.00800044 0.99959461 1.4559712 ] [ 0. 0. 0. 1. ]] SLAMing on 335.64255784400007 meters Centerline goodness : 0.129665 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99960969 0.00496156 -0.02749279 4.2114953 ] [-0.00518677 0.99995353 -0.00812656 0.45229001] [ 0.02745119 0.00826599 0.99958897 1.45566481] [ 0. 0. 0. 1. ]] SLAMing on 335.67255784400004 meters Centerline goodness : 0.139732 Centerline is valid? [False, False] Translation: X:4.21, Y:0.45, Z:1.46 [[ 0.99961263 0.00485737 -0.02740437 4.21142787] [-0.00509252 0.99995076 -0.00851755 0.45441619] [ 0.02736165 0.00865381 0.99958814 1.45537509] [ 0. 0. 0. 1. ]] SLAMing on 335.70255784400007 meters Centerline goodness : 0.185066 Centerline is valid? [False, False] Translation: X:4.21, Y:0.46, Z:1.46 [[ 0.99962227 0.0047854 -0.02706336 4.21053349] [-0.00502666 0.99994817 -0.00885377 0.45636095] [ 0.02701959 0.00898646 0.99959451 1.45542291] [ 0. 0. 0. 1. ]] SLAMing on 335.73255784400004 meters Centerline goodness : 0.124417 Centerline is valid? [False, False] Translation: X:4.23, Y:0.47, Z:1.46 [[ 9.99704813e-01 -2.29321659e-03 -2.41873405e-02 4.22694639e+00] [ 2.11606928e-03 9.99970771e-01 -7.34702205e-03 4.66550246e-01] [ 2.42034818e-02 7.29367122e-03 9.99680446e-01 1.45642261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76255784400007 meters Centerline goodness : 0.114134 Centerline is valid? [False, False] Translation: X:4.23, Y:0.47, Z:1.46 [[ 9.99705349e-01 -2.41144125e-03 -2.41536948e-02 4.22690750e+00] [ 2.22656209e-03 9.99968043e-01 -7.67825207e-03 4.68253711e-01] [ 2.41714386e-02 7.62220996e-03 9.99678770e-01 1.45630816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79255784400004 meters Centerline goodness : 0.122695 Centerline is valid? [False, False] Translation: X:4.18, Y:0.47, Z:1.46 [[ 9.99617276e-01 -3.32120880e-03 -2.74640137e-02 4.18304908e+00] [ 3.12410680e-03 9.99969080e-01 -7.21653408e-03 4.65611973e-01] [ 2.74871321e-02 7.12797162e-03 9.99596743e-01 1.45613475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8225578440001 meters Centerline goodness : 0.149648 Centerline is valid? [False, False] Translation: X:4.18, Y:0.47, Z:1.46 [[ 9.99606974e-01 -3.42658641e-03 -2.78236484e-02 4.18426159e+00] [ 3.21996638e-03 9.99966934e-01 -7.46747006e-03 4.66679021e-01] [ 2.78483163e-02 7.37494394e-03 9.99584955e-01 1.45559060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85255784400005 meters Centerline goodness : 0.144877 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598821e-01 -3.51753398e-03 -2.81038114e-02 4.18537062e+00] [ 3.30377513e-03 9.99965289e-01 -7.64886168e-03 4.67332907e-01] [ 2.81297410e-02 7.55294444e-03 9.99575745e-01 1.45487288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8825578440001 meters Centerline goodness : 0.160590 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598725e-01 -3.57635759e-03 -2.80998086e-02 4.18555946e+00] [ 3.35774519e-03 9.99963761e-01 -7.82319114e-03 4.68355071e-01] [ 2.81267688e-02 7.72569989e-03 9.99574509e-01 1.45449050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91255784400005 meters Centerline goodness : 0.129348 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.99957745 -0.01119594 -0.02682471 4.20482999] [ 0.01101708 0.99991615 -0.00680634 0.47322248] [ 0.02689866 0.00650793 0.99961698 1.45610416] [ 0. 0. 0. 1. ]] SLAMing on 335.9425578440001 meters Centerline goodness : 0.123265 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.9995435 -0.01514632 -0.02614145 4.20285862] [ 0.01487692 0.99983452 -0.01046942 0.47230619] [ 0.02629569 0.01007573 0.99960343 1.45665902] [ 0. 0. 0. 1. ]] SLAMing on 335.97255784400005 meters Centerline goodness : 0.133532 Centerline is valid? [False, False] Translation: X:4.20, Y:0.47, Z:1.46 [[ 0.99953448 -0.01512808 -0.02649452 4.20389022] [ 0.01486351 0.99983797 -0.01015419 0.47039127] [ 0.02664384 0.00975566 0.99959739 1.45645526] [ 0. 0. 0. 1. ]] SLAMing on 336.002557844 meters Centerline goodness : 0.132744 Centerline is valid? [False, False] Translation: X:4.21, Y:0.47, Z:1.46 [[ 0.99952021 -0.01509504 -0.02704603 4.20549356] [ 0.01483477 0.99984195 -0.00979797 0.4682634 ] [ 0.02718966 0.00939205 0.99958617 1.45612229] [ 0. 0. 0. 1. ]] SLAMing on 336.03255784400005 meters Centerline goodness : 0.135447 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99958 -0.00738722 -0.0280223 4.18686528] [ 0.0070997 0.99992128 -0.01034576 0.46042838] [ 0.02809652 0.01014246 0.99955376 1.45444702] [ 0. 0. 0. 1. ]] SLAMing on 336.062557844 meters Centerline goodness : 0.135447 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99958 -0.00738722 -0.0280223 4.18686528] [ 0.0070997 0.99992128 -0.01034576 0.46042838] [ 0.02809652 0.01014246 0.99955376 1.45444702] [ 0. 0. 0. 1. ]] SLAMing on 336.09255784400005 meters Centerline goodness : 0.129039 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99957309 -0.00727538 -0.02829676 4.18776428] [ 0.00699004 0.99992386 -0.01016971 0.45981175] [ 0.02836859 0.00996758 0.99954783 1.45415899] [ 0. 0. 0. 1. ]] SLAMing on 336.122557844 meters Centerline goodness : 0.136136 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 0.99957324 -0.00729642 -0.028286 4.18790274] [ 0.00700456 0.99992135 -0.01040361 0.46118535] [ 0.02835968 0.01020104 0.99954573 1.45386435] [ 0. 0. 0. 1. ]] SLAMing on 336.15255784400006 meters Centerline goodness : 0.125089 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 9.99579247e-01 -3.59973746e-03 -2.87814269e-02 4.18912524e+00] [ 3.40350918e-03 9.99970651e-01 -6.86396360e-03 4.61025496e-01] [ 2.88052907e-02 6.76311772e-03 9.99562162e-01 1.45383525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18255784400003 meters Centerline goodness : 0.124856 Centerline is valid? [False, False] Translation: X:4.19, Y:0.46, Z:1.45 [[ 9.99589095e-01 -3.54715673e-03 -2.84439496e-02 4.18828752e+00] [ 3.34274617e-03 9.99968271e-01 -7.23076671e-03 4.63304290e-01] [ 2.84686957e-02 7.13271465e-03 9.99569236e-01 1.45373908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21255784400006 meters Centerline goodness : 0.149620 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99587872e-01 2.16119875e-04 -2.87060808e-02 4.18818668e+00] [-3.35286788e-04 9.99991347e-01 -4.14652920e-03 4.66910819e-01] [ 2.87049363e-02 4.15444507e-03 9.99579295e-01 1.45452358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24255784400003 meters Centerline goodness : 0.126223 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99592937e-01 1.19200979e-04 -2.85297493e-02 4.18779214e+00] [-2.49421193e-04 9.99989568e-01 -4.56085071e-03 4.69163418e-01] [ 2.85289080e-02 4.56611008e-03 9.99582539e-01 1.45436118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27255784400006 meters Centerline goodness : 0.127121 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99598552e-01 -7.11273000e-06 -2.83325864e-02 4.18733354e+00] [-1.32406607e-04 9.99987876e-01 -4.92246258e-03 4.70967110e-01] [ 2.83322779e-02 4.92423789e-03 9.99586431e-01 1.45422266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30255784400003 meters Centerline goodness : 0.132727 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99601497e-01 -1.09107706e-04 -2.82282880e-02 4.18698064e+00] [-3.62680499e-05 9.99986741e-01 -5.14943931e-03 4.71949971e-01] [ 2.82284756e-02 5.14841102e-03 9.99588239e-01 1.45431351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33255784400006 meters Centerline goodness : 0.142151 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99601981e-01 -1.71949004e-04 -2.82107974e-02 4.18685163e+00] [ 2.42088833e-05 9.99986285e-01 -5.23726415e-03 4.72243285e-01] [ 2.82113110e-02 5.23449667e-03 9.99588276e-01 1.45444265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36255784400004 meters Centerline goodness : 0.145919 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.45 [[ 9.99602792e-01 -2.05099807e-04 -2.81818446e-02 4.18656150e+00] [ 5.74719088e-05 9.99986274e-01 -5.23911453e-03 4.72137673e-01] [ 2.81825323e-02 5.23541385e-03 9.99589083e-01 1.45475149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39255784400007 meters Centerline goodness : 0.132347 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99604418e-01 -2.69133956e-04 -2.81235631e-02 4.18591017e+00] [ 1.23692071e-04 9.99986612e-01 -5.17314296e-03 4.71841201e-01] [ 2.81245788e-02 5.16761790e-03 9.99591068e-01 1.45557304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42255784400004 meters Centerline goodness : 0.148572 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99603763e-01 -2.71091977e-04 -2.81468344e-02 4.18597647e+00] [ 1.26162041e-04 9.99986727e-01 -5.15071520e-03 4.71854847e-01] [ 2.81478572e-02 5.14512323e-03 9.99590529e-01 1.45555440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45255784400007 meters Centerline goodness : 0.129399 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99601754e-01 -2.91895233e-04 -2.82178661e-02 4.18624070e+00] [ 1.46063143e-04 9.99986625e-01 -5.16999951e-03 4.71958688e-01] [ 2.82189978e-02 5.16381899e-03 9.99588427e-01 1.45543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48255784400004 meters Centerline goodness : 0.135193 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99599262e-01 -4.04874899e-04 -2.83046144e-02 4.18654869e+00] [ 2.54227368e-04 9.99985786e-01 -5.32576252e-03 4.72413224e-01] [ 2.83063683e-02 5.31643248e-03 9.99585156e-01 1.45528714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51255784400007 meters Centerline goodness : 0.140402 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99600281e-01 -4.30755889e-04 -2.82682362e-02 4.18646050e+00] [ 2.78816473e-04 9.99985496e-01 -5.37863827e-03 4.72672765e-01] [ 2.82701431e-02 5.36860667e-03 9.99585903e-01 1.45526343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54255784400004 meters Centerline goodness : 0.171733 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99600537e-01 -4.50419117e-04 -2.82588825e-02 4.18635131e+00] [ 2.96314229e-04 9.99985065e-01 -5.45727622e-03 4.73192935e-01] [ 2.82609186e-02 5.44672273e-03 9.99585741e-01 1.45536680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5725578440001 meters Centerline goodness : 0.136861 Centerline is valid? [False, False] Translation: X:4.19, Y:0.47, Z:1.46 [[ 9.99595494e-01 -5.32893773e-04 -2.84352832e-02 4.18675488e+00] [ 3.72718776e-04 9.99984037e-01 -5.63796943e-03 4.74285364e-01] [ 2.84378337e-02 5.62509047e-03 9.99579736e-01 1.45538430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60255784400005 meters Centerline goodness : 0.135139 Centerline is valid? [False, False] Translation: X:4.14, Y:0.47, Z:1.46 [[ 9.99506843e-01 -1.83679467e-03 -3.13480124e-02 4.14189808e+00] [ 1.66783694e-03 9.99983948e-01 -5.41504018e-03 4.71428221e-01] [ 3.13574555e-02 5.36008634e-03 9.99493862e-01 1.45539854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6325578440001 meters Centerline goodness : 0.128796 Centerline is valid? [False, False] Translation: X:4.19, Y:0.48, Z:1.46 [[ 9.99562130e-01 -1.11363175e-03 -2.95686902e-02 4.18653190e+00] [ 9.27739874e-04 9.99979726e-01 -6.29975576e-03 4.75730915e-01] [ 2.95751064e-02 6.26956523e-03 9.99542898e-01 1.45569260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66255784400005 meters Centerline goodness : 0.139080 Centerline is valid? [False, False] Translation: X:4.19, Y:0.48, Z:1.46 [[ 9.99561473e-01 -1.19040258e-03 -2.95878977e-02 4.18667500e+00] [ 1.00045038e-03 9.99978802e-01 -6.43390377e-03 4.76278547e-01] [ 2.95949294e-02 6.40148111e-03 9.99541475e-01 1.45553497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6925578440001 meters Centerline goodness : 0.133020 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99497131e-01 -2.90678097e-03 -3.15758836e-02 4.13881921e+00] [ 2.69672029e-03 9.99973965e-01 -6.69311743e-03 4.75028333e-01] [ 3.15945170e-02 6.60460034e-03 9.99478947e-01 1.45666782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72255784400005 meters Centerline goodness : 0.117950 Centerline is valid? [False, False] Translation: X:4.16, Y:0.47, Z:1.46 [[ 0.99956715 0.00531609 -0.02893535 4.15710914] [-0.00555334 0.99995157 -0.00812497 0.47331259] [ 0.02889075 0.00828214 0.99954826 1.4579126 ] [ 0. 0. 0. 1. ]] SLAMing on 336.752557844 meters Centerline goodness : 0.201309 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99581823e-01 -3.50868506e-03 -2.87030906e-02 4.13667733e+00] [ 3.31178079e-03 9.99970678e-01 -6.90470270e-03 4.77007470e-01] [ 2.87264754e-02 6.80675697e-03 9.99564134e-01 1.45638721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78255784400005 meters Centerline goodness : 0.189837 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99579707e-01 -3.53025043e-03 -2.87740568e-02 4.13698178e+00] [ 3.33197734e-03 9.99970396e-01 -6.93572683e-03 4.77158638e-01] [ 2.87976898e-02 6.83693729e-03 9.99561879e-01 1.45617315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812557844 meters Centerline goodness : 0.141103 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99572403e-01 -3.61216538e-03 -2.90166064e-02 4.13784957e+00] [ 3.40918365e-03 9.99969395e-01 -7.04179322e-03 4.77424185e-01] [ 2.90411544e-02 6.93985923e-03 9.99554125e-01 1.45573836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84255784400005 meters Centerline goodness : 0.118111 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99554990e-01 -3.78064728e-03 -2.95893294e-02 4.13963814e+00] [ 3.56603400e-03 9.99966978e-01 -7.30247565e-03 4.78258770e-01] [ 2.96159604e-02 7.19370942e-03 9.99535465e-01 1.45511298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872557844 meters Centerline goodness : 0.130845 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99556486e-01 -3.77025679e-03 -2.95400942e-02 4.13930203e+00] [ 3.55548244e-03 9.99966889e-01 -7.31976101e-03 4.78521225e-01] [ 2.95667135e-02 7.21148531e-03 9.99536795e-01 1.45543499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90255784400006 meters Centerline goodness : 0.131446 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99561687e-01 -3.72450216e-03 -2.93694202e-02 4.13855722e+00] [ 3.51276759e-03 9.99967493e-01 -7.25765742e-03 4.78472328e-01] [ 2.93954967e-02 7.15130835e-03 9.99542277e-01 1.45591590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93255784400003 meters Centerline goodness : 0.128750 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99564997e-01 -3.65760225e-03 -2.92649839e-02 4.13803508e+00] [ 3.45017636e-03 9.99968592e-01 -7.13521168e-03 4.78113303e-01] [ 2.92901625e-02 7.03113849e-03 9.99546222e-01 1.45633894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96255784400006 meters Centerline goodness : 0.119457 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99563268e-01 -3.69507483e-03 -2.93192559e-02 4.13822078e+00] [ 3.48519759e-03 9.99967961e-01 -7.20621776e-03 4.78372107e-01] [ 2.93449441e-02 7.10088718e-03 9.99544122e-01 1.45623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99255784400003 meters Centerline goodness : 0.117592 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560532e-01 -3.77012593e-03 -2.94028718e-02 4.13840359e+00] [ 3.55425432e-03 9.99966372e-01 -7.39066623e-03 4.79144312e-01] [ 2.94297468e-02 7.28291298e-03 9.99540319e-01 1.45628852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02255784400006 meters Centerline goodness : 0.151540 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99565159e-01 -3.84082541e-03 -2.92359382e-02 4.13780727e+00] [ 3.61851660e-03 9.99964168e-01 -7.65306920e-03 4.80529473e-01] [ 2.92642847e-02 7.54395061e-03 9.99543241e-01 1.45654892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05255784400003 meters Centerline goodness : 0.162765 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99577985e-01 1.71061178e-04 -2.90486365e-02 4.13674223e+00] [-2.83162149e-04 9.99992529e-01 -3.85500884e-03 4.81281298e-01] [ 2.90477601e-02 3.86160744e-03 9.99570566e-01 1.45739340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08255784400006 meters Centerline goodness : 0.118581 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99577152e-01 1.25232527e-04 -2.90774952e-02 4.13697355e+00] [-2.43469920e-04 9.99991717e-01 -4.06278048e-03 4.82488294e-01] [ 2.90767456e-02 4.06814204e-03 9.99568904e-01 1.45710968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11255784400004 meters Centerline goodness : 0.116177 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99570355e-01 8.28766404e-05 -2.93103988e-02 4.13789270e+00] [-2.04889903e-04 9.99991327e-01 -4.15981889e-03 4.82822123e-01] [ 2.93097999e-02 4.16403705e-03 9.99561702e-01 1.45654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14255784400007 meters Centerline goodness : 0.132437 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99563020e-01 4.06109480e-05 -2.95595664e-02 4.13873615e+00] [-1.65465005e-04 9.99991076e-01 -4.22137838e-03 4.82851087e-01] [ 2.95591311e-02 4.22442479e-03 9.99554107e-01 1.45617048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17255784400004 meters Centerline goodness : 0.118456 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99559862e-01 7.06085994e-05 -2.96661083e-02 4.13899425e+00] [-1.92496112e-04 9.99991553e-01 -4.10580932e-03 4.82140657e-01] [ 2.96655678e-02 4.10971281e-03 9.99551432e-01 1.45618235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20255784400007 meters Centerline goodness : 0.119338 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560221e-01 1.23774764e-04 -2.96538085e-02 4.13862241e+00] [-2.38627428e-04 9.99992485e-01 -3.86960921e-03 4.81005095e-01] [ 2.96531067e-02 3.87498365e-03 9.99552739e-01 1.45675068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23255784400004 meters Centerline goodness : 0.142979 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99562233e-01 1.34989850e-04 -2.95858660e-02 4.13844973e+00] [-2.48639042e-04 9.99992605e-01 -3.83768872e-03 4.80859447e-01] [ 2.95851291e-02 3.84336491e-03 9.99554875e-01 1.45675734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26255784400007 meters Centerline goodness : 0.141303 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99564157e-01 1.22465677e-04 -2.95208652e-02 4.13830375e+00] [-2.36162908e-04 9.99992569e-01 -3.84796347e-03 4.80839518e-01] [ 2.95201746e-02 3.85325809e-03 9.99556758e-01 1.45673843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29255784400004 meters Centerline goodness : 0.140180 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99561832e-01 4.83545328e-05 -2.95996850e-02 4.13861972e+00] [-1.67450802e-04 9.99991901e-01 -4.02109986e-03 4.81597069e-01] [ 2.95992508e-02 4.02429443e-03 9.99553745e-01 1.45655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3225578440001 meters Centerline goodness : 0.146042 Centerline is valid? [False, False] Translation: X:4.14, Y:0.48, Z:1.46 [[ 9.99560936e-01 1.42785832e-05 -2.96299646e-02 4.13876904e+00] [-1.37382099e-04 9.99991368e-01 -4.15266507e-03 4.82371040e-01] [ 2.96296496e-02 4.15491242e-03 9.99552310e-01 1.45639387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35255784400005 meters Centerline goodness : 0.176223 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99563344e-01 -5.16947635e-03 -2.90929145e-02 4.16107745e+00] [ 5.14092709e-03 9.99986228e-01 -1.05602618e-03 4.85775177e-01] [ 2.90979729e-02 9.06000511e-04 9.99576154e-01 1.45659871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3825578440001 meters Centerline goodness : 0.138159 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99564809e-01 -5.20645333e-03 -2.90359249e-02 4.16081722e+00] [ 5.17317006e-03 9.99985873e-01 -1.22128163e-03 4.86760538e-01] [ 2.90418733e-02 1.07054237e-03 9.99577623e-01 1.45676337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41255784400005 meters Centerline goodness : 0.135554 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99565942e-01 -5.39486926e-03 -2.89624467e-02 4.16055980e+00] [ 5.34654274e-03 9.99984183e-01 -1.74577452e-03 4.89056341e-01] [ 2.89714068e-02 1.59016779e-03 9.99578976e-01 1.45678923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4425578440001 meters Centerline goodness : 0.129995 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99566197e-01 -5.45576150e-03 -2.89422214e-02 4.16054771e+00] [ 5.40152688e-03 9.99983507e-01 -1.95174494e-03 4.90169279e-01] [ 2.89523923e-02 1.79456608e-03 9.99579181e-01 1.45667822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47255784400005 meters Centerline goodness : 0.136603 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99567137e-01 -5.45568135e-03 -2.89097506e-02 4.16062102e+00] [ 5.39823276e-03 9.99983298e-01 -2.06484505e-03 4.91059348e-01] [ 2.89205329e-02 1.90788970e-03 9.99579893e-01 1.45637633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters Centerline goodness : 0.134479 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99567798e-01 -5.44936034e-03 -2.88880949e-02 4.16068020e+00] [ 5.39043203e-03 9.99983230e-01 -2.11736662e-03 4.91591543e-01] [ 2.88991487e-02 1.96073218e-03 9.99580409e-01 1.45616514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53255784400005 meters Centerline goodness : 0.137586 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99574786e-01 -5.38391303e-03 -2.86576592e-02 4.15973407e+00] [ 5.32901531e-03 9.99983817e-01 -1.99166886e-03 4.91085282e-01] [ 2.86679185e-02 1.83810487e-03 9.99587301e-01 1.45674196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters Centerline goodness : 0.143539 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99578079e-01 -5.36492225e-03 -2.85461256e-02 4.15922789e+00] [ 5.31021068e-03 9.99983917e-01 -1.99206597e-03 4.91213768e-01] [ 2.85563537e-02 1.83963954e-03 9.99590491e-01 1.45711857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59255784400005 meters Centerline goodness : 0.121556 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99627771e-01 3.59235002e-03 -2.70446828e-02 4.17923813e+00] [-3.67081539e-03 9.99989195e-01 -2.85223533e-03 4.90008011e-01] [ 2.70341444e-02 2.95044968e-03 9.99630157e-01 1.45809277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters Centerline goodness : 0.118299 Centerline is valid? [False, False] Translation: X:4.13, Y:0.49, Z:1.46 [[ 9.99557732e-01 2.48388188e-03 -2.96339543e-02 4.13370181e+00] [-2.56380461e-03 9.99993177e-01 -2.65930727e-03 4.86461730e-01] [ 2.96271467e-02 2.73410681e-03 9.99557280e-01 1.45818954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65255784400006 meters Centerline goodness : 0.140135 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99552802e-01 -5.24326056e-03 -2.94398248e-02 4.15377244e+00] [ 5.18246860e-03 9.99984279e-01 -2.14087961e-03 4.90913038e-01] [ 2.94505871e-02 1.98735125e-03 9.99564262e-01 1.45925207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters Centerline goodness : 0.138755 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99548967e-01 -5.25551199e-03 -2.95675849e-02 4.15421861e+00] [ 5.19506654e-03 9.99984257e-01 -2.12076362e-03 4.90455194e-01] [ 2.95782651e-02 1.96620152e-03 9.99560534e-01 1.45904441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71255784400006 meters Centerline goodness : 0.142910 Centerline is valid? [False, False] Translation: X:4.15, Y:0.49, Z:1.46 [[ 9.99545240e-01 -5.21984214e-03 -2.96996001e-02 4.15467041e+00] [ 5.16010603e-03 9.99984507e-01 -2.08763265e-03 4.90344592e-01] [ 2.97100371e-02 1.93343019e-03 9.99556690e-01 1.45883961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters Centerline goodness : 0.143890 Centerline is valid? [False, False] Translation: X:4.16, Y:0.49, Z:1.46 [[ 9.99535616e-01 -5.06538687e-03 -3.00482030e-02 4.15596961e+00] [ 5.00325888e-03 9.99985189e-01 -2.14243757e-03 4.91609900e-01] [ 3.00586103e-02 1.99110372e-03 9.99546155e-01 1.45804819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77255784400006 meters Centerline goodness : 0.127281 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99571437e-01 3.54778183e-03 -2.90577866e-02 4.17614880e+00] [-3.64880910e-03 9.99987479e-01 -3.42448477e-03 4.89491022e-01] [ 2.90452735e-02 3.52904348e-03 9.99571867e-01 1.45906860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters Centerline goodness : 0.117688 Centerline is valid? [False, False] Translation: X:4.18, Y:0.49, Z:1.46 [[ 9.99577796e-01 3.48829732e-03 -2.88454897e-02 4.17551690e+00] [-3.59141568e-03 9.99987342e-01 -3.52381628e-03 4.89706502e-01] [ 2.88328325e-02 3.62592465e-03 9.99577671e-01 1.45920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83255784400006 meters Centerline goodness : 0.138826 Centerline is valid? [False, False] Translation: X:4.17, Y:0.49, Z:1.46 [[ 9.99583844e-01 3.46377005e-03 -2.86381056e-02 4.17468958e+00] [-3.56665968e-03 9.99987365e-01 -3.54245166e-03 4.89525507e-01] [ 2.86254735e-02 3.64311983e-03 9.99583568e-01 1.45968759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters Centerline goodness : 0.109853 Centerline is valid? [False, False] Translation: X:4.17, Y:0.49, Z:1.46 [[ 9.99584397e-01 3.43537620e-03 -2.86222331e-02 4.17453960e+00] [-3.53950915e-03 9.99987298e-01 -3.58831375e-03 4.89672386e-01] [ 2.86095423e-02 3.68813109e-03 9.99583859e-01 1.45984350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89255784400007 meters Centerline goodness : 0.138463 Centerline is valid? [False, False] Translation: X:4.20, Y:0.49, Z:1.46 [[ 9.99529470e-01 -1.20493697e-03 -3.06494324e-02 4.19853165e+00] [ 1.19472028e-03 9.99999224e-01 -3.51651200e-04 4.94352537e-01] [ 3.06498324e-02 3.14868239e-04 9.99530134e-01 1.46021662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92255784400004 meters Centerline goodness : 0.138441 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99521696e-01 -1.25271443e-03 -3.08999870e-02 4.19945402e+00] [ 1.23816601e-03 9.99999113e-01 -4.89952450e-04 4.95159168e-01] [ 3.09005734e-02 4.51458790e-04 9.99522361e-01 1.45974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95255784400007 meters Centerline goodness : 0.138441 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99521696e-01 -1.25271443e-03 -3.08999870e-02 4.19945402e+00] [ 1.23816601e-03 9.99999113e-01 -4.89952450e-04 4.95159168e-01] [ 3.09005734e-02 4.51458790e-04 9.99522361e-01 1.45974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98255784400004 meters Centerline goodness : 0.140618 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99517907e-01 -1.33781486e-03 -3.10187590e-02 4.19981847e+00] [ 1.31672708e-03 9.99998888e-01 -7.00256040e-04 4.96190102e-01] [ 3.10196613e-02 6.59075212e-04 9.99518557e-01 1.45959471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01255784400007 meters Centerline goodness : 0.124374 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99519053e-01 -1.44689679e-03 -3.09769051e-02 4.19971986e+00] [ 1.41684433e-03 9.99998504e-01 -9.92085080e-04 4.97658618e-01] [ 3.09782942e-02 9.47718488e-04 9.99519608e-01 1.45955785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04255784400004 meters Centerline goodness : 0.126853 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99536515e-01 -1.55497411e-03 -3.04029126e-02 4.19791131e+00] [ 1.50993857e-03 9.99997729e-01 -1.50419268e-03 5.00705551e-01] [ 3.04051825e-02 1.45758898e-03 9.99536593e-01 1.46008117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0725578440001 meters Centerline goodness : 0.138138 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99540391e-01 -1.68482154e-03 -3.02682778e-02 4.19737530e+00] [ 1.62903996e-03 9.99996929e-01 -1.86747080e-03 5.02586250e-01] [ 3.02713312e-02 1.81730426e-03 9.99540066e-01 1.46034440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10255784400005 meters Centerline goodness : 0.141497 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:1.46 [[ 9.99542529e-01 -1.83179751e-03 -3.01890415e-02 4.19711015e+00] [ 1.76406648e-03 9.99995867e-01 -2.27004451e-03 5.04589855e-01] [ 3.01930750e-02 2.21575056e-03 9.99541629e-01 1.46043837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1325578440001 meters Centerline goodness : 0.138439 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:1.46 [[ 9.99543923e-01 -1.99300593e-03 -3.01326151e-02 4.19695637e+00] [ 1.91161650e-03 9.99994447e-01 -2.72960724e-03 5.06924580e-01] [ 3.01378880e-02 2.67076032e-03 9.99542183e-01 1.46038290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16255784400005 meters Centerline goodness : 0.138863 Centerline is valid? [False, False] Translation: X:4.20, Y:0.51, Z:1.46 [[ 9.99560125e-01 -2.23422952e-03 -2.95730402e-02 4.19541570e+00] [ 2.12712969e-03 9.99991067e-01 -3.65250038e-03 5.12145790e-01] [ 2.95809365e-02 3.58798804e-03 9.99555949e-01 1.46049544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1925578440001 meters Centerline goodness : 0.119259 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:1.46 [[ 0.99959815 0.00624903 -0.02764944 4.2146939 ] [-0.006395 0.99996606 -0.00519418 0.51348957] [ 0.02761604 0.00536891 0.99960419 1.46130596] [ 0. 0. 0. 1. ]] SLAMing on 338.22255784400005 meters Centerline goodness : 0.117401 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99960634 0.00603098 -0.02740061 4.21404958] [-0.00619159 0.99996412 -0.00578059 0.5165273 ] [ 0.02736477 0.00594797 0.99960782 1.46128341] [ 0. 0. 0. 1. ]] SLAMing on 338.252557844 meters Centerline goodness : 0.119171 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99960859 0.00565974 -0.02739777 4.21407464] [-0.00584668 0.99996014 -0.00674815 0.52137905] [ 0.02735848 0.00690569 0.99960183 1.46119434] [ 0. 0. 0. 1. ]] SLAMing on 338.28255784400005 meters Centerline goodness : 0.159451 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99565956e-01 -6.08213207e-04 -2.94538650e-02 4.23141391e+00] [ 4.30256011e-04 9.99981619e-01 -6.04785711e-03 5.28785626e-01] [ 2.94570020e-02 6.03255937e-03 9.99547844e-01 1.46420652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312557844 meters Centerline goodness : 0.138394 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99560740e-01 -7.65950261e-04 -2.96266990e-02 4.23181044e+00] [ 5.76840790e-04 9.99979410e-01 -6.39109622e-03 5.30299770e-01] [ 2.96309843e-02 6.37119897e-03 9.99540601e-01 1.46425879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34255784400005 meters Centerline goodness : 0.170703 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99557840e-01 -8.64986488e-04 -2.97216305e-02 4.23183988e+00] [ 6.67012207e-04 9.99977531e-01 -6.67021856e-03 5.31735034e-01] [ 2.97267324e-02 6.64744457e-03 9.99535959e-01 1.46456981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372557844 meters Centerline goodness : 0.135492 Centerline is valid? [False, False] Translation: X:4.23, Y:0.53, Z:1.46 [[ 9.99562588e-01 -9.52674645e-04 -2.95588419e-02 4.23126662e+00] [ 7.46351574e-04 9.99975289e-01 -6.99032774e-03 5.33576004e-01] [ 2.95647710e-02 6.96520880e-03 9.99538599e-01 1.46477084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40255784400006 meters Centerline goodness : 0.116992 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.47 [[ 9.99592020e-01 -7.50198001e-04 -2.85522453e-02 4.22851115e+00] [ 5.38385759e-04 9.99972287e-01 -7.42537407e-03 5.37330320e-01] [ 2.85570246e-02 7.40697254e-03 9.99564722e-01 1.46505718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43255784400003 meters Centerline goodness : 0.132443 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99597981e-01 -8.94748490e-04 -2.83386043e-02 4.22798095e+00] [ 6.71451594e-04 9.99968663e-01 -7.88813703e-03 5.39602962e-01] [ 2.83447741e-02 7.86593785e-03 9.99567257e-01 1.46499199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46255784400006 meters Centerline goodness : 0.124347 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99598014e-01 -1.01202099e-03 -2.83334718e-02 4.22801586e+00] [ 7.75569250e-04 9.99964795e-01 -8.35506090e-03 5.41973856e-01] [ 2.83409298e-02 8.32972772e-03 9.99563608e-01 1.46481950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49255784400003 meters Centerline goodness : 0.115372 Centerline is valid? [False, False] Translation: X:4.23, Y:0.54, Z:1.46 [[ 9.99594894e-01 -1.13711870e-03 -2.84386278e-02 4.22837783e+00] [ 8.85634789e-04 9.99960410e-01 -8.85407226e-03 5.44617811e-01] [ 2.84475701e-02 8.82529918e-03 9.99556327e-01 1.46456934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52255784400006 meters Centerline goodness : 0.129973 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99581047e-01 -1.20702484e-03 -2.89183947e-02 4.22995827e+00] [ 9.28676506e-04 9.99953134e-01 -9.63680191e-03 5.49366903e-01] [ 2.89286713e-02 9.60590871e-03 9.99535321e-01 1.46374214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55255784400003 meters Centerline goodness : 0.138186 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99578133e-01 -1.41438608e-03 -2.90095691e-02 4.23045438e+00] [ 1.12112369e-03 9.99948133e-01 -1.01229356e-02 5.51568705e-01] [ 2.90223823e-02 1.00861417e-02 9.99527874e-01 1.46325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58255784400006 meters Centerline goodness : 0.118287 Centerline is valid? [False, False] Translation: X:4.23, Y:0.55, Z:1.46 [[ 9.99573712e-01 -1.59396543e-03 -2.91522627e-02 4.23096652e+00] [ 1.28715302e-03 9.99943622e-01 -1.05402194e-02 5.53476366e-01] [ 2.91674199e-02 1.04982028e-02 9.99519409e-01 1.46295265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61255784400004 meters Centerline goodness : 0.321899 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99569235e-01 -1.79171620e-03 -2.92939144e-02 4.23155131e+00] [ 1.46900931e-03 9.99938045e-01 -1.10339870e-02 5.55896564e-01] [ 2.93118693e-02 1.09862009e-02 9.99509939e-01 1.46249352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64255784400007 meters Centerline goodness : 0.139632 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99563003e-01 -2.05880626e-03 -2.94883748e-02 4.23230656e+00] [ 1.71419625e-03 9.99930004e-01 -1.17068165e-02 5.59431626e-01] [ 2.95104128e-02 1.16511518e-02 9.99496566e-01 1.46203632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67255784400004 meters Centerline goodness : 0.137183 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99559461e-01 -2.19534226e-03 -2.95983881e-02 4.23241237e+00] [ 1.84148901e-03 9.99926576e-01 -1.19771155e-02 5.60545588e-01] [ 2.96225088e-02 1.19173340e-02 9.99490112e-01 1.46233922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70255784400007 meters Centerline goodness : 0.153183 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99563205e-01 -2.32234000e-03 -2.94619527e-02 4.23179201e+00] [ 1.96256989e-03 9.99923231e-01 -1.22343913e-02 5.61658451e-01] [ 2.94881034e-02 1.21712263e-02 9.99491027e-01 1.46276700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73255784400004 meters Centerline goodness : 0.136657 Centerline is valid? [False, False] Translation: X:4.23, Y:0.56, Z:1.46 [[ 9.99571359e-01 -2.42026918e-03 -2.91760117e-02 4.23044846e+00] [ 2.05221512e-03 9.99918027e-01 -1.26383048e-02 5.64486288e-01] [ 2.92042082e-02 1.25730121e-02 9.99494389e-01 1.46363201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76255784400007 meters Centerline goodness : 0.139074 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99570792e-01 -2.53885683e-03 -2.91853727e-02 4.23057690e+00] [ 2.16039980e-03 9.99913272e-01 -1.29915799e-02 5.66547068e-01] [ 2.92158252e-02 1.29229517e-02 9.99489586e-01 1.46342418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79255784400004 meters Centerline goodness : 0.119663 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99568253e-01 -2.69687653e-03 -2.92580799e-02 4.23102294e+00] [ 2.30514433e-03 9.99907367e-01 -1.34143327e-02 5.68747347e-01] [ 2.92915464e-02 1.33410970e-02 9.99481876e-01 1.46298239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8225578440001 meters Centerline goodness : 0.085410 Centerline is valid? [False, False] Translation: X:4.23, Y:0.57, Z:1.46 [[ 9.99562144e-01 -2.89863736e-03 -2.94468652e-02 4.23178477e+00] [ 2.49085223e-03 9.99900629e-01 -1.38754232e-02 5.70854794e-01] [ 2.94841589e-02 1.37959999e-02 9.99470037e-01 1.46251960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85255784400005 meters Centerline goodness : 0.164587 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99552901e-01 -3.27027742e-03 -2.97204044e-02 4.23262070e+00] [ 2.83206344e-03 9.99886837e-01 -1.47747020e-02 5.75213210e-01] [ 2.97653586e-02 1.46839262e-02 9.99449051e-01 1.46220487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8825578440001 meters Centerline goodness : 0.197517 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99553028e-01 -3.35811667e-03 -2.97063405e-02 4.23243016e+00] [ 2.91212379e-03 9.99882593e-01 -1.50439346e-02 5.76828780e-01] [ 2.97533721e-02 1.49507018e-02 9.99445453e-01 1.46241065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91255784400005 meters Centerline goodness : 0.150571 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99556632e-01 -3.41261353e-03 -2.95785909e-02 4.23173683e+00] [ 2.96466434e-03 9.99880458e-01 -1.51750190e-02 5.77703204e-01] [ 2.96268415e-02 1.50806003e-02 9.99447260e-01 1.46302517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9425578440001 meters Centerline goodness : 0.145988 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.46 [[ 9.99563090e-01 -3.45873760e-03 -2.93541678e-02 4.23070766e+00] [ 3.01373894e-03 9.99880078e-01 -1.51903680e-02 5.77766727e-01] [ 2.94031870e-02 1.50952654e-02 9.99453644e-01 1.46380318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97255784400005 meters Centerline goodness : 0.161381 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99590455e-01 -4.15858115e-03 -2.83130542e-02 4.22747102e+00] [ 3.71796853e-03 9.99871446e-01 -1.55970702e-02 5.77755197e-01] [ 2.83742761e-02 1.54854155e-02 9.99477415e-01 1.46502372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002557844 meters Centerline goodness : 0.154543 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99588378e-01 -4.19136160e-03 -2.83814399e-02 4.22751487e+00] [ 3.75135159e-03 9.99872226e-01 -1.55389790e-02 5.77500373e-01] [ 2.84429430e-02 1.54261141e-02 9.99476380e-01 1.46523654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03255784400005 meters Centerline goodness : 0.138213 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99589447e-01 -4.18724451e-03 -2.83443884e-02 4.22752804e+00] [ 3.74941341e-03 9.99873111e-01 -1.54823985e-02 5.77432691e-01] [ 2.84056204e-02 1.53697673e-02 9.99478309e-01 1.46512059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062557844 meters Centerline goodness : 0.139226 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99592808e-01 -4.18488624e-03 -2.82259517e-02 4.22715324e+00] [ 3.75187884e-03 9.99874738e-01 -1.53763081e-02 5.76880408e-01] [ 2.82867642e-02 1.52641466e-02 9.99483299e-01 1.46526080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09255784400005 meters Centerline goodness : 0.140378 Centerline is valid? [False, False] Translation: X:4.23, Y:0.58, Z:1.47 [[ 9.99602168e-01 -4.23619141e-03 -2.78847639e-02 4.22598903e+00] [ 3.81282755e-03 9.99876925e-01 -1.52183233e-02 5.75717742e-01] [ 2.79457997e-02 1.51059492e-02 9.99495294e-01 1.46577823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122557844 meters Centerline goodness : 0.141626 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.99960197 -0.00735778 -0.02723545 4.22167995] [ 0.00687489 0.99981826 -0.01778171 0.57255802] [ 0.02736133 0.01758739 0.99947088 1.46902236] [ 0. 0. 0. 1. ]] SLAMing on 339.15255784400006 meters Centerline goodness : 0.143622 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.9996038 -0.00734733 -0.02717108 4.22114892] [ 0.00687709 0.99982566 -0.0173596 0.57024391] [ 0.02729389 0.01716586 0.99948005 1.46967782] [ 0. 0. 0. 1. ]] SLAMing on 339.18255784400003 meters Centerline goodness : 0.141310 Centerline is valid? [False, False] Translation: X:4.22, Y:0.57, Z:1.47 [[ 0.99960055 -0.00732167 -0.027297 4.2214576 ] [ 0.00686458 0.99983529 -0.01680105 0.56722501] [ 0.02741552 0.01660696 0.99948617 1.46973915] [ 0. 0. 0. 1. ]] SLAMing on 339.21255784400006 meters Centerline goodness : 0.141206 Centerline is valid? [False, False] Translation: X:4.22, Y:0.56, Z:1.47 [[ 0.99960051 -0.00738787 -0.02728077 4.22156226] [ 0.0069442 0.99984267 -0.01632223 0.56413718] [ 0.02739706 0.01612626 0.99949454 1.46957152] [ 0. 0. 0. 1. ]] SLAMing on 339.24255784400003 meters Centerline goodness : 0.144708 Centerline is valid? [False, False] Translation: X:4.22, Y:0.56, Z:1.47 [[ 0.99957358 -0.01122279 -0.02695754 4.22098706] [ 0.0107025 0.99975515 -0.01936755 0.5592711 ] [ 0.0271683 0.01907078 0.99944894 1.4694545 ] [ 0. 0. 0. 1. ]] SLAMing on 339.27255784400006 meters Centerline goodness : 0.140745 Centerline is valid? [False, False] Translation: X:4.20, Y:0.55, Z:1.47 [[ 9.99640411e-01 -3.25455947e-03 -2.66168520e-02 4.20110077e+00] [ 2.72749794e-03 9.99799959e-01 -1.98141863e-02 5.50783918e-01] [ 2.66760140e-02 1.97344640e-02 9.99449319e-01 1.46757917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30255784400003 meters Centerline goodness : 0.137572 Centerline is valid? [False, False] Translation: X:4.20, Y:0.55, Z:1.47 [[ 9.99636030e-01 -3.10504728e-03 -2.67986085e-02 4.20149959e+00] [ 2.58558796e-03 9.99808522e-01 -1.93967476e-02 5.48699517e-01] [ 2.68537050e-02 1.93203976e-02 9.99452651e-01 1.46763144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33255784400006 meters Centerline goodness : 0.140971 Centerline is valid? [False, False] Translation: X:4.16, Y:0.54, Z:1.47 [[ 9.99521350e-01 -4.36833896e-03 -3.06266112e-02 4.16039397e+00] [ 3.75886836e-03 9.99794323e-01 -1.99294433e-02 5.42706711e-01] [ 3.07073706e-02 1.98047827e-02 9.99332191e-01 1.46605412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36255784400004 meters Centerline goodness : 0.117390 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.47 [[ 9.99555150e-01 -3.79172674e-03 -2.95824963e-02 4.20599575e+00] [ 3.20562565e-03 9.99798133e-01 -1.98347592e-02 5.42332817e-01] [ 2.96517326e-02 1.97311053e-02 9.99365528e-01 1.46644029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39255784400007 meters Centerline goodness : 0.225567 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.47 [[ 9.99551732e-01 -3.66546121e-03 -2.97136121e-02 4.20658030e+00] [ 3.08433105e-03 9.99803536e-01 -1.95800038e-02 5.41302053e-01] [ 2.97795442e-02 1.94795801e-02 9.99366662e-01 1.46599782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42255784400004 meters Centerline goodness : 0.139849 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99539441e-01 -3.49398025e-03 -3.01446100e-02 4.20833002e+00] [ 2.91656317e-03 9.99811838e-01 -1.91776535e-02 5.39571705e-01] [ 3.02059442e-02 1.90809025e-02 9.99361556e-01 1.46487061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45255784400007 meters Centerline goodness : 0.118155 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99532912e-01 -3.47878324e-03 -3.03620892e-02 4.20911694e+00] [ 2.90411542e-03 9.99816200e-01 -1.89507677e-02 5.38039937e-01] [ 3.04224343e-02 1.88537410e-02 9.99359301e-01 1.46441402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48255784400004 meters Centerline goodness : 0.121188 Centerline is valid? [False, False] Translation: X:4.21, Y:0.54, Z:1.46 [[ 9.99526243e-01 -3.43314555e-03 -3.05859848e-02 4.20960456e+00] [ 2.86458752e-03 9.99822654e-01 -1.86133061e-02 5.35941326e-01] [ 3.06444627e-02 1.85168717e-02 9.99358816e-01 1.46446707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51255784400007 meters Centerline goodness : 0.137676 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 9.99526343e-01 -3.36505793e-03 -3.05902864e-02 4.20942780e+00] [ 2.80905695e-03 9.99830410e-01 -1.82005757e-02 5.33717900e-01] [ 3.06463446e-02 1.81060250e-02 9.99366286e-01 1.46470506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54255784400004 meters Centerline goodness : 0.225852 Centerline is valid? [False, False] Translation: X:4.19, Y:0.53, Z:1.46 [[ 9.99575908e-01 2.85607648e-03 -2.89801177e-02 4.18611729e+00] [-3.43909847e-03 9.99792298e-01 -2.00881416e-02 5.26581568e-01] [ 2.89167252e-02 2.01792879e-02 9.99378116e-01 1.46348854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5725578440001 meters Centerline goodness : 0.240540 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 0.99956563 -0.0065765 -0.02872809 4.20750126] [ 0.00600859 0.9997857 -0.01981022 0.52712965] [ 0.02885222 0.01962899 0.99939094 1.46457697] [ 0. 0. 0. 1. ]] SLAMing on 339.60255784400005 meters Centerline goodness : 0.262621 Centerline is valid? [False, False] Translation: X:4.21, Y:0.53, Z:1.46 [[ 0.99955219 -0.00663491 -0.02917882 4.20899834] [ 0.00606481 0.99978984 -0.01958314 0.52562929] [ 0.02930262 0.01939741 0.99938236 1.46383501] [ 0. 0. 0. 1. ]] SLAMing on 339.6325578440001 meters Centerline goodness : 0.115027 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99954467 -0.00659732 -0.02944356 4.2099731 ] [ 0.00603156 0.99979627 -0.01926261 0.52400925] [ 0.02956464 0.01907625 0.99938082 1.46316895] [ 0. 0. 0. 1. ]] SLAMing on 339.66255784400005 meters Centerline goodness : 0.120697 Centerline is valid? [False, False] Translation: X:4.21, Y:0.52, Z:1.46 [[ 0.99954612 -0.00647781 -0.02942081 4.20990675] [ 0.00592545 0.99980528 -0.0188228 0.52211069] [ 0.02953702 0.01863993 0.99938987 1.46303981] [ 0. 0. 0. 1. ]] SLAMing on 339.6925578440001 meters Centerline goodness : 0.154281 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.46 [[ 9.99668253e-01 -1.19591857e-03 -2.57284795e-02 4.18901496e+00] [ 6.69950576e-04 9.99790817e-01 -2.04419420e-02 5.11978313e-01] [ 2.57475445e-02 2.04179236e-02 9.99459940e-01 1.46044889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72255784400005 meters Centerline goodness : 0.259398 Centerline is valid? [False, False] Translation: X:4.21, Y:0.51, Z:1.46 [[ 0.99964375 -0.00975309 -0.02484454 4.21053391] [ 0.0092616 0.99976063 -0.01982166 0.51228026] [ 0.02503192 0.0195845 0.9994948 1.46116477] [ 0. 0. 0. 1. ]] SLAMing on 339.752557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 339.78255784400005 meters Centerline goodness : 0.237458 Centerline is valid? [False, False] Translation: X:4.19, Y:0.50, Z:1.46 [[ 9.99695912e-01 -3.11202365e-03 -2.44621885e-02 4.19113259e+00] [ 2.59056557e-03 9.99769352e-01 -2.13197631e-02 5.00131815e-01] [ 2.45228939e-02 2.12499091e-02 9.99473396e-01 1.45878237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812557844 meters Centerline goodness : 0.193897 Centerline is valid? [False, False] Translation: X:4.21, Y:0.50, Z:1.46 [[ 0.99966144 -0.01123708 -0.02346769 4.21239172] [ 0.010769 0.99974243 -0.01997771 0.49853768] [ 0.02368614 0.01971822 0.99952497 1.45956702] [ 0. 0. 0. 1. ]] SLAMing on 339.84255784400005 meters Centerline goodness : 0.123455 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99771280e-01 -2.83261639e-03 -2.11982207e-02 4.19141294e+00] [ 2.39786247e-03 9.99786847e-01 -2.05063710e-02 4.90463429e-01] [ 2.12517890e-02 2.04508503e-02 9.99564967e-01 1.45798684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872557844 meters Centerline goodness : 0.123455 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99771355e-01 -2.81960271e-03 -2.11963896e-02 4.19138123e+00] [ 2.38511777e-03 9.99787101e-01 -2.04954712e-02 4.90479729e-01] [ 2.12496660e-02 2.04402291e-02 9.99565230e-01 1.45799742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90255784400006 meters Centerline goodness : 0.165719 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99777201e-01 -2.68781775e-03 -2.09361723e-02 4.19027575e+00] [ 2.26412595e-03 9.99792692e-01 -2.02347895e-02 4.89276061e-01] [ 2.09862195e-02 2.01828791e-02 9.99576025e-01 1.45872874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93255784400003 meters Centerline goodness : 0.148461 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99780642e-01 -2.56752479e-03 -2.07864272e-02 4.18970616e+00] [ 2.15004948e-03 9.99796034e-01 -2.00815295e-02 4.88775143e-01] [ 2.08337473e-02 2.00324326e-02 9.99582241e-01 1.45903938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96255784400006 meters Centerline goodness : 0.152024 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 9.99777583e-01 1.27599313e-03 -2.10512909e-02 4.19046881e+00] [-1.61358474e-03 9.99870250e-01 -1.60274391e-02 4.86548781e-01] [ 2.10281086e-02 1.60578423e-02 9.99649921e-01 1.45881266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99255784400003 meters Centerline goodness : 0.123852 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 0.9997571 0.00515457 -0.02142844 4.19197541] [-0.00541509 0.99991192 -0.01211747 0.48505731] [ 0.02136409 0.01223056 0.99969695 1.45809663] [ 0. 0. 0. 1. ]] SLAMing on 340.02255784400006 meters Centerline goodness : 0.122192 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:1.46 [[ 0.99975589 0.00516563 -0.02148208 4.19205287] [-0.00542793 0.99991122 -0.01216947 0.48530275] [ 0.02141731 0.0122831 0.99969517 1.45816479] [ 0. 0. 0. 1. ]] SLAMing on 340.05255784400003 meters Centerline goodness : 0.148837 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99784024e-01 -2.27339469e-03 -2.06576374e-02 4.20993210e+00] [ 2.04754030e-03 9.99937975e-01 -1.09477961e-02 4.89622403e-01] [ 2.06812448e-02 1.09031343e-02 9.99726667e-01 1.46073324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08255784400006 meters Centerline goodness : 0.160132 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975012 -0.009942 -0.02002152 4.22913494] [ 0.00974797 0.9999048 -0.00976556 0.49429952] [ 0.0201167 0.00956796 0.99975186 1.46263853] [ 0. 0. 0. 1. ]] SLAMing on 340.11255784400004 meters Centerline goodness : 0.126444 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975337 -0.00991765 -0.0198705 4.22883029] [ 0.00972634 0.99990563 -0.00970154 0.49426853] [ 0.01996484 0.00950588 0.99975549 1.46243672] [ 0. 0. 0. 1. ]] SLAMing on 340.14255784400007 meters Centerline goodness : 0.150498 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99975497 -0.00993563 -0.01978092 4.22869117] [ 0.00974582 0.99990576 -0.00966903 0.49420828] [ 0.01987512 0.00947388 0.99975758 1.46224527] [ 0. 0. 0. 1. ]] SLAMing on 340.17255784400004 meters Centerline goodness : 0.401738 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976165 -0.01010606 -0.01935203 4.22735602] [ 0.00992092 0.99990432 -0.00963955 0.49400728] [ 0.0194476 0.00944526 0.99976626 1.46232755] [ 0. 0. 0. 1. ]] SLAMing on 340.20255784400007 meters Centerline goodness : 0.133243 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976412 -0.01015548 -0.01919823 4.22688405] [ 0.00997285 0.99990433 -0.00958455 0.49385456] [ 0.01929373 0.00939083 0.99976976 1.46231366] [ 0. 0. 0. 1. ]] SLAMing on 340.23255784400004 meters Centerline goodness : 0.127479 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976762 -0.01014677 -0.01901972 4.22642279] [ 0.00996803 0.99990549 -0.00946867 0.49355084] [ 0.019114 0.00927688 0.99977427 1.46215428] [ 0. 0. 0. 1. ]] SLAMing on 340.26255784400007 meters Centerline goodness : 0.128690 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976921 -0.010179 -0.01891863 4.22609677] [ 0.01000351 0.99990627 -0.00934801 0.49300697] [ 0.01901201 0.0091566 0.99977733 1.46207966] [ 0. 0. 0. 1. ]] SLAMing on 340.29255784400004 meters Centerline goodness : 0.155862 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976689 -0.01042525 -0.0189069 4.22572537] [ 0.01025067 0.99990415 -0.00930716 0.49220306] [ 0.01900212 0.00911118 0.99977793 1.4622441 ] [ 0. 0. 0. 1. ]] SLAMing on 340.3225578440001 meters Centerline goodness : 0.135586 Centerline is valid? [False, False] Translation: X:4.23, Y:0.49, Z:1.46 [[ 0.99976471 -0.01037104 -0.01905178 4.22615314] [ 0.0101978 0.99990598 -0.00916755 0.49173688] [ 0.01914507 0.00897111 0.99977647 1.46201645] [ 0. 0. 0. 1. ]] SLAMing on 340.35255784400005 meters Centerline goodness : 0.096659 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99860204e-01 -3.46742305e-03 -1.63569175e-02 4.21069654e+00] [ 3.30103878e-03 9.99942651e-01 -1.01881597e-02 4.85660272e-01] [ 1.63913061e-02 1.01327406e-02 9.99814309e-01 1.45833471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3825578440001 meters Centerline goodness : 0.183944 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99858422e-01 -3.47990896e-03 -1.64628788e-02 4.21096701e+00] [ 3.31226259e-03 9.99942497e-01 -1.01996259e-02 4.85965186e-01] [ 1.64974259e-02 1.01436525e-02 9.99812453e-01 1.45829823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41255784400005 meters Centerline goodness : 0.298529 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99858785e-01 -3.50508485e-03 -1.64354397e-02 4.21082603e+00] [ 3.33656170e-03 9.99941697e-01 -1.02698777e-02 4.86538287e-01] [ 1.64704783e-02 1.02135895e-02 9.99812185e-01 1.45841023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4425578440001 meters Centerline goodness : 0.404963 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99861431e-01 -3.64419224e-03 -1.62430957e-02 4.21011527e+00] [ 3.46882652e-03 9.99935538e-01 -1.08114539e-02 4.89355618e-01] [ 1.62814477e-02 1.07536113e-02 9.99809619e-01 1.45878604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47255784400005 meters Centerline goodness : 0.170352 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99865458e-01 -4.68131453e-05 -1.64031362e-02 4.21042819e+00] [-7.26929620e-05 9.99973462e-01 -7.28489258e-03 4.89865681e-01] [ 1.64030419e-02 7.28510485e-03 9.99838921e-01 1.45879607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters Centerline goodness : 0.162945 Centerline is valid? [False, False] Translation: X:4.21, Y:0.49, Z:1.46 [[ 9.99867351e-01 -1.30187023e-04 -1.62869210e-02 4.21020044e+00] [ 4.08823411e-06 9.99970029e-01 -7.74212814e-03 4.92598759e-01] [ 1.62874408e-02 7.74103457e-03 9.99837385e-01 1.45870573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53255784400005 meters Centerline goodness : 0.227541 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99987931 -0.00520438 -0.01463833 4.23246665] [ 0.00513899 0.99997666 -0.00450117 0.49662075] [ 0.01466142 0.0044254 0.99988272 1.45834355] [ 0. 0. 0. 1. ]] SLAMing on 340.562557844 meters Centerline goodness : 0.160918 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99988108 -0.00560287 -0.01436784 4.23188452] [ 0.00552415 0.99996955 -0.00551245 0.50154975] [ 0.01439829 0.00543243 0.99988158 1.45820125] [ 0. 0. 0. 1. ]] SLAMing on 340.59255784400005 meters Centerline goodness : 0.120784 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99987583 -0.0058014 -0.01465164 4.23295948] [ 0.0057153 0.99996619 -0.00591147 0.50319546] [ 0.01468544 0.00582699 0.99987518 1.4575332 ] [ 0. 0. 0. 1. ]] SLAMing on 340.622557844 meters Centerline goodness : 0.350339 Centerline is valid? [False, False] Translation: X:4.23, Y:0.50, Z:1.46 [[ 0.99986923 -0.00598523 -0.01502312 4.23435184] [ 0.00589166 0.99996302 -0.00626505 0.50478031] [ 0.01506006 0.00617572 0.99986752 1.45664291] [ 0. 0. 0. 1. ]] SLAMing on 340.65255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.68255784400003 meters Centerline goodness : 0.167720 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:1.46 [[ 0.99986915 -0.00657823 -0.01477839 4.23345584] [ 0.00647555 0.99995464 -0.00698479 0.50817401] [ 0.01482366 0.00688818 0.9998664 1.45702877] [ 0. 0. 0. 1. ]] SLAMing on 340.71255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.74255784400003 meters Centerline goodness : 0.171085 Centerline is valid? [False, False] Translation: X:4.23, Y:0.51, Z:1.46 [[ 0.99986747 -0.00719892 -0.01460232 4.23285511] [ 0.00709179 0.99994765 -0.00737528 0.50864807] [ 0.01465465 0.00727074 0.99986618 1.45729859] [ 0. 0. 0. 1. ]] SLAMing on 340.77255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.80255784400003 meters Centerline goodness : 0.164483 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.45 [[ 0.99977971 -0.00973284 -0.01859572 4.19482817] [ 0.00957095 0.9999157 -0.00877481 0.50977897] [ 0.01867955 0.0085949 0.99978858 1.45443578] [ 0. 0. 0. 1. ]] SLAMing on 340.83255784400006 meters Centerline goodness : 0.165665 Centerline is valid? [False, False] Translation: X:4.19, Y:0.51, Z:1.45 [[ 0.99977995 -0.00976786 -0.01856443 4.19473874] [ 0.00960536 0.99991495 -0.00882223 0.5099789 ] [ 0.01864903 0.00864197 0.99978874 1.45441881] [ 0. 0. 0. 1. ]] SLAMing on 340.86255784400004 meters Centerline goodness : 0.177211 Centerline is valid? [False, False] Translation: X:4.17, Y:0.51, Z:1.45 [[ 9.99839532e-01 -1.32499271e-03 -1.78648885e-02 4.17273939e+00] [ 1.15871762e-03 9.99955948e-01 -9.31450860e-03 5.06628307e-01] [ 1.78764432e-02 9.29231356e-03 9.99797022e-01 1.45367079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89255784400007 meters Centerline goodness : 0.133223 Centerline is valid? [False, False] Translation: X:4.17, Y:0.51, Z:1.45 [[ 9.99840440e-01 -1.42074216e-03 -1.78066561e-02 4.17242325e+00] [ 1.25025204e-03 9.99953310e-01 -9.58199457e-03 5.07956860e-01] [ 1.78194383e-02 9.55820286e-03 9.99795533e-01 1.45399330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92255784400004 meters Centerline goodness : 0.101180 Centerline is valid? [False, False] Translation: X:4.18, Y:0.51, Z:1.45 [[ 9.99816560e-01 4.53871302e-04 -1.91478612e-02 4.17824469e+00] [-6.06575837e-04 9.99968055e-01 -7.96996397e-03 5.10714553e-01] [ 1.91436322e-02 7.98011659e-03 9.99784896e-01 1.45114057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95255784400007 meters Centerline goodness : 0.137123 Centerline is valid? [False, False] Translation: X:4.18, Y:0.51, Z:1.45 [[ 9.99813320e-01 3.49177676e-04 -1.93184429e-02 4.17896191e+00] [-5.11100515e-04 9.99964778e-01 -8.37747263e-03 5.12896482e-01] [ 1.93148372e-02 8.38578239e-03 9.99778283e-01 1.45069322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98255784400004 meters Centerline goodness : 0.108105 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981496 -0.00506504 -0.01855758 4.20192939] [ 0.00496641 0.99997332 -0.00535732 0.5159086 ] [ 0.01858422 0.00526416 0.99981344 1.45066771] [ 0. 0. 0. 1. ]] SLAMing on 341.01255784400007 meters Centerline goodness : 0.165856 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981724 -0.00518058 -0.01840261 4.20118673] [ 0.00507424 0.99997019 -0.00582052 0.518371 ] [ 0.01843221 0.00572607 0.99981372 1.45130807] [ 0. 0. 0. 1. ]] SLAMing on 341.04255784400004 meters Centerline goodness : 0.222994 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 0.99981771 -0.00536338 -0.0183242 4.20078807] [ 0.00524734 0.99996591 -0.00637505 0.52111283] [ 0.01835777 0.00627773 0.99981177 1.45166477] [ 0. 0. 0. 1. ]] SLAMing on 341.0725578440001 meters Centerline goodness : 0.145224 Centerline is valid? [False, False] Translation: X:4.20, Y:0.52, Z:1.45 [[ 9.99827524e-01 -1.86469877e-03 -1.84782088e-02 4.20140129e+00] [ 1.80545413e-03 9.99993178e-01 -3.22235310e-03 5.23656700e-01] [ 1.84840915e-02 3.18843577e-03 9.99824071e-01 1.45117302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10255784400005 meters Centerline goodness : 0.147739 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99826883e-01 -2.01636685e-03 -1.84969890e-02 4.20159473e+00] [ 1.94966409e-03 9.99991535e-01 -3.62346579e-03 5.25719760e-01] [ 1.85041387e-02 3.58677559e-03 9.99822350e-01 1.45095854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1325578440001 meters Centerline goodness : 0.146575 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99838010e-01 2.49740739e-04 -1.79969994e-02 4.19957318e+00] [-2.79365014e-04 9.99998610e-01 -1.64357217e-03 5.30595806e-01] [ 1.79965639e-02 1.64833366e-03 9.99836690e-01 1.45175055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16255784400005 meters Centerline goodness : 0.151427 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99837126e-01 9.49980906e-05 -1.80474855e-02 4.19984015e+00] [-1.31203384e-04 9.99997981e-01 -2.00493943e-03 5.32436353e-01] [ 1.80472586e-02 2.00698077e-03 9.99835121e-01 1.45156005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1925578440001 meters Centerline goodness : 0.152835 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99836562e-01 -4.79179198e-05 -1.80789365e-02 4.20008039e+00] [ 6.48950126e-06 9.99997374e-01 -2.29158133e-03 5.33766964e-01] [ 1.80789989e-02 2.29108947e-03 9.99833937e-01 1.45129893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22255784400005 meters Centerline goodness : 0.153004 Centerline is valid? [False, False] Translation: X:4.20, Y:0.53, Z:1.45 [[ 9.99835836e-01 -1.69826067e-04 -1.81182929e-02 4.20028569e+00] [ 1.24296748e-04 9.99996832e-01 -2.51398886e-03 5.34795919e-01] [ 1.81186625e-02 2.51132411e-03 9.99832690e-01 1.45110485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252557844 meters Centerline goodness : 0.156191 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99834571e-01 -2.89165573e-04 -1.81864403e-02 4.20062847e+00] [ 2.39312066e-04 9.99996208e-01 -2.74336260e-03 5.35727897e-01] [ 1.81871646e-02 2.73855654e-03 9.99830849e-01 1.45082358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28255784400005 meters Centerline goodness : 0.169429 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99833331e-01 -5.86697949e-04 -1.82473290e-02 4.20092577e+00] [ 5.23861561e-04 9.99993918e-01 -3.44818305e-03 5.39115629e-01] [ 1.82492411e-02 3.43804927e-03 9.99827558e-01 1.45059730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312557844 meters Centerline goodness : 0.245263 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99835479e-01 -7.34797247e-04 -1.81238804e-02 4.20056108e+00] [ 6.64612029e-04 9.99992259e-01 -3.87824634e-03 5.41381239e-01] [ 1.81265898e-02 3.86556294e-03 9.99828227e-01 1.45074751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34255784400005 meters Centerline goodness : 0.131193 Centerline is valid? [False, False] Translation: X:4.20, Y:0.54, Z:1.45 [[ 9.99838900e-01 -9.04188609e-04 -1.79264248e-02 4.19973647e+00] [ 8.25692537e-04 9.99990042e-01 -4.38570928e-03 5.43934123e-01] [ 1.79302118e-02 4.37020102e-03 9.99829690e-01 1.45136872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372557844 meters Centerline goodness : 0.177281 Centerline is valid? [False, False] Translation: X:4.19, Y:0.55, Z:1.45 [[ 9.99862326e-01 8.28391616e-04 -1.65723753e-02 4.19419426e+00] [-8.84323914e-04 9.99993937e-01 -3.36798863e-03 5.50152840e-01] [ 1.65694848e-02 3.38218029e-03 9.99856996e-01 1.45406573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40255784400006 meters Centerline goodness : 0.223474 Centerline is valid? [False, False] Translation: X:4.19, Y:0.55, Z:1.45 [[ 9.99861599e-01 5.70938385e-04 -1.66269997e-02 4.19443706e+00] [-6.39720744e-04 9.99991260e-01 -4.13176228e-03 5.54023504e-01] [ 1.66244954e-02 4.14182708e-03 9.99853225e-01 1.45397146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43255784400003 meters Centerline goodness : 0.168068 Centerline is valid? [False, False] Translation: X:4.15, Y:0.56, Z:1.45 [[ 9.99813000e-01 1.41334358e-03 -1.92864753e-02 4.14964098e+00] [-1.49024127e-03 9.99990996e-01 -3.97334098e-03 5.60313035e-01] [ 1.92806859e-02 4.00133947e-03 9.99806103e-01 1.45416342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46255784400006 meters Centerline goodness : 0.399370 Centerline is valid? [False, False] Translation: X:4.17, Y:0.57, Z:1.45 [[ 9.99809463e-01 -3.88011624e-03 -1.91306430e-02 4.17167995e+00] [ 3.85554910e-03 9.99991695e-01 -1.32089288e-03 5.70481189e-01] [ 1.91356093e-02 1.24688206e-03 9.99816120e-01 1.45452421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49255784400003 meters Centerline goodness : 0.195843 Centerline is valid? [False, False] Translation: X:4.17, Y:0.57, Z:1.45 [[ 9.99810657e-01 -4.19414927e-03 -1.90015702e-02 4.17122730e+00] [ 4.15478350e-03 9.99989141e-01 -2.11071560e-03 5.74337367e-01] [ 1.90102165e-02 2.03136854e-03 9.99817226e-01 1.45478238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52255784400006 meters Centerline goodness : 0.149977 Centerline is valid? [False, False] Translation: X:4.12, Y:0.58, Z:1.46 [[ 9.99765949e-01 -3.76053038e-03 -2.13050725e-02 4.12479010e+00] [ 3.71209557e-03 9.99990436e-01 -2.31248548e-03 5.80104949e-01] [ 2.13135649e-02 2.23285778e-03 9.99770347e-01 1.45557498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55255784400003 meters Centerline goodness : 0.377663 Centerline is valid? [False, False] Translation: X:4.14, Y:0.58, Z:1.46 [[ 9.99787484e-01 4.26584825e-03 -2.01690324e-02 4.14491150e+00] [-4.33590110e-03 9.99984715e-01 -3.43083427e-03 5.79548876e-01] [ 2.01540887e-02 3.51755609e-03 9.99790698e-01 1.45598387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58255784400006 meters Centerline goodness : 0.384881 Centerline is valid? [False, False] Translation: X:4.15, Y:0.58, Z:1.46 [[ 9.99785875e-01 4.02011147e-03 -2.02988265e-02 4.14544828e+00] [-4.10232369e-03 9.99983545e-01 -4.01008206e-03 5.82419742e-01] [ 2.02823715e-02 4.09249576e-03 9.99785916e-01 1.45568076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61255784400004 meters Centerline goodness : 0.120053 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99774223e-01 3.51695803e-03 -2.09555459e-02 4.14787410e+00] [-3.62176276e-03 9.99981113e-01 -4.96543678e-03 5.86974715e-01] [ 2.09376869e-02 5.04021172e-03 9.99768078e-01 1.45452028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64255784400007 meters Centerline goodness : 0.186867 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99769878e-01 3.34242304e-03 -2.11900595e-02 4.14864719e+00] [-3.45475901e-03 9.99980162e-01 -5.26696301e-03 5.88307451e-01] [ 2.11720347e-02 5.33895752e-03 9.99761592e-01 1.45422507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67255784400004 meters Centerline goodness : 0.120923 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99768819e-01 3.19817208e-03 -2.12621730e-02 4.14882431e+00] [-3.31530669e-03 9.99979510e-01 -5.47609602e-03 5.89157477e-01] [ 2.12442238e-02 5.54532067e-03 9.99758937e-01 1.45420302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70255784400007 meters Centerline goodness : 0.160286 Centerline is valid? [False, False] Translation: X:4.15, Y:0.59, Z:1.45 [[ 9.99770046e-01 3.07403399e-03 -2.12227566e-02 4.14855494e+00] [-3.19492957e-03 9.99978850e-01 -5.66495255e-03 5.90018036e-01] [ 2.12048935e-02 5.73145508e-03 9.99758722e-01 1.45447085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73255784400004 meters Centerline goodness : 0.123287 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997569 -0.00550489 -0.02135012 4.12722827] [ 0.00539782 0.99997258 -0.00506943 0.59806721] [ 0.02137744 0.00495295 0.99975921 1.453471 ] [ 0. 0. 0. 1. ]] SLAMing on 341.76255784400007 meters Centerline goodness : 0.123287 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997569 -0.00550489 -0.02135012 4.12722827] [ 0.00539782 0.99997258 -0.00506943 0.59806721] [ 0.02137744 0.00495295 0.99975921 1.453471 ] [ 0. 0. 0. 1. ]] SLAMing on 341.79255784400004 meters Centerline goodness : 0.125522 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.99975354 -0.00565351 -0.02146834 4.12758946] [ 0.0055413 0.99997069 -0.00528291 0.59910463] [ 0.02149758 0.00516265 0.99975557 1.45335892] [ 0. 0. 0. 1. ]] SLAMing on 341.8225578440001 meters Centerline goodness : 0.128577 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997513 -0.00574606 -0.0215479 4.12800418] [ 0.00562913 0.99996912 -0.00548312 0.60012714] [ 0.02157874 0.00536046 0.99975278 1.45303408] [ 0. 0. 0. 1. ]] SLAMing on 341.85255784400005 meters Centerline goodness : 0.124056 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.9997517 -0.00584778 -0.02150219 4.12801005] [ 0.00572589 0.99996721 -0.00572621 0.60138259] [ 0.02153497 0.00560166 0.9997524 1.45284848] [ 0. 0. 0. 1. ]] SLAMing on 341.8825578440001 meters Centerline goodness : 0.126957 Centerline is valid? [False, False] Translation: X:4.13, Y:0.60, Z:1.45 [[ 0.99975652 -0.00605866 -0.0212177 4.12699168] [ 0.00592791 0.99996309 -0.00621942 0.60383621] [ 0.0212546 0.00609213 0.99975553 1.4534044 ] [ 0. 0. 0. 1. ]] SLAMing on 341.91255784400005 meters Centerline goodness : 0.124941 Centerline is valid? [False, False] Translation: X:4.13, Y:0.61, Z:1.45 [[ 0.99976012 -0.00615433 -0.02101952 4.12614157] [ 0.0060194 0.99996091 -0.00647632 0.60517432] [ 0.02105856 0.00634824 0.99975809 1.4540063 ] [ 0. 0. 0. 1. ]] SLAMing on 341.9425578440001 meters Centerline goodness : 0.128951 Centerline is valid? [False, False] Translation: X:4.08, Y:0.61, Z:1.46 [[ 0.99972064 -0.00551096 -0.02298422 4.0782576 ] [ 0.00535959 0.99996358 -0.00664231 0.60939045] [ 0.02301998 0.00651726 0.99971376 1.45546679] [ 0. 0. 0. 1. ]] SLAMing on 341.97255784400005 meters Centerline goodness : 0.121794 Centerline is valid? [False, False] Translation: X:4.08, Y:0.61, Z:1.46 [[ 0.99972237 -0.00561479 -0.02288348 4.07785538] [ 0.00545781 0.99996119 -0.00691637 0.6106893 ] [ 0.02292143 0.00678955 0.99971421 1.45576613] [ 0. 0. 0. 1. ]] SLAMing on 342.002557844 meters Centerline goodness : 0.124052 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99739281e-01 2.00842536e-03 -2.27450059e-02 4.09661678e+00] [-2.19584813e-03 9.99963819e-01 -8.21819668e-03 6.06839010e-01] [ 2.27276773e-02 8.26599862e-03 9.99707520e-01 1.45734133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03255784400005 meters Centerline goodness : 0.125027 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99738386e-01 1.84452369e-03 -2.27982017e-02 4.09712077e+00] [-2.04251173e-03 9.99960380e-01 -8.66413851e-03 6.09084911e-01] [ 2.27813172e-02 8.70843744e-03 9.99702543e-01 1.45679275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters Centerline goodness : 0.121248 Centerline is valid? [False, False] Translation: X:4.10, Y:0.61, Z:1.46 [[ 9.99740327e-01 1.78613074e-03 -2.27175983e-02 4.09683660e+00] [-1.98749462e-03 9.99958913e-01 -8.84429612e-03 6.10050412e-01] [ 2.27008679e-02 8.88715060e-03 9.99702800e-01 1.45694110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09255784400005 meters Centerline goodness : 0.124306 Centerline is valid? [False, False] Translation: X:4.12, Y:0.61, Z:1.46 [[ 0.99974147 -0.00640443 -0.02181708 4.11553784] [ 0.00624075 0.99995193 -0.00756187 0.61415497] [ 0.02186446 0.00742376 0.99973338 1.45905865] [ 0. 0. 0. 1. ]] SLAMing on 342.122557844 meters Centerline goodness : 0.121717 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:1.46 [[ 0.99974448 -0.00646743 -0.0216599 4.11501249] [ 0.00630123 0.99995025 -0.00773255 0.61502058] [ 0.02170883 0.00759409 0.99973549 1.45929198] [ 0. 0. 0. 1. ]] SLAMing on 342.15255784400006 meters Centerline goodness : 0.127727 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 0.99974374 -0.00655831 -0.02166672 4.11497511] [ 0.00638736 0.999948 -0.00794968 0.61597465] [ 0.02171773 0.00780925 0.99973364 1.45939546] [ 0. 0. 0. 1. ]] SLAMing on 342.18255784400003 meters Centerline goodness : 0.157723 Centerline is valid? [False, False] Translation: X:4.12, Y:0.62, Z:1.46 [[ 0.99973702 -0.00674734 -0.02191738 4.11596007] [ 0.00656126 0.99994191 -0.00855124 0.61911886] [ 0.0219738 0.00840518 0.99972321 1.45887546] [ 0. 0. 0. 1. ]] SLAMing on 342.21255784400006 meters Centerline goodness : 0.120599 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 9.99767939e-01 -3.88593927e-03 -2.11888737e-02 4.11417776e+00] [ 3.76378525e-03 9.99976086e-01 -5.80184334e-03 6.20455993e-01] [ 2.12109126e-02 5.72074658e-03 9.99758656e-01 1.45882361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters Centerline goodness : 0.119640 Centerline is valid? [False, False] Translation: X:4.11, Y:0.62, Z:1.46 [[ 9.99766954e-01 -4.08892956e-03 -2.11971087e-02 4.11415796e+00] [ 3.95471049e-03 9.99971891e-01 -6.37000827e-03 6.23165322e-01] [ 2.12225594e-02 6.28469534e-03 9.99755023e-01 1.45894087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27255784400006 meters Centerline goodness : 0.120553 Centerline is valid? [False, False] Translation: X:4.11, Y:0.63, Z:1.46 [[ 0.99976593 -0.00428994 -0.02120568 4.11416845] [ 0.00414406 0.99996748 -0.00691822 0.62571108] [ 0.02123467 0.00682872 0.9997512 1.45901352] [ 0. 0. 0. 1. ]] SLAMing on 342.30255784400003 meters Centerline goodness : 0.124823 Centerline is valid? [False, False] Translation: X:4.11, Y:0.63, Z:1.46 [[ 0.99976016 -0.00445015 -0.02144336 4.11479619] [ 0.00429252 0.99996347 -0.0073915 0.62812697] [ 0.02147547 0.00729768 0.99974274 1.45895368] [ 0. 0. 0. 1. ]] SLAMing on 342.33255784400006 meters Centerline goodness : 0.121814 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99763075e-01 -7.27953455e-04 -2.17546224e-02 4.11584310e+00] [ 6.43782070e-04 9.99992282e-01 -3.87587950e-03 6.30341763e-01] [ 2.17572759e-02 3.86095597e-03 9.99755827e-01 1.45835149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters Centerline goodness : 0.123187 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99763298e-01 -8.27488572e-04 -2.17408004e-02 4.11593919e+00] [ 7.37893154e-04 9.99991204e-01 -4.12877165e-03 6.31786496e-01] [ 2.17440257e-02 4.11175198e-03 9.99755115e-01 1.45817690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39255784400007 meters Centerline goodness : 0.125427 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99765356e-01 -9.79230572e-04 -2.16396577e-02 4.11566189e+00] [ 8.84373530e-04 9.99989961e-01 -4.39261685e-03 6.32831710e-01] [ 2.16437418e-02 4.37244861e-03 9.99756185e-01 1.45822401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42255784400004 meters Centerline goodness : 0.122898 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99766718e-01 -1.12964134e-03 -2.15692943e-02 4.11538674e+00] [ 1.03003191e-03 9.99988757e-01 -4.62866405e-03 6.33737098e-01] [ 2.15742805e-02 4.60536720e-03 9.99756641e-01 1.45835170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45255784400007 meters Centerline goodness : 0.119900 Centerline is valid? [False, False] Translation: X:4.12, Y:0.63, Z:1.46 [[ 9.99764401e-01 -1.20554599e-03 -2.16723087e-02 4.11558280e+00] [ 1.10169574e-03 9.99987858e-01 -4.80314186e-03 6.34796314e-01] [ 2.16778360e-02 4.77813395e-03 9.99753590e-01 1.45845244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48255784400004 meters Centerline goodness : 0.121875 Centerline is valid? [False, False] Translation: X:4.12, Y:0.64, Z:1.46 [[ 9.99747895e-01 1.52048421e-03 -2.24016695e-02 4.11788444e+00] [-1.56698566e-03 9.99996654e-01 -2.05839561e-03 6.37467793e-01] [ 2.23984648e-02 2.09297977e-03 9.99746932e-01 1.45762775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51255784400007 meters Centerline goodness : 0.149851 Centerline is valid? [False, False] Translation: X:4.14, Y:0.64, Z:1.46 [[ 9.99703843e-01 -7.20736617e-03 -2.32439122e-02 4.13958797e+00] [ 7.17705813e-03 9.99973283e-01 -1.38707312e-03 6.41397392e-01] [ 2.32532884e-02 1.21983942e-03 9.99728862e-01 1.45886938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54255784400004 meters Centerline goodness : 0.119815 Centerline is valid? [False, False] Translation: X:4.14, Y:0.64, Z:1.46 [[ 9.99700097e-01 -7.28019654e-03 -2.33819196e-02 4.14028266e+00] [ 7.24715787e-03 9.99972618e-01 -1.49742903e-03 6.41874540e-01] [ 2.33921810e-02 1.32752748e-03 9.99725484e-01 1.45828707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5725578440001 meters Centerline goodness : 0.125272 Centerline is valid? [False, False] Translation: X:4.09, Y:0.65, Z:1.46 [[ 9.99654343e-01 -6.09895358e-03 -2.55733559e-02 4.09369409e+00] [ 6.06520901e-03 9.99980631e-01 -1.39688006e-03 6.47257230e-01] [ 2.55813801e-02 1.24128947e-03 9.99671972e-01 1.45879473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60255784400005 meters Centerline goodness : 0.130450 Centerline is valid? [False, False] Translation: X:4.11, Y:0.64, Z:1.46 [[ 9.99706323e-01 1.93849568e-03 -2.41559660e-02 4.11380181e+00] [-1.99185505e-03 9.99995629e-01 -2.18508696e-03 6.43943026e-01] [ 2.41516247e-02 2.23256043e-03 9.99705814e-01 1.45957228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6325578440001 meters Centerline goodness : 0.152245 Centerline is valid? [False, False] Translation: X:4.11, Y:0.65, Z:1.46 [[ 9.99707544e-01 1.82565625e-03 -2.41141790e-02 4.11359583e+00] [-1.88731932e-03 9.99995007e-01 -2.53461757e-03 6.45622110e-01] [ 2.41094312e-02 2.57938747e-03 9.99705998e-01 1.45982628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66255784400005 meters Centerline goodness : 0.163336 Centerline is valid? [False, False] Translation: X:4.14, Y:0.65, Z:1.46 [[ 9.99740795e-01 -4.52281401e-03 -2.23133619e-02 4.13600321e+00] [ 4.52576455e-03 9.99989755e-01 8.17348857e-05 6.46942340e-01] [ 2.23127637e-02 -1.82698722e-04 9.99751023e-01 1.45942191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6925578440001 meters Centerline goodness : 0.120268 Centerline is valid? [False, False] Translation: X:4.14, Y:0.65, Z:1.46 [[ 9.99744278e-01 -4.62550123e-03 -2.21355889e-02 4.13523048e+00] [ 4.61660841e-03 9.99989241e-01 -4.52828627e-04 6.49778052e-01] [ 2.21374453e-02 3.50521482e-04 9.99754875e-01 1.46002916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72255784400005 meters Centerline goodness : 0.123147 Centerline is valid? [False, False] Translation: X:4.13, Y:0.65, Z:1.46 [[ 9.99774645e-01 -2.99984398e-03 -2.10156924e-02 4.13114812e+00] [ 3.01664732e-03 9.99995155e-01 7.67905376e-04 6.53008260e-01] [ 2.10132870e-02 -8.31129257e-04 9.99778851e-01 1.46150308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752557844 meters Centerline goodness : 0.123581 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99784565e-01 7.89136812e-04 -2.07413050e-02 4.13110199e+00] [-7.07416296e-04 9.99991960e-01 3.94703104e-03 6.56766527e-01] [ 2.07442530e-02 -3.93150797e-03 9.99777085e-01 1.46069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78255784400005 meters Centerline goodness : 0.122441 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99785850e-01 6.07482457e-04 -2.06853599e-02 4.13095048e+00] [-5.35218395e-04 9.99993736e-01 3.49884524e-03 6.58827815e-01] [ 2.06873558e-02 -3.48702478e-03 9.99779913e-01 1.46071729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812557844 meters Centerline goodness : 0.156525 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99786516e-01 4.54314887e-04 -2.06571152e-02 4.13067806e+00] [-3.89721906e-04 9.99995023e-01 3.13083017e-03 6.60460662e-01] [ 2.06584348e-02 -3.12211126e-03 9.99781717e-01 1.46103609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84255784400005 meters Centerline goodness : 0.142187 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99725272e-01 1.05892990e-03 -2.34149289e-02 4.08509594e+00] [-1.00170382e-03 9.99996483e-01 2.45559355e-03 6.67574209e-01] [ 2.34174469e-02 -2.43146411e-03 9.99722817e-01 1.46203178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872557844 meters Centerline goodness : 0.121518 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99721778e-01 9.62635851e-04 -2.35677523e-02 4.08552740e+00] [-9.08599571e-04 9.99996934e-01 2.30340678e-03 6.68332000e-01] [ 2.35698974e-02 -2.28135227e-03 9.99719588e-01 1.46191817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90255784400006 meters Centerline goodness : 0.140391 Centerline is valid? [False, False] Translation: X:4.09, Y:0.67, Z:1.46 [[ 9.99723537e-01 9.26044713e-04 -2.34945012e-02 4.08542311e+00] [-8.72029284e-04 9.99996954e-01 2.30920807e-03 6.68203254e-01] [ 2.34965680e-02 -2.28808177e-03 9.99721299e-01 1.46174577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93255784400003 meters Centerline goodness : 0.136890 Centerline is valid? [False, False] Translation: X:4.08, Y:0.67, Z:1.46 [[ 9.99729111e-01 9.02850470e-04 -2.32570458e-02 4.08489826e+00] [-8.46891504e-04 9.99996723e-01 2.41584519e-03 6.67312415e-01] [ 2.32591508e-02 -2.39549457e-03 9.99726599e-01 1.46161122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96255784400006 meters Centerline goodness : 0.134778 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99776634e-01 -1.00647554e-03 -2.11108978e-02 4.12790038e+00] [ 1.04752989e-03 9.99997582e-01 1.93373126e-03 6.63428268e-01] [ 2.11089005e-02 -1.95541362e-03 9.99775270e-01 1.46245501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99255784400003 meters Centerline goodness : 0.135784 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99785017e-01 -1.01682158e-03 -2.07095584e-02 4.12645271e+00] [ 1.06074193e-03 9.99997212e-01 2.10990215e-03 6.62200632e-01] [ 2.07073553e-02 -2.13141605e-03 9.99783308e-01 1.46312789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02255784400006 meters Centerline goodness : 0.139781 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99786767e-01 -1.00936465e-03 -2.06252907e-02 4.12595555e+00] [ 1.05271681e-03 9.99997259e-01 2.09114411e-03 6.62395677e-01] [ 2.06231234e-02 -2.11241080e-03 9.99785089e-01 1.46361147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05255784400003 meters Centerline goodness : 0.157278 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99789198e-01 -1.06210940e-03 -2.05044166e-02 4.12549639e+00] [ 1.10161066e-03 9.99997559e-01 1.91527666e-03 6.63262715e-01] [ 2.05023323e-02 -1.93746080e-03 9.99787928e-01 1.46389864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08255784400006 meters Centerline goodness : 0.128807 Centerline is valid? [False, False] Translation: X:4.13, Y:0.66, Z:1.46 [[ 9.99789454e-01 -1.14645673e-03 -2.04874089e-02 4.12537218e+00] [ 1.18072540e-03 9.99997924e-01 1.66065181e-03 6.64490016e-01] [ 2.04854625e-02 -1.68449217e-03 9.99788732e-01 1.46403384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11255784400004 meters Centerline goodness : 0.128997 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99787091e-01 -1.22135113e-03 -2.05980839e-02 4.12567738e+00] [ 1.24867080e-03 9.99998358e-01 1.31351151e-03 6.66328223e-01] [ 2.05964458e-02 -1.33895207e-03 9.99786974e-01 1.46402523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14255784400007 meters Centerline goodness : 0.136993 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99771710e-01 -1.01716000e-03 -2.13423101e-02 4.12806317e+00] [ 1.03610597e-03 9.99999079e-01 8.76679582e-04 6.70172158e-01] [ 2.13413987e-02 -8.98592340e-04 9.99771843e-01 1.46326485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17255784400004 meters Centerline goodness : 0.134538 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99766694e-01 -1.12506638e-03 -2.15706155e-02 4.12882370e+00] [ 1.13569634e-03 9.99999240e-01 4.80554460e-04 6.72314605e-01] [ 2.15700584e-02 -5.04940013e-04 9.99767212e-01 1.46298194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20255784400007 meters Centerline goodness : 0.124896 Centerline is valid? [False, False] Translation: X:4.13, Y:0.67, Z:1.46 [[ 9.99762330e-01 -1.26839485e-03 -2.17640818e-02 4.12935591e+00] [ 1.26985353e-03 9.99999192e-01 5.32021026e-05 6.74475403e-01] [ 2.17639967e-02 -8.08266540e-05 9.99763133e-01 1.46289983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23255784400004 meters Centerline goodness : 0.131421 Centerline is valid? [False, False] Translation: X:4.13, Y:0.68, Z:1.46 [[ 9.99760558e-01 -1.41816050e-03 -2.18361216e-02 4.12949692e+00] [ 1.41107600e-03 9.99998947e-01 -3.39844117e-04 6.76360233e-01] [ 2.18365805e-02 3.08950317e-04 9.99761506e-01 1.46297422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26255784400007 meters Centerline goodness : 0.127821 Centerline is valid? [False, False] Translation: X:4.15, Y:0.67, Z:1.46 [[ 9.99757751e-01 6.05072635e-03 -2.11619595e-02 4.14888775e+00] [-6.08693429e-03 9.99980118e-01 -1.64699700e-03 6.73515193e-01] [ 2.11515732e-02 1.77540947e-03 9.99774704e-01 1.46454429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29255784400004 meters Centerline goodness : 0.132244 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.47 [[ 9.99763596e-01 5.78248877e-03 -2.09598582e-02 4.14813686e+00] [-5.83227592e-03 9.99980312e-01 -2.31500672e-03 6.77107882e-01] [ 2.09460590e-02 2.43670312e-03 9.99777638e-01 1.46503126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3225578440001 meters Centerline goodness : 0.138904 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.47 [[ 9.99768044e-01 5.65377151e-03 -2.07820197e-02 4.14766684e+00] [-5.70862771e-03 9.99980374e-01 -2.58122222e-03 6.78380526e-01] [ 2.07670182e-02 2.69926030e-03 9.99780698e-01 1.46508699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35255784400005 meters Centerline goodness : 0.137848 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99771631e-01 5.52359536e-03 -2.06440035e-02 4.14740702e+00] [-5.58267776e-03 9.99980481e-01 -2.80542968e-03 6.79339513e-01] [ 2.06281045e-02 2.92003782e-03 9.99782954e-01 1.46493840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3825578440001 meters Centerline goodness : 0.134691 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99770720e-01 5.40280459e-03 -2.07199798e-02 4.14779296e+00] [-5.46565590e-03 9.99980629e-01 -2.97793756e-03 6.80003194e-01] [ 2.07034893e-02 3.09050305e-03 9.99780883e-01 1.46460456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41255784400005 meters Centerline goodness : 0.139890 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99758341e-01 5.10450567e-03 -2.13823129e-02 4.14980282e+00] [-5.17489495e-03 9.99981368e-01 -3.23790170e-03 6.80933948e-01] [ 2.13653866e-02 3.34777045e-03 9.99766129e-01 1.46391720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4425578440001 meters Centerline goodness : 0.136996 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99757345e-01 5.03142601e-03 -2.14461380e-02 4.15009843e+00] [-5.10384424e-03 9.99981453e-01 -3.32335240e-03 6.81232816e-01] [ 2.14290190e-02 3.43200372e-03 9.99764482e-01 1.46366949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47255784400005 meters Centerline goodness : 0.136900 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99755977e-01 4.91934653e-03 -2.15357187e-02 4.15050659e+00] [-4.99490607e-03 9.99981553e-01 -3.45618422e-03 6.81769214e-01] [ 2.15183193e-02 3.56290972e-03 9.99762106e-01 1.46335283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters Centerline goodness : 0.130626 Centerline is valid? [False, False] Translation: X:4.15, Y:0.68, Z:1.46 [[ 9.99755547e-01 4.83909834e-03 -2.15737903e-02 4.15065919e+00] [-4.91927199e-03 9.99981185e-01 -3.66473204e-03 6.82897286e-01] [ 2.15556504e-02 3.76996353e-03 9.99760542e-01 1.46329549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53255784400005 meters Centerline goodness : 0.208884 Centerline is valid? [False, False] Translation: X:4.17, Y:0.69, Z:1.47 [[ 9.99759392e-01 -3.39730228e-03 -2.16706148e-02 4.16979175e+00] [ 3.34931099e-03 9.99991859e-01 -2.25048976e-03 6.88203800e-01] [ 2.16780840e-02 2.17736664e-03 9.99762632e-01 1.46576006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters Centerline goodness : 0.143403 Centerline is valid? [False, False] Translation: X:4.17, Y:0.69, Z:1.47 [[ 9.99771198e-01 2.84332599e-04 -2.13885643e-02 4.16900389e+00] [-2.66113126e-04 9.99999599e-01 8.54673809e-04 6.91835430e-01] [ 2.13887988e-02 -8.48786480e-04 9.99770873e-01 1.46599498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59255784400005 meters Centerline goodness : 0.206000 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99770025e-01 1.01292912e-04 -2.14449887e-02 4.16903408e+00] [-9.76475569e-05 9.99999981e-01 1.71033427e-04 6.95486607e-01] [ 2.14450056e-02 -1.68900042e-04 9.99770015e-01 1.46628970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters Centerline goodness : 0.135371 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99773649e-01 -7.53461100e-05 -2.12754627e-02 4.16845408e+00] [ 6.44841504e-05 9.99999867e-01 -5.11224875e-04 6.99074499e-01] [ 2.12754984e-02 5.09737229e-04 9.99773521e-01 1.46664637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65255784400006 meters Centerline goodness : 0.136577 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99777770e-01 -3.25091625e-04 -2.10785396e-02 4.16779043e+00] [ 2.99608696e-04 9.99999221e-01 -1.21209811e-03 7.02585314e-01] [ 2.10789172e-02 1.20551343e-03 9.99777088e-01 1.46699993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters Centerline goodness : 0.136577 Centerline is valid? [False, False] Translation: X:4.17, Y:0.70, Z:1.47 [[ 9.99777770e-01 -3.25091625e-04 -2.10785396e-02 4.16779043e+00] [ 2.99608696e-04 9.99999221e-01 -1.21209811e-03 7.02585314e-01] [ 2.10789172e-02 1.20551343e-03 9.99777088e-01 1.46699993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71255784400006 meters Centerline goodness : 0.135458 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99778218e-01 -5.43638403e-04 -2.10527769e-02 4.16774139e+00] [ 5.05183401e-04 9.99998195e-01 -1.83187524e-03 7.05696652e-01] [ 2.10537348e-02 1.82083345e-03 9.99776687e-01 1.46702343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters Centerline goodness : 0.141895 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99771801e-01 -9.08307077e-04 -2.13429446e-02 4.16867781e+00] [ 8.49437473e-04 9.99995811e-01 -2.76717392e-03 7.10281364e-01] [ 2.13453687e-02 2.74841295e-03 9.99768384e-01 1.46676326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77255784400006 meters Centerline goodness : 0.145896 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99766748e-01 -1.04680322e-03 -2.15720646e-02 4.16926959e+00] [ 9.80084055e-04 9.99994705e-01 -3.10319055e-03 7.11926678e-01] [ 2.15751988e-02 3.08132428e-03 9.99762480e-01 1.46675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters Centerline goodness : 0.119333 Centerline is valid? [False, False] Translation: X:4.17, Y:0.71, Z:1.47 [[ 9.99765019e-01 -1.19489374e-03 -2.16443549e-02 4.16942389e+00] [ 1.11973887e-03 9.99993304e-01 -3.48404851e-03 7.13943307e-01] [ 2.16483730e-02 3.45899380e-03 9.99759663e-01 1.46682553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83255784400006 meters Centerline goodness : 0.119887 Centerline is valid? [False, False] Translation: X:4.17, Y:0.72, Z:1.47 [[ 9.99762596e-01 -1.54626717e-03 -2.17338548e-02 4.16955939e+00] [ 1.44942951e-03 9.99988956e-01 -4.47066024e-03 7.19283131e-01] [ 2.17405276e-02 4.43809719e-03 9.99753796e-01 1.46715101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters Centerline goodness : 0.121367 Centerline is valid? [False, False] Translation: X:4.17, Y:0.72, Z:1.47 [[ 9.99761631e-01 -1.75081726e-03 -2.17627214e-02 4.16965251e+00] [ 1.64081571e-03 9.99985794e-01 -5.07141531e-03 7.22360858e-01] [ 2.17712914e-02 5.03449782e-03 9.99750301e-01 1.46721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89255784400007 meters Centerline goodness : 0.146968 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99758742e-01 -1.94776950e-03 -2.18783747e-02 4.16990744e+00] [ 1.82340733e-03 9.99982077e-01 -5.70276236e-03 7.25600621e-01] [ 2.18890902e-02 5.66149333e-03 9.99744375e-01 1.46731229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92255784400004 meters Centerline goodness : 0.153044 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99755382e-01 -2.04277284e-03 -2.20227916e-02 4.17022999e+00] [ 1.90557560e-03 9.99978659e-01 -6.24897075e-03 7.28832414e-01] [ 2.20350868e-02 6.20547604e-03 9.99737939e-01 1.46743671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95255784400007 meters Centerline goodness : 0.119241 Centerline is valid? [False, False] Translation: X:4.17, Y:0.73, Z:1.47 [[ 9.99754217e-01 -2.21742070e-03 -2.20587330e-02 4.17009580e+00] [ 2.06568113e-03 9.99974066e-01 -6.89929783e-03 7.32281246e-01] [ 2.20734596e-02 6.85203579e-03 9.99732870e-01 1.46792934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98255784400004 meters Centerline goodness : 0.150102 Centerline is valid? [False, False] Translation: X:4.17, Y:0.74, Z:1.47 [[ 9.99753048e-01 -2.39280946e-03 -2.20933738e-02 4.17000946e+00] [ 2.22616946e-03 9.99968914e-01 -7.56404935e-03 7.35719109e-01] [ 2.21107863e-02 7.51299780e-03 9.99727297e-01 1.46830121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01255784400007 meters Centerline goodness : 0.123148 Centerline is valid? [False, False] Translation: X:4.15, Y:0.74, Z:1.47 [[ 0.99970146 0.00748776 -0.02325773 4.14809245] [-0.00769397 0.99993177 -0.00878935 0.74107215] [ 0.02319033 0.00896567 0.99969086 1.46823418] [ 0. 0. 0. 1. ]] SLAMing on 344.04255784400004 meters Centerline goodness : 0.146786 Centerline is valid? [False, False] Translation: X:4.17, Y:0.75, Z:1.47 [[ 9.99671453e-01 1.28096949e-03 -2.55997188e-02 4.16539528e+00] [-1.44940521e-03 9.99977419e-01 -6.56212087e-03 7.47358360e-01] [ 2.55907349e-02 6.59706927e-03 9.99650735e-01 1.47201785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0725578440001 meters Centerline goodness : 0.146598 Centerline is valid? [False, False] Translation: X:4.17, Y:0.75, Z:1.47 [[ 9.99668824e-01 1.40797299e-03 -2.56955101e-02 4.16547974e+00] [-1.58530529e-03 9.99975061e-01 -6.88222922e-03 7.49698613e-01] [ 2.56851793e-02 6.92068522e-03 9.99646125e-01 1.47211704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10255784400005 meters Centerline goodness : 0.143933 Centerline is valid? [False, False] Translation: X:4.16, Y:0.75, Z:1.47 [[ 9.99672818e-01 1.91055223e-03 -2.55070130e-02 4.16430324e+00] [-2.10364263e-03 9.99969320e-01 -7.54540475e-03 7.54405148e-01] [ 2.54918145e-02 7.59659367e-03 9.99646167e-01 1.47257570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1325578440001 meters Centerline goodness : 0.149639 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99677257e-01 1.81296617e-03 -2.53395984e-02 4.16360289e+00] [-2.02032282e-03 9.99964667e-01 -8.15990283e-03 7.57623001e-01] [ 2.53239094e-02 8.20846344e-03 9.99645598e-01 1.47311232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16255784400005 meters Centerline goodness : 0.121650 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99677040e-01 1.75129405e-03 -2.53525047e-02 4.16335523e+00] [-1.97349767e-03 9.99959839e-01 -8.74219725e-03 7.60873113e-01] [ 2.53361763e-02 8.78940698e-03 9.99640348e-01 1.47361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1925578440001 meters Centerline goodness : 0.163962 Centerline is valid? [False, False] Translation: X:4.16, Y:0.76, Z:1.47 [[ 9.99676052e-01 1.73191240e-03 -2.53927331e-02 4.16324800e+00] [-1.96665160e-03 9.99955540e-01 -9.22228846e-03 7.63818412e-01] [ 2.53756319e-02 9.26923958e-03 9.99635013e-01 1.47398744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22255784400005 meters Centerline goodness : 0.136911 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99967226 0.00561254 -0.02497751 4.16262781] [-0.00576044 0.99996628 -0.0058531 0.76670158] [ 0.02494381 0.00599507 0.99967088 1.47359077] [ 0. 0. 0. 1. ]] SLAMing on 344.252557844 meters Centerline goodness : 0.146297 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99967051 0.00547613 -0.02507738 4.1629715 ] [-0.00563628 0.99996414 -0.00631994 0.76899057] [ 0.02504187 0.0064592 0.99966554 1.4734207 ] [ 0. 0. 0. 1. ]] SLAMing on 344.28255784400005 meters Centerline goodness : 0.148999 Centerline is valid? [False, False] Translation: X:4.16, Y:0.77, Z:1.47 [[ 0.99966715 0.00533586 -0.02524137 4.1634952 ] [-0.00550799 0.99996202 -0.00675477 0.77102563] [ 0.02520437 0.00689155 0.99965856 1.47319325] [ 0. 0. 0. 1. ]] SLAMing on 344.312557844 meters Centerline goodness : 0.123407 Centerline is valid? [False, False] Translation: X:4.19, Y:0.77, Z:1.47 [[ 9.99688690e-01 -1.08073127e-03 -2.49269987e-02 4.18544191e+00] [ 9.89616502e-04 9.99992786e-01 -3.66731086e-03 7.74267054e-01] [ 2.49307822e-02 3.64150102e-03 9.99682547e-01 1.47310309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34255784400005 meters Centerline goodness : 0.119696 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99682982e-01 -1.09547139e-03 -2.51542502e-02 4.18595940e+00] [ 9.94408326e-04 9.99991386e-01 -4.02989047e-03 7.76448939e-01] [ 2.51584481e-02 4.00359933e-03 9.99675459e-01 1.47319769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372557844 meters Centerline goodness : 0.160098 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99685961e-01 2.82539677e-03 -2.48997457e-02 4.18546366e+00] [-2.83871502e-03 9.99995846e-01 -4.99543686e-04 7.78294210e-01] [ 2.48982308e-02 5.70070092e-04 9.99689828e-01 1.47300258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40255784400006 meters Centerline goodness : 0.157219 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99688116e-01 2.73554887e-03 -2.48231081e-02 4.18515800e+00] [-2.75630929e-03 9.99995880e-01 -8.02157772e-04 7.79772847e-01] [ 2.48208115e-02 8.70327756e-04 9.99691537e-01 1.47316591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43255784400003 meters Centerline goodness : 0.135113 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99687779e-01 2.66127523e-03 -2.48447567e-02 4.18529185e+00] [-2.68832650e-03 9.99995829e-01 -1.05547490e-03 7.80993950e-01] [ 2.48418442e-02 1.12193617e-03 9.99690764e-01 1.47298651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46255784400006 meters Centerline goodness : 0.122597 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99684259e-01 2.63909064e-03 -2.49883369e-02 4.18590211e+00] [-2.67042620e-03 9.99995689e-01 -1.22072035e-03 7.81950587e-01] [ 2.49850076e-02 1.28706443e-03 9.99686997e-01 1.47252503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49255784400003 meters Centerline goodness : 0.120994 Centerline is valid? [False, False] Translation: X:4.19, Y:0.78, Z:1.47 [[ 9.99662145e-01 2.81671785e-03 -2.58391657e-02 4.18873597e+00] [-2.85186385e-03 9.99995058e-01 -1.32343312e-03 7.83177284e-01] [ 2.58353103e-02 1.39667578e-03 9.99665237e-01 1.47128330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52255784400006 meters Centerline goodness : 0.154289 Centerline is valid? [False, False] Translation: X:4.17, Y:0.79, Z:1.47 [[ 9.99645016e-01 -4.47756603e-03 -2.62639018e-02 4.17008885e+00] [ 4.47330379e-03 9.99989970e-01 -2.21036586e-04 7.87351390e-01] [ 2.62646281e-02 1.03471710e-04 9.99655020e-01 1.46908476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55255784400003 meters Centerline goodness : 0.146122 Centerline is valid? [False, False] Translation: X:4.21, Y:0.79, Z:1.47 [[ 9.99691734e-01 -5.01350145e-03 -2.43167116e-02 4.21308244e+00] [ 5.04175112e-03 9.99986685e-01 1.10056897e-03 7.85958460e-01] [ 2.43108701e-02 -1.22282851e-03 9.99703699e-01 1.46980215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58255784400006 meters Centerline goodness : 0.124924 Centerline is valid? [False, False] Translation: X:4.21, Y:0.79, Z:1.47 [[ 9.99691965e-01 -4.88812332e-03 -2.43327272e-02 4.21297767e+00] [ 4.92146902e-03 9.99987031e-01 1.31070855e-03 7.85246581e-01] [ 2.43260047e-02 -1.43005757e-03 9.99703056e-01 1.47003951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61255784400004 meters Centerline goodness : 0.126814 Centerline is valid? [False, False] Translation: X:4.21, Y:0.78, Z:1.47 [[ 9.99695783e-01 -4.77965505e-03 -2.41970395e-02 4.21255339e+00] [ 4.81821360e-03 9.99987213e-01 1.53547251e-03 7.84268971e-01] [ 2.41893910e-02 -1.65159190e-03 9.99706030e-01 1.47016590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64255784400007 meters Centerline goodness : 0.137652 Centerline is valid? [False, False] Translation: X:4.21, Y:0.78, Z:1.47 [[ 9.99697893e-01 -4.67659279e-03 -2.41299016e-02 4.21252564e+00] [ 4.72216198e-03 9.99987173e-01 1.83185944e-03 7.82661451e-01] [ 2.41210252e-02 -1.94525133e-03 9.99707153e-01 1.46991482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67255784400004 meters Centerline goodness : 0.159927 Centerline is valid? [False, False] Translation: X:4.17, Y:0.78, Z:1.47 [[ 9.99621648e-01 -4.23239967e-03 -2.71780805e-02 4.16966313e+00] [ 4.25395272e-03 9.99990682e-01 7.35261628e-04 7.78073416e-01] [ 2.71747153e-02 -8.50597710e-04 9.99630337e-01 1.46909932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70255784400007 meters Centerline goodness : 0.151073 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99666017e-01 -4.54596690e-03 -2.54398953e-02 4.21322666e+00] [ 4.60975113e-03 9.99986376e-01 2.44916814e-03 7.74683822e-01] [ 2.54284148e-02 -2.56562174e-03 9.99673353e-01 1.46929029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73255784400004 meters Centerline goodness : 0.060975 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99666407e-01 -4.34597017e-03 -2.54595152e-02 4.21344121e+00] [ 4.41901949e-03 9.99986278e-01 2.81367538e-03 7.73317588e-01] [ 2.54469377e-02 -2.92524285e-03 9.99671894e-01 1.46901689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76255784400007 meters Centerline goodness : 0.075602 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99665772e-01 -4.17869507e-03 -2.55123988e-02 4.21359218e+00] [ 4.26022412e-03 9.99985989e-01 3.14214701e-03 7.71879711e-01] [ 2.54989113e-02 -3.24978535e-03 9.99669568e-01 1.46899257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79255784400004 meters Centerline goodness : 0.167234 Centerline is valid? [False, False] Translation: X:4.21, Y:0.77, Z:1.47 [[ 9.99668605e-01 -3.89961532e-03 -2.54455082e-02 4.21351250e+00] [ 4.00010602e-03 9.99984396e-01 3.89954589e-03 7.67207671e-01] [ 2.54299044e-02 -4.00003833e-03 9.99668605e-01 1.46879497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8225578440001 meters Centerline goodness : 0.156369 Centerline is valid? [False, False] Translation: X:4.21, Y:0.76, Z:1.47 [[ 9.99670298e-01 -3.71921881e-03 -2.54059730e-02 4.21351486e+00] [ 3.83059825e-03 9.99983260e-01 4.33672625e-03 7.64982391e-01] [ 2.53894185e-02 -4.43261650e-03 9.99667809e-01 1.46860292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85255784400005 meters Centerline goodness : 0.158978 Centerline is valid? [False, False] Translation: X:4.23, Y:0.76, Z:1.47 [[ 9.99643519e-01 3.13648350e-03 -2.65140918e-02 4.23186401e+00] [-3.04861841e-03 9.99989729e-01 3.35367499e-03 7.58848873e-01] [ 2.65243383e-02 -3.27164812e-03 9.99642814e-01 1.47153411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8825578440001 meters Centerline goodness : 0.123070 Centerline is valid? [False, False] Translation: X:4.23, Y:0.76, Z:1.47 [[ 9.99648105e-01 3.31614490e-03 -2.63186015e-02 4.23140061e+00] [-3.21826506e-03 9.99987751e-01 3.76052290e-03 7.56974815e-01] [ 2.63307496e-02 -3.67449935e-03 9.99646532e-01 1.47143536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 344.9425578440001 meters Centerline goodness : 0.211022 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99668779e-01 3.58643365e-03 -2.54847074e-02 4.22871789e+00] [-3.47221722e-03 9.99983736e-01 4.52460226e-03 7.52762758e-01] [ 2.55005201e-02 -4.43461517e-03 9.99664973e-01 1.47232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97255784400005 meters Centerline goodness : 0.124932 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99677607e-01 3.85753747e-03 -2.50958537e-02 4.22724773e+00] [-3.72614584e-03 9.99979117e-01 5.28024883e-03 7.48640930e-01] [ 2.51156984e-02 -5.18503570e-03 9.99671104e-01 1.47301727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002557844 meters Centerline goodness : 0.122263 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 9.99673678e-01 4.01463085e-03 -2.52273701e-02 4.22767799e+00] [-3.87460485e-03 9.99976830e-01 5.59699065e-03 7.47256227e-01] [ 2.52492554e-02 -5.49741814e-03 9.99666071e-01 1.47281842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.062557844 meters Centerline goodness : 0.134336 Centerline is valid? [False, False] Translation: X:4.25, Y:0.74, Z:1.47 [[ 0.99962482 0.01234592 -0.02444987 4.24854742] [-0.01222188 0.9999117 0.00521631 0.74146206] [ 0.02451211 -0.00491553 0.99968745 1.47359942] [ 0. 0. 0. 1. ]] SLAMing on 345.09255784400005 meters Centerline goodness : 0.180632 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99970804 0.0048519 -0.02367055 4.22881856] [-0.00471187 0.99997109 0.0059682 0.7461134 ] [ 0.02369883 -0.00585492 0.999702 1.47143048] [ 0. 0. 0. 1. ]] SLAMing on 345.122557844 meters Centerline goodness : 0.130545 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99970475 0.00492918 -0.02379302 4.2291982 ] [-0.00479122 0.9999714 0.00585179 0.74679184] [ 0.02382118 -0.00573607 0.99969978 1.47120398] [ 0. 0. 0. 1. ]] SLAMing on 345.15255784400006 meters Centerline goodness : 0.180178 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99969475 0.00499768 -0.02419575 4.23044423] [-0.00486097 0.99997191 0.00570545 0.74793356] [ 0.02422358 -0.00558609 0.99969096 1.47069125] [ 0. 0. 0. 1. ]] SLAMing on 345.18255784400003 meters Centerline goodness : 0.178418 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99968501 0.00498791 -0.02459692 4.2318375 ] [-0.00485418 0.99997313 0.00549359 0.74914091] [ 0.02462366 -0.00537246 0.99968236 1.4699447 ] [ 0. 0. 0. 1. ]] SLAMing on 345.21255784400006 meters Centerline goodness : 0.178685 Centerline is valid? [False, False] Translation: X:4.23, Y:0.75, Z:1.47 [[ 0.99967467 0.0049506 -0.02502082 4.23324351] [-0.00481901 0.99997425 0.00531669 0.74980779] [ 0.0250465 -0.00519438 0.99967279 1.46925354] [ 0. 0. 0. 1. ]] SLAMing on 345.24255784400003 meters Centerline goodness : 0.149589 Centerline is valid? [False, False] Translation: X:4.19, Y:0.75, Z:1.47 [[ 0.99960245 0.0052369 -0.02770392 4.1879809 ] [-0.00511736 0.9999773 0.00438397 0.74859458] [ 0.02772625 -0.00424046 0.99960656 1.46983987] [ 0. 0. 0. 1. ]] SLAMing on 345.27255784400006 meters Centerline goodness : 0.124185 Centerline is valid? [False, False] Translation: X:4.19, Y:0.75, Z:1.47 [[ 0.99960617 0.00529657 -0.02755801 4.18743974] [-0.00517131 0.99997598 0.00461458 0.74740411] [ 0.02758179 -0.00447025 0.99960955 1.47013377] [ 0. 0. 0. 1. ]] SLAMing on 345.30255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.33255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.36255784400004 meters Centerline goodness : 0.128701 Centerline is valid? [False, False] Translation: X:4.19, Y:0.74, Z:1.47 [[ 9.99621490e-01 1.83207475e-03 -2.74503242e-02 4.18760074e+00] [-1.76779405e-03 9.99995639e-01 2.36579524e-03 7.39247518e-01] [ 2.74545389e-02 -2.31637325e-03 9.99620369e-01 1.46969781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39255784400007 meters Centerline goodness : 0.143433 Centerline is valid? [False, False] Translation: X:4.19, Y:0.74, Z:1.47 [[ 9.99617505e-01 2.06552430e-03 -2.75785633e-02 4.18813144e+00] [-1.98586182e-03 9.99993778e-01 2.91564173e-03 7.36672310e-01] [ 2.75844140e-02 -2.85975929e-03 9.99615387e-01 1.46937789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42255784400004 meters Centerline goodness : 0.160281 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99615161e-01 2.25862733e-03 -2.76482897e-02 4.18850368e+00] [-2.16627889e-03 9.99991976e-01 3.36961140e-03 7.34422914e-01] [ 2.76556786e-02 -3.30842074e-03 9.99612034e-01 1.46905446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45255784400007 meters Centerline goodness : 0.168040 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99604662e-01 2.55520965e-03 -2.79998348e-02 4.19000206e+00] [-2.44588713e-03 9.99989255e-01 3.93795229e-03 7.31238367e-01] [ 2.80095962e-02 -3.86791103e-03 9.99600171e-01 1.46803389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.51255784400007 meters Centerline goodness : 0.116546 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99589558e-01 3.18148359e-03 -2.84709227e-02 4.19160364e+00] [-3.05633940e-03 9.99985482e-01 4.43794713e-03 7.30061127e-01] [ 2.84846286e-02 -4.34910881e-03 9.99584769e-01 1.46717497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54255784400004 meters Centerline goodness : 0.137319 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588164e-01 3.31072697e-03 -2.85051272e-02 4.19166946e+00] [-3.18485437e-03 9.99984982e-01 4.46005787e-03 7.30351823e-01] [ 2.85194652e-02 -4.36743638e-03 9.99583696e-01 1.46710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5725578440001 meters Centerline goodness : 0.137319 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588164e-01 3.31072697e-03 -2.85051272e-02 4.19166946e+00] [-3.18485437e-03 9.99984982e-01 4.46005787e-03 7.30351823e-01] [ 2.85194652e-02 -4.36743638e-03 9.99583696e-01 1.46710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60255784400005 meters Centerline goodness : 0.117246 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588344e-01 3.40932397e-03 -2.84871896e-02 4.19165799e+00] [-3.28201427e-03 9.99984423e-01 4.51457850e-03 7.30362419e-01] [ 2.85021376e-02 -4.41922468e-03 9.99583963e-01 1.46696152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6325578440001 meters Centerline goodness : 0.157090 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99589155e-01 3.56606829e-03 -2.84394893e-02 4.19155860e+00] [-3.43466199e-03 9.99983206e-01 4.66807000e-03 7.29807061e-01] [ 2.84556583e-02 -4.56847212e-03 9.99584616e-01 1.46680617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66255784400005 meters Centerline goodness : 0.160201 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99587633e-01 3.58293514e-03 -2.84908056e-02 4.19166578e+00] [-3.44978349e-03 9.99982904e-01 4.72127676e-03 7.29449520e-01] [ 2.85072346e-02 -4.62104275e-03 9.99582905e-01 1.46679865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6925578440001 meters Centerline goodness : 0.171652 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99588950e-01 3.64361477e-03 -2.84368785e-02 4.19145963e+00] [-3.50616686e-03 9.99981937e-01 4.88180540e-03 7.28692439e-01] [ 2.84541523e-02 -4.78009429e-03 9.99583669e-01 1.46689686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.752557844 meters Centerline goodness : 0.041916 Centerline is valid? [False, False] Translation: X:4.19, Y:0.73, Z:1.47 [[ 9.99616249e-01 3.66214155e-03 -2.74580197e-02 4.18822328e+00] [-3.51327187e-03 9.99978879e-01 5.46800377e-03 7.25383228e-01] [ 2.74774643e-02 -5.36943794e-03 9.99608002e-01 1.46836616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78255784400005 meters Centerline goodness : 0.120361 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99619569e-01 3.76336308e-03 -2.73231620e-02 4.18767657e+00] [-3.60669515e-03 9.99976786e-01 5.78090741e-03 7.23856674e-01] [ 2.73442834e-02 -5.68016185e-03 9.99609937e-01 1.46878237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812557844 meters Centerline goodness : 0.116167 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99623331e-01 3.85517955e-03 -2.71722913e-02 4.18717706e+00] [-3.69207728e-03 9.99974882e-01 6.05013850e-03 7.22539044e-01] [ 2.71949332e-02 -5.94753740e-03 9.99612456e-01 1.46902406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84255784400005 meters Centerline goodness : 0.115107 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99625958e-01 3.91994086e-03 -2.70661680e-02 4.18690351e+00] [-3.75230490e-03 9.99973481e-01 6.24157529e-03 7.21479311e-01] [ 2.70899169e-02 -6.13768016e-03 9.99614158e-01 1.46905674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872557844 meters Centerline goodness : 0.105423 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99636168e-01 4.00841328e-03 -2.66733009e-02 4.18585224e+00] [-3.83811833e-03 9.99971945e-01 6.43260933e-03 7.20332467e-01] [ 2.66983372e-02 -6.32789365e-03 9.99623507e-01 1.46909990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90255784400006 meters Centerline goodness : 0.180467 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99639936e-01 4.05773781e-03 -2.65242020e-02 4.18554154e+00] [-3.88698182e-03 9.99971410e-01 6.48613486e-03 7.20165771e-01] [ 2.65497627e-02 -6.38070034e-03 9.99627129e-01 1.46894517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93255784400003 meters Centerline goodness : 0.127842 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99638267e-01 4.13377576e-03 -2.65753140e-02 4.18586414e+00] [-3.95945995e-03 9.99970324e-01 6.60859157e-03 7.19707155e-01] [ 2.66018438e-02 -6.50097714e-03 9.99624969e-01 1.46857266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96255784400006 meters Centerline goodness : 0.124383 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 9.99632760e-01 4.27012887e-03 -2.67602701e-02 4.18659029e+00] [-4.08762975e-03 9.99968041e-01 6.87077488e-03 7.18525369e-01] [ 2.67887540e-02 -6.75886558e-03 9.99618267e-01 1.46813292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99255784400003 meters Centerline goodness : 0.120186 Centerline is valid? [False, False] Translation: X:4.19, Y:0.72, Z:1.47 [[ 0.99962561 0.00442472 -0.02700102 4.18746799] [-0.00423074 0.99996486 0.00723684 0.7166547 ] [ 0.02703209 -0.0071199 0.99960921 1.46771408] [ 0. 0. 0. 1. ]] SLAMing on 346.02255784400006 meters Centerline goodness : 0.124454 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99642833e-01 7.06771917e-04 -2.67152755e-02 4.18635755e+00] [-6.03082388e-04 9.99992255e-01 3.88914036e-03 7.13893528e-01] [ 2.67178173e-02 -3.87163977e-03 9.99635518e-01 1.46821516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05255784400003 meters Centerline goodness : 0.145022 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99646631e-01 9.48817755e-04 -2.65652421e-02 4.18585679e+00] [-8.29593237e-04 9.99989537e-01 4.49865059e-03 7.10913625e-01] [ 2.65692326e-02 -4.47502256e-03 9.99636959e-01 1.46843623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08255784400006 meters Centerline goodness : 0.123940 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99646948e-01 1.20215237e-03 -2.65430695e-02 4.18596793e+00] [-1.06806834e-03 9.99986602e-01 5.06516413e-03 7.08341935e-01] [ 2.65488029e-02 -5.03502605e-03 9.99634838e-01 1.46822947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11255784400004 meters Centerline goodness : 0.088868 Centerline is valid? [False, False] Translation: X:4.19, Y:0.71, Z:1.47 [[ 9.99645611e-01 1.44868697e-03 -2.65810634e-02 4.18639648e+00] [-1.30006692e-03 9.99983432e-01 5.60763030e-03 7.05886682e-01] [ 2.65887467e-02 -5.57108586e-03 9.99630933e-01 1.46772566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14255784400007 meters Centerline goodness : 0.087226 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99642257e-01 1.63554970e-03 -2.66961148e-02 4.18710766e+00] [-1.47501387e-03 9.99980719e-01 6.03203776e-03 7.03791067e-01] [ 2.67054658e-02 -5.99050270e-03 9.99625396e-01 1.46708462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17255784400004 meters Centerline goodness : 0.151127 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99626583e-01 2.01410271e-03 -2.72513876e-02 4.18907565e+00] [-1.83264810e-03 9.99975997e-01 6.68188377e-03 7.00271529e-01] [ 2.72641915e-02 -6.62944644e-03 9.99606280e-01 1.46619077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20255784400007 meters Centerline goodness : 0.090001 Centerline is valid? [False, False] Translation: X:4.19, Y:0.70, Z:1.47 [[ 9.99626138e-01 2.16016932e-03 -2.72565362e-02 4.18913074e+00] [-1.97211645e-03 9.99974082e-01 6.92436388e-03 6.99114091e-01] [ 2.72707875e-02 -6.86802205e-03 9.99604489e-01 1.46605353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23255784400004 meters Centerline goodness : 0.144973 Centerline is valid? [False, False] Translation: X:4.21, Y:0.69, Z:1.47 [[ 0.99958235 0.01040811 -0.02695913 4.21008413] [-0.01024273 0.99992791 0.00626539 0.69471436] [ 0.02702239 -0.00598664 0.9996169 1.4675652 ] [ 0. 0. 0. 1. ]] SLAMing on 346.26255784400007 meters Centerline goodness : 0.186541 Centerline is valid? [False, False] Translation: X:4.21, Y:0.69, Z:1.47 [[ 0.9995825 0.01054135 -0.02690173 4.21008339] [-0.01036958 0.999925 0.0065167 0.69346251] [ 0.02696841 -0.00623502 0.99961684 1.46727952] [ 0. 0. 0. 1. ]] SLAMing on 346.29255784400004 meters Centerline goodness : 0.157986 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99613224e-01 2.08905786e-03 -2.77315353e-02 4.18849397e+00] [-1.89005230e-03 9.99972290e-01 7.20042001e-03 6.94304870e-01] [ 2.77458090e-02 -7.14522101e-03 9.99589474e-01 1.46619135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3225578440001 meters Centerline goodness : 0.088565 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99607428e-01 2.49096580e-03 -2.79067340e-02 4.18936584e+00] [-2.26671729e-03 9.99964913e-01 8.06439655e-03 6.90362073e-01] [ 2.79258430e-02 -7.99797401e-03 9.99578001e-01 1.46556812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35255784400005 meters Centerline goodness : 0.090243 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.47 [[ 9.99601449e-01 2.66088740e-03 -2.81044936e-02 4.19009871e+00] [-2.42481308e-03 9.99961522e-01 8.43062114e-03 6.88732823e-01] [ 2.81258451e-02 -8.35911296e-03 9.99569438e-01 1.46520036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3825578440001 meters Centerline goodness : 0.099754 Centerline is valid? [False, False] Translation: X:4.19, Y:0.69, Z:1.46 [[ 9.99598981e-01 2.79213840e-03 -2.81794494e-02 4.19053169e+00] [-2.54629016e-03 9.99958419e-01 8.75649651e-03 6.87082638e-01] [ 2.82027270e-02 -8.68123193e-03 9.99564526e-01 1.46482393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41255784400005 meters Centerline goodness : 0.165537 Centerline is valid? [False, False] Translation: X:4.17, Y:0.68, Z:1.46 [[ 0.99959275 0.00851809 -0.02723574 4.16707247] [-0.00836997 0.99994958 0.00554766 0.67940082] [ 0.02728162 -0.00531744 0.99961364 1.46472912] [ 0. 0. 0. 1. ]] SLAMing on 346.4425578440001 meters Centerline goodness : 0.098116 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:1.47 [[ 0.99965584 0.00813536 -0.02494039 4.20778627] [-0.00799439 0.99995153 0.00574705 0.68006599] [ 0.02498593 -0.00554569 0.99967242 1.46696077] [ 0. 0. 0. 1. ]] SLAMing on 346.47255784400005 meters Centerline goodness : 0.163785 Centerline is valid? [False, False] Translation: X:4.21, Y:0.68, Z:1.47 [[ 0.99966027 0.00831502 -0.02470218 4.20691565] [-0.00816434 0.99994748 0.00619449 0.6781457 ] [ 0.02475239 -0.00599071 0.99967566 1.46744155] [ 0. 0. 0. 1. ]] SLAMing on 346.502557844 meters Centerline goodness : 0.127169 Centerline is valid? [False, False] Translation: X:4.23, Y:0.68, Z:1.47 [[ 9.99715999e-01 -8.88880371e-06 -2.38310895e-02 4.22592403e+00] [ 1.93790642e-04 9.99969899e-01 7.75655136e-03 6.80822052e-01] [ 2.38303032e-02 -7.75896673e-03 9.99685908e-01 1.46927430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53255784400005 meters Centerline goodness : 0.140784 Centerline is valid? [False, False] Translation: X:4.23, Y:0.68, Z:1.47 [[ 9.99710931e-01 -3.88186913e-03 -2.37272978e-02 4.22563434e+00] [ 3.98866052e-03 9.99982121e-01 4.45511342e-03 6.77604295e-01] [ 2.37095794e-02 -4.54846573e-03 9.99708541e-01 1.46951571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters Centerline goodness : 0.158654 Centerline is valid? [False, False] Translation: X:4.25, Y:0.67, Z:1.47 [[ 9.99721856e-01 9.69754971e-04 -2.35641904e-02 4.24636176e+00] [-9.44543205e-04 9.99998970e-01 1.08102529e-03 6.74232279e-01] [ 2.35652144e-02 -1.05846721e-03 9.99721741e-01 1.47063886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59255784400005 meters Centerline goodness : 0.086260 Centerline is valid? [False, False] Translation: X:4.20, Y:0.67, Z:1.47 [[ 9.99657312e-01 4.07049632e-04 -2.61742909e-02 4.20048563e+00] [-3.87868267e-04 9.99999653e-01 7.37905053e-04 6.68070593e-01] [ 2.61745822e-02 -7.27500005e-04 9.99657122e-01 1.47114135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters Centerline goodness : 0.085645 Centerline is valid? [False, False] Translation: X:4.20, Y:0.67, Z:1.47 [[ 9.99657404e-01 5.91475526e-04 -2.61672390e-02 4.20042116e+00] [-5.57705645e-04 9.99999002e-01 1.29781972e-03 6.65372507e-01] [ 2.61679805e-02 -1.28278148e-03 9.99656737e-01 1.47133511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65255784400006 meters Centerline goodness : 0.144569 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99659055e-01 7.61832831e-04 -2.60996716e-02 4.20028683e+00] [-7.16659959e-04 9.99998229e-01 1.74009332e-03 6.63293000e-01] [ 2.61009510e-02 -1.72079546e-03 9.99657831e-01 1.47135900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters Centerline goodness : 0.142314 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99659209e-01 8.90516311e-04 -2.60896897e-02 4.20034997e+00] [-8.36498173e-04 9.99997484e-01 2.08131905e-03 6.61596563e-01] [ 2.60914775e-02 -2.05878577e-03 9.99657439e-01 1.47125320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71255784400006 meters Centerline goodness : 0.156205 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99651081e-01 1.13854332e-03 -2.63897621e-02 4.20177257e+00] [-1.06806942e-03 9.99995826e-01 2.68444338e-03 6.58459589e-01] [ 2.63927083e-02 -2.65532063e-03 9.99648125e-01 1.47023204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters Centerline goodness : 0.186549 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99647357e-01 1.24505636e-03 -2.65256867e-02 4.20239514e+00] [-1.16853640e-03 9.99995112e-01 2.90005486e-03 6.57518234e-01] [ 2.65291677e-02 -2.86803594e-03 9.99643925e-01 1.46974008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77255784400006 meters Centerline goodness : 0.091202 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99643270e-01 1.38503787e-03 -2.66723503e-02 4.20295807e+00] [-1.30286478e-03 9.99994353e-01 3.09796632e-03 6.56740622e-01] [ 2.66764905e-02 -3.06211072e-03 9.99639429e-01 1.46938294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters Centerline goodness : 0.085841 Centerline is valid? [False, False] Translation: X:4.20, Y:0.66, Z:1.47 [[ 9.99643301e-01 1.42957459e-03 -2.66688511e-02 4.20303092e+00] [-1.34489107e-03 9.99993998e-01 3.19303857e-03 6.56158665e-01] [ 2.66732557e-02 -3.15603291e-03 9.99639223e-01 1.46923089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83255784400006 meters Centerline goodness : 0.085767 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645478e-01 1.55720135e-03 -2.65799611e-02 4.20311194e+00] [-1.46550834e-03 9.99992910e-01 3.46883578e-03 6.54506733e-01] [ 2.65851743e-02 -3.42865284e-03 9.99640672e-01 1.46866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters Centerline goodness : 0.144338 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645327e-01 1.64132207e-03 -2.65805676e-02 4.20333163e+00] [-1.54536168e-03 9.99992216e-01 3.63031045e-03 6.53736945e-01] [ 2.65863193e-02 -3.58794628e-03 9.99640082e-01 1.46830825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89255784400007 meters Centerline goodness : 0.155723 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99645040e-01 1.70006938e-03 -2.65876542e-02 4.20350924e+00] [-1.60044210e-03 9.99991621e-01 3.76795684e-03 6.53026872e-01] [ 2.65938372e-02 -3.72406737e-03 9.99639385e-01 1.46802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92255784400004 meters Centerline goodness : 0.088910 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99642061e-01 1.79279261e-03 -2.66933658e-02 4.20388799e+00] [-1.68720006e-03 9.99990665e-01 3.97775730e-03 6.52020827e-01] [ 2.67002479e-02 -3.93129645e-03 9.99635754e-01 1.46785609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95255784400007 meters Centerline goodness : 0.098669 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99636157e-01 1.99026649e-03 -2.68996731e-02 4.20468429e+00] [-1.87010033e-03 9.99988164e-01 4.49161662e-03 6.49293714e-01] [ 2.69082942e-02 -4.43967729e-03 9.99628047e-01 1.46744974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98255784400004 meters Centerline goodness : 0.095824 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99634842e-01 2.10726771e-03 -2.69395843e-02 4.20484191e+00] [-1.97831894e-03 9.99986464e-01 4.81234776e-03 6.47625431e-01] [ 2.69493606e-02 -4.75729540e-03 9.99625480e-01 1.46739624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01255784400007 meters Centerline goodness : 0.156903 Centerline is valid? [False, False] Translation: X:4.20, Y:0.65, Z:1.47 [[ 9.99635302e-01 2.24229953e-03 -2.69116334e-02 4.20474464e+00] [-2.10458995e-03 9.99984553e-01 5.14433604e-03 6.45951954e-01] [ 2.69227528e-02 -5.08582195e-03 9.99624579e-01 1.46744944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04255784400004 meters Centerline goodness : 0.091958 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99633097e-01 2.36105002e-03 -2.69832689e-02 4.20496682e+00] [-2.21483213e-03 9.99982710e-01 5.44743865e-03 6.44375493e-01] [ 2.69956640e-02 -5.38567656e-03 9.99621043e-01 1.46739918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0725578440001 meters Centerline goodness : 0.098946 Centerline is valid? [False, False] Translation: X:4.21, Y:0.64, Z:1.47 [[ 9.99632145e-01 2.46733862e-03 -2.70090209e-02 4.20512471e+00] [-2.31336789e-03 9.99980905e-01 5.73047801e-03 6.42954362e-01] [ 2.70226442e-02 -5.66588823e-03 9.99618765e-01 1.46727824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10255784400005 meters Centerline goodness : 0.154130 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99636738e-01 2.72606499e-03 -2.68134241e-02 4.20457498e+00] [-2.55576614e-03 9.99976359e-01 6.38347496e-03 6.39878493e-01] [ 2.68301920e-02 -6.31262725e-03 9.99620074e-01 1.46743393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1325578440001 meters Centerline goodness : 0.096982 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99637525e-01 2.85227355e-03 -2.67709519e-02 4.20435686e+00] [-2.67367722e-03 9.99973949e-01 6.70469854e-03 6.38353585e-01] [ 2.67893781e-02 -6.63069137e-03 9.99619109e-01 1.46766084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16255784400005 meters Centerline goodness : 0.157002 Centerline is valid? [False, False] Translation: X:4.20, Y:0.64, Z:1.47 [[ 9.99638434e-01 2.96952501e-03 -2.67241959e-02 4.20405912e+00] [-2.78287659e-03 9.99971496e-01 7.01873204e-03 6.36775690e-01] [ 2.67442764e-02 -6.94182417e-03 9.99618204e-01 1.46795874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1925578440001 meters Centerline goodness : 0.099835 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99638238e-01 3.19187703e-03 -2.67059068e-02 4.20380998e+00] [-2.98948535e-03 9.99966537e-01 7.61503265e-03 6.33832278e-01] [ 2.67293193e-02 -7.53244090e-03 9.99614329e-01 1.46837262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22255784400005 meters Centerline goodness : 0.133985 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99635520e-01 3.33432184e-03 -2.67900985e-02 4.20402888e+00] [-3.12209386e-03 9.99963446e-01 7.95980803e-03 6.32244241e-01] [ 2.68156598e-02 -7.87326564e-03 9.99609390e-01 1.46840114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252557844 meters Centerline goodness : 0.087784 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99632070e-01 3.48220407e-03 -2.68997968e-02 4.20435052e+00] [-3.25894850e-03 9.99959920e-01 8.33891309e-03 6.30446205e-01] [ 2.69277565e-02 -8.24817990e-03 9.99603353e-01 1.46839894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28255784400005 meters Centerline goodness : 0.089637 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99630736e-01 3.66578843e-03 -2.69249571e-02 4.20445208e+00] [-3.43076257e-03 9.99955658e-01 8.76993667e-03 6.28432584e-01] [ 2.69559120e-02 -8.67432511e-03 9.99598987e-01 1.46838246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312557844 meters Centerline goodness : 0.146390 Centerline is valid? [False, False] Translation: X:4.20, Y:0.63, Z:1.47 [[ 9.99631385e-01 3.81500651e-03 -2.68801013e-02 4.20428304e+00] [-3.57057011e-03 9.99951894e-01 9.13571843e-03 6.26662719e-01] [ 2.69136610e-02 -9.03637358e-03 9.99596918e-01 1.46851122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34255784400005 meters Centerline goodness : 0.091450 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99640504e-01 4.06546856e-03 -2.65015955e-02 4.20285644e+00] [-3.80777238e-03 9.99945052e-01 9.76702175e-03 6.23494444e-01] [ 2.65398468e-02 -9.66259850e-03 9.99601056e-01 1.46932702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372557844 meters Centerline goodness : 0.151782 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99643081e-01 4.18283732e-03 -2.63858641e-02 4.20247043e+00] [-3.91890259e-03 9.99941852e-01 1.00466760e-02 6.22078671e-01] [ 2.64263534e-02 -9.93968654e-03 9.99601346e-01 1.46949094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40255784400006 meters Centerline goodness : 0.084514 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99640801e-01 4.29721830e-03 -2.64538042e-02 4.20281068e+00] [-4.02607220e-03 9.99938905e-01 1.02945392e-02 6.20907639e-01] [ 2.64964259e-02 -1.01843365e-02 9.99597028e-01 1.46923812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43255784400003 meters Centerline goodness : 0.143788 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99638785e-01 4.40697113e-03 -2.65118403e-02 4.20325691e+00] [-4.12902514e-03 9.99936039e-01 1.05294682e-02 6.19812725e-01] [ 2.65565477e-02 -1.04161967e-02 9.99593044e-01 1.46873939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46255784400006 meters Centerline goodness : 0.142125 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 0.99963535 0.00453398 -0.02661988 4.2037155 ] [-0.00424745 0.99993254 0.01081047 0.61845611] [ 0.0266671 -0.01069346 0.99958717 1.46847532] [ 0. 0. 0. 1. ]] SLAMing on 347.49255784400003 meters Centerline goodness : 0.142125 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 0.99963535 0.00453398 -0.02661988 4.2037155 ] [-0.00424745 0.99993254 0.01081047 0.61845611] [ 0.0266671 -0.01069346 0.99958717 1.46847532] [ 0. 0. 0. 1. ]] SLAMing on 347.52255784400006 meters Centerline goodness : 0.160882 Centerline is valid? [False, False] Translation: X:4.20, Y:0.62, Z:1.47 [[ 9.99646820e-01 1.11317631e-03 -2.65517509e-02 4.20353821e+00] [-9.11857505e-04 9.99970757e-01 7.59303226e-03 6.16476321e-01] [ 2.65594268e-02 -7.56613915e-03 9.99618602e-01 1.46838721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55255784400003 meters Centerline goodness : 0.146870 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99646173e-01 1.28807094e-03 -2.65682255e-02 4.20343296e+00] [-1.07475207e-03 9.99967087e-01 8.04181513e-03 6.14144373e-01] [ 2.65777095e-02 -8.01041546e-03 9.99614655e-01 1.46869986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58255784400006 meters Centerline goodness : 0.161666 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99644778e-01 1.48449327e-03 -2.66104151e-02 4.20345891e+00] [-1.25794293e-03 9.99962842e-01 8.52831615e-03 6.11723005e-01] [ 2.66220865e-02 -8.49181232e-03 9.99609501e-01 1.46890165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61255784400004 meters Centerline goodness : 0.153543 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99645149e-01 1.84575939e-03 -2.65738314e-02 4.20344739e+00] [-1.59741244e-03 9.99954883e-01 9.36374266e-03 6.07619908e-01] [ 2.65899156e-02 -9.31797056e-03 9.99602997e-01 1.46884366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64255784400007 meters Centerline goodness : 0.103307 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99645293e-01 1.95657069e-03 -2.65605039e-02 4.20377071e+00] [-1.70138157e-03 9.99952212e-01 9.62704284e-03 6.06194251e-01] [ 2.65780706e-02 -9.57843850e-03 9.99600850e-01 1.46832720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67255784400004 meters Centerline goodness : 0.163502 Centerline is valid? [False, False] Translation: X:4.20, Y:0.61, Z:1.47 [[ 9.99643489e-01 2.04636149e-03 -2.66215582e-02 4.20424456e+00] [-1.78617777e-03 9.99950447e-01 9.79353298e-03 6.05302691e-01] [ 2.66402801e-02 -9.74249064e-03 9.99597609e-01 1.46780083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70255784400007 meters Centerline goodness : 0.146593 Centerline is valid? [False, False] Translation: X:4.20, Y:0.60, Z:1.47 [[ 9.99641868e-01 2.09794605e-03 -2.66783495e-02 4.20460208e+00] [-1.83453799e-03 9.99949369e-01 9.89412231e-03 6.04742702e-01] [ 2.66977561e-02 -9.84163646e-03 9.99595104e-01 1.46741879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73255784400004 meters Centerline goodness : 0.185395 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99960279 0.0104574 -0.02617051 4.22496943] [-0.01022779 0.99990816 0.00889226 0.60192993] [ 0.0262611 -0.00862106 0.99961794 1.46901101] [ 0. 0. 0. 1. ]] SLAMing on 347.76255784400007 meters Centerline goodness : 0.140206 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99960659 0.01057913 -0.02597599 4.22430204] [-0.0103448 0.99990473 0.00913876 0.60064861] [ 0.02607019 -0.00886645 0.99962079 1.46922106] [ 0. 0. 0. 1. ]] SLAMing on 347.79255784400004 meters Centerline goodness : 0.147341 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 0.99963876 0.00768299 -0.02575484 4.22332387] [-0.00752719 0.99995282 0.0061406 0.60037447] [ 0.0258008 -0.00594452 0.99964943 1.4695013 ] [ 0. 0. 0. 1. ]] SLAMing on 347.8225578440001 meters Centerline goodness : 0.155828 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99656887e-01 4.86453352e-03 -2.57380111e-02 4.22332859e+00] [-4.78386591e-03 9.99983454e-01 3.19482813e-03 6.00246352e-01] [ 2.57531266e-02 -3.07060475e-03 9.99663617e-01 1.46923386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85255784400005 meters Centerline goodness : 0.318847 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99652014e-01 4.90371856e-03 -2.59191830e-02 4.22392426e+00] [-4.81918901e-03 9.99982867e-01 3.32273352e-03 5.99457747e-01] [ 2.59350327e-02 -3.19666781e-03 9.99658519e-01 1.46902389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8825578440001 meters Centerline goodness : 0.139451 Centerline is valid? [False, False] Translation: X:4.22, Y:0.60, Z:1.47 [[ 9.99647042e-01 4.94811567e-03 -2.61018806e-02 4.22459046e+00] [-4.85996575e-03 9.99982275e-01 3.43950633e-03 5.98924149e-01] [ 2.61184370e-02 -3.31143808e-03 9.99653371e-01 1.46870878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91255784400005 meters Centerline goodness : 0.104985 Centerline is valid? [False, False] Translation: X:4.23, Y:0.60, Z:1.47 [[ 9.99639187e-01 5.02493208e-03 -2.63864624e-02 4.22534707e+00] [-4.92916367e-03 9.99981031e-01 3.69324244e-03 5.97749165e-01] [ 2.64045202e-02 -3.56184668e-03 9.99644994e-01 1.46865878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9425578440001 meters Centerline goodness : 0.154236 Centerline is valid? [False, False] Translation: X:4.23, Y:0.60, Z:1.47 [[ 9.99636128e-01 5.07535957e-03 -2.64925058e-02 4.22554809e+00] [-4.97302771e-03 9.99979923e-01 3.92712989e-03 5.96405494e-01] [ 2.65119055e-02 -3.79395295e-03 9.99641298e-01 1.46882193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97255784400005 meters Centerline goodness : 0.087553 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 9.99631469e-01 5.13839796e-03 -2.66556294e-02 4.22604435e+00] [-5.02681132e-03 9.99978327e-01 4.25155281e-03 5.94555272e-01] [ 2.66768979e-02 -4.11599316e-03 9.99635634e-01 1.46875021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters Centerline goodness : 0.160443 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962581 0.00524362 -0.02684671 4.22662817] [-0.00512131 0.9999762 0.00462253 0.59263527] [ 0.02687031 -0.00448331 0.99962887 1.46864654] [ 0. 0. 0. 1. ]] SLAMing on 348.03255784400005 meters Centerline goodness : 0.110867 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962716 0.00535364 -0.02677454 4.2264674 ] [-0.00521633 0.9999729 0.00519535 0.58968807] [ 0.02680163 -0.00505375 0.999628 1.46872009] [ 0. 0. 0. 1. ]] SLAMing on 348.062557844 meters Centerline goodness : 0.087356 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.9996273 0.00544753 -0.0267505 4.22623503] [-0.00530165 0.9999707 0.00552127 0.58799124] [ 0.02677979 -0.00537739 0.99962689 1.46906584] [ 0. 0. 0. 1. ]] SLAMing on 348.09255784400005 meters Centerline goodness : 0.144829 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99962747 0.00552057 -0.02672904 4.22612413] [-0.00536771 0.99996885 0.00578735 0.58655886] [ 0.02676016 -0.00564172 0.99962596 1.46920545] [ 0. 0. 0. 1. ]] SLAMing on 348.122557844 meters Centerline goodness : 0.098888 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99961984 0.00560899 -0.0269947 4.22711181] [-0.00544801 0.99996696 0.00603328 0.58528076] [ 0.02702765 -0.00588392 0.99961737 1.46868879] [ 0. 0. 0. 1. ]] SLAMing on 348.15255784400006 meters Centerline goodness : 0.155782 Centerline is valid? [False, False] Translation: X:4.23, Y:0.59, Z:1.47 [[ 0.99961911 0.00560665 -0.02702225 4.22733844] [-0.00544698 0.99996729 0.0059787 0.58568947] [ 0.02705488 -0.00582923 0.99961695 1.46839119] [ 0. 0. 0. 1. ]] SLAMing on 348.18255784400003 meters Centerline goodness : 0.107138 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99634918e-01 -1.85892840e-03 -2.69550484e-02 4.24656326e+00] [ 2.04995664e-03 9.99972969e-01 7.06101817e-03 5.92258538e-01] [ 2.69411939e-02 -7.11369700e-03 9.99611708e-01 1.46964542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21255784400006 meters Centerline goodness : 0.146969 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99638128e-01 -1.94799855e-03 -2.68294399e-02 4.24631367e+00] [ 2.13125250e-03 9.99974585e-01 6.80343004e-03 5.93498965e-01] [ 2.68155050e-02 -6.85814837e-03 9.99616874e-01 1.46945743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24255784400003 meters Centerline goodness : 0.150587 Centerline is valid? [False, False] Translation: X:4.25, Y:0.59, Z:1.47 [[ 9.99644507e-01 -2.02853608e-03 -2.65846882e-02 4.24561580e+00] [ 2.20442512e-03 9.99975866e-01 6.58854206e-03 5.94502550e-01] [ 2.65706815e-02 -6.64480383e-03 9.99624852e-01 1.46949726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27255784400006 meters Centerline goodness : 0.102062 Centerline is valid? [False, False] Translation: X:4.24, Y:0.60, Z:1.47 [[ 9.99657430e-01 -2.11219638e-03 -2.60875529e-02 4.24374615e+00] [ 2.27982634e-03 9.99976936e-01 6.39759800e-03 5.95459624e-01] [ 2.60734382e-02 -6.45488147e-03 9.99639190e-01 1.47042337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30255784400003 meters Centerline goodness : 0.103428 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99967032 0.00589802 -0.02498934 4.26234833] [-0.00577269 0.99997041 0.00508442 0.59302413] [ 0.02501859 -0.00493849 0.99967479 1.47244439] [ 0. 0. 0. 1. ]] SLAMing on 348.33255784400006 meters Centerline goodness : 0.169668 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99966976 0.00591461 -0.02500769 4.2624063 ] [-0.00578653 0.99996979 0.00519081 0.59248857] [ 0.02503763 -0.00504439 0.99967378 1.47246492] [ 0. 0. 0. 1. ]] SLAMing on 348.36255784400004 meters Centerline goodness : 0.159249 Centerline is valid? [False, False] Translation: X:4.26, Y:0.59, Z:1.47 [[ 0.99966406 0.00584977 -0.02524962 4.26322897] [-0.00572036 0.99997015 0.00519442 0.59216671] [ 0.02527925 -0.00504824 0.99966768 1.47210817] [ 0. 0. 0. 1. ]] SLAMing on 348.39255784400007 meters Centerline goodness : 0.161245 Centerline is valid? [False, False] Translation: X:4.29, Y:0.60, Z:1.47 [[ 9.99652491e-01 -2.92657444e-03 -2.61979434e-02 4.28554318e+00] [ 3.06170298e-03 9.99982209e-01 5.11935751e-03 5.97301989e-01] [ 2.61824952e-02 -5.19778881e-03 9.99643666e-01 1.47257504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42255784400004 meters Centerline goodness : 0.160762 Centerline is valid? [False, False] Translation: X:4.29, Y:0.60, Z:1.47 [[ 9.99651662e-01 -2.96267717e-03 -2.62254939e-02 4.28546827e+00] [ 3.09727653e-03 9.99982233e-01 5.09325411e-03 5.97284318e-01] [ 2.62099382e-02 -5.17270755e-03 9.99643077e-01 1.47279550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45255784400007 meters Centerline goodness : 0.177599 Centerline is valid? [False, False] Translation: X:4.28, Y:0.60, Z:1.47 [[ 9.99654492e-01 -2.94261418e-03 -2.61196636e-02 4.28497857e+00] [ 3.07919048e-03 9.99981790e-01 5.19018928e-03 5.96716654e-01] [ 2.61039153e-02 -5.26882345e-03 9.99645350e-01 1.47320168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48255784400004 meters Centerline goodness : 0.152681 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99660626e-01 4.87904154e-03 -2.55896086e-02 4.30341749e+00] [-4.78476762e-03 9.99981544e-01 3.74400795e-03 5.93020422e-01] [ 2.56074034e-02 -3.62029700e-03 9.99665521e-01 1.47577439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51255784400007 meters Centerline goodness : 0.095742 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99666144e-01 4.99734874e-03 -2.53500896e-02 4.30263970e+00] [-4.89289274e-03 9.99979290e-01 4.18089349e-03 5.90848565e-01] [ 2.53704580e-02 -4.05546241e-03 9.99669892e-01 1.47615096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54255784400004 meters Centerline goodness : 0.108669 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 9.99666047e-01 5.06095334e-03 -2.53413058e-02 4.30268051e+00] [-4.95112027e-03 9.99978085e-01 4.39502221e-03 5.89650625e-01] [ 2.53629934e-02 -4.26808663e-03 9.99669196e-01 1.47611246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5725578440001 meters Centerline goodness : 0.157123 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99966337 0.00508834 -0.02544136 4.30298632] [-0.00497493 0.99997741 0.0045191 0.58883647] [ 0.02546378 -0.00439101 0.9996661 1.47603186] [ 0. 0. 0. 1. ]] SLAMing on 348.60255784400005 meters Centerline goodness : 0.155643 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99965836 0.00509809 -0.02563544 4.30371967] [-0.00498316 0.99997726 0.00454496 0.58864819] [ 0.02565803 -0.00441566 0.99966103 1.47561543] [ 0. 0. 0. 1. ]] SLAMing on 348.6325578440001 meters Centerline goodness : 0.168720 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99641960e-01 -7.76810074e-04 -2.67459948e-02 4.28051919e+00] [ 9.93257886e-04 9.99966860e-01 8.08038479e-03 5.89166642e-01] [ 2.67388315e-02 -8.10405736e-03 9.99609603e-01 1.47559352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66255784400005 meters Centerline goodness : 0.154217 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99649948e-01 -7.36069750e-04 -2.64469244e-02 4.27961218e+00] [ 9.49452612e-04 9.99967094e-01 8.05669207e-03 5.89470975e-01] [ 2.64401238e-02 -8.07898191e-03 9.99617752e-01 1.47581950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6925578440001 meters Centerline goodness : 0.151238 Centerline is valid? [False, False] Translation: X:4.28, Y:0.59, Z:1.48 [[ 9.99658810e-01 -7.10830355e-04 -2.61104866e-02 4.27857381e+00] [ 9.21796441e-04 9.99967023e-01 8.06859796e-03 5.89372020e-01] [ 2.61038902e-02 -8.08991359e-03 9.99626500e-01 1.47613519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72255784400005 meters Centerline goodness : 0.143635 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99966094 0.00752888 -0.02492637 4.29843388] [-0.00736155 0.9999498 0.00679768 0.58630566] [ 0.0249763 -0.00661188 0.99966618 1.47778972] [ 0. 0. 0. 1. ]] SLAMing on 348.752557844 meters Centerline goodness : 0.096685 Centerline is valid? [False, False] Translation: X:4.30, Y:0.59, Z:1.48 [[ 0.99965908 0.0076014 -0.02497889 4.29865993] [-0.0074302 0.99994832 0.00693952 0.58567658] [ 0.02503035 -0.00675156 0.99966389 1.4775932 ] [ 0. 0. 0. 1. ]] SLAMing on 348.78255784400005 meters Centerline goodness : 0.094424 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.999654 0.00770054 -0.02515135 4.29931162] [-0.00752329 0.99994625 0.00713471 0.58489878] [ 0.02520494 -0.00694302 0.99965819 1.47722021] [ 0. 0. 0. 1. ]] SLAMing on 348.812557844 meters Centerline goodness : 0.143730 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99964964 0.0078767 -0.02526973 4.29992294] [-0.00768835 0.999942 0.00754221 0.58284724] [ 0.02532768 -0.00734529 0.99965222 1.47674976] [ 0. 0. 0. 1. ]] SLAMing on 348.84255784400005 meters Centerline goodness : 0.164605 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99965136 0.00793827 -0.0251821 4.29960067] [-0.00774593 0.99994015 0.00772617 0.58181276] [ 0.02524193 -0.00752841 0.99965302 1.47690339] [ 0. 0. 0. 1. ]] SLAMing on 348.872557844 meters Centerline goodness : 0.144978 Centerline is valid? [False, False] Translation: X:4.30, Y:0.58, Z:1.48 [[ 0.99965701 0.0081599 -0.02488521 4.29863891] [-0.00795463 0.99993361 0.00833623 0.57882776] [ 0.02495158 -0.00813542 0.99965556 1.47726923] [ 0. 0. 0. 1. ]] SLAMing on 348.90255784400006 meters Centerline goodness : 0.102608 Centerline is valid? [False, False] Translation: X:4.32, Y:0.58, Z:1.48 [[ 9.99679195e-01 2.17021549e-04 -2.53270534e-02 4.31858029e+00] [ 2.14466090e-05 9.99955679e-01 9.41489938e-03 5.82053821e-01] [ 2.53279741e-02 -9.41242222e-03 9.99634883e-01 1.47888404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93255784400003 meters Centerline goodness : 0.122417 Centerline is valid? [False, False] Translation: X:4.32, Y:0.58, Z:1.48 [[ 9.99670358e-01 3.54483657e-04 -2.56719653e-02 4.31971988e+00] [-1.01515263e-04 9.99951438e-01 9.85451018e-03 5.79785390e-01] [ 2.56742119e-02 -9.84865562e-03 9.99621848e-01 1.47853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96255784400006 meters Centerline goodness : 0.104743 Centerline is valid? [False, False] Translation: X:4.28, Y:0.57, Z:1.48 [[ 9.99574767e-01 -6.08956730e-04 -2.91532949e-02 4.27654921e+00] [ 8.91397021e-04 9.99952788e-01 9.67609288e-03 5.74180525e-01] [ 2.91460262e-02 -9.69796545e-03 9.99528118e-01 1.47795098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99255784400003 meters Centerline goodness : 0.157033 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 0.99956502 0.00557437 -0.02896032 4.29956355] [-0.00537393 0.9999611 0.00699451 0.57165546] [ 0.02899818 -0.00683583 0.99955609 1.47829788] [ 0. 0. 0. 1. ]] SLAMing on 349.02255784400006 meters Centerline goodness : 0.161625 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 0.99956398 0.00576966 -0.02895805 4.29942554] [-0.0055541 0.99995631 0.00751872 0.56919234] [ 0.02900016 -0.00735461 0.99955235 1.4785859 ] [ 0. 0. 0. 1. ]] SLAMing on 349.05255784400003 meters Centerline goodness : 0.159819 Centerline is valid? [False, False] Translation: X:4.30, Y:0.57, Z:1.48 [[ 9.99590193e-01 2.03207634e-03 -2.85537344e-02 4.29837797e+00] [-1.91283406e-03 9.99989339e-01 4.20276065e-03 5.67025531e-01] [ 2.85619703e-02 -4.14641977e-03 9.99583424e-01 1.47863879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08255784400006 meters Centerline goodness : 0.107810 Centerline is valid? [False, False] Translation: X:4.25, Y:0.56, Z:1.48 [[ 9.99506626e-01 6.36114811e-04 -3.14022299e-02 4.25381897e+00] [-5.18968916e-04 9.99992877e-01 3.73850550e-03 5.61372009e-01] [ 3.14043843e-02 -3.72036424e-03 9.99499837e-01 1.47827658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11255784400004 meters Centerline goodness : 0.158554 Centerline is valid? [False, False] Translation: X:4.25, Y:0.56, Z:1.48 [[ 9.99498322e-01 7.62254308e-04 -3.16626531e-02 4.25467414e+00] [-6.27473610e-04 9.99990702e-01 4.26649025e-03 5.58512695e-01] [ 3.16656108e-02 -4.24448236e-03 9.99489506e-01 1.47800544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14255784400007 meters Centerline goodness : 0.166010 Centerline is valid? [False, False] Translation: X:4.26, Y:0.56, Z:1.48 [[ 9.99490586e-01 9.13973468e-04 -3.19019162e-02 4.25543371e+00] [-7.60614935e-04 9.99988099e-01 4.81899341e-03 5.55624998e-01] [ 3.19059409e-02 -4.79227347e-03 9.99479387e-01 1.47779714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17255784400004 meters Centerline goodness : 0.160029 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99501134e-01 1.25666294e-03 -3.15579363e-02 4.25438769e+00] [-1.07323561e-03 9.99982437e-01 5.82866577e-03 5.50666352e-01] [ 3.15647068e-02 -5.79188895e-03 9.99484929e-01 1.47825123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20255784400007 meters Centerline goodness : 0.106791 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99507406e-01 1.42254611e-03 -3.13515712e-02 4.25359602e+00] [-1.22670733e-03 9.99979623e-01 6.26488741e-03 5.48439757e-01] [ 3.13598444e-02 -6.22334216e-03 9.99488784e-01 1.47872672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23255784400004 meters Centerline goodness : 0.121422 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99509542e-01 1.54787233e-03 -3.12774692e-02 4.25324291e+00] [-1.34319444e-03 9.99977555e-01 6.56389194e-03 5.46900435e-01] [ 3.12869273e-02 -6.51866090e-03 9.99489187e-01 1.47903879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26255784400007 meters Centerline goodness : 0.165513 Centerline is valid? [False, False] Translation: X:4.25, Y:0.55, Z:1.48 [[ 9.99509017e-01 1.68128236e-03 -3.12873651e-02 4.25322022e+00] [-1.46783548e-03 9.99975503e-01 6.84386118e-03 5.45610649e-01] [ 3.12981051e-02 -6.79457626e-03 9.99487000e-01 1.47912118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29255784400004 meters Centerline goodness : 0.153876 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99514251e-01 1.91746019e-03 -3.11060414e-02 4.25282073e+00] [-1.69089129e-03 9.99971863e-01 7.30842914e-03 5.43470714e-01] [ 3.11191798e-02 -7.25228215e-03 9.99489370e-01 1.47904266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3225578440001 meters Centerline goodness : 0.164111 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99520000e-01 2.00448414e-03 -3.09152412e-02 4.25237263e+00] [-1.77022316e-03 9.99969530e-01 7.60303343e-03 5.41650725e-01] [ 3.09295394e-02 -7.54465709e-03 9.99493092e-01 1.47902489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35255784400005 meters Centerline goodness : 0.167008 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99542607e-01 -9.29935841e-05 -3.02418209e-02 4.24895629e+00] [ 2.65505208e-04 9.99983717e-01 5.70044040e-03 5.38915489e-01] [ 3.02407984e-02 -5.70586242e-03 9.99526356e-01 1.48068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3825578440001 meters Centerline goodness : 0.167008 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99542607e-01 -9.29935841e-05 -3.02418209e-02 4.24895629e+00] [ 2.65505208e-04 9.99983717e-01 5.70044040e-03 5.38915489e-01] [ 3.02407984e-02 -5.70586242e-03 9.99526356e-01 1.48068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41255784400005 meters Centerline goodness : 0.280421 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99543852e-01 5.50148946e-05 -3.02007455e-02 4.24888392e+00] [ 1.28872548e-04 9.99981467e-01 6.08685762e-03 5.37018992e-01] [ 3.02005206e-02 -6.08797316e-03 9.99525320e-01 1.48065063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4425578440001 meters Centerline goodness : 0.161182 Centerline is valid? [False, False] Translation: X:4.25, Y:0.54, Z:1.48 [[ 9.99541302e-01 2.09217802e-04 -3.02843576e-02 4.24910011e+00] [-1.28722692e-05 9.99978982e-01 6.48344742e-03 5.35217371e-01] [ 3.02850775e-02 -6.48008364e-03 9.99520296e-01 1.48064829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47255784400005 meters Centerline goodness : 0.158908 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99533082e-01 3.95750698e-04 -3.05525837e-02 4.25005246e+00] [-1.77068611e-04 9.99974352e-01 7.15993825e-03 5.31871780e-01] [ 3.05546337e-02 -7.15118524e-03 9.99507516e-01 1.48026159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters Centerline goodness : 0.244267 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99529436e-01 5.12396485e-04 -3.06699095e-02 4.25029807e+00] [-2.79254829e-04 9.99971039e-01 7.60544221e-03 5.29491161e-01] [ 3.06729183e-02 -7.59329865e-03 9.99500632e-01 1.48038212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53255784400005 meters Centerline goodness : 0.323733 Centerline is valid? [False, False] Translation: X:4.25, Y:0.53, Z:1.48 [[ 9.99525387e-01 6.69899551e-04 -3.07985740e-02 4.25062322e+00] [-4.20097195e-04 9.99966972e-01 8.11659705e-03 5.26881500e-01] [ 3.08029941e-02 -8.09980641e-03 9.99492656e-01 1.48044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters Centerline goodness : 0.146751 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99520269e-01 8.46169624e-04 -3.09599037e-02 4.25095922e+00] [-5.77546641e-04 9.99962123e-01 8.68439394e-03 5.24101923e-01] [ 3.09660795e-02 -8.66234698e-03 9.99482899e-01 1.48060493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59255784400005 meters Centerline goodness : 0.168778 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99517950e-01 -2.80431540e-03 -3.09193026e-02 4.25110707e+00] [ 2.98139093e-03 9.99979411e-01 5.68240809e-03 5.20455605e-01] [ 3.09027307e-02 -5.77185142e-03 9.99505731e-01 1.48043554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters Centerline goodness : 0.121706 Centerline is valid? [False, False] Translation: X:4.25, Y:0.52, Z:1.48 [[ 9.99513398e-01 -2.65288040e-03 -3.10793978e-02 4.25143595e+00] [ 2.85003221e-03 9.99976088e-01 6.30090753e-03 5.16948927e-01] [ 3.10619391e-02 -6.38641878e-03 9.99497058e-01 1.48064314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65255784400006 meters Centerline goodness : 0.140288 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99515045e-01 -2.46510689e-03 -3.10418681e-02 4.25115940e+00] [ 2.68164611e-03 9.99972350e-01 6.93601656e-03 5.13558649e-01] [ 3.10239118e-02 -7.01589621e-03 9.99494019e-01 1.48101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters Centerline goodness : 0.166080 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99518777e-01 -2.28576718e-03 -3.09352417e-02 4.25070892e+00] [ 2.51818593e-03 9.99968882e-01 7.47620061e-03 5.10846912e-01] [ 3.09171902e-02 -7.55050358e-03 9.99493430e-01 1.48137130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71255784400006 meters Centerline goodness : 0.172904 Centerline is valid? [False, False] Translation: X:4.25, Y:0.51, Z:1.48 [[ 9.99519671e-01 -2.09495202e-03 -3.09198779e-02 4.25061748e+00] [ 2.34302044e-03 9.99965343e-01 7.98889313e-03 5.08483124e-01] [ 3.09020699e-02 -8.05750173e-03 9.99489939e-01 1.48148173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters Centerline goodness : 0.181721 Centerline is valid? [False, False] Translation: X:4.25, Y:0.50, Z:1.48 [[ 9.99506254e-01 -1.88003639e-03 -3.13641963e-02 4.25200589e+00] [ 2.15779478e-03 9.99958736e-01 8.82441114e-03 5.03867990e-01] [ 3.13463118e-02 -8.88773163e-03 9.99469068e-01 1.48112444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77255784400006 meters Centerline goodness : 0.149876 Centerline is valid? [False, False] Translation: X:4.27, Y:0.50, Z:1.48 [[ 0.99946099 0.00579724 -0.03231299 4.27226379] [-0.00556165 0.99995733 0.00737592 0.49745259] [ 0.03235437 -0.00719223 0.99945058 1.48322853] [ 0. 0. 0. 1. ]] SLAMing on 349.80255784400003 meters Centerline goodness : 0.145529 Centerline is valid? [False, False] Translation: X:4.27, Y:0.50, Z:1.48 [[ 0.99945055 0.0059245 -0.03261135 4.27340567] [-0.00567577 0.99995414 0.00771444 0.49564175] [ 0.03265556 -0.0075251 0.99943834 1.48268052] [ 0. 0. 0. 1. ]] SLAMing on 349.83255784400006 meters Centerline goodness : 0.106447 Centerline is valid? [False, False] Translation: X:4.27, Y:0.49, Z:1.48 [[ 0.99944098 0.00605625 -0.03287944 4.27441508] [-0.00579468 0.99995085 0.0080447 0.49401915] [ 0.03292654 -0.00784968 0.99942695 1.48217239] [ 0. 0. 0. 1. ]] SLAMing on 349.86255784400004 meters Centerline goodness : 0.152059 Centerline is valid? [False, False] Translation: X:4.28, Y:0.49, Z:1.48 [[ 0.99942346 0.00615998 -0.03338853 4.27610722] [-0.0058777 0.99994621 0.00854604 0.49135182] [ 0.03343937 -0.00834486 0.99940591 1.48148256] [ 0. 0. 0. 1. ]] SLAMing on 349.89255784400007 meters Centerline goodness : 0.140640 Centerline is valid? [False, False] Translation: X:4.28, Y:0.49, Z:1.48 [[ 0.99942354 0.00620239 -0.03337834 4.27595246] [-0.00591271 0.99994406 0.0087707 0.49007135] [ 0.03343087 -0.00856829 0.9994043 1.48167968] [ 0. 0. 0. 1. ]] SLAMing on 349.92255784400004 meters Centerline goodness : 0.147455 Centerline is valid? [False, False] Translation: X:4.30, Y:0.49, Z:1.48 [[ 9.99473608e-01 -2.33708626e-03 -3.23580678e-02 4.29670711e+00] [ 2.64721864e-03 9.99950943e-01 9.54487010e-03 4.93040250e-01] [ 3.23341732e-02 -9.62550464e-03 9.99430763e-01 1.48241111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95255784400007 meters Centerline goodness : 0.152417 Centerline is valid? [False, False] Translation: X:4.29, Y:0.49, Z:1.48 [[ 0.99948706 -0.0051116 -0.03161471 4.29389302] [ 0.00535791 0.99995592 0.00771104 0.48727041] [ 0.0315739 -0.00787647 0.99947038 1.48316598] [ 0. 0. 0. 1. ]] SLAMing on 349.98255784400004 meters Centerline goodness : 0.151234 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.9995025 -0.0052664 -0.03109688 4.2923866 ] [ 0.00552226 0.99995156 0.00814775 0.48469012] [ 0.03105246 -0.00831542 0.99948317 1.48328279] [ 0. 0. 0. 1. ]] SLAMing on 350.01255784400007 meters Centerline goodness : 0.139315 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.99951385 -0.00552111 -0.03068519 4.29102783] [ 0.00578421 0.99994721 0.00849226 0.48227006] [ 0.03063668 -0.00866562 0.99949302 1.4835078 ] [ 0. 0. 0. 1. ]] SLAMing on 350.04255784400004 meters Centerline goodness : 0.150507 Centerline is valid? [False, False] Translation: X:4.29, Y:0.48, Z:1.48 [[ 0.9995203 -0.00787481 -0.02995263 4.28803749] [ 0.00808317 0.99994393 0.00684163 0.47730614] [ 0.02989708 -0.00708047 0.9995279 1.48444941] [ 0. 0. 0. 1. ]] SLAMing on 350.0725578440001 meters Centerline goodness : 0.157317 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:1.48 [[ 0.9995286 -0.00787948 -0.02967319 4.28733166] [ 0.00810335 0.99993955 0.00743165 0.47459648] [ 0.02961283 -0.0076686 0.99953203 1.48413007] [ 0. 0. 0. 1. ]] SLAMing on 350.10255784400005 meters Centerline goodness : 0.162266 Centerline is valid? [False, False] Translation: X:4.29, Y:0.47, Z:1.48 [[ 0.99952107 -0.00945956 -0.02946434 4.28652185] [ 0.00967026 0.99992862 0.00701691 0.46687891] [ 0.02939586 -0.00729848 0.9995412 1.48382415] [ 0. 0. 0. 1. ]] SLAMing on 350.1325578440001 meters Centerline goodness : 0.191004 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99604666e-01 -1.92734311e-03 -2.80499013e-02 4.26782106e+00] [ 2.07825640e-03 9.99983518e-01 5.35201364e-03 4.58645879e-01] [ 2.80391238e-02 -5.40819269e-03 9.99592196e-01 1.48142800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16255784400005 meters Centerline goodness : 0.152717 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605091e-01 -1.82829834e-03 -2.80413918e-02 4.26761822e+00] [ 1.98847845e-03 9.99981861e-01 5.68545252e-03 4.56760435e-01] [ 2.80304884e-02 -5.73896698e-03 9.99590594e-01 1.48173166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1925578440001 meters Centerline goodness : 0.147023 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605807e-01 -1.72995860e-03 -2.80221060e-02 4.26730453e+00] [ 1.89642342e-03 9.99980708e-01 5.91499546e-03 4.55666141e-01] [ 2.80113327e-02 -5.96580559e-03 9.99589803e-01 1.48215912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22255784400005 meters Centerline goodness : 0.131484 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99604481e-01 -1.65447804e-03 -2.80739238e-02 4.26740744e+00] [ 1.82352972e-03 9.99980354e-01 5.99712912e-03 4.55580006e-01] [ 2.80634501e-02 -6.04595078e-03 9.99587860e-01 1.48218581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252557844 meters Centerline goodness : 0.184253 Centerline is valid? [False, False] Translation: X:4.27, Y:0.46, Z:1.48 [[ 9.99605107e-01 -1.52804405e-03 -2.80587912e-02 4.26738145e+00] [ 1.70139155e-03 9.99979609e-01 6.15517555e-03 4.55222750e-01] [ 2.80488137e-02 -6.20048390e-03 9.99587324e-01 1.48216561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28255784400005 meters Centerline goodness : 0.150793 Centerline is valid? [False, False] Translation: X:4.29, Y:0.45, Z:1.48 [[ 0.99962498 0.00659547 -0.02657813 4.28644845] [-0.00647478 0.99996835 0.00462442 0.45046219] [ 0.02660778 -0.0044506 0.99963604 1.48350236] [ 0. 0. 0. 1. ]] SLAMing on 350.312557844 meters Centerline goodness : 0.181080 Centerline is valid? [False, False] Translation: X:4.29, Y:0.45, Z:1.48 [[ 0.99962611 0.00660672 -0.02653267 4.28623897] [-0.00648306 0.99996773 0.00474408 0.44957046] [ 0.02656316 -0.00457029 0.99963669 1.48363013] [ 0. 0. 0. 1. ]] SLAMing on 350.34255784400005 meters Centerline goodness : 0.121481 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99663081e-01 6.96906641e-03 -2.50031193e-02 4.33091206e+00] [-6.86660440e-03 9.99967682e-01 4.18148916e-03 4.49285365e-01] [ 2.50314523e-02 -4.00839381e-03 9.99678628e-01 1.48394777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372557844 meters Centerline goodness : 0.128970 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99652817e-01 7.08939500e-03 -2.53768725e-02 4.33226883e+00] [-6.97775165e-03 9.99965596e-01 4.48526523e-03 4.48174325e-01] [ 2.54077972e-02 -4.30663450e-03 9.99667893e-01 1.48323980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40255784400006 meters Centerline goodness : 0.125068 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964872 0.00710541 -0.02553318 4.33264463] [-0.00698961 0.99996489 0.00462159 0.44735932] [ 0.02556513 -0.0044415 0.99966329 1.48329329] [ 0. 0. 0. 1. ]] SLAMing on 350.43255784400003 meters Centerline goodness : 0.164847 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964685 0.00709449 -0.02560952 4.33258312] [-0.00697579 0.99996452 0.00472124 0.44649083] [ 0.0256421 -0.00454093 0.99966087 1.48369523] [ 0. 0. 0. 1. ]] SLAMing on 350.46255784400006 meters Centerline goodness : 0.158417 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99964665 0.00707025 -0.02562404 4.33237427] [-0.00695013 0.99996445 0.00477377 0.4459197 ] [ 0.02565688 -0.00459399 0.99966025 1.48408124] [ 0. 0. 0. 1. ]] SLAMing on 350.49255784400003 meters Centerline goodness : 0.146414 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99965285 0.00715294 -0.02535792 4.3317208 ] [-0.00703472 0.99996398 0.00474836 0.44685482] [ 0.02539097 -0.00456833 0.99966716 1.48404519] [ 0. 0. 0. 1. ]] SLAMing on 350.52255784400006 meters Centerline goodness : 0.156292 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 0.99965224 0.00710541 -0.02539504 4.33212085] [-0.00699216 0.99996522 0.00454553 0.44808557] [ 0.02542646 -0.00436638 0.99966716 1.48354438] [ 0. 0. 0. 1. ]] SLAMing on 350.55255784400003 meters Centerline goodness : 0.129834 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99647009e-01 7.01566264e-03 -2.56249385e-02 4.33299510e+00] [-6.90631094e-03 9.99966675e-01 4.35340594e-03 4.48808685e-01] [ 2.56546266e-02 -4.17489543e-03 9.99662148e-01 1.48303919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58255784400006 meters Centerline goodness : 0.142441 Centerline is valid? [False, False] Translation: X:4.33, Y:0.45, Z:1.48 [[ 9.99638087e-01 6.90317667e-03 -2.60007943e-02 4.33420936e+00] [-6.79719052e-03 9.99968236e-01 4.16244487e-03 4.49343620e-01] [ 2.60287025e-02 -3.98420607e-03 9.99653256e-01 1.48258606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61255784400004 meters Centerline goodness : 0.127632 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 9.99631760e-01 6.83206513e-03 -2.62615054e-02 4.33500224e+00] [-6.72845880e-03 9.99969237e-01 4.03152199e-03 4.49702016e-01] [ 2.62882411e-02 -3.85333797e-03 9.99646978e-01 1.48232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64255784400007 meters Centerline goodness : 0.135668 Centerline is valid? [False, False] Translation: X:4.32, Y:0.45, Z:1.48 [[ 9.99619708e-01 -1.75928892e-03 -2.75198829e-02 4.31604664e+00] [ 1.90822425e-03 9.99983672e-01 5.38659169e-03 4.54063886e-01] [ 2.75099570e-02 -5.43705732e-03 9.99606743e-01 1.48077194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67255784400004 meters Centerline goodness : 0.144942 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 0.99961548 0.00688071 -0.0268618 4.33606852] [-0.00675513 0.99996584 0.00476312 0.44834651] [ 0.02689366 -0.00457984 0.99962781 1.48166706] [ 0. 0. 0. 1. ]] SLAMing on 350.70255784400007 meters Centerline goodness : 0.181370 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:1.48 [[ 0.99961638 0.00696163 -0.02680707 4.33579818] [-0.00682935 0.99996407 0.00502279 0.4469564 ] [ 0.02684107 -0.00483779 0.99962801 1.48189014] [ 0. 0. 0. 1. ]] SLAMing on 350.73255784400004 meters Centerline goodness : 0.128534 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.9996101 0.00707633 -0.02701055 4.33611411] [-0.00693033 0.99996089 0.00549514 0.44419467] [ 0.02704838 -0.00530581 0.99962004 1.48217159] [ 0. 0. 0. 1. ]] SLAMing on 350.76255784400007 meters Centerline goodness : 0.132320 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.99960502 0.00713351 -0.02718294 4.33655051] [-0.00698235 0.99995965 0.00565193 0.443413 ] [ 0.02722216 -0.00545989 0.9996145 1.48217054] [ 0. 0. 0. 1. ]] SLAMing on 350.79255784400004 meters Centerline goodness : 0.168281 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.99960392 0.0071895 -0.02720859 4.33670343] [-0.00703675 0.99995896 0.00570566 0.44331683] [ 0.02724849 -0.00551194 0.99961349 1.48203483] [ 0. 0. 0. 1. ]] SLAMing on 350.8225578440001 meters Centerline goodness : 0.141786 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.48 [[ 0.999607 0.00727956 -0.0270711 4.33624777] [-0.00712801 0.9999584 0.0056907 0.44380732] [ 0.0271114 -0.00549551 0.99961731 1.48225262] [ 0. 0. 0. 1. ]] SLAMing on 350.85255784400005 meters Centerline goodness : 0.154604 Centerline is valid? [False, False] Translation: X:4.33, Y:0.44, Z:1.48 [[ 0.99963314 0.00781148 -0.02593386 4.33302536] [-0.0076603 0.99995312 0.0059234 0.44406068] [ 0.02597891 -0.00572256 0.99964611 1.48302858] [ 0. 0. 0. 1. ]] SLAMing on 350.8825578440001 meters Centerline goodness : 0.132891 Centerline is valid? [False, False] Translation: X:4.38, Y:0.45, Z:1.48 [[ 0.99968645 0.00870284 -0.02347915 4.37635167] [-0.00857974 0.99994894 0.00533834 0.44544155] [ 0.02352441 -0.00513522 0.99971007 1.48367358] [ 0. 0. 0. 1. ]] SLAMing on 350.91255784400005 meters Centerline goodness : 0.154798 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.48 [[ 9.99723663e-01 4.22423102e-04 -2.35035869e-02 4.35762900e+00] [-2.65970464e-04 9.99977791e-01 6.65927100e-03 4.50741344e-01] [ 2.35058779e-02 -6.65117954e-03 9.99701573e-01 1.48190498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9425578440001 meters Centerline goodness : 0.147006 Centerline is valid? [False, False] Translation: X:4.38, Y:0.45, Z:1.48 [[ 0.99969824 0.00929076 -0.02274008 4.37808357] [-0.00916701 0.99994263 0.00554032 0.44810096] [ 0.02279025 -0.00533019 0.99972606 1.48294472] [ 0. 0. 0. 1. ]] SLAMing on 350.97255784400005 meters Centerline goodness : 0.154148 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99683272e-01 3.35432499e-03 -2.49420008e-02 4.39525387e+00] [-3.19632355e-03 9.99974591e-01 6.37192559e-03 4.53955765e-01] [ 2.49627405e-02 -6.29018473e-03 9.99668593e-01 1.48549090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters Centerline goodness : 0.174215 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99681388e-01 3.29383190e-03 -2.50254442e-02 4.39581849e+00] [-3.13860449e-03 9.99975608e-01 6.23953194e-03 4.54536802e-01] [ 2.50453857e-02 -6.15899898e-03 9.99667342e-01 1.48488540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03255784400005 meters Centerline goodness : 0.134890 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99674700e-01 3.29255053e-03 -2.52913866e-02 4.39665862e+00] [-3.13185651e-03 9.99974675e-01 6.39069107e-03 4.53658974e-01] [ 2.53117877e-02 -6.30940318e-03 9.99659695e-01 1.48454285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters Centerline goodness : 0.134080 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99676060e-01 3.34711280e-03 -2.52303610e-02 4.39645732e+00] [-3.18315977e-03 9.99973576e-01 6.53560745e-03 4.53082213e-01] [ 2.52515697e-02 -6.45317803e-03 9.99660300e-01 1.48459353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09255784400005 meters Centerline goodness : 0.136255 Centerline is valid? [False, False] Translation: X:4.42, Y:0.46, Z:1.49 [[ 9.99697177e-01 -4.39715886e-03 -2.42119670e-02 4.41598114e+00] [ 4.58347971e-03 9.99960270e-01 7.64529227e-03 4.56581820e-01] [ 2.41773875e-02 -7.75395216e-03 9.99677613e-01 1.48613061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters Centerline goodness : 0.128427 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 0.99970568 -0.00451456 -0.02383617 4.41466422] [ 0.00469871 0.99995951 0.00767523 0.45599662] [ 0.02380055 -0.00778497 0.99968641 1.48664362] [ 0. 0. 0. 1. ]] SLAMing on 351.15255784400006 meters Centerline goodness : 0.118224 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 0.99970621 -0.00467095 -0.02378397 4.41409252] [ 0.00485286 0.99995937 0.00759658 0.45537389] [ 0.02374752 -0.00770977 0.99968826 1.48730559] [ 0. 0. 0. 1. ]] SLAMing on 351.18255784400003 meters Centerline goodness : 0.146171 Centerline is valid? [False, False] Translation: X:4.42, Y:0.45, Z:1.49 [[ 0.99969528 -0.00448278 -0.02427461 4.41555159] [ 0.00467133 0.99995932 0.00771622 0.45497019] [ 0.02423904 -0.00782727 0.99967555 1.48709017] [ 0. 0. 0. 1. ]] SLAMing on 351.21255784400006 meters Centerline goodness : 0.142505 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99651405e-01 4.27489788e-03 -2.60536724e-02 4.39604026e+00] [-4.09682711e-03 9.99967911e-01 6.88431651e-03 4.48750841e-01] [ 2.60822661e-02 -6.77517928e-03 9.99636840e-01 1.48667816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters Centerline goodness : 0.148819 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99653043e-01 4.44073408e-03 -2.59629415e-02 4.39583153e+00] [-4.25713145e-03 9.99965571e-01 7.12272059e-03 4.47775685e-01] [ 2.59936777e-02 -7.00972165e-03 9.99637531e-01 1.48666318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27255784400006 meters Centerline goodness : 0.143875 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 0.99960236 0.01305154 -0.02499553 4.4156839 ] [-0.01290451 0.99989852 0.00603476 0.4427258 ] [ 0.02507175 -0.0057098 0.99966935 1.48784777] [ 0. 0. 0. 1. ]] SLAMing on 351.30255784400003 meters Centerline goodness : 0.143875 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 0.99960236 0.01305154 -0.02499553 4.4156839 ] [-0.01290451 0.99989852 0.00603476 0.4427258 ] [ 0.02507175 -0.0057098 0.99966935 1.48784777] [ 0. 0. 0. 1. ]] SLAMing on 351.33255784400006 meters Centerline goodness : 0.150666 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99656379e-01 4.26622836e-03 -2.58635468e-02 4.39658669e+00] [-4.07849339e-03 9.99964986e-01 7.30708160e-03 4.45849046e-01] [ 2.58938149e-02 -7.19908643e-03 9.99638777e-01 1.48635026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters Centerline goodness : 0.156487 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99643636e-01 4.38578351e-03 -2.63318248e-02 4.39805752e+00] [-4.18800893e-03 9.99962643e-01 7.56131368e-03 4.44204805e-01] [ 2.63640034e-02 -7.44834118e-03 9.99624660e-01 1.48591756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39255784400007 meters Centerline goodness : 0.151028 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99638623e-01 4.45494516e-03 -2.65099220e-02 4.39857705e+00] [-4.25214923e-03 9.99961304e-01 7.70127406e-03 4.43418290e-01] [ 2.65432049e-02 -7.58576685e-03 9.99618885e-01 1.48582420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42255784400004 meters Centerline goodness : 0.130811 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 9.99638290e-01 4.53246975e-03 -2.65093421e-02 4.39848540e+00] [-4.32634832e-03 9.99960005e-01 7.82761934e-03 4.42883571e-01] [ 2.65437603e-02 -7.71009936e-03 9.99617919e-01 1.48595783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45255784400007 meters Centerline goodness : 0.143865 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 0.99964399 0.0046367 -0.02627521 4.39774464] [-0.00442841 0.99995836 0.00797974 0.44238534] [ 0.02631112 -0.00786054 0.9996229 1.48623511] [ 0. 0. 0. 1. ]] SLAMing on 351.48255784400004 meters Centerline goodness : 0.141514 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.49 [[ 0.99964719 0.0047413 -0.02613454 4.39725198] [-0.00453146 0.99995707 0.00808264 0.44222008] [ 0.02617174 -0.00796136 0.99962576 1.48647297] [ 0. 0. 0. 1. ]] SLAMing on 351.51255784400007 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99968773 0.00660352 -0.02410062 4.4427001 ] [-0.00639781 0.99994253 0.00860261 0.44314849] [ 0.02415605 -0.00844573 0.99967252 1.48624363] [ 0. 0. 0. 1. ]] SLAMing on 351.54255784400004 meters Centerline goodness : 0.138028 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99968353 0.00664891 -0.02426165 4.44336076] [-0.00643913 0.9999413 0.00871425 0.4425546 ] [ 0.02431817 -0.00855527 0.99966766 1.48582808] [ 0. 0. 0. 1. ]] SLAMing on 351.5725578440001 meters Centerline goodness : 0.137584 Centerline is valid? [False, False] Translation: X:4.44, Y:0.44, Z:1.49 [[ 0.99967662 0.0068004 -0.02450323 4.44438509] [-0.00658213 0.99993804 0.00897755 0.44148984] [ 0.02456276 -0.00881337 0.99965944 1.48529139] [ 0. 0. 0. 1. ]] SLAMing on 351.60255784400005 meters Centerline goodness : 0.141640 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.48 [[ 9.99656018e-01 -2.39172679e-03 -2.61175252e-02 4.42349496e+00] [ 2.65442843e-03 9.99946191e-01 1.00284102e-02 4.42843602e-01] [ 2.60921346e-02 -1.00942878e-02 9.99608576e-01 1.48483521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6325578440001 meters Centerline goodness : 0.144052 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 9.99652541e-01 -1.98915572e-03 -2.62838475e-02 4.42333625e+00] [ 2.27876374e-03 9.99936977e-01 1.09931245e-02 4.38446519e-01] [ 2.62603239e-02 -1.10491995e-02 9.99594073e-01 1.48585242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66255784400005 meters Centerline goodness : 0.124797 Centerline is valid? [False, False] Translation: X:4.42, Y:0.44, Z:1.49 [[ 9.99649489e-01 -1.82025863e-03 -2.64118619e-02 4.42340804e+00] [ 2.12281380e-03 9.99932402e-01 1.14317630e-02 4.36285679e-01] [ 2.63892677e-02 -1.14838235e-02 9.99585778e-01 1.48632979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6925578440001 meters Centerline goodness : 0.130411 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99646952e-01 -1.72641951e-03 -2.65139571e-02 4.42337623e+00] [ 2.03607860e-03 9.99929987e-01 1.16565448e-02 4.34790920e-01] [ 2.64919767e-02 -1.17064140e-02 9.99580480e-01 1.48696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72255784400005 meters Centerline goodness : 0.151570 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99646102e-01 -1.56657399e-03 -2.65559001e-02 4.42339515e+00] [ 1.88727708e-03 9.99925546e-01 1.20557702e-02 4.32613850e-01] [ 2.65350367e-02 -1.21016220e-02 9.99574631e-01 1.48714809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752557844 meters Centerline goodness : 0.172751 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99640492e-01 -1.43902902e-03 -2.67734107e-02 4.42400038e+00] [ 1.76565946e-03 9.99924260e-01 1.21801687e-02 4.31970052e-01] [ 2.67538553e-02 -1.22230626e-02 9.99567320e-01 1.48726337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78255784400005 meters Centerline goodness : 0.155972 Centerline is valid? [False, False] Translation: X:4.42, Y:0.43, Z:1.49 [[ 9.99642859e-01 -1.01180096e-03 -2.67044939e-02 4.42420989e+00] [ 1.34888122e-03 9.99919611e-01 1.26076106e-02 4.30611482e-01] [ 2.66895907e-02 -1.26391291e-02 9.99563864e-01 1.48661949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812557844 meters Centerline goodness : 0.137102 Centerline is valid? [False, False] Translation: X:4.45, Y:0.43, Z:1.49 [[ 0.99963026 0.00842267 -0.02585328 4.44546996] [-0.00811522 0.99989538 0.01197408 0.42760703] [ 0.02595143 -0.01175985 0.99959403 1.48704636] [ 0. 0. 0. 1. ]] SLAMing on 351.84255784400005 meters Centerline goodness : 0.159405 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99951401 0.00998888 -0.02952913 4.40524608] [-0.00958499 0.99985901 0.01378753 0.42473823] [ 0.02966269 -0.01349779 0.99946883 1.48668902] [ 0. 0. 0. 1. ]] SLAMing on 351.872557844 meters Centerline goodness : 0.151082 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99950384 0.01009816 -0.02983456 4.40622437] [-0.00968887 0.9998574 0.01383163 0.42462936] [ 0.02996998 -0.01353571 0.99945915 1.48647787] [ 0. 0. 0. 1. ]] SLAMing on 351.90255784400006 meters Centerline goodness : 0.131113 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99949828 0.01019144 -0.02998887 4.40650806] [-0.00977486 0.99985414 0.01400509 0.423587 ] [ 0.03012722 -0.01370493 0.99945211 1.48675709] [ 0. 0. 0. 1. ]] SLAMing on 351.93255784400003 meters Centerline goodness : 0.129568 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99953717 0.00729413 -0.02953357 4.40525292] [-0.00696503 0.99991267 0.01123109 0.42157478] [ 0.02961291 -0.01102019 0.99950069 1.48683696] [ 0. 0. 0. 1. ]] SLAMing on 351.96255784400006 meters Centerline goodness : 0.132446 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 0.99954029 0.00739119 -0.02940367 4.40442134] [-0.00705108 0.99990723 0.0116536 0.41920422] [ 0.02948708 -0.01144091 0.99949968 1.48766173] [ 0. 0. 0. 1. ]] SLAMing on 351.99255784400003 meters Centerline goodness : 0.135931 Centerline is valid? [False, False] Translation: X:4.36, Y:0.41, Z:1.49 [[ 9.99638930e-01 3.31517643e-03 -2.66649491e-02 4.36310233e+00] [-3.02934832e-03 9.99937601e-01 1.07525068e-02 4.11948128e-01] [ 2.66989317e-02 -1.06678470e-02 9.99586597e-01 1.48533077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02255784400006 meters Centerline goodness : 0.217138 Centerline is valid? [False, False] Translation: X:4.36, Y:0.41, Z:1.49 [[ 9.99647241e-01 3.38283529e-03 -2.63429470e-02 4.36214556e+00] [-3.08927032e-03 9.99932767e-01 1.11767032e-02 4.10075794e-01] [ 2.63789848e-02 -1.10913800e-02 9.99590481e-01 1.48549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05255784400003 meters Centerline goodness : 0.137784 Centerline is valid? [False, False] Translation: X:4.38, Y:0.40, Z:1.49 [[ 0.9996141 0.01218649 -0.02496284 4.3803589 ] [-0.01192975 0.99987467 0.01040827 0.40404069] [ 0.02508655 -0.01010646 0.9996342 1.48688014] [ 0. 0. 0. 1. ]] SLAMing on 352.08255784400006 meters Centerline goodness : 0.128350 Centerline is valid? [False, False] Translation: X:4.38, Y:0.40, Z:1.49 [[ 0.99961344 0.01215613 -0.02500388 4.38043348] [-0.01190119 0.99987593 0.01031955 0.40439932] [ 0.02512622 -0.01001798 0.99963409 1.48698903] [ 0. 0. 0. 1. ]] SLAMing on 352.11255784400004 meters Centerline goodness : 0.167360 Centerline is valid? [False, False] Translation: X:4.37, Y:0.41, Z:1.49 [[ 9.99585716e-01 3.88577940e-03 -2.85183752e-02 4.36551524e+00] [-3.55694187e-03 9.99926711e-01 1.15724099e-02 4.12018720e-01] [ 2.85612530e-02 -1.14661774e-02 9.99526279e-01 1.48503455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14255784400007 meters Centerline goodness : 0.129213 Centerline is valid? [False, False] Translation: X:4.37, Y:0.41, Z:1.48 [[ 9.99575276e-01 3.85127743e-03 -2.88865772e-02 4.36690727e+00] [-3.52761370e-03 9.99930525e-01 1.12472454e-02 4.13594777e-01] [ 2.89278866e-02 -1.11405678e-02 9.99519417e-01 1.48434733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.20255784400007 meters Centerline goodness : 0.130082 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99961789 0.00657274 -0.02684912 4.4091882 ] [-0.00625241 0.99990848 0.01199743 0.41956286] [ 0.02692552 -0.01182497 0.9995675 1.48530808] [ 0. 0. 0. 1. ]] SLAMing on 352.23255784400004 meters Centerline goodness : 0.136235 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99962425 0.00651595 -0.02662521 4.40834733] [-0.00620342 0.99991109 0.01180366 0.42074152] [ 0.02669976 -0.01163406 0.9995758 1.48558637] [ 0. 0. 0. 1. ]] SLAMing on 352.26255784400007 meters Centerline goodness : 0.147077 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963224 0.00643424 -0.02634346 4.4072465 ] [-0.00612767 0.99991275 0.01170191 0.4212786 ] [ 0.02641645 -0.01153618 0.99958446 1.48606208] [ 0. 0. 0. 1. ]] SLAMing on 352.29255784400004 meters Centerline goodness : 0.140347 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963406 0.00639282 -0.02628444 4.40689193] [-0.00608661 0.99991287 0.01171331 0.42092019] [ 0.02635703 -0.01154904 0.99958588 1.48635601] [ 0. 0. 0. 1. ]] SLAMing on 352.3225578440001 meters Centerline goodness : 0.167401 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963399 0.00634353 -0.02629932 4.40693094] [-0.00603646 0.99991287 0.01173911 0.42055097] [ 0.0263715 -0.01157606 0.99958518 1.48631176] [ 0. 0. 0. 1. ]] SLAMing on 352.35255784400005 meters Centerline goodness : 0.126149 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99963548 0.00637201 -0.02623559 4.4069719 ] [-0.00606079 0.99991053 0.01192492 0.41989036] [ 0.02630923 -0.01176156 0.99958466 1.48586222] [ 0. 0. 0. 1. ]] SLAMing on 352.3825578440001 meters Centerline goodness : 0.124938 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 0.99964334 0.00633596 -0.02594335 4.40602394] [-0.00602698 0.99991019 0.01197063 0.41965639] [ 0.02601687 -0.01181 0.99959174 1.48610122] [ 0. 0. 0. 1. ]] SLAMing on 352.41255784400005 meters Centerline goodness : 0.356948 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 0.99965371 0.00623027 -0.02556628 4.40479982] [-0.00592449 0.99991022 0.01201872 0.41924559] [ 0.02563887 -0.01186309 0.99960088 1.48640614] [ 0. 0. 0. 1. ]] SLAMing on 352.4425578440001 meters Centerline goodness : 0.141349 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99684468e-01 3.16847060e-03 -2.49183628e-02 4.40321632e+00] [-2.94600145e-03 9.99955523e-01 8.95956873e-03 4.18595183e-01] [ 2.49456426e-02 -8.88333217e-03 9.99649339e-01 1.48623958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47255784400005 meters Centerline goodness : 0.179535 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99679785e-01 3.12727920e-03 -2.51106894e-02 4.40383614e+00] [-2.90319566e-03 9.99955686e-01 8.95533368e-03 4.18389847e-01] [ 2.51375824e-02 -8.87956481e-03 9.99644564e-01 1.48599343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters Centerline goodness : 0.139678 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99662544e-01 3.35061937e-03 -2.57598853e-02 4.40643373e+00] [-3.11246328e-03 9.99952098e-01 9.27977371e-03 4.17439301e-01] [ 2.57897444e-02 -9.19646549e-03 9.99625087e-01 1.48442446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53255784400005 meters Centerline goodness : 0.132023 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99659829e-01 3.35672838e-03 -2.58642317e-02 4.40686757e+00] [-3.11607935e-03 9.99951535e-01 9.33901089e-03 4.17066913e-01] [ 2.58943267e-02 -9.25523903e-03 9.99621841e-01 1.48413736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.59255784400005 meters Centerline goodness : 0.225183 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.49 [[ 9.99672842e-01 3.15180501e-03 -2.53825863e-02 4.40453364e+00] [-2.91752025e-03 9.99952852e-01 9.26188707e-03 4.16440559e-01] [ 2.54105812e-02 -9.18480276e-03 9.99634904e-01 1.48598908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622557844 meters Centerline goodness : 0.129906 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.49 [[ 9.99670379e-01 3.21740640e-03 -2.54711961e-02 4.40500217e+00] [-2.98079108e-03 9.99952106e-01 9.32204964e-03 4.16336856e-01] [ 2.54999690e-02 -9.24305258e-03 9.99632091e-01 1.48565937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65255784400006 meters Centerline goodness : 0.129736 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99664752e-01 3.18302613e-03 -2.56953548e-02 4.40601422e+00] [-2.94681362e-03 9.99953103e-01 9.22544742e-03 4.16666893e-01] [ 2.57235146e-02 -9.14663519e-03 9.99627250e-01 1.48491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters Centerline goodness : 0.132945 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99656882e-01 3.12687502e-03 -2.60065529e-02 4.40731680e+00] [-2.89151215e-03 9.99954570e-01 9.08282411e-03 4.17078292e-01] [ 2.60337722e-02 -9.00450936e-03 9.99620509e-01 1.48407563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71255784400006 meters Centerline goodness : 0.242968 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99653013e-01 3.04988643e-03 -2.61639362e-02 4.40809088e+00] [-2.81763673e-03 9.99956344e-01 8.90898983e-03 4.17648889e-01] [ 2.61899654e-02 -8.83217806e-03 9.99617966e-01 1.48342169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters Centerline goodness : 0.138379 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99660019e-01 3.18345583e-03 -2.58788094e-02 4.40731831e+00] [-2.95533896e-03 9.99956486e-01 8.84828557e-03 4.18662014e-01] [ 2.59058515e-02 -8.76879666e-03 9.99625928e-01 1.48341709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77255784400006 meters Centerline goodness : 0.127741 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99663524e-01 3.16685263e-03 -2.57450984e-02 4.40691026e+00] [-2.94260992e-03 9.99957447e-01 8.74333673e-03 4.19287475e-01] [ 2.57716917e-02 -8.66463702e-03 9.99630304e-01 1.48351343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters Centerline goodness : 0.162238 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99665266e-01 3.12929605e-03 -2.56819723e-02 4.40674915e+00] [-2.90721395e-03 9.99958100e-01 8.68017944e-03 4.19440927e-01] [ 2.57080591e-02 -8.60261090e-03 9.99632478e-01 1.48352609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83255784400006 meters Centerline goodness : 0.109249 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99664840e-01 3.10467705e-03 -2.57015339e-02 4.40673496e+00] [-2.88309797e-03 9.99958399e-01 8.65381112e-03 4.19308920e-01] [ 2.57273320e-02 -8.57681067e-03 9.99632204e-01 1.48362343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters Centerline goodness : 0.166260 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99669452e-01 3.17276469e-03 -2.55131548e-02 4.40604109e+00] [-2.94928803e-03 9.99956999e-01 8.79213537e-03 4.18790151e-01] [ 2.55399531e-02 -8.71398351e-03 9.99635822e-01 1.48399825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89255784400007 meters Centerline goodness : 0.128864 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99670394e-01 3.20304879e-03 -2.54724003e-02 4.40577128e+00] [-2.97830424e-03 9.99956349e-01 8.85611071e-03 4.18587334e-01] [ 2.54996550e-02 -8.77732713e-03 9.99636297e-01 1.48426207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92255784400004 meters Centerline goodness : 0.134667 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99668549e-01 3.20129814e-03 -2.55449261e-02 4.40580219e+00] [-2.97510211e-03 9.99956076e-01 8.88792991e-03 4.18329738e-01] [ 2.55722570e-02 -8.80898524e-03 9.99634164e-01 1.48452958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95255784400007 meters Centerline goodness : 0.146827 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99667665e-01 3.19584674e-03 -2.55802028e-02 4.40584567e+00] [-2.96885102e-03 9.99955925e-01 8.90694758e-03 4.18115320e-01] [ 2.56075406e-02 -8.82804368e-03 9.99633092e-01 1.48462613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98255784400004 meters Centerline goodness : 0.131295 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99671333e-01 3.14953536e-03 -2.54421979e-02 4.40555836e+00] [-2.92821008e-03 9.99957590e-01 8.73171831e-03 4.19233897e-01] [ 2.54686198e-02 -8.65434839e-03 9.99638160e-01 1.48442870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01255784400007 meters Centerline goodness : 0.141174 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99676791e-01 3.14976859e-03 -2.52268174e-02 4.40500560e+00] [-2.93273994e-03 9.99958413e-01 8.63547494e-03 4.20063598e-01] [ 2.52529681e-02 -8.55870018e-03 9.99644455e-01 1.48440546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04255784400004 meters Centerline goodness : 0.126383 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.48 [[ 9.99678335e-01 3.07392031e-03 -2.51749542e-02 4.40481890e+00] [-2.86241592e-03 9.99960344e-01 8.43311278e-03 4.21123106e-01] [ 2.51998786e-02 -8.35833895e-03 9.99647490e-01 1.48450627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0725578440001 meters Centerline goodness : 0.150337 Centerline is valid? [False, False] Translation: X:4.41, Y:0.42, Z:1.48 [[ 9.99675580e-01 2.84498719e-03 -2.53108966e-02 4.40507092e+00] [-2.64491923e-03 9.99965024e-01 7.93438947e-03 4.23175928e-01] [ 2.53325845e-02 -7.86487011e-03 9.99648140e-01 1.48458695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10255784400005 meters Centerline goodness : 0.127893 Centerline is valid? [False, False] Translation: X:4.40, Y:0.42, Z:1.48 [[ 9.99679731e-01 2.76267380e-03 -2.51555640e-02 4.40458005e+00] [-2.56876863e-03 9.99966767e-01 7.73729643e-03 4.24139162e-01] [ 2.51761036e-02 -7.67019960e-03 9.99653606e-01 1.48471550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1325578440001 meters Centerline goodness : 0.142135 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.49 [[ 9.99687090e-01 2.70896173e-03 -2.48673016e-02 4.40357717e+00] [-2.52176049e-03 9.99968271e-01 7.55628301e-03 4.25225033e-01] [ 2.48869823e-02 -7.49120920e-03 9.99662203e-01 1.48510271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16255784400005 meters Centerline goodness : 0.138918 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99691935e-01 2.49301123e-03 -2.46945476e-02 4.40323373e+00] [-2.32121137e-03 9.99972923e-01 6.98321907e-03 4.28075694e-01] [ 2.47112882e-02 -6.92374652e-03 9.99670653e-01 1.48487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1925578440001 meters Centerline goodness : 0.138918 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99691935e-01 2.49301123e-03 -2.46945476e-02 4.40323373e+00] [-2.32121137e-03 9.99972923e-01 6.98321907e-03 4.28075694e-01] [ 2.47112882e-02 -6.92374652e-03 9.99670653e-01 1.48487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22255784400005 meters Centerline goodness : 0.126377 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99688783e-01 2.31412946e-03 -2.48391290e-02 4.40396307e+00] [-2.15117858e-03 9.99976005e-01 6.58496647e-03 4.29774629e-01] [ 2.48537714e-02 -6.52948371e-03 9.99669773e-01 1.48422763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252557844 meters Centerline goodness : 0.135016 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:1.48 [[ 9.99684025e-01 2.14694387e-03 -2.50447867e-02 4.40476360e+00] [-1.99218512e-03 9.99978779e-01 6.20259520e-03 4.31352204e-01] [ 2.50575719e-02 -6.15074148e-03 9.99667088e-01 1.48368811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28255784400005 meters Centerline goodness : 0.145629 Centerline is valid? [False, False] Translation: X:4.41, Y:0.43, Z:1.48 [[ 9.99683292e-01 1.99432082e-03 -2.50866129e-02 4.40520051e+00] [-1.84808545e-03 9.99981175e-01 5.85105432e-03 4.32954400e-01] [ 2.50978095e-02 -5.80283904e-03 9.99668158e-01 1.48306995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312557844 meters Centerline goodness : 0.167672 Centerline is valid? [False, False] Translation: X:4.41, Y:0.43, Z:1.48 [[ 9.99684369e-01 1.87880492e-03 -2.50526117e-02 4.40526394e+00] [-1.74066557e-03 9.99983169e-01 5.53463802e-03 4.34569316e-01] [ 2.50625885e-02 -5.48928289e-03 9.99670813e-01 1.48274010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34255784400005 meters Centerline goodness : 0.134551 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99692857e-01 1.75632944e-03 -2.47205885e-02 4.40407046e+00] [-1.62863974e-03 9.99985234e-01 5.18450381e-03 4.36470838e-01] [ 2.47293292e-02 -5.14265050e-03 9.99680956e-01 1.48328825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372557844 meters Centerline goodness : 0.142150 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99694549e-01 1.62347609e-03 -2.46611831e-02 4.40375379e+00] [-1.50113824e-03 9.99986481e-01 4.97844828e-03 4.37113874e-01] [ 2.46689321e-02 -4.93990776e-03 9.99683470e-01 1.48354767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40255784400006 meters Centerline goodness : 0.122208 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99689599e-01 1.49216485e-03 -2.48692391e-02 4.40431080e+00] [-1.37445120e-03 9.99987775e-01 4.74972476e-03 4.37921489e-01] [ 2.48760225e-02 -4.71406889e-03 9.99679429e-01 1.48347825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43255784400003 meters Centerline goodness : 0.124445 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.48 [[ 9.99682801e-01 1.33286744e-03 -2.51499593e-02 4.40538490e+00] [-1.22141316e-03 9.99989369e-01 4.44643025e-03 4.39193873e-01] [ 2.51556184e-02 -4.41430135e-03 9.99673801e-01 1.48284083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46255784400006 meters Centerline goodness : 0.140444 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99604876e-01 1.46070288e-04 -2.81081913e-02 4.36105754e+00] [-1.14279542e-05 9.99988527e-01 4.79024678e-03 4.38897121e-01] [ 2.81085685e-02 -4.78803282e-03 9.99593409e-01 1.48259674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49255784400003 meters Centerline goodness : 0.124549 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99607994e-01 7.02415741e-05 -2.79973673e-02 4.36079671e+00] [ 5.96737090e-05 9.99989236e-01 4.63940531e-03 4.39544876e-01] [ 2.79973918e-02 -4.63925735e-03 9.99597231e-01 1.48256342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52255784400006 meters Centerline goodness : 0.127948 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99609511e-01 2.93626970e-07 -2.79432512e-02 4.36056570e+00] [ 1.25591694e-04 9.99989852e-01 4.50327971e-03 4.40111062e-01] [ 2.79429690e-02 -4.50503067e-03 9.99599367e-01 1.48271863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55255784400003 meters Centerline goodness : 0.124399 Centerline is valid? [False, False] Translation: X:4.40, Y:0.44, Z:1.48 [[ 9.99666642e-01 8.68553715e-04 -2.58040596e-02 4.40455756e+00] [-7.74267538e-04 9.99992989e-01 3.66369464e-03 4.44750664e-01] [ 2.58070608e-02 -3.64249407e-03 9.99660306e-01 1.48298276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58255784400006 meters Centerline goodness : 0.111298 Centerline is valid? [False, False] Translation: X:4.36, Y:0.44, Z:1.48 [[ 9.99577129e-01 1.21369315e-04 -2.90783106e-02 4.35827626e+00] [ 6.33224039e-06 9.99990357e-01 4.39151055e-03 4.42551679e-01] [ 2.90785632e-02 -4.38983764e-03 9.99567490e-01 1.48408194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61255784400004 meters Centerline goodness : 0.142631 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.48 [[ 9.99573579e-01 -1.15516743e-04 -2.92001159e-02 4.35864513e+00] [ 2.23464160e-04 9.99993154e-01 3.69357840e-03 4.46161468e-01] [ 2.91994893e-02 -3.69852856e-03 9.99566762e-01 1.48383382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64255784400007 meters Centerline goodness : 0.129683 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99621475e-01 9.75166971e-04 -2.74946504e-02 4.40241324e+00] [-8.97190862e-04 9.99995541e-01 2.84824028e-03 4.51726758e-01] [ 2.74973053e-02 -2.82249420e-03 9.99617893e-01 1.48446480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67255784400004 meters Centerline goodness : 0.150027 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.48 [[ 9.99635422e-01 8.58472836e-04 -2.69867756e-02 4.40079187e+00] [-7.95294922e-04 9.99996918e-01 2.35171539e-03 4.54767332e-01] [ 2.69887113e-02 -2.32939556e-03 9.99633024e-01 1.48489780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70255784400007 meters Centerline goodness : 0.157324 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99642407e-01 7.89798765e-04 -2.67289050e-02 4.40006757e+00] [-7.32705470e-04 9.99997429e-01 2.14573979e-03 4.55935480e-01] [ 2.67305309e-02 -2.12538807e-03 9.99640416e-01 1.48497562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73255784400004 meters Centerline goodness : 0.127370 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99642585e-01 6.71977512e-04 -2.67254667e-02 4.40012828e+00] [-6.21869176e-04 9.99998033e-01 1.88319553e-03 4.57077760e-01] [ 2.67266796e-02 -1.86590271e-03 9.99641037e-01 1.48482747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76255784400007 meters Centerline goodness : 0.128992 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99639320e-01 5.36284219e-04 -2.68503670e-02 4.40054333e+00] [-4.92392613e-04 9.99998532e-01 1.64125934e-03 4.57944022e-01] [ 2.68512077e-02 -1.62744644e-03 9.99638117e-01 1.48465371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79255784400004 meters Centerline goodness : 0.132957 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.48 [[ 9.99634485e-01 4.43746185e-04 -2.70314548e-02 4.40113711e+00] [-4.03379999e-04 9.99998796e-01 1.49873893e-03 4.58403148e-01] [ 2.70320873e-02 -1.48728717e-03 9.99633460e-01 1.48436563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8225578440001 meters Centerline goodness : 0.131311 Centerline is valid? [False, False] Translation: X:4.42, Y:0.46, Z:1.49 [[ 9.99596867e-01 -7.09436367e-03 -2.74913491e-02 4.42177457e+00] [ 7.16790807e-03 9.99970988e-01 2.57755976e-03 4.63808514e-01] [ 2.74722654e-02 -2.77357612e-03 9.99618718e-01 1.48589097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85255784400005 meters Centerline goodness : 0.158691 Centerline is valid? [False, False] Translation: X:4.38, Y:0.46, Z:1.49 [[ 9.99516809e-01 -8.31522579e-03 -2.99500403e-02 4.37606221e+00] [ 8.41121077e-03 9.99959881e-01 3.08027492e-03 4.59315812e-01] [ 2.99232256e-02 -3.33070267e-03 9.99546651e-01 1.48632434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8825578440001 meters Centerline goodness : 0.127990 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99600781e-01 -2.19142599e-03 -2.81686993e-02 4.39878890e+00] [ 2.18800287e-03 9.99997595e-01 -1.52344374e-04 4.58528590e-01] [ 2.81689654e-02 9.06503606e-05 9.99603172e-01 1.48595393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91255784400005 meters Centerline goodness : 0.132288 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99600666e-01 -2.17673642e-03 -2.81739266e-02 4.39827645e+00] [ 2.18117397e-03 9.99997613e-01 1.26774151e-04 4.56331412e-01] [ 2.81735834e-02 -1.88175761e-04 9.99603028e-01 1.48678712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9425578440001 meters Centerline goodness : 0.158544 Centerline is valid? [False, False] Translation: X:4.40, Y:0.46, Z:1.49 [[ 9.99603472e-01 -2.04531659e-03 -2.80840941e-02 4.39798158e+00] [ 2.05608956e-03 9.99997823e-01 3.54724688e-04 4.55494248e-01] [ 2.80833074e-02 -4.12327443e-04 9.99605501e-01 1.48685128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97255784400005 meters Centerline goodness : 0.122765 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99606211e-01 -1.92449582e-03 -2.79950030e-02 4.39788920e+00] [ 1.94042852e-03 9.99997971e-01 5.41971322e-04 4.54942189e-01] [ 2.79939031e-02 -5.96080201e-04 9.99607916e-01 1.48665110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters Centerline goodness : 0.125484 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99608728e-01 -1.83627713e-03 -2.79108988e-02 4.39775835e+00] [ 1.85572708e-03 9.99998053e-01 6.70972228e-04 4.54454785e-01] [ 2.79096124e-02 -7.22504706e-04 9.99610190e-01 1.48649436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03255784400005 meters Centerline goodness : 0.122044 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99608872e-01 -1.75122954e-03 -2.79112379e-02 4.39792000e+00] [ 1.77610691e-03 9.99998047e-01 8.66536318e-04 4.52973171e-01] [ 2.79096659e-02 -9.15770733e-04 9.99610030e-01 1.48629988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters Centerline goodness : 0.121564 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99606866e-01 -1.65877579e-03 -2.79886040e-02 4.39810681e+00] [ 1.68825343e-03 9.99998045e-01 1.02960387e-03 4.52150137e-01] [ 2.79868414e-02 -1.07645096e-03 9.99607712e-01 1.48630642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09255784400005 meters Centerline goodness : 0.140795 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99603318e-01 -1.49608033e-03 -2.81241726e-02 4.39861828e+00] [ 1.53213671e-03 9.99998032e-01 1.26053677e-03 4.51364122e-01] [ 2.81222313e-02 -1.30312682e-03 9.99603642e-01 1.48599596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters Centerline goodness : 0.136544 Centerline is valid? [False, False] Translation: X:4.40, Y:0.45, Z:1.49 [[ 9.99601603e-01 -1.37921718e-03 -2.81910104e-02 4.39906025e+00] [ 1.42007854e-03 9.99997970e-01 1.42947720e-03 4.50814911e-01] [ 2.81889816e-02 -1.46894115e-03 9.99601532e-01 1.48551565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15255784400006 meters Centerline goodness : 0.124357 Centerline is valid? [False, False] Translation: X:4.42, Y:0.45, Z:1.49 [[ 9.99607303e-01 7.48383804e-03 -2.70043091e-02 4.41875331e+00] [-7.48296997e-03 9.99971993e-01 1.33201337e-04 4.46781855e-01] [ 2.70045496e-02 6.89234050e-05 9.99635308e-01 1.48725299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters Centerline goodness : 0.120959 Centerline is valid? [False, False] Translation: X:4.37, Y:0.44, Z:1.49 [[ 9.99554375e-01 6.25826005e-03 -2.91870955e-02 4.37118421e+00] [-6.25025699e-03 9.99980400e-01 3.65423952e-04 4.42523586e-01] [ 2.91888104e-02 -1.82834262e-04 9.99573899e-01 1.48859056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21255784400006 meters Centerline goodness : 0.125457 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99594933e-01 -1.29770142e-03 -2.84303827e-02 4.39027712e+00] [ 1.33122076e-03 9.99998441e-01 1.16010129e-03 4.47334093e-01] [ 2.84288330e-02 -1.19747848e-03 9.99595102e-01 1.49007374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters Centerline goodness : 0.137085 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99596393e-01 -1.27768002e-03 -2.83798873e-02 4.39015356e+00] [ 1.31249861e-03 9.99998409e-01 1.20828146e-03 4.47101238e-01] [ 2.83782983e-02 -1.24504235e-03 9.99596480e-01 1.49003744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27255784400006 meters Centerline goodness : 0.141353 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99595891e-01 -1.15088856e-03 -2.84030000e-02 4.38998776e+00] [ 1.19709352e-03 9.99997988e-01 1.60981311e-03 4.45369355e-01] [ 2.84010901e-02 -1.64316362e-03 9.99595257e-01 1.49038559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters Centerline goodness : 0.130950 Centerline is valid? [False, False] Translation: X:4.39, Y:0.44, Z:1.49 [[ 9.99593398e-01 -1.07510863e-03 -2.84935453e-02 4.38995110e+00] [ 1.12939171e-03 9.99997578e-01 1.88907606e-03 4.43990788e-01] [ 2.84914453e-02 -1.92048833e-03 9.99592191e-01 1.49084675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33255784400006 meters Centerline goodness : 0.123391 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99605123e-01 4.94386000e-03 -2.76614700e-02 4.41073504e+00] [-4.99540124e-03 9.99985913e-01 -1.79449286e-03 4.41820902e-01] [ 2.76522086e-02 1.93196440e-03 9.99615738e-01 1.49163372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters Centerline goodness : 0.129014 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99600104e-01 4.98534310e-03 -2.78348351e-02 4.41102936e+00] [-5.03070069e-03 9.99986130e-01 -1.55973570e-03 4.40421425e-01] [ 2.78266732e-02 1.69914069e-03 9.99611319e-01 1.49190223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39255784400007 meters Centerline goodness : 0.126506 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99594819e-01 5.05404977e-03 -2.80116693e-02 4.41170622e+00] [-5.09383583e-03 9.99986116e-01 -1.34916284e-03 4.39420575e-01] [ 2.80044617e-02 1.49130303e-03 9.99606686e-01 1.49152837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42255784400004 meters Centerline goodness : 0.146661 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99590283e-01 5.01008358e-03 -2.81809212e-02 4.41235060e+00] [-5.05438093e-03 9.99986100e-01 -1.50087795e-03 4.40191647e-01] [ 2.81730099e-02 1.64270013e-03 9.99601712e-01 1.49117467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45255784400007 meters Centerline goodness : 0.139040 Centerline is valid? [False, False] Translation: X:4.41, Y:0.44, Z:1.49 [[ 9.99582093e-01 4.89042346e-03 -2.84907563e-02 4.41346751e+00] [-4.94614028e-03 9.99985990e-01 -1.88546452e-03 4.42022273e-01] [ 2.84811365e-02 2.02559585e-03 9.99592278e-01 1.49061418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48255784400004 meters Centerline goodness : 0.145759 Centerline is valid? [False, False] Translation: X:4.37, Y:0.44, Z:1.49 [[ 9.99495251e-01 4.29599836e-03 -3.14767731e-02 4.36820757e+00] [-4.34126458e-03 9.99989638e-01 -1.36988244e-03 4.41092653e-01] [ 3.14705620e-02 1.50584000e-03 9.99503545e-01 1.49081725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51255784400007 meters Centerline goodness : 0.139253 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99540588e-01 -3.03667816e-05 -3.03085986e-02 4.38954100e+00] [ 8.76981309e-05 9.99998210e-01 1.89025943e-03 4.47330346e-01] [ 3.03084869e-02 -1.89204903e-03 9.99538802e-01 1.49172703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54255784400004 meters Centerline goodness : 0.124272 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99547809e-01 -7.31844819e-05 -3.00694673e-02 4.38866200e+00] [ 1.23791988e-04 9.99998579e-01 1.68116156e-03 4.48540613e-01] [ 3.00693016e-02 -1.68412372e-03 9.99546398e-01 1.49210046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5725578440001 meters Centerline goodness : 0.144324 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99552855e-01 -1.24822640e-04 -2.99010893e-02 4.38826678e+00] [ 1.70195090e-04 9.99998838e-01 1.51487769e-03 4.49417782e-01] [ 2.99008655e-02 -1.51928934e-03 9.99551715e-01 1.49202447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60255784400005 meters Centerline goodness : 0.144051 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99553736e-01 -1.65994277e-04 -2.98714288e-02 4.38840735e+00] [ 2.06927640e-04 9.99999044e-01 1.36723210e-03 4.50231706e-01] [ 2.98711733e-02 -1.37280318e-03 9.99552814e-01 1.49161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6325578440001 meters Centerline goodness : 0.154531 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99552825e-01 -2.26651178e-04 -2.99014895e-02 4.38904804e+00] [ 2.61019473e-04 9.99999310e-01 1.14548575e-03 4.51473450e-01] [ 2.99012093e-02 -1.15277839e-03 9.99552194e-01 1.49065930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66255784400005 meters Centerline goodness : 0.131025 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99547651e-01 -3.19143107e-04 -3.00731087e-02 4.38977418e+00] [ 3.46967710e-04 9.99999517e-01 9.20018155e-04 4.52402303e-01] [ 3.00728005e-02 -9.30036383e-04 9.99547278e-01 1.49014382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6925578440001 meters Centerline goodness : 0.139210 Centerline is valid? [False, False] Translation: X:4.41, Y:0.45, Z:1.49 [[ 9.99532829e-01 8.36174481e-03 -2.93973613e-02 4.41038581e+00] [-8.38282217e-03 9.99964687e-01 -5.93809255e-04 4.51502630e-01] [ 2.93913579e-02 8.39964696e-04 9.99567628e-01 1.49112575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72255784400005 meters Centerline goodness : 0.125705 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 9.99542349e-01 8.42698151e-03 -2.90530139e-02 4.40950888e+00] [-8.46333428e-03 9.99963549e-01 -1.12851297e-03 4.55053954e-01] [ 2.90424449e-02 1.37388188e-03 9.99577235e-01 1.49097195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752557844 meters Centerline goodness : 0.120715 Centerline is valid? [False, False] Translation: X:4.41, Y:0.46, Z:1.49 [[ 9.99550340e-01 8.31279873e-03 -2.88099958e-02 4.40888181e+00] [-8.36242617e-03 9.99963750e-01 -1.60251754e-03 4.57704278e-01] [ 2.87956301e-02 1.84271841e-03 9.99583621e-01 1.49092510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78255784400005 meters Centerline goodness : 0.162082 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99604702e-01 -1.70098835e-06 -2.81147618e-02 4.38799583e+00] [-1.06409906e-05 9.99999904e-01 -4.38836099e-04 4.64377409e-01] [ 2.81147599e-02 4.38961797e-04 9.99604606e-01 1.48896908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812557844 meters Centerline goodness : 0.127256 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99621156e-01 -1.83242937e-04 -2.75229187e-02 4.38638749e+00] [ 1.47476594e-04 9.99999142e-01 -1.30153553e-03 4.69375133e-01] [ 2.75231336e-02 1.29698347e-03 9.99620325e-01 1.48893267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84255784400005 meters Centerline goodness : 0.124938 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99624077e-01 -3.59932327e-04 -2.74148554e-02 4.38603771e+00] [ 3.12244045e-04 9.99998431e-01 -1.74376614e-03 4.71575390e-01] [ 2.74154400e-02 1.73455049e-03 9.99622621e-01 1.48897318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872557844 meters Centerline goodness : 0.150416 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99624132e-01 -4.98062864e-04 -2.74107075e-02 4.38594136e+00] [ 4.42548384e-04 9.99997839e-01 -2.03131363e-03 4.72903392e-01] [ 2.74116600e-02 2.01841956e-03 9.99622192e-01 1.48907397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90255784400006 meters Centerline goodness : 0.128683 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99620671e-01 -5.92852167e-04 -2.75347374e-02 4.38619315e+00] [ 5.33242116e-04 9.99997499e-01 -2.17219582e-03 4.73404194e-01] [ 2.75359563e-02 2.15668917e-03 9.99618487e-01 1.48915067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93255784400003 meters Centerline goodness : 0.123659 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99620600e-01 -1.04518645e-03 -2.75238710e-02 4.38597048e+00] [ 9.80521040e-04 9.99996728e-01 -2.36282188e-03 4.73174031e-01] [ 2.75262505e-02 2.33493769e-03 9.99618354e-01 1.48959603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96255784400006 meters Centerline goodness : 0.129158 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99623186e-01 -1.10465956e-03 -2.74274617e-02 4.38552885e+00] [ 1.04685574e-03 9.99997201e-01 -2.12178598e-03 4.71593512e-01] [ 2.74297288e-02 2.09227387e-03 9.99621545e-01 1.49000863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99255784400003 meters Centerline goodness : 0.129129 Centerline is valid? [False, False] Translation: X:4.38, Y:0.47, Z:1.49 [[ 9.99630753e-01 -1.15228150e-03 -2.71482863e-02 4.38451313e+00] [ 1.10338801e-03 9.99997743e-01 -1.81589045e-03 4.69704651e-01] [ 2.71503174e-02 1.78526485e-03 9.99629768e-01 1.49060747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02255784400006 meters Centerline goodness : 0.129878 Centerline is valid? [False, False] Translation: X:4.38, Y:0.47, Z:1.49 [[ 9.99634047e-01 -1.18045106e-03 -2.70255355e-02 4.38406374e+00] [ 1.14017538e-03 9.99998217e-01 -1.50564337e-03 4.67853409e-01] [ 2.70272647e-02 1.47427852e-03 9.99633610e-01 1.49094794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05255784400003 meters Centerline goodness : 0.129110 Centerline is valid? [False, False] Translation: X:4.39, Y:0.47, Z:1.49 [[ 9.99596275e-01 -1.58843427e-03 -2.83683763e-02 4.38781917e+00] [ 1.54681705e-03 9.99997695e-01 -1.48891304e-03 4.65729025e-01] [ 2.83706759e-02 1.44443124e-03 9.99596428e-01 1.49047959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08255784400006 meters Centerline goodness : 0.142901 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586976e-01 -1.52093761e-03 -2.86978178e-02 4.38873194e+00] [ 1.48483534e-03 9.99998079e-01 -1.27928287e-03 4.64554870e-01] [ 2.86997084e-02 1.23614296e-03 9.99587314e-01 1.49035414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11255784400004 meters Centerline goodness : 0.142901 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586976e-01 -1.52093761e-03 -2.86978178e-02 4.38873194e+00] [ 1.48483534e-03 9.99998079e-01 -1.27928287e-03 4.64554870e-01] [ 2.86997084e-02 1.23614296e-03 9.99587314e-01 1.49035414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14255784400007 meters Centerline goodness : 0.133767 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99586090e-01 -1.44109991e-03 -2.87327846e-02 4.38864290e+00] [ 1.40972328e-03 9.99998388e-01 -1.11224183e-03 4.63825061e-01] [ 2.87343411e-02 1.07127618e-03 9.99586510e-01 1.49064990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17255784400004 meters Centerline goodness : 0.146357 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99593581e-01 -1.30024642e-03 -2.84777565e-02 4.38772970e+00] [ 1.27650694e-03 9.99998823e-01 -8.51778586e-04 4.62862894e-01] [ 2.84788305e-02 8.15080353e-04 9.99594064e-01 1.49110694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20255784400007 meters Centerline goodness : 0.127399 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99601657e-01 -1.11916288e-03 -2.82006345e-02 4.38679178e+00] [ 1.10924098e-03 9.99999317e-01 -3.67473963e-04 4.60267524e-01] [ 2.82010265e-02 3.36046283e-04 9.99602215e-01 1.49153771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23255784400004 meters Centerline goodness : 0.128445 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99596423e-01 -1.07721566e-03 -2.83871693e-02 4.38764563e+00] [ 1.07162424e-03 9.99999403e-01 -2.12182441e-04 4.59267025e-01] [ 2.83873810e-02 1.81676430e-04 9.99596981e-01 1.49092697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26255784400007 meters Centerline goodness : 0.137980 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99587834e-01 -1.07227223e-03 -2.86881900e-02 4.38903878e+00] [ 1.06872409e-03 9.99999419e-01 -1.39012186e-04 4.58604016e-01] [ 2.86883224e-02 1.08295130e-04 9.99588400e-01 1.48988715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29255784400004 meters Centerline goodness : 0.138555 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99578687e-01 -1.05438991e-03 -2.90058123e-02 4.39019562e+00] [ 1.05435530e-03 9.99999444e-01 -1.64878978e-05 4.57765445e-01] [ 2.90058135e-02 -1.41014805e-05 9.99579243e-01 1.48931554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3225578440001 meters Centerline goodness : 0.123384 Centerline is valid? [False, False] Translation: X:4.39, Y:0.46, Z:1.49 [[ 9.99576656e-01 -9.58545996e-04 -2.90790192e-02 4.39000691e+00] [ 9.69620701e-04 9.99999463e-01 3.66750230e-04 4.55600248e-01] [ 2.90786520e-02 -3.94790587e-04 9.99577049e-01 1.48992633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35255784400005 meters Centerline goodness : 0.148181 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99583618e-01 -8.60688039e-04 -2.88418147e-02 4.38900711e+00] [ 8.79457742e-04 9.99999410e-01 6.38102033e-04 4.54357032e-01] [ 2.88412484e-02 -6.63201496e-04 9.99583785e-01 1.49059210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3825578440001 meters Centerline goodness : 0.146311 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99584216e-01 -7.77607352e-04 -2.88234525e-02 4.38881603e+00] [ 8.02994019e-04 9.99999300e-01 8.69199818e-04 4.53273623e-01] [ 2.88227564e-02 -8.91983478e-04 9.99584140e-01 1.49084868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41255784400005 meters Centerline goodness : 0.135484 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99575249e-01 -7.78463268e-04 -2.91327169e-02 4.38991846e+00] [ 8.06448120e-04 9.99999225e-01 9.48861585e-04 4.52682467e-01] [ 2.91319556e-02 -9.71952580e-04 9.99575102e-01 1.49034685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4425578440001 meters Centerline goodness : 0.139030 Centerline is valid? [False, False] Translation: X:4.39, Y:0.45, Z:1.49 [[ 9.99554070e-01 -9.55619968e-04 -2.98454018e-02 4.39277980e+00] [ 9.78983496e-04 9.99999226e-01 7.68215821e-04 4.52790349e-01] [ 2.98446446e-02 -7.97091406e-04 9.99554232e-01 1.48855833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47255784400005 meters Centerline goodness : 0.128528 Centerline is valid? [False, False] Translation: X:4.41, Y:0.45, Z:1.49 [[ 9.99551269e-01 7.54065984e-03 -2.89896215e-02 4.41270744e+00] [-7.55831619e-03 9.99971311e-01 -4.99524689e-04 4.49719556e-01] [ 2.89850230e-02 7.18413262e-04 9.99579588e-01 1.48970403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters Centerline goodness : 0.170559 Centerline is valid? [False, False] Translation: X:4.37, Y:0.45, Z:1.49 [[ 9.99488361e-01 6.33503721e-03 -3.13509777e-02 4.36501534e+00] [-6.34544606e-03 9.99979840e-01 -2.32528043e-04 4.45993544e-01] [ 3.13488726e-02 4.31345010e-04 9.99508410e-01 1.49119949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53255784400005 meters Centerline goodness : 0.149100 Centerline is valid? [False, False] Translation: X:4.36, Y:0.45, Z:1.49 [[ 9.99492135e-01 6.34433778e-03 -3.12285506e-02 4.36423865e+00] [-6.35058605e-03 9.99979830e-01 -1.00900975e-04 4.45174690e-01] [ 3.12272805e-02 2.99169328e-04 9.99512265e-01 1.49189152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters Centerline goodness : 0.133512 Centerline is valid? [False, False] Translation: X:4.32, Y:0.44, Z:1.49 [[ 9.99541253e-01 3.42563449e-03 -3.00923350e-02 4.32197664e+00] [-3.44912540e-03 9.99993786e-01 -7.28754541e-04 4.39692644e-01] [ 3.00896515e-02 8.32212464e-04 9.99546857e-01 1.48967989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59255784400005 meters Centerline goodness : 0.137344 Centerline is valid? [False, False] Translation: X:4.34, Y:0.44, Z:1.49 [[ 9.99542830e-01 -4.38639153e-03 -2.99147128e-02 4.34272063e+00] [ 4.39362620e-03 9.99990332e-01 1.76115252e-04 4.42197651e-01] [ 2.99136510e-02 -3.07468803e-04 9.99552439e-01 1.49096981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters Centerline goodness : 0.132488 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99596670e-01 1.49178190e-03 -2.83596908e-02 4.32660050e+00] [-1.52096520e-03 9.99998336e-01 -1.00749793e-03 4.34238131e-01] [ 2.83581406e-02 1.05022568e-03 9.99597275e-01 1.48730026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65255784400006 meters Centerline goodness : 0.125163 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99585480e-01 1.62626672e-03 -2.87441091e-02 4.32749500e+00] [-1.63178243e-03 9.99998654e-01 -1.68434265e-04 4.29185412e-01] [ 2.87437965e-02 2.15268578e-04 9.99586789e-01 1.48754413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters Centerline goodness : 0.129761 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99583881e-01 1.78535944e-03 -2.87902409e-02 4.32740226e+00] [-1.77878751e-03 9.99998386e-01 2.53879013e-04 4.27115886e-01] [ 2.87906477e-02 -2.02561648e-04 9.99585443e-01 1.48790963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71255784400006 meters Centerline goodness : 0.073288 Centerline is valid? [False, False] Translation: X:4.33, Y:0.43, Z:1.49 [[ 9.99584692e-01 1.93532092e-03 -2.87523539e-02 4.32705494e+00] [-1.91821665e-03 9.99997966e-01 6.22452773e-04 4.25275671e-01] [ 2.87535001e-02 -5.67041020e-04 9.99586372e-01 1.48834880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters Centerline goodness : 0.156444 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99584660e-01 1.99113140e-03 -2.87496686e-02 4.32676098e+00] [-1.97052217e-03 9.99997781e-01 7.45164872e-04 4.24552730e-01] [ 2.87510886e-02 -6.88203515e-04 9.99586365e-01 1.48888666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77255784400006 meters Centerline goodness : 0.216269 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99579033e-01 2.25472525e-03 -2.89253142e-02 4.32697587e+00] [-2.22848011e-03 9.99997076e-01 9.39546058e-04 4.23907935e-01] [ 2.89273480e-02 -8.74691052e-04 9.99581134e-01 1.48950345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters Centerline goodness : 0.132887 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99579024e-01 2.31733123e-03 -2.89206519e-02 4.32689562e+00] [-2.29132148e-03 9.99996940e-01 9.32456227e-04 4.24062554e-01] [ 2.89227242e-02 -8.65797174e-04 9.99581276e-01 1.48972301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83255784400006 meters Centerline goodness : 0.162633 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99581516e-01 2.39090152e-03 -2.88283963e-02 4.32655016e+00] [-2.36251539e-03 9.99996690e-01 1.01867932e-03 4.23668372e-01] [ 2.88307364e-02 -9.50145492e-04 9.99583856e-01 1.48990757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters Centerline goodness : 0.172825 Centerline is valid? [False, False] Translation: X:4.33, Y:0.42, Z:1.49 [[ 9.99581278e-01 2.45733713e-03 -2.88310621e-02 4.32647283e+00] [-2.42526805e-03 9.99996401e-01 1.14722614e-03 4.23001814e-01] [ 2.88337775e-02 -1.07682271e-03 9.99583640e-01 1.49007082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89255784400007 meters Centerline goodness : 0.137966 Centerline is valid? [False, False] Translation: X:4.37, Y:0.42, Z:1.49 [[ 9.99639346e-01 2.95437864e-03 -2.66917444e-02 4.36710209e+00] [-2.91501570e-03 9.99994606e-01 1.51351343e-03 4.21131359e-01] [ 2.66960719e-02 -1.43516072e-03 9.99642566e-01 1.49136171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92255784400004 meters Centerline goodness : 0.117402 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99581140e-01 1.34972381e-03 -2.89088821e-02 4.32029830e+00] [-1.29094279e-03 9.99997062e-01 2.05188767e-03 4.14279828e-01] [ 2.89115667e-02 -2.01370850e-03 9.99579945e-01 1.49233848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95255784400007 meters Centerline goodness : 0.151616 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99586770e-01 -2.01713256e-03 -2.86744009e-02 4.32034645e+00] [ 1.99677567e-03 9.99997734e-01 -7.38548803e-04 4.10880502e-01] [ 2.86758257e-02 6.80987266e-04 9.99588532e-01 1.49144634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98255784400004 meters Centerline goodness : 0.162687 Centerline is valid? [False, False] Translation: X:4.32, Y:0.41, Z:1.49 [[ 9.99573175e-01 -1.93867597e-03 -2.91497602e-02 4.32160122e+00] [ 1.93719430e-03 9.99998121e-01 -7.90701803e-05 4.07339657e-01] [ 2.91498587e-02 2.25676820e-05 9.99575052e-01 1.49120184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01255784400007 meters Centerline goodness : 0.182867 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99541396e-01 -1.78836299e-03 -3.02291218e-02 4.32427073e+00] [ 1.81893619e-03 9.99997862e-01 9.83913935e-04 4.01297299e-01] [ 3.02272976e-02 -1.03844755e-03 9.99542511e-01 1.49108062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04255784400004 meters Centerline goodness : 0.110852 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99538735e-01 -1.53472123e-03 -3.03308805e-02 4.32440567e+00] [ 1.58392175e-03 9.99997469e-01 1.59816650e-03 3.98410059e-01] [ 3.03283510e-02 -1.64547106e-03 9.99538635e-01 1.49131516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0725578440001 meters Centerline goodness : 0.125803 Centerline is valid? [False, False] Translation: X:4.32, Y:0.40, Z:1.49 [[ 9.99534781e-01 -1.31275873e-03 -3.04712773e-02 4.32466290e+00] [ 1.37800586e-03 9.99996803e-01 2.12036587e-03 3.95896691e-01] [ 3.04683964e-02 -2.16136903e-03 9.99533394e-01 1.49153617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10255784400005 meters Centerline goodness : 0.136660 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99507144e-01 6.24287225e-03 -3.07651739e-02 4.34756088e+00] [-6.25827265e-03 9.99980335e-01 -4.04312229e-04 3.90658885e-01] [ 3.07620448e-02 5.96649807e-04 9.99526558e-01 1.49134199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1325578440001 meters Centerline goodness : 0.189751 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99498123e-01 6.31110561e-03 -3.10430659e-02 4.34861987e+00] [-6.32321880e-03 9.99979966e-01 -2.92050632e-04 3.90046888e-01] [ 3.10406008e-02 4.88196157e-04 9.99518005e-01 1.49076103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16255784400005 meters Centerline goodness : 0.085252 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99494301e-01 6.43197383e-03 -3.11411759e-02 4.34910098e+00] [-6.43650196e-03 9.99979284e-01 -4.51633311e-05 3.88898237e-01] [ 3.11402403e-02 2.45580732e-04 9.99514995e-01 1.49039058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1925578440001 meters Centerline goodness : 0.125848 Centerline is valid? [False, False] Translation: X:4.35, Y:0.39, Z:1.49 [[ 9.99492358e-01 6.64140020e-03 -3.11595584e-02 4.34923540e+00] [-6.63053817e-03 9.99977916e-01 4.51909347e-04 3.86868411e-01] [ 3.11618716e-02 -2.45075297e-04 9.99514321e-01 1.49022983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22255784400005 meters Centerline goodness : 0.157180 Centerline is valid? [False, False] Translation: X:4.35, Y:0.38, Z:1.49 [[ 9.99533160e-01 3.29656960e-03 -3.03742310e-02 4.34597579e+00] [-3.36188063e-03 9.99992145e-01 -2.09939340e-03 3.81305231e-01] [ 3.03670716e-02 2.20052786e-03 9.99536392e-01 1.49192100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252557844 meters Centerline goodness : 0.161693 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:1.49 [[ 9.99575255e-01 -5.00731566e-03 -2.87095209e-02 4.36724930e+00] [ 4.96477208e-03 9.99986470e-01 -1.55295496e-03 3.80584176e-01] [ 2.87169086e-02 1.40975912e-03 9.99586590e-01 1.49277074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28255784400005 meters Centerline goodness : 0.155073 Centerline is valid? [False, False] Translation: X:4.37, Y:0.38, Z:1.49 [[ 9.99581522e-01 -5.07277819e-03 -2.84789096e-02 4.36629363e+00] [ 5.04900345e-03 9.99986843e-01 -9.06667470e-04 3.77475691e-01] [ 2.84831343e-02 7.62497937e-04 9.99593982e-01 1.49291377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312557844 meters Centerline goodness : 0.109770 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99573889e-01 -4.89349388e-03 -2.87766096e-02 4.36706171e+00] [ 4.88747716e-03 9.99988017e-01 -2.79417344e-04 3.74923313e-01] [ 2.87776321e-02 1.38653259e-04 9.99585829e-01 1.49263139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34255784400005 meters Centerline goodness : 0.133591 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99565002e-01 -4.74736626e-03 -2.91078949e-02 4.36816135e+00] [ 4.75300605e-03 9.99988697e-01 1.24567624e-04 3.72872512e-01] [ 2.91069745e-02 -2.62863438e-04 9.99576268e-01 1.49220251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372557844 meters Centerline goodness : 0.153458 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:1.49 [[ 9.99543689e-01 -4.06826773e-03 -2.99309641e-02 4.37053719e+00] [ 4.10139946e-03 9.99991043e-01 1.04562821e-03 3.69779005e-01] [ 2.99264421e-02 -1.16790992e-03 9.99551421e-01 1.49187328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40255784400006 meters Centerline goodness : 0.098583 Centerline is valid? [False, False] Translation: X:4.39, Y:0.37, Z:1.49 [[ 9.99574859e-01 4.78659169e-03 -2.87609191e-02 4.38983477e+00] [-4.80152761e-03 9.99988371e-01 -4.50272451e-04 3.65741857e-01] [ 2.87584294e-02 5.88177368e-04 9.99586218e-01 1.49354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43255784400003 meters Centerline goodness : 0.166200 Centerline is valid? [False, False] Translation: X:4.39, Y:0.36, Z:1.49 [[ 9.99573682e-01 4.89366046e-03 -2.87837785e-02 4.38961335e+00] [-4.90350460e-03 9.99987941e-01 -2.71427203e-04 3.64893658e-01] [ 2.87821031e-02 4.12452879e-04 9.99585624e-01 1.49402604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46255784400006 meters Centerline goodness : 0.093231 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99563701e-01 -1.31952764e-03 -2.95070540e-02 4.40716265e+00] [ 1.35214827e-03 9.99998497e-01 1.08559357e-03 3.69512934e-01] [ 2.95055772e-02 -1.12501784e-03 9.99563983e-01 1.49710019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49255784400003 meters Centerline goodness : 0.153181 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99569469e-01 -1.02577411e-03 -2.93227547e-02 4.40654358e+00] [ 1.06441933e-03 9.99998585e-01 1.30234709e-03 3.69170188e-01] [ 2.93213773e-02 -1.33299810e-03 9.99569147e-01 1.49739183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52255784400006 meters Centerline goodness : 0.133707 Centerline is valid? [False, False] Translation: X:4.41, Y:0.37, Z:1.50 [[ 9.99568158e-01 -9.91052136e-04 -2.93686174e-02 4.40650280e+00] [ 1.02788986e-03 9.99998704e-01 1.23925209e-03 3.69203504e-01] [ 2.93673512e-02 -1.26890463e-03 9.99567881e-01 1.49783878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55255784400003 meters Centerline goodness : 0.092693 Centerline is valid? [False, False] Translation: X:4.43, Y:0.37, Z:1.50 [[ 9.99615774e-01 6.98102152e-03 -2.68247909e-02 4.42691981e+00] [-7.00785603e-03 9.99975034e-01 -9.06482293e-04 3.67795786e-01] [ 2.68177930e-02 1.09411827e-03 9.99639740e-01 1.49748975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58255784400006 meters Centerline goodness : 0.127935 Centerline is valid? [False, False] Translation: X:4.43, Y:0.37, Z:1.50 [[ 9.99624669e-01 7.18342750e-03 -2.64370920e-02 4.42560781e+00] [-7.20050858e-03 9.99973924e-01 -5.50961435e-04 3.66339063e-01] [ 2.64324449e-02 7.41115150e-04 9.99650327e-01 1.49810322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61255784400004 meters Centerline goodness : 0.117192 Centerline is valid? [False, False] Translation: X:4.44, Y:0.37, Z:1.50 [[ 9.99648605e-01 2.86980412e-04 -2.65062932e-02 4.44475272e+00] [-2.71993790e-04 9.99999801e-01 5.69002296e-04 3.70786633e-01] [ 2.65064512e-02 -5.61592804e-04 9.99648485e-01 1.49991072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64255784400007 meters Centerline goodness : 0.150139 Centerline is valid? [False, False] Translation: X:4.45, Y:0.37, Z:1.50 [[ 9.99644746e-01 3.67865165e-04 -2.66504578e-02 4.44523248e+00] [-3.48723294e-04 9.99999678e-01 7.22900838e-04 3.70120563e-01] [ 2.66507151e-02 -7.13350389e-04 9.99644552e-01 1.49972952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67255784400004 meters Centerline goodness : 0.151124 Centerline is valid? [False, False] Translation: X:4.47, Y:0.37, Z:1.50 [[ 9.99623667e-01 8.53146846e-03 -2.60717960e-02 4.46703443e+00] [-8.56824781e-03 9.99962448e-01 -1.29930490e-03 3.67828991e-01] [ 2.60597320e-02 1.52220553e-03 9.99659229e-01 1.49960420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70255784400007 meters Centerline goodness : 0.147975 Centerline is valid? [False, False] Translation: X:4.45, Y:0.37, Z:1.50 [[ 9.99601985e-01 -5.40356483e-04 -2.82060311e-02 4.44756805e+00] [ 5.40557440e-04 9.99999854e-01 -5.00406640e-07 3.70148756e-01] [ 2.82060273e-02 -1.47467725e-05 9.99602131e-01 1.49894768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73255784400004 meters Centerline goodness : 0.150804 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99649225e-01 1.40069583e-03 -2.64473975e-02 4.49119762e+00] [-1.42142290e-03 9.99998697e-01 -7.64925752e-04 3.73154147e-01] [ 2.64462916e-02 8.02250372e-04 9.99649914e-01 1.49939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76255784400007 meters Centerline goodness : 0.116524 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99652192e-01 1.41220247e-03 -2.63343992e-02 4.49084325e+00] [-1.43447408e-03 9.99998629e-01 -8.26851055e-04 3.73630899e-01] [ 2.63331954e-02 8.64339483e-04 9.99652848e-01 1.49948623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79255784400004 meters Centerline goodness : 0.149789 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99654919e-01 1.46759259e-03 -2.62276320e-02 4.49059680e+00] [-1.49131761e-03 9.99998496e-01 -8.85044015e-04 3.74219671e-01] [ 2.62262937e-02 9.23852333e-04 9.99655605e-01 1.49944754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8225578440001 meters Centerline goodness : 0.148884 Centerline is valid? [False, False] Translation: X:4.49, Y:0.37, Z:1.50 [[ 9.99652092e-01 1.44833106e-03 -2.63362391e-02 4.49103514e+00] [-1.47427193e-03 9.99998447e-01 -9.65597660e-04 3.74671639e-01] [ 2.63347997e-02 1.00408850e-03 9.99652675e-01 1.49919053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85255784400005 meters Centerline goodness : 0.151722 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99650730e-01 1.41224283e-03 -2.63898301e-02 4.49136889e+00] [-1.44164811e-03 9.99998361e-01 -1.09527302e-03 3.75347075e-01] [ 2.63882401e-02 1.13293532e-03 9.99651128e-01 1.49886936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8825578440001 meters Centerline goodness : 0.145797 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99650808e-01 1.37239891e-03 -2.63889960e-02 4.49143680e+00] [-1.40492172e-03 9.99998276e-01 -1.21393724e-03 3.75895801e-01] [ 2.63872845e-02 1.25058782e-03 9.99651013e-01 1.49873793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91255784400005 meters Centerline goodness : 0.148625 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99657650e-01 1.31294824e-03 -2.61315764e-02 4.49038459e+00] [-1.34971248e-03 9.99998124e-01 -1.38930117e-03 3.76672153e-01] [ 2.61297033e-02 1.42409566e-03 9.99657547e-01 1.49938466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9425578440001 meters Centerline goodness : 0.148690 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99659038e-01 1.26809964e-03 -2.60806528e-02 4.48995521e+00] [-1.30710428e-03 9.99998053e-01 -1.47854583e-03 3.77107792e-01] [ 2.60787271e-02 1.51213184e-03 9.99658748e-01 1.49985138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97255784400005 meters Centerline goodness : 0.162686 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99658164e-01 1.23204096e-03 -2.61158260e-02 4.49000245e+00] [-1.27316551e-03 9.99997976e-01 -1.55812905e-03 3.77587611e-01] [ 2.61138535e-02 1.59084620e-03 9.99657709e-01 1.49989188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters Centerline goodness : 0.162686 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99658164e-01 1.23204096e-03 -2.61158260e-02 4.49000245e+00] [-1.27316551e-03 9.99997976e-01 -1.55812905e-03 3.77587611e-01] [ 2.61138535e-02 1.59084620e-03 9.99657709e-01 1.49989188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03255784400005 meters Centerline goodness : 0.149485 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99654252e-01 1.12782648e-03 -2.62698223e-02 4.49060115e+00] [-1.17447787e-03 9.99997761e-01 -1.76049306e-03 3.78497506e-01] [ 2.62677779e-02 1.79073770e-03 9.99653338e-01 1.49958090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters Centerline goodness : 0.147920 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99647616e-01 9.11339902e-04 -2.65294820e-02 4.49154948e+00] [-9.69582204e-04 9.99997148e-01 -2.18259955e-03 3.80367887e-01] [ 2.65274172e-02 2.20755295e-03 9.99645649e-01 1.49906340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09255784400005 meters Centerline goodness : 0.111823 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99644084e-01 8.09899846e-04 -2.66654920e-02 4.49182015e+00] [-8.73745113e-04 9.99996780e-01 -2.38273854e-03 3.81308912e-01] [ 2.66634763e-02 2.40518933e-03 9.99641573e-01 1.49919311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters Centerline goodness : 0.091395 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99640896e-01 6.97238218e-04 -2.67879417e-02 4.49196398e+00] [-7.67447195e-04 9.99996298e-01 -2.61072560e-03 3.82339339e-01] [ 2.67860222e-02 2.63034641e-03 9.99637730e-01 1.49943310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15255784400006 meters Centerline goodness : 0.089929 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99637796e-01 5.62494078e-04 -2.69065016e-02 4.49214141e+00] [-6.39787830e-04 9.99995694e-01 -2.86415682e-03 3.83352676e-01] [ 2.69047747e-02 2.88033387e-03 9.99633851e-01 1.49962283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters Centerline goodness : 0.142300 Centerline is valid? [False, False] Translation: X:4.49, Y:0.38, Z:1.50 [[ 9.99633493e-01 4.02411401e-04 -2.70687460e-02 4.49254081e+00] [-4.88848475e-04 9.99994803e-01 -3.18670096e-03 3.84745718e-01] [ 2.70673230e-02 3.19876553e-03 9.99628495e-01 1.49962420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21255784400006 meters Centerline goodness : 0.167498 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99634717e-01 2.28193953e-04 -2.70255460e-02 4.49230760e+00] [-3.27825039e-04 9.99993167e-01 -3.68217895e-03 3.87643836e-01] [ 2.70245211e-02 3.68969356e-03 9.99627962e-01 1.49971167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters Centerline goodness : 0.118500 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99636568e-01 1.05886287e-04 -2.69577648e-02 4.49191970e+00] [-2.14142176e-04 9.99991925e-01 -4.01290384e-03 3.89494497e-01] [ 2.69571223e-02 4.01721822e-03 9.99628519e-01 1.50007678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27255784400006 meters Centerline goodness : 0.122371 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99636140e-01 -1.70212027e-05 -2.69738325e-02 4.49170607e+00] [-9.91908851e-05 9.99990720e-01 -4.30698301e-03 3.90988549e-01] [ 2.69736555e-02 4.30809143e-03 9.99626862e-01 1.50045666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters Centerline goodness : 0.166350 Centerline is valid? [False, False] Translation: X:4.49, Y:0.39, Z:1.50 [[ 9.99632930e-01 -1.48732237e-04 -2.70921196e-02 4.49188337e+00] [ 2.32197015e-05 9.99989267e-01 -4.63306174e-03 3.92123024e-01] [ 2.70925179e-02 4.63073202e-03 9.99622205e-01 1.50065132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33255784400006 meters Centerline goodness : 0.189466 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99587161e-01 -7.15281659e-03 -2.78270615e-02 4.51096664e+00] [ 7.05078545e-03 9.99968063e-01 -3.76301105e-03 3.99606153e-01] [ 2.78530889e-02 3.56525489e-03 9.99605669e-01 1.50352681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters Centerline goodness : 0.089094 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99591660e-01 -7.14556829e-03 -2.76668533e-02 4.51016910e+00] [ 7.04407202e-03 9.99968105e-01 -3.76424248e-03 3.99828696e-01] [ 2.76928686e-02 3.56781808e-03 9.99610112e-01 1.50411873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39255784400007 meters Centerline goodness : 0.150750 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.50 [[ 9.99595941e-01 -7.15544452e-03 -2.75091595e-02 4.50936366e+00] [ 7.05292685e-03 9.99967824e-01 -3.82189917e-03 4.00285351e-01] [ 2.75356218e-02 3.62633481e-03 9.99614245e-01 1.50477377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42255784400004 meters Centerline goodness : 0.153838 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 9.99593241e-01 -7.32081087e-03 -2.75637064e-02 4.50913603e+00] [ 7.20640683e-03 9.99965012e-01 -4.24758426e-03 4.02226556e-01] [ 2.75938378e-02 4.04722124e-03 9.99611024e-01 1.50539990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45255784400007 meters Centerline goodness : 0.119762 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 0.99958902 -0.00747039 -0.0276763 4.50912016] [ 0.00733996 0.99996149 -0.00481151 0.40423761] [ 0.02771118 0.00460639 0.99960536 1.50604797] [ 0. 0. 0. 1. ]] SLAMing on 357.48255784400004 meters Centerline goodness : 0.155333 Centerline is valid? [False, False] Translation: X:4.51, Y:0.40, Z:1.51 [[ 9.99598779e-01 -4.01162869e-03 -2.80390449e-02 4.50931622e+00] [ 3.97399801e-03 9.99991127e-01 -1.39767737e-03 4.04419783e-01] [ 2.80444030e-02 1.28568948e-03 9.99605852e-01 1.50686042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51255784400007 meters Centerline goodness : 0.147143 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99605761e-01 -4.09584163e-03 -2.77767307e-02 4.50863333e+00] [ 4.04783895e-03 9.99990216e-01 -1.78417023e-03 4.06876649e-01] [ 2.77837666e-02 1.67103111e-03 9.99612560e-01 1.50683081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54255784400004 meters Centerline goodness : 0.151187 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99612281e-01 -4.30054975e-03 -2.75098528e-02 4.50823939e+00] [ 4.22937526e-03 9.99987558e-01 -2.64489928e-03 4.12246341e-01] [ 2.75208850e-02 2.52752432e-03 9.99618033e-01 1.50634676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5725578440001 meters Centerline goodness : 0.152917 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 9.99610646e-01 -4.48934736e-03 -2.75391072e-02 4.50845210e+00] [ 4.40522947e-03 9.99985447e-01 -3.11439842e-03 4.14481101e-01] [ 2.75526880e-02 2.99186973e-03 9.99615875e-01 1.50608491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60255784400005 meters Centerline goodness : 0.042939 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99637204e-01 4.01215488e-03 -2.66338877e-02 4.52837858e+00] [-4.14324951e-03 9.99979564e-01 -4.86873973e-03 4.13859502e-01] [ 2.66138093e-02 4.97732421e-03 9.99633399e-01 1.50717966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6325578440001 meters Centerline goodness : 0.127546 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 0.999577 0.0113883 -0.02676039 4.50964195] [-0.01156295 0.99991279 -0.00638075 0.40657268] [ 0.02668539 0.00668748 0.99962151 1.50578353] [ 0. 0. 0. 1. ]] SLAMing on 357.66255784400005 meters Centerline goodness : 0.157720 Centerline is valid? [False, False] Translation: X:4.51, Y:0.41, Z:1.51 [[ 0.99957701 0.01132974 -0.02678521 4.50964848] [-0.01150426 0.99991353 -0.0063707 0.40643176] [ 0.02671072 0.00667615 0.99962091 1.5057303 ] [ 0. 0. 0. 1. ]] SLAMing on 357.6925578440001 meters Centerline goodness : 0.111678 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99619470e-01 2.67083900e-03 -2.74550853e-02 4.53128498e+00] [-2.84662381e-03 9.99975688e-01 -6.36554275e-03 4.10550278e-01] [ 2.74374165e-02 6.44127477e-03 9.99602770e-01 1.50719136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72255784400005 meters Centerline goodness : 0.156606 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99614391e-01 2.40884618e-03 -2.76634680e-02 4.53173066e+00] [-2.58553838e-03 9.99976476e-01 -6.35321116e-03 4.09558097e-01] [ 2.76475133e-02 6.42228626e-03 9.99597103e-01 1.50734578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752557844 meters Centerline goodness : 0.197390 Centerline is valid? [False, False] Translation: X:4.53, Y:0.41, Z:1.51 [[ 9.99611340e-01 2.19082083e-03 -2.77915415e-02 4.53182448e+00] [-2.36381735e-03 9.99978026e-01 -6.19346512e-03 4.07941979e-01] [ 2.77773620e-02 6.25675209e-03 9.99594553e-01 1.50775062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78255784400005 meters Centerline goodness : 0.162060 Centerline is valid? [False, False] Translation: X:4.55, Y:0.41, Z:1.51 [[ 0.99961114 -0.00595365 -0.02724197 4.55239723] [ 0.00580916 0.99996865 -0.00537997 0.4099451 ] [ 0.02727314 0.00521962 0.99961439 1.50925885] [ 0. 0. 0. 1. ]] SLAMing on 357.812557844 meters Centerline goodness : 0.160789 Centerline is valid? [False, False] Translation: X:4.55, Y:0.41, Z:1.51 [[ 0.99961886 -0.00630456 -0.02687709 4.55102372] [ 0.00617361 0.99996868 -0.00495249 0.40774972] [ 0.02690747 0.00478467 0.99962648 1.50915565] [ 0. 0. 0. 1. ]] SLAMing on 357.84255784400005 meters Centerline goodness : 0.114916 Centerline is valid? [False, False] Translation: X:4.55, Y:0.40, Z:1.51 [[ 9.99606587e-01 -6.74557235e-03 -2.72244186e-02 4.55151983e+00] [ 6.62956653e-03 9.99968567e-01 -4.34910822e-03 4.04274761e-01] [ 2.72529001e-02 4.16691112e-03 9.99619886e-01 1.50860277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872557844 meters Centerline goodness : 0.119111 Centerline is valid? [False, False] Translation: X:4.55, Y:0.40, Z:1.51 [[ 9.99594053e-01 -6.72073829e-03 -2.76868490e-02 4.55271715e+00] [ 6.61203792e-03 9.99970077e-01 -4.01574812e-03 4.02243809e-01] [ 2.77130093e-02 3.83105145e-03 9.99608579e-01 1.50855643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90255784400006 meters Centerline goodness : 0.197336 Centerline is valid? [False, False] Translation: X:4.54, Y:0.39, Z:1.51 [[ 9.99598655e-01 2.67179091e-03 -2.82026693e-02 4.53620394e+00] [-2.81182241e-03 9.99983911e-01 -4.92669609e-03 3.94848234e-01] [ 2.81890524e-02 5.00401968e-03 9.99590085e-01 1.50744593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93255784400003 meters Centerline goodness : 0.116498 Centerline is valid? [False, False] Translation: X:4.56, Y:0.40, Z:1.51 [[ 9.99580545e-01 -4.81119260e-03 -2.85584884e-02 4.55632737e+00] [ 4.70527344e-03 9.99981805e-01 -3.77489431e-03 3.96339083e-01] [ 2.85761305e-02 3.63893541e-03 9.99584995e-01 1.50956299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96255784400006 meters Centerline goodness : 0.166305 Centerline is valid? [False, False] Translation: X:4.56, Y:0.40, Z:1.51 [[ 9.99583711e-01 -4.71840605e-03 -2.84629785e-02 4.55576083e+00] [ 4.61927890e-03 9.99983039e-01 -3.54741751e-03 3.95294866e-01] [ 2.84792339e-02 3.41446232e-03 9.99588553e-01 1.51007616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99255784400003 meters Centerline goodness : 0.164759 Centerline is valid? [False, False] Translation: X:4.57, Y:0.39, Z:1.51 [[ 9.99638587e-01 3.83276131e-03 -2.66083637e-02 4.57324075e+00] [-3.96620736e-03 9.99979813e-01 -4.96422813e-03 3.90280376e-01] [ 2.65887998e-02 5.06796828e-03 9.99633609e-01 1.51167312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02255784400006 meters Centerline goodness : 0.174579 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99686122e-01 -3.73213912e-03 -2.47735540e-02 4.59289553e+00] [ 3.63484923e-03 9.99985509e-01 -3.97103741e-03 3.92975019e-01] [ 2.47880154e-02 3.87974285e-03 9.99685201e-01 1.51312024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05255784400003 meters Centerline goodness : 0.153526 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99689592e-01 -3.65223042e-03 -2.46450911e-02 4.59208415e+00] [ 3.56776630e-03 9.99987614e-01 -3.47031961e-03 3.90198648e-01] [ 2.46574603e-02 3.38131447e-03 9.99690240e-01 1.51388028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08255784400006 meters Centerline goodness : 0.193826 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99684059e-01 -3.55808585e-03 -2.48821591e-02 4.59260914e+00] [ 3.48215035e-03 9.99989149e-01 -3.09446815e-03 3.88324570e-01] [ 2.48928995e-02 3.00684706e-03 9.99685602e-01 1.51390474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11255784400004 meters Centerline goodness : 0.126498 Centerline is valid? [False, False] Translation: X:4.59, Y:0.39, Z:1.51 [[ 9.99681058e-01 -3.43830569e-03 -2.50191932e-02 4.59294275e+00] [ 3.37355407e-03 9.99990852e-01 -2.62982634e-03 3.86038197e-01] [ 2.50280065e-02 2.54458398e-03 9.99683512e-01 1.51379461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14255784400007 meters Centerline goodness : 0.111540 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.51 [[ 9.99680128e-01 -3.35242063e-03 -2.50679657e-02 4.59284278e+00] [ 3.30083273e-03 9.99992349e-01 -2.09901735e-03 3.83181274e-01] [ 2.50748107e-02 2.01560077e-03 9.99683546e-01 1.51411008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17255784400004 meters Centerline goodness : 0.155058 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.51 [[ 9.99686615e-01 -3.33286568e-03 -2.48105618e-02 4.59176250e+00] [ 3.29438922e-03 9.99993307e-01 -1.59152264e-03 3.80116974e-01] [ 2.48157000e-02 1.50928823e-03 9.99690904e-01 1.51481893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20255784400007 meters Centerline goodness : 0.172881 Centerline is valid? [False, False] Translation: X:4.59, Y:0.38, Z:1.52 [[ 9.99665214e-01 -7.19794125e-03 -2.48525470e-02 4.59147728e+00] [ 7.08519777e-03 9.99964220e-01 -4.62157692e-03 3.75258608e-01] [ 2.48849237e-02 4.44394447e-03 9.99680445e-01 1.51535521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23255784400004 meters Centerline goodness : 0.121030 Centerline is valid? [False, False] Translation: X:4.59, Y:0.37, Z:1.52 [[ 9.99655276e-01 -7.11235572e-03 -2.52733786e-02 4.59238538e+00] [ 7.01198667e-03 9.99967183e-01 -4.05774202e-03 3.72262063e-01] [ 2.53014093e-02 3.87912662e-03 9.99672342e-01 1.51544119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26255784400007 meters Centerline goodness : 0.123766 Centerline is valid? [False, False] Translation: X:4.61, Y:0.36, Z:1.52 [[ 9.99686885e-01 1.05805701e-03 -2.50002589e-02 4.61167956e+00] [-1.18598999e-03 9.99986276e-01 -5.10299320e-03 3.64821917e-01] [ 2.49945166e-02 5.13104544e-03 9.99674420e-01 1.51653508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29255784400004 meters Centerline goodness : 0.119402 Centerline is valid? [False, False] Translation: X:4.63, Y:0.36, Z:1.52 [[ 9.99663973e-01 -6.67536623e-03 -2.50475605e-02 4.63203756e+00] [ 6.57866731e-03 9.99970594e-01 -3.94103196e-03 3.64800992e-01] [ 2.50731318e-02 3.77492810e-03 9.99678492e-01 1.51850661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3225578440001 meters Centerline goodness : 0.181730 Centerline is valid? [False, False] Translation: X:4.63, Y:0.36, Z:1.52 [[ 0.9996373 -0.01052902 -0.02478743 4.63127154] [ 0.01035727 0.99992153 -0.00704714 0.36005419] [ 0.02485968 0.00678785 0.99966791 1.51877757] [ 0. 0. 0. 1. ]] SLAMing on 358.35255784400005 meters Centerline goodness : 0.172125 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99696109e-01 -2.36928705e-03 -2.45372533e-02 4.65030066e+00] [ 2.16380364e-03 9.99962399e-01 -8.39751210e-03 3.52219721e-01] [ 2.45562268e-02 8.34186637e-03 9.99663646e-01 1.52022302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3825578440001 meters Centerline goodness : 0.110711 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99691189e-01 -2.22649496e-03 -2.47501505e-02 4.65073772e+00] [ 2.03100277e-03 9.99966566e-01 -7.92095989e-03 3.49751939e-01] [ 2.47669590e-02 7.86824618e-03 9.99662287e-01 1.52026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41255784400005 meters Centerline goodness : 0.153055 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99686844e-01 -2.08554749e-03 -2.49372182e-02 4.65126339e+00] [ 1.89772445e-03 9.99969674e-01 -7.55313115e-03 3.47998659e-01] [ 2.49522143e-02 7.50344187e-03 9.99660485e-01 1.52009877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4425578440001 meters Centerline goodness : 0.168170 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99688273e-01 -1.84125868e-03 -2.48991415e-02 4.65101065e+00] [ 1.66631486e-03 9.99973795e-01 -7.04502217e-03 3.45842416e-01] [ 2.49114607e-02 7.00133623e-03 9.99665144e-01 1.52036117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 358.502557844 meters Centerline goodness : 0.159493 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99694261e-01 -1.68862560e-03 -2.46684723e-02 4.65004376e+00] [ 1.51840304e-03 9.99974921e-01 -6.91751192e-03 3.45408900e-01] [ 2.46795347e-02 6.87794028e-03 9.99671753e-01 1.52110732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53255784400005 meters Centerline goodness : 0.128208 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99694303e-01 -1.68232995e-03 -2.46671820e-02 4.65005027e+00] [ 1.51041745e-03 9.99974455e-01 -6.98625633e-03 3.45809549e-01] [ 2.46783051e-02 6.94686291e-03 9.99671307e-01 1.52114308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters Centerline goodness : 0.167449 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99671877e-01 1.97700326e-03 -2.55387732e-02 4.65238763e+00] [-2.06472152e-03 9.99992058e-01 -3.40879611e-03 3.45674111e-01] [ 2.55318312e-02 3.46040806e-03 9.99668020e-01 1.52076046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59255784400005 meters Centerline goodness : 0.128308 Centerline is valid? [False, False] Translation: X:4.65, Y:0.35, Z:1.52 [[ 9.99671893e-01 1.93572732e-03 -2.55413362e-02 4.65254686e+00] [-2.02789100e-03 9.99991525e-01 -3.58300441e-03 3.46702323e-01] [ 2.55341840e-02 3.63362384e-03 9.99667346e-01 1.52054289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters Centerline goodness : 0.125114 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:1.52 [[ 9.99662142e-01 -5.29228404e-03 -2.54478739e-02 4.67209658e+00] [ 5.22428420e-03 9.99982605e-01 -2.73786523e-03 3.50760246e-01] [ 2.54619208e-02 2.60399329e-03 9.99672401e-01 1.52255087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65255784400006 meters Centerline goodness : 0.154759 Centerline is valid? [False, False] Translation: X:4.67, Y:0.35, Z:1.52 [[ 9.99664707e-01 -5.25223081e-03 -2.53552127e-02 4.67161615e+00] [ 5.18683300e-03 9.99983052e-01 -2.64434409e-03 3.50312331e-01] [ 2.53686716e-02 2.51194421e-03 9.99675008e-01 1.52291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters Centerline goodness : 0.183443 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99731983e-01 1.14409107e-03 -2.31225710e-02 4.69347396e+00] [-1.26778061e-03 9.99984963e-01 -5.33534773e-03 3.47446932e-01] [ 2.31161192e-02 5.36323212e-03 9.99718401e-01 1.52163691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71255784400006 meters Centerline goodness : 0.176581 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99730930e-01 1.23081372e-03 -2.31636267e-02 4.69354903e+00] [-1.34843429e-03 9.99986274e-01 -5.06287899e-03 3.46212412e-01] [ 2.31570773e-02 5.09275135e-03 9.99718867e-01 1.52159014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters Centerline goodness : 0.126523 Centerline is valid? [False, False] Translation: X:4.69, Y:0.35, Z:1.52 [[ 9.99728143e-01 1.27529529e-03 -2.32811741e-02 4.69382759e+00] [-1.38825466e-03 9.99987341e-01 -4.83644457e-03 3.45096599e-01] [ 2.32747115e-02 4.86744995e-03 9.99717258e-01 1.52151449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 358.80255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 358.83255784400006 meters Centerline goodness : 0.119028 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:1.52 [[ 9.99724408e-01 -6.41827790e-03 -2.25812807e-02 4.71446332e+00] [ 6.33185435e-03 9.99972362e-01 -3.89664196e-03 3.45601067e-01] [ 2.26056663e-02 3.75258670e-03 9.99737416e-01 1.52330104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86255784400004 meters Centerline goodness : 0.134875 Centerline is valid? [False, False] Translation: X:4.71, Y:0.35, Z:1.52 [[ 9.99726398e-01 -6.40977350e-03 -2.24954273e-02 4.71406517e+00] [ 6.32352616e-03 9.99972389e-01 -3.90303714e-03 3.45642705e-01] [ 2.25198238e-02 3.75971884e-03 9.99739327e-01 1.52364084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89255784400007 meters Centerline goodness : 0.115155 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.52 [[ 9.99773383e-01 2.28725766e-03 -2.11648618e-02 4.73281568e+00] [-2.40201233e-03 9.99982545e-01 -5.39811002e-03 3.41837265e-01] [ 2.11521455e-02 5.44772498e-03 9.99761426e-01 1.52467763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92255784400004 meters Centerline goodness : 0.115155 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.52 [[ 9.99773383e-01 2.28725766e-03 -2.11648618e-02 4.73281568e+00] [-2.40201233e-03 9.99982545e-01 -5.39811002e-03 3.41837265e-01] [ 2.11521455e-02 5.44772498e-03 9.99761426e-01 1.52467763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95255784400007 meters Centerline goodness : 0.159893 Centerline is valid? [False, False] Translation: X:4.73, Y:0.34, Z:1.53 [[ 9.99781804e-01 2.24206024e-03 -2.07681977e-02 4.73156160e+00] [-2.36153074e-03 9.99980796e-01 -5.72983176e-03 3.43763288e-01] [ 2.07549522e-02 5.77762626e-03 9.99767899e-01 1.52518634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 359.01255784400007 meters Centerline goodness : 0.109309 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99769041e-01 -2.12218839e-03 -2.13859836e-02 4.75328009e+00] [ 2.06936638e-03 9.99994754e-01 -2.49176373e-03 3.48613123e-01] [ 2.13911594e-02 2.44693280e-03 9.99768189e-01 1.52644000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04255784400004 meters Centerline goodness : 0.125800 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99763648e-01 -2.29544422e-03 -2.16189739e-02 4.75409065e+00] [ 2.23293223e-03 9.99993258e-01 -2.91522962e-03 3.50587905e-01] [ 2.16255199e-02 2.86626689e-03 9.99762032e-01 1.52609203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0725578440001 meters Centerline goodness : 0.124404 Centerline is valid? [False, False] Translation: X:4.75, Y:0.35, Z:1.53 [[ 9.99758974e-01 -2.46180526e-03 -2.18159145e-02 4.75475718e+00] [ 2.38952187e-03 9.99991571e-01 -3.33878196e-03 3.52654001e-01] [ 2.18239501e-02 3.28584762e-03 9.99756430e-01 1.52578878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10255784400005 meters Centerline goodness : 0.119834 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99759655e-01 -2.67635574e-03 -2.17593307e-02 4.75434228e+00] [ 2.58995826e-03 9.99988655e-01 -3.99780673e-03 3.56423674e-01] [ 2.17697834e-02 3.94049012e-03 9.99755245e-01 1.52613839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1325578440001 meters Centerline goodness : 0.115061 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99763540e-01 -2.75039608e-03 -2.15707940e-02 4.75377113e+00] [ 2.66079819e-03 9.99987718e-01 -4.18126872e-03 3.57450530e-01] [ 2.15820293e-02 4.12288449e-03 9.99758580e-01 1.52625766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16255784400005 meters Centerline goodness : 0.197161 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99764192e-01 -2.91384500e-03 -2.15190742e-02 4.75370891e+00] [ 2.81967143e-03 9.99986321e-01 -4.40532959e-03 3.58404489e-01] [ 2.15316163e-02 4.34361405e-03 9.99758732e-01 1.52610002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1925578440001 meters Centerline goodness : 0.109277 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99760836e-01 -3.11026542e-03 -2.16470970e-02 4.75418000e+00] [ 3.01032333e-03 9.99984667e-01 -4.64793787e-03 3.59420233e-01] [ 2.16612214e-02 4.58166149e-03 9.99754870e-01 1.52579700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22255784400005 meters Centerline goodness : 0.117881 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.52 [[ 9.99753584e-01 -3.37371017e-03 -2.19405709e-02 4.75550908e+00] [ 3.26259544e-03 9.99981682e-01 -5.09817582e-03 3.61765785e-01] [ 2.19573687e-02 5.02533635e-03 9.99746278e-01 1.52477300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252557844 meters Centerline goodness : 0.169202 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.52 [[ 9.99752031e-01 -3.44169226e-03 -2.20007111e-02 4.75562991e+00] [ 3.32622313e-03 9.99980514e-01 -5.28286823e-03 3.62843790e-01] [ 2.20184644e-02 5.20837897e-03 9.99743997e-01 1.52479404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28255784400005 meters Centerline goodness : 0.204483 Centerline is valid? [False, False] Translation: X:4.76, Y:0.36, Z:1.53 [[ 9.99755827e-01 -3.51461435e-03 -2.18158964e-02 4.75501831e+00] [ 3.39723603e-03 9.99979567e-01 -5.41513465e-03 3.63669156e-01] [ 2.18344828e-02 5.33969867e-03 9.99747340e-01 1.52504667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312557844 meters Centerline goodness : 0.148238 Centerline is valid? [False, False] Translation: X:4.75, Y:0.36, Z:1.53 [[ 9.99762392e-01 -3.60672485e-03 -2.14977113e-02 4.75370002e+00] [ 3.48764083e-03 9.99978382e-01 -5.57430259e-03 3.64575040e-01] [ 2.15173515e-02 5.49800180e-03 9.99753357e-01 1.52593488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34255784400005 meters Centerline goodness : 0.117363 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99776825e-01 -3.72406005e-03 -2.07949970e-02 4.75124733e+00] [ 3.60076709e-03 9.99975737e-01 -5.96327085e-03 3.66772330e-01] [ 2.08167001e-02 5.88706206e-03 9.99765976e-01 1.52707397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372557844 meters Centerline goodness : 0.133897 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99776984e-01 -3.84561940e-03 -2.07651993e-02 4.75120783e+00] [ 3.71610556e-03 9.99973426e-01 -6.27205113e-03 3.68385459e-01] [ 2.07887674e-02 6.19348669e-03 9.99764706e-01 1.52705136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40255784400006 meters Centerline goodness : 0.163928 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99775790e-01 -3.98390965e-03 -2.07965722e-02 4.75153674e+00] [ 3.84636163e-03 9.99970492e-01 -6.64979121e-03 3.70213556e-01] [ 2.08224507e-02 6.56830913e-03 9.99761613e-01 1.52669963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43255784400003 meters Centerline goodness : 0.164131 Centerline is valid? [False, False] Translation: X:4.75, Y:0.37, Z:1.53 [[ 9.99775056e-01 -4.15275937e-03 -2.07988522e-02 4.75164631e+00] [ 4.00402222e-03 9.99966151e-01 -7.18776496e-03 3.72935619e-01] [ 2.08279972e-02 7.10286905e-03 9.99757843e-01 1.52661136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46255784400006 meters Centerline goodness : 0.113684 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99774871e-01 -4.33911246e-03 -2.07696698e-02 4.75160704e+00] [ 4.17821994e-03 9.99960978e-01 -7.78364999e-03 3.75921460e-01] [ 2.08026334e-02 7.69511741e-03 9.99753988e-01 1.52666927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49255784400003 meters Centerline goodness : 0.115025 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99785360e-01 -5.27807315e-04 -2.07112285e-02 4.75123160e+00] [ 4.29651532e-04 9.99988658e-01 -4.74341812e-03 3.80952166e-01] [ 2.07134972e-02 4.73350139e-03 9.99774247e-01 1.52712866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52255784400006 meters Centerline goodness : 0.147538 Centerline is valid? [False, False] Translation: X:4.75, Y:0.38, Z:1.53 [[ 9.99780178e-01 3.10458811e-03 -2.07354066e-02 4.75091989e+00] [-3.13553293e-03 9.99994018e-01 -1.46002113e-03 3.83207387e-01] [ 2.07307498e-02 1.52471674e-03 9.99783932e-01 1.52765889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55255784400003 meters Centerline goodness : 0.150665 Centerline is valid? [False, False] Translation: X:4.75, Y:0.39, Z:1.53 [[ 9.99785723e-01 2.95095134e-03 -2.04890288e-02 4.75032633e+00] [-2.99722900e-03 9.99993026e-01 -2.22831437e-03 3.87541746e-01] [ 2.04823102e-02 2.28924721e-03 9.99787595e-01 1.52774564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58255784400006 meters Centerline goodness : 0.213457 Centerline is valid? [False, False] Translation: X:4.75, Y:0.39, Z:1.53 [[ 9.99767297e-01 6.34835664e-03 -2.06167687e-02 4.75064908e+00] [-6.34678511e-03 9.99979849e-01 1.41657536e-04 3.94512725e-01] [ 2.06172526e-02 -1.07743705e-05 9.99787442e-01 1.52780564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61255784400004 meters Centerline goodness : 0.174500 Centerline is valid? [False, False] Translation: X:4.75, Y:0.40, Z:1.53 [[ 9.99766382e-01 6.08085242e-03 -2.07413689e-02 4.75149489e+00] [-6.09737985e-03 9.99981142e-01 -7.33686098e-04 3.99190986e-01] [ 2.07365164e-02 8.59982701e-04 9.99784605e-01 1.52701251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64255784400007 meters Centerline goodness : 0.204274 Centerline is valid? [False, False] Translation: X:4.75, Y:0.40, Z:1.53 [[ 9.99764426e-01 5.81274347e-03 -2.09118184e-02 4.75238683e+00] [-5.84666152e-03 9.99981689e-01 -1.56118246e-03 4.03506476e-01] [ 2.09023608e-02 1.68307901e-03 9.99780105e-01 1.52629439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67255784400004 meters Centerline goodness : 0.351677 Centerline is valid? [False, False] Translation: X:4.75, Y:0.41, Z:1.53 [[ 9.99762170e-01 5.52747274e-03 -2.10962062e-02 4.75312811e+00] [-5.57809922e-03 9.99981700e-01 -2.34170032e-03 4.07305481e-01] [ 2.10828765e-02 2.45882012e-03 9.99774708e-01 1.52587591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70255784400007 meters Centerline goodness : 0.417096 Centerline is valid? [False, False] Translation: X:4.75, Y:0.41, Z:1.53 [[ 9.99759937e-01 5.22334696e-03 -2.12787666e-02 4.75376752e+00] [-5.28953921e-03 9.99981342e-01 -3.05562284e-03 4.10533179e-01] [ 2.12624090e-02 3.16744417e-03 9.99768912e-01 1.52561095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73255784400004 meters Centerline goodness : 0.148835 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.53 [[ 9.99757343e-01 4.88381384e-03 -2.14802853e-02 4.75460595e+00] [-4.96916985e-03 9.99979962e-01 -3.92211099e-03 4.15186901e-01] [ 2.14607000e-02 4.02789845e-03 9.99761579e-01 1.52500428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76255784400007 meters Centerline goodness : 0.208913 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.52 [[ 9.99758087e-01 4.76273939e-03 -2.14728435e-02 4.75460823e+00] [-4.85292986e-03 9.99979613e-01 -4.15006001e-03 4.16570489e-01] [ 2.14526401e-02 4.25326226e-03 9.99760818e-01 1.52493218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79255784400004 meters Centerline goodness : 0.155495 Centerline is valid? [False, False] Translation: X:4.75, Y:0.42, Z:1.53 [[ 9.99758518e-01 4.65875541e-03 -2.14756190e-02 4.75446986e+00] [-4.75119395e-03 9.99979659e-01 -4.25533602e-03 4.17109789e-01] [ 2.14553575e-02 4.35634327e-03 9.99760316e-01 1.52515523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8225578440001 meters Centerline goodness : 0.159660 Centerline is valid? [False, False] Translation: X:4.77, Y:0.42, Z:1.53 [[ 9.99726089e-01 -1.87640879e-03 -2.33286623e-02 4.77144473e+00] [ 1.79594531e-03 9.99992368e-01 -3.46959827e-03 4.21876747e-01] [ 2.33349946e-02 3.42675090e-03 9.99721829e-01 1.52884042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85255784400005 meters Centerline goodness : 0.158534 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99683883e-01 -8.34880307e-03 -2.37156334e-02 4.74952849e+00] [ 8.34365737e-03 9.99965141e-01 -3.15919579e-04 4.26727458e-01] [ 2.37174442e-02 1.17944593e-04 9.99718695e-01 1.52903649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8825578440001 meters Centerline goodness : 0.114031 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99707963e-01 -4.52245550e-03 -2.37389163e-02 4.74923102e+00] [ 4.60455156e-03 9.99983603e-01 3.40476875e-03 4.27185425e-01] [ 2.37231291e-02 -3.51308149e-03 9.99712394e-01 1.52943253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91255784400005 meters Centerline goodness : 0.193178 Centerline is valid? [False, False] Translation: X:4.75, Y:0.43, Z:1.53 [[ 9.99731115e-01 -1.79000193e-03 -2.31191355e-02 4.74667192e+00] [ 1.92494561e-03 9.99981234e-01 5.81594738e-03 4.30261128e-01] [ 2.31082911e-02 -5.85888664e-03 9.99715800e-01 1.53052325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9425578440001 meters Centerline goodness : 0.153345 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99751002e-01 1.56800332e-04 -2.23138694e-02 4.74308360e+00] [-4.94087258e-06 9.99976842e-01 6.80550091e-03 4.37054405e-01] [ 2.23144197e-02 -6.80369611e-03 9.99727851e-01 1.53243901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97255784400005 meters Centerline goodness : 0.159576 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99760677e-01 1.80913357e-04 -2.18759238e-02 4.74208889e+00] [-4.42661521e-05 9.99980488e-01 6.24678850e-03 4.40454389e-01] [ 2.18766271e-02 -6.24432514e-03 9.99741177e-01 1.53238525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002557844 meters Centerline goodness : 0.151802 Centerline is valid? [False, False] Translation: X:4.74, Y:0.44, Z:1.53 [[ 9.99763813e-01 2.02115682e-04 -2.17319651e-02 4.74193638e+00] [-7.95696949e-05 9.99984094e-01 5.63969090e-03 4.44376912e-01] [ 2.17327593e-02 -5.63662967e-03 9.99747926e-01 1.53207196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03255784400005 meters Centerline goodness : 0.174808 Centerline is valid? [False, False] Translation: X:4.76, Y:0.44, Z:1.53 [[ 0.99972884 0.00989409 -0.02107986 4.76405941] [-0.00978884 0.99993913 0.00509002 0.44495614] [ 0.02112893 -0.00488229 0.99976484 1.53206079] [ 0. 0. 0. 1. ]] SLAMing on 360.062557844 meters Centerline goodness : 0.165374 Centerline is valid? [False, False] Translation: X:4.76, Y:0.45, Z:1.53 [[ 9.99722885e-01 1.00533551e-02 -2.12857742e-02 4.76497799e+00] [-9.96476164e-03 9.99941259e-01 4.26408185e-03 4.51920437e-01] [ 2.13273922e-02 -4.05079254e-03 9.99764339e-01 1.53142386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09255784400005 meters Centerline goodness : 0.151772 Centerline is valid? [False, False] Translation: X:4.77, Y:0.46, Z:1.53 [[ 9.99726473e-01 9.80255871e-03 -2.12341699e-02 4.76503491e+00] [-9.72826337e-03 9.99946201e-01 3.59933618e-03 4.55002477e-01] [ 2.12683102e-02 -3.39178007e-03 9.99768051e-01 1.53111549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters Centerline goodness : 0.148504 Centerline is valid? [False, False] Translation: X:4.77, Y:0.46, Z:1.53 [[ 9.99728577e-01 9.57315537e-03 -2.12397570e-02 4.76525050e+00] [-9.51207377e-03 9.99950334e-01 2.97498403e-03 4.58058446e-01] [ 2.12671821e-02 -2.77214242e-03 9.99769985e-01 1.53078207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15255784400006 meters Centerline goodness : 0.147420 Centerline is valid? [False, False] Translation: X:4.78, Y:0.47, Z:1.53 [[ 9.99758246e-01 2.35678351e-03 -2.18608131e-02 4.78459594e+00] [-2.27962783e-03 9.99991087e-01 3.55365485e-03 4.65996920e-01] [ 2.18689934e-02 -3.50296123e-03 9.99754708e-01 1.53254492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters Centerline goodness : 0.144531 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:1.53 [[ 9.99755521e-01 1.93181484e-03 -2.20265115e-02 4.78520986e+00] [-1.87805749e-03 9.99995208e-01 2.46099983e-03 4.71332910e-01] [ 2.20311601e-02 -2.41903111e-03 9.99754358e-01 1.53219603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21255784400006 meters Centerline goodness : 0.150091 Centerline is valid? [False, False] Translation: X:4.79, Y:0.47, Z:1.53 [[ 9.99756289e-01 1.71689946e-03 -2.20094101e-02 4.78529427e+00] [-1.67498267e-03 9.99996749e-01 1.92278761e-03 4.73911000e-01] [ 2.20126398e-02 -1.88545363e-03 9.99755915e-01 1.53197021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters Centerline goodness : 0.145180 Centerline is valid? [False, False] Translation: X:4.78, Y:0.48, Z:1.53 [[ 9.99760415e-01 1.58389673e-03 -2.18312382e-02 4.78490035e+00] [-1.55343046e-03 9.99997796e-01 1.41242344e-03 4.76716502e-01] [ 2.18334272e-02 -1.37817174e-03 9.99760672e-01 1.53191756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27255784400006 meters Centerline goodness : 0.143449 Centerline is valid? [False, False] Translation: X:4.81, Y:0.48, Z:1.53 [[ 9.99778462e-01 -3.30400151e-03 -2.07872583e-02 4.80683589e+00] [ 3.40172233e-03 9.99983322e-01 4.66739366e-03 4.81533260e-01] [ 2.07714905e-02 -4.73707214e-03 9.99773027e-01 1.53220403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters Centerline goodness : 0.138822 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99807908e-01 -2.40797970e-03 -1.94512055e-02 4.80326022e+00] [ 2.50317116e-03 9.99985004e-01 4.87099505e-03 4.88391237e-01] [ 1.94391845e-02 -4.91874906e-03 9.99798942e-01 1.53255625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33255784400006 meters Centerline goodness : 0.150838 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99808923e-01 -2.58905930e-03 -1.93756171e-02 4.80330094e+00] [ 2.67425506e-03 9.99986865e-01 4.37244280e-03 4.90681707e-01] [ 1.93640420e-02 -4.42342267e-03 9.99802714e-01 1.53216715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters Centerline goodness : 0.144803 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99805970e-01 -2.78189929e-03 -1.95008479e-02 4.80389964e+00] [ 2.85817034e-03 9.99988371e-01 3.88438676e-03 4.92832335e-01] [ 1.94898152e-02 -3.93936982e-03 9.99802295e-01 1.53168841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39255784400007 meters Centerline goodness : 0.156596 Centerline is valid? [False, False] Translation: X:4.81, Y:0.49, Z:1.53 [[ 9.99798282e-01 -2.89521882e-03 -1.98749441e-02 4.80500677e+00] [ 2.96323859e-03 9.99989851e-01 3.39379131e-03 4.94917982e-01] [ 1.98649166e-02 -3.45200092e-03 9.99796714e-01 1.53155731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42255784400004 meters Centerline goodness : 0.136749 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:1.53 [[ 9.99791909e-01 7.45587424e-04 -2.03858444e-02 4.80612381e+00] [-6.15996683e-04 9.99979570e-01 6.36243898e-03 4.98525492e-01] [ 2.03901717e-02 -6.34855740e-03 9.99771942e-01 1.53181966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45255784400007 meters Centerline goodness : 0.132303 Centerline is valid? [False, False] Translation: X:4.81, Y:0.50, Z:1.53 [[ 9.99789486e-01 6.32124423e-04 -2.05081332e-02 4.80657795e+00] [-5.11282307e-04 9.99982481e-01 5.89710787e-03 5.01070687e-01] [ 2.05115016e-02 -5.88538100e-03 9.99772294e-01 1.53151792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48255784400004 meters Centerline goodness : 0.119607 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.53 [[ 9.99750381e-01 9.26751343e-03 -2.03295235e-02 4.82696162e+00] [-9.17187202e-03 9.99946452e-01 4.79276499e-03 4.99110912e-01] [ 2.03728519e-02 -4.60510883e-03 9.99781846e-01 1.53220855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51255784400007 meters Centerline goodness : 0.146439 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.53 [[ 9.99747074e-01 9.06971489e-03 -2.05798270e-02 4.82782309e+00] [-8.98369928e-03 9.99950537e-01 4.26821845e-03 5.01481801e-01] [ 2.06175205e-02 -4.08225592e-03 9.99779102e-01 1.53182525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54255784400004 meters Centerline goodness : 0.132731 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99747302e-01 9.15782511e-03 -2.05296387e-02 4.82811106e+00] [-9.08413562e-03 9.99951968e-01 3.67980934e-03 5.05626412e-01] [ 2.05623517e-02 -3.49238544e-03 9.99782473e-01 1.53117035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5725578440001 meters Centerline goodness : 0.142546 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99755357e-01 9.09547922e-03 -2.01618170e-02 4.82724586e+00] [-9.03155745e-03 9.99953903e-01 3.25923005e-03 5.08408606e-01] [ 2.01905318e-02 -3.07634009e-03 9.99791418e-01 1.53104005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60255784400005 meters Centerline goodness : 0.146731 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99761052e-01 8.92247198e-03 -1.99556718e-02 4.82664447e+00] [-8.86940135e-03 9.99956895e-01 2.74635437e-03 5.10981127e-01] [ 1.99793159e-02 -2.56870327e-03 9.99797094e-01 1.53113632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6325578440001 meters Centerline goodness : 0.139544 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.53 [[ 9.99761576e-01 8.69181039e-03 -2.00310763e-02 4.82692932e+00] [-8.64856660e-03 9.99960082e-01 2.24445516e-03 5.13064648e-01] [ 2.00497851e-02 -2.07067993e-03 9.99796839e-01 1.53093079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66255784400005 meters Centerline goodness : 0.151867 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99748351e-01 9.12739294e-04 -2.24143176e-02 4.84821561e+00] [-8.65379019e-04 9.99997373e-01 2.12255620e-03 5.22567240e-01] [ 2.24161960e-02 -2.10262518e-03 9.99746514e-01 1.53201218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6925578440001 meters Centerline goodness : 0.136997 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99744446e-01 8.34126775e-04 -2.25908760e-02 4.84875641e+00] [-7.90397756e-04 9.99997797e-01 1.94455369e-03 5.23525590e-01] [ 2.25924482e-02 -1.92620097e-03 9.99742902e-01 1.53179118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72255784400005 meters Centerline goodness : 0.134940 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99744378e-01 8.12837322e-04 -2.25946447e-02 4.84865260e+00] [-7.70222108e-04 9.99997908e-01 1.89471443e-03 5.23882923e-01] [ 2.25961376e-02 -1.87682721e-03 9.99742913e-01 1.53196873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.752557844 meters Centerline goodness : 0.131547 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99749250e-01 7.91451531e-04 -2.23787848e-02 4.84770794e+00] [-7.48849582e-04 9.99997892e-01 1.91199184e-03 5.23692781e-01] [ 2.23802509e-02 -1.89475406e-03 9.99747735e-01 1.53265862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78255784400005 meters Centerline goodness : 0.134298 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99757819e-01 7.61397759e-04 -2.19937096e-02 4.84637868e+00] [-7.18933091e-04 9.99997862e-01 1.93860668e-03 5.23339569e-01] [ 2.19951387e-02 -1.92232518e-03 9.99756230e-01 1.53330062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.812557844 meters Centerline goodness : 0.134298 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99757819e-01 7.61397759e-04 -2.19937096e-02 4.84637868e+00] [-7.18933091e-04 9.99997862e-01 1.93860668e-03 5.23339569e-01] [ 2.19951387e-02 -1.92232518e-03 9.99756230e-01 1.53330062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84255784400005 meters Centerline goodness : 0.136289 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99765289e-01 7.55133020e-04 -2.16516923e-02 4.84517616e+00] [-7.12486418e-04 9.99997791e-01 1.97731252e-03 5.23050207e-01] [ 2.16531376e-02 -1.96142188e-03 9.99763619e-01 1.53389830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.872557844 meters Centerline goodness : 0.177257 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99764639e-01 8.18464925e-04 -2.16794257e-02 4.84509067e+00] [-7.75236582e-04 9.99997695e-01 2.00230937e-03 5.23365100e-01] [ 2.16810145e-02 -1.98503142e-03 9.99762969e-01 1.53414980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90255784400006 meters Centerline goodness : 0.155639 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99762248e-01 8.12707424e-04 -2.17895990e-02 4.84546821e+00] [-7.71315686e-04 9.99997882e-01 1.90794698e-03 5.23944135e-01] [ 2.17911034e-02 -1.89068670e-03 9.99760758e-01 1.53399323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93255784400003 meters Centerline goodness : 0.146914 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99776807e-01 1.05374763e-03 -2.11003588e-02 4.84372617e+00] [-1.01525795e-03 9.99997801e-01 1.83475404e-03 5.24937767e-01] [ 2.11022458e-02 -1.81292223e-03 9.99775679e-01 1.53406783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96255784400006 meters Centerline goodness : 0.141308 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99783880e-01 1.03520151e-03 -2.07634451e-02 4.84275298e+00] [-1.00196642e-03 9.99998200e-01 1.61099328e-03 5.26136108e-01] [ 2.07650754e-02 -1.58984084e-03 9.99783119e-01 1.53426349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99255784400003 meters Centerline goodness : 0.119483 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99786909e-01 9.95666223e-04 -2.06190412e-02 4.84240814e+00] [-9.66996649e-04 9.99998552e-01 1.40036531e-03 5.27274811e-01] [ 2.06204057e-02 -1.38012836e-03 9.99786424e-01 1.53417856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02255784400006 meters Centerline goodness : 0.128523 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99788280e-01 9.24729606e-04 -2.05557928e-02 4.84229939e+00] [-9.00993157e-04 9.99998917e-01 1.16396412e-03 5.28478908e-01] [ 2.05568469e-02 -1.14519706e-03 9.99788030e-01 1.53404389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05255784400003 meters Centerline goodness : 0.127435 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99790159e-01 8.56625100e-04 -2.04671303e-02 4.84207910e+00] [-8.37017054e-04 9.99999183e-01 9.66573495e-04 5.29534151e-01] [ 2.04679416e-02 -9.49239331e-04 9.99790059e-01 1.53397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08255784400006 meters Centerline goodness : 0.119148 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99791678e-01 9.29491793e-04 -2.03896395e-02 4.84185982e+00] [-9.05497848e-04 9.99998887e-01 1.18597223e-03 5.28460970e-01] [ 2.03907192e-02 -1.16726239e-03 9.99791406e-01 1.53400664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11255784400004 meters Centerline goodness : 0.123880 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99791004e-01 9.92741435e-04 -2.04196698e-02 4.84184636e+00] [-9.61714393e-04 9.99998368e-01 1.52923221e-03 5.26492274e-01] [ 2.04211546e-02 -1.50927471e-03 9.99790327e-01 1.53418961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14255784400007 meters Centerline goodness : 0.119982 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99787350e-01 1.04735965e-03 -2.05950698e-02 4.84229153e+00] [-1.00703926e-03 9.99997556e-01 1.96804246e-03 5.23875559e-01] [ 2.05970807e-02 -1.94688391e-03 9.99785962e-01 1.53420681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17255784400004 meters Centerline goodness : 0.130100 Centerline is valid? [False, False] Translation: X:4.84, Y:0.52, Z:1.53 [[ 9.99778251e-01 1.06719107e-03 -2.10311823e-02 4.84367011e+00] [-1.01707361e-03 9.99996618e-01 2.39355948e-03 5.21089675e-01] [ 2.10336656e-02 -2.37163845e-03 9.99775955e-01 1.53377193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20255784400007 meters Centerline goodness : 0.123128 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99756936e-01 -1.27167475e-03 -2.20102851e-02 4.84852763e+00] [ 1.29125544e-03 9.99998783e-01 8.75426416e-04 5.14022862e-01] [ 2.20091450e-02 -9.03634532e-04 9.99757361e-01 1.53089604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23255784400004 meters Centerline goodness : 0.122279 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99753300e-01 -1.03328068e-03 -2.21872111e-02 4.84918039e+00] [ 1.06817584e-03 9.99998211e-01 1.56096602e-03 5.10583000e-01] [ 2.21855585e-02 -1.58428077e-03 9.99752615e-01 1.53059084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26255784400007 meters Centerline goodness : 0.139374 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99755078e-01 -7.69802666e-04 -2.21176808e-02 4.84899395e+00] [ 8.18180072e-04 9.99997293e-01 2.17830701e-03 5.07728393e-01] [ 2.21159441e-02 -2.19586974e-03 9.99753001e-01 1.53064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29255784400004 meters Centerline goodness : 0.120894 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99759678e-01 -5.29207829e-04 -2.19158736e-02 4.84837789e+00] [ 5.87974680e-04 9.99996249e-01 2.67511731e-03 5.05530280e-01] [ 2.19143757e-02 -2.68736040e-03 9.99756239e-01 1.53090945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3225578440001 meters Centerline goodness : 0.175113 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99763483e-01 -3.23713276e-04 -2.17456473e-02 4.84790815e+00] [ 3.89612913e-04 9.99995345e-01 3.02630653e-03 5.04037076e-01] [ 2.17445664e-02 -3.03406315e-03 9.99758955e-01 1.53103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35255784400005 meters Centerline goodness : 0.125709 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99751048e-01 4.14263801e-04 -2.23085432e-02 4.84972716e+00] [-3.33082960e-04 9.99993310e-01 3.64259519e-03 5.02218079e-01] [ 2.23099030e-02 -3.63425776e-03 9.99744498e-01 1.53027395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3825578440001 meters Centerline goodness : 0.168962 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99740479e-01 6.36911737e-04 -2.27721181e-02 4.85122598e+00] [-5.53387473e-04 9.99993098e-01 3.67394391e-03 5.02405774e-01] [ 2.27743009e-02 -3.66038864e-03 9.99733931e-01 1.52958932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41255784400005 meters Centerline goodness : 0.159569 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99734727e-01 8.06467863e-04 -2.30179346e-02 4.85215149e+00] [-7.23206905e-04 9.99993167e-01 3.62531636e-03 5.03033700e-01] [ 2.30207010e-02 -3.60770793e-03 9.99728479e-01 1.52896252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4425578440001 meters Centerline goodness : 0.126653 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99747574e-01 1.71159294e-03 -2.24021942e-02 4.85068021e+00] [-1.61787233e-03 9.99989867e-01 4.20100196e-03 5.02915613e-01] [ 2.24091576e-02 -4.16369763e-03 9.99740213e-01 1.52868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47255784400005 meters Centerline goodness : 0.119245 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99754985e-01 1.80676452e-03 -2.20614084e-02 4.84970629e+00] [-1.71525205e-03 9.99989850e-01 4.16629768e-03 5.03527352e-01] [ 2.20687120e-02 -4.12743600e-03 9.99747936e-01 1.52885055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5025578440001 meters Centerline goodness : 0.119252 Centerline is valid? [False, False] Translation: X:4.85, Y:0.50, Z:1.53 [[ 9.99762043e-01 1.79805667e-03 -2.17399382e-02 4.84867482e+00] [-1.71053266e-03 9.99990361e-01 4.04388050e-03 5.04179339e-01] [ 2.17469998e-02 -4.00573135e-03 9.99755481e-01 1.52919758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53255784400005 meters Centerline goodness : 0.118485 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99744749e-01 1.02805327e-02 -2.01183415e-02 4.86797111e+00] [-1.02307607e-02 9.99944348e-01 2.57532423e-03 5.02225789e-01] [ 2.01436976e-02 -2.36884093e-03 9.99794289e-01 1.53061434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters Centerline goodness : 0.119116 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99754762e-01 1.02082273e-02 -1.96521631e-02 4.86643232e+00] [-1.01637505e-02 9.99945559e-01 2.36175345e-03 5.03384695e-01] [ 1.96752025e-02 -2.16143458e-03 9.99804088e-01 1.53112385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59255784400005 meters Centerline goodness : 0.118274 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.53 [[ 9.99760569e-01 1.01796169e-02 -1.93695850e-02 4.86571568e+00] [-1.01389024e-02 9.99946182e-01 2.19902387e-03 5.04363511e-01] [ 1.93909278e-02 -2.00211102e-03 9.99809974e-01 1.53106917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters Centerline goodness : 0.119308 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.53 [[ 9.99763686e-01 1.00612380e-02 -1.92702977e-02 4.86542871e+00] [-1.00261600e-02 9.99947901e-01 1.91606161e-03 5.05829748e-01] [ 1.92885717e-02 -1.72240173e-03 9.99812475e-01 1.53106158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65255784400006 meters Centerline goodness : 0.116399 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.53 [[ 9.99760202e-01 9.85155216e-03 -1.95572138e-02 4.86632954e+00] [-9.82874937e-03 9.99950901e-01 1.26173371e-03 5.08922375e-01] [ 1.95686836e-02 -1.06920819e-03 9.99807943e-01 1.53064684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters Centerline goodness : 0.120359 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.53 [[ 9.99788516e-01 8.24946033e-04 -2.05485491e-02 4.84717113e+00] [-7.84639602e-04 9.99997753e-01 1.96950722e-03 5.14019025e-01] [ 2.05501277e-02 -1.95296749e-03 9.99786916e-01 1.52888831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71255784400006 meters Centerline goodness : 0.171444 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99786093e-01 6.72608462e-04 -2.06716194e-02 4.84764540e+00] [-6.40583451e-04 9.99998585e-01 1.55580865e-03 5.15962695e-01] [ 2.06726366e-02 -1.54223395e-03 9.99785109e-01 1.52852219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters Centerline goodness : 0.122905 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99789221e-01 5.29164114e-04 -2.05239967e-02 4.84739759e+00] [-5.05666761e-04 9.99999211e-01 1.15004498e-03 5.18055848e-01] [ 2.05245890e-02 -1.13942427e-03 9.99788699e-01 1.52822246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77255784400006 meters Centerline goodness : 0.121053 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99794418e-01 3.89348937e-04 -2.02724090e-02 4.84672793e+00] [-3.74722387e-04 9.99999667e-01 7.25293981e-04 5.20401561e-01] [ 2.02726846e-02 -7.17548348e-04 9.99794231e-01 1.52818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters Centerline goodness : 0.166525 Centerline is valid? [False, False] Translation: X:4.85, Y:0.52, Z:1.53 [[ 9.99800880e-01 2.55996771e-04 -1.99533117e-02 4.84583566e+00] [-2.50138169e-04 9.99999925e-01 2.96110775e-04 5.22781566e-01] [ 1.99533860e-02 -2.91060729e-04 9.99800869e-01 1.52826001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83255784400006 meters Centerline goodness : 0.149554 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99807885e-01 -8.30805077e-05 -1.96006618e-02 4.84474708e+00] [ 7.02722545e-05 9.99999784e-01 -6.54148096e-04 5.27762211e-01] [ 1.96007119e-02 6.52645042e-04 9.99807675e-01 1.52842918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters Centerline goodness : 0.121994 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99807823e-01 -2.72908353e-04 -1.96021310e-02 4.84477026e+00] [ 2.50893334e-04 9.99999335e-01 -1.12554359e-03 5.30044625e-01] [ 1.96024251e-02 1.12040924e-03 9.99807226e-01 1.52831396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89255784400007 meters Centerline goodness : 0.155881 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99809126e-01 -4.73245165e-04 -1.95316945e-02 4.84467630e+00] [ 4.42279574e-04 9.99998639e-01 -1.58969138e-03 5.32244268e-01] [ 1.95324202e-02 1.58074948e-03 9.99807974e-01 1.52811427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92255784400004 meters Centerline goodness : 0.122063 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.53 [[ 9.99810076e-01 -6.74979211e-04 -1.94770726e-02 4.84465453e+00] [ 6.35223794e-04 9.99997703e-01 -2.04725376e-03 5.34360782e-01] [ 1.94784097e-02 2.03449263e-03 9.99808208e-01 1.52786179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95255784400007 meters Centerline goodness : 0.124421 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99812563e-01 -1.01361869e-03 -1.93341880e-02 4.84427468e+00] [ 9.60766560e-04 9.99995777e-01 -2.74270300e-03 5.37712122e-01] [ 1.93368864e-02 2.72361327e-03 9.99809315e-01 1.52783405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98255784400004 meters Centerline goodness : 0.124245 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99815118e-01 -1.14983235e-03 -1.91939572e-02 4.84361807e+00] [ 1.09274560e-03 9.99994950e-01 -2.98442711e-03 5.38833237e-01] [ 1.91972919e-02 2.96290123e-03 9.99811325e-01 1.52833047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01255784400007 meters Centerline goodness : 0.124560 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99817638e-01 -1.26672498e-03 -1.90548376e-02 4.84301488e+00] [ 1.20647399e-03 9.99994238e-01 -3.17314232e-03 5.39769534e-01] [ 1.90587473e-02 3.14957449e-03 9.99813405e-01 1.52874879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04255784400004 meters Centerline goodness : 0.127596 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99814602e-01 -1.49937934e-03 -1.91967172e-02 4.84330418e+00] [ 1.43167414e-03 9.99992709e-01 -3.54017312e-03 5.41339753e-01] [ 1.92018853e-02 3.51203333e-03 9.99809458e-01 1.52883549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0725578440001 meters Centerline goodness : 0.123526 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99814291e-01 -1.59588683e-03 -1.92051008e-02 4.84337145e+00] [ 1.52430502e-03 9.99991840e-01 -3.74129066e-03 5.42253956e-01] [ 1.92109148e-02 3.71132144e-03 9.99808565e-01 1.52873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10255784400005 meters Centerline goodness : 0.126540 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99813136e-01 -1.67422504e-03 -1.92585208e-02 4.84367854e+00] [ 1.59896399e-03 9.99991028e-01 -3.92267002e-03 5.43088280e-01] [ 1.92649154e-02 3.89114333e-03 9.99806842e-01 1.52840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1325578440001 meters Centerline goodness : 0.129272 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99812156e-01 -1.70577379e-03 -1.93065335e-02 4.84396867e+00] [ 1.62838763e-03 9.99990581e-01 -4.02330010e-03 5.43653331e-01] [ 1.93132145e-02 3.99110583e-03 9.99805516e-01 1.52810944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16255784400005 meters Centerline goodness : 0.133451 Centerline is valid? [False, False] Translation: X:4.82, Y:0.54, Z:1.53 [[ 0.9997894 0.00617741 -0.0195705 4.82431761] [-0.00627719 0.99996759 -0.00504131 0.53825446] [ 0.01953872 0.00516309 0.99979577 1.52621682] [ 0. 0. 0. 1. ]] SLAMing on 362.1925578440001 meters Centerline goodness : 0.141079 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99805690e-01 -1.31048089e-03 -1.96688681e-02 4.84371112e+00] [ 1.23077990e-03 9.99990986e-01 -4.06369748e-03 5.43270600e-01] [ 1.96740162e-02 4.03869981e-03 9.99798291e-01 1.52771798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22255784400005 meters Centerline goodness : 0.122688 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99795891e-01 -1.31196903e-03 -2.01607123e-02 4.84528994e+00] [ 1.22802002e-03 9.99990527e-01 -4.17580618e-03 5.43627138e-01] [ 2.01659999e-02 4.15019610e-03 9.99788032e-01 1.52705385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2525578440001 meters Centerline goodness : 0.122861 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99790994e-01 -1.33254152e-03 -2.04008163e-02 4.84618709e+00] [ 1.24509680e-03 9.99989987e-01 -4.29843621e-03 5.44211355e-01] [ 2.04063399e-02 4.27213682e-03 9.99782641e-01 1.52651823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28255784400005 meters Centerline goodness : 0.120942 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99789209e-01 -1.28721935e-03 -2.04910054e-02 4.84652743e+00] [ 1.19920856e-03 9.99990007e-01 -4.30680240e-03 5.44393652e-01] [ 2.04963444e-02 4.28132157e-03 9.99780761e-01 1.52624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.312557844 meters Centerline goodness : 0.120750 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99791814e-01 -1.23990504e-03 -2.03664287e-02 4.84621485e+00] [ 1.15212493e-03 9.99990000e-01 -4.32120774e-03 5.44672914e-01] [ 2.03715829e-02 4.29684346e-03 9.99783244e-01 1.52619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34255784400005 meters Centerline goodness : 0.167824 Centerline is valid? [False, False] Translation: X:4.84, Y:0.54, Z:1.53 [[ 9.99811828e-01 -1.01383201e-03 -1.93721769e-02 4.84308956e+00] [ 9.32943944e-04 9.99990812e-01 -4.18405773e-03 5.44568703e-01] [ 1.93762408e-02 4.16519725e-03 9.99803587e-01 1.52721638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.372557844 meters Centerline goodness : 0.124183 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99817391e-01 -1.05020979e-03 -1.90809234e-02 4.84213593e+00] [ 9.67712220e-04 9.99990147e-01 -4.33228194e-03 5.45403987e-01] [ 1.90852852e-02 4.31302598e-03 9.99808557e-01 1.52754557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40255784400006 meters Centerline goodness : 0.122577 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818578e-01 -1.06471428e-03 -1.90178418e-02 4.84195388e+00] [ 9.79718261e-04 9.99989494e-01 -4.47803552e-03 5.46323387e-01] [ 1.90224098e-02 4.45859098e-03 9.99809116e-01 1.52752754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43255784400003 meters Centerline goodness : 0.121964 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99819961e-01 -1.12369765e-03 -1.89415398e-02 4.84195277e+00] [ 1.03526345e-03 9.99988522e-01 -4.67795601e-03 5.47321205e-01] [ 1.89465790e-02 4.65750432e-03 9.99809649e-01 1.52713117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46255784400006 meters Centerline goodness : 0.123368 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99821376e-01 -1.10083208e-03 -1.88680557e-02 4.84155055e+00] [ 1.01411767e-03 9.99988884e-01 -4.60478437e-03 5.46923103e-01] [ 1.88729150e-02 4.58482741e-03 9.99811378e-01 1.52748070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49255784400003 meters Centerline goodness : 0.162692 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99824998e-01 -1.06005137e-03 -1.86775252e-02 4.84079745e+00] [ 9.76006300e-04 9.99989361e-01 -4.50833799e-03 5.46524691e-01] [ 1.86821056e-02 4.48931964e-03 9.99815395e-01 1.52792691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52255784400006 meters Centerline goodness : 0.124549 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99826962e-01 -9.97440925e-04 -1.85755583e-02 4.84024831e+00] [ 9.16482849e-04 9.99990048e-01 -4.36631482e-03 5.45888002e-01] [ 1.85797286e-02 4.34853510e-03 9.99817925e-01 1.52840175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55255784400003 meters Centerline goodness : 0.140288 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99816684e-01 -1.02846868e-03 -1.91191213e-02 4.84207260e+00] [ 9.43380612e-04 9.99989614e-01 -4.45890361e-03 5.46141738e-01] [ 1.91235086e-02 4.44004961e-03 9.99807270e-01 1.52756029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58255784400006 meters Centerline goodness : 0.121597 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99808157e-01 -1.03967813e-03 -1.95593671e-02 4.84355928e+00] [ 9.49431252e-04 9.99988864e-01 -4.62271825e-03 5.46966485e-01] [ 1.95639554e-02 4.60326114e-03 9.99798010e-01 1.52680454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61255784400004 meters Centerline goodness : 0.124324 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99806859e-01 -1.05009061e-03 -1.96250535e-02 4.84385972e+00] [ 9.56930914e-04 9.99988233e-01 -4.75576624e-03 5.47749656e-01] [ 1.96298166e-02 4.73606788e-03 9.99796099e-01 1.52650866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64255784400007 meters Centerline goodness : 0.119364 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99810405e-01 -1.02866148e-03 -1.94447019e-02 4.84338299e+00] [ 9.34402142e-04 9.99987773e-01 -4.85602272e-03 5.48464102e-01] [ 1.94494593e-02 4.83693287e-03 9.99799141e-01 1.52645582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67255784400004 meters Centerline goodness : 0.121693 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99817060e-01 -1.02621716e-03 -1.90995421e-02 4.84230981e+00] [ 9.31927383e-04 9.99987339e-01 -4.94500171e-03 5.49049203e-01] [ 1.91043749e-02 4.92629768e-03 9.99805358e-01 1.52672268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70255784400007 meters Centerline goodness : 0.124496 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818284e-01 -1.00162960e-03 -1.90366845e-02 4.84219112e+00] [ 9.09419156e-04 9.99987816e-01 -4.85186866e-03 5.48536876e-01] [ 1.90413124e-02 4.83367468e-03 9.99807013e-01 1.52663275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73255784400004 meters Centerline goodness : 0.124496 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99818284e-01 -1.00162960e-03 -1.90366845e-02 4.84219112e+00] [ 9.09419156e-04 9.99987816e-01 -4.85186866e-03 5.48536876e-01] [ 1.90413124e-02 4.83367468e-03 9.99807013e-01 1.52663275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76255784400007 meters Centerline goodness : 0.139290 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99813426e-01 -9.90531137e-04 -1.92907214e-02 4.84304884e+00] [ 8.99549915e-04 9.99988435e-01 -4.72442670e-03 5.47724704e-01] [ 1.92951780e-02 4.70619228e-03 9.99802754e-01 1.52629581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79255784400004 meters Centerline goodness : 0.124262 Centerline is valid? [False, False] Translation: X:4.84, Y:0.55, Z:1.53 [[ 9.99806005e-01 -9.56319632e-04 -1.96732908e-02 4.84431149e+00] [ 8.67664948e-04 9.99989434e-01 -4.51438972e-03 5.46462615e-01] [ 1.96774001e-02 4.49644413e-03 9.99796270e-01 1.52578122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8225578440001 meters Centerline goodness : 0.142742 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.52 [[ 9.99785563e-01 -1.09269445e-03 -2.06793294e-02 4.84736243e+00] [ 1.00498007e-03 9.99990457e-01 -4.25156262e-03 5.44443092e-01] [ 2.06837777e-02 4.22986861e-03 9.99777120e-01 1.52485626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85255784400005 meters Centerline goodness : 0.125714 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.53 [[ 9.99783379e-01 -1.06324035e-03 -2.07861567e-02 4.84753036e+00] [ 9.80659686e-04 9.99991588e-01 -3.98265790e-03 5.42984714e-01] [ 2.07902164e-02 3.96141102e-03 9.99776012e-01 1.52504084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8825578440001 meters Centerline goodness : 0.145194 Centerline is valid? [False, False] Translation: X:4.80, Y:0.54, Z:1.53 [[ 9.99738405e-01 -2.53741264e-03 -2.27306759e-02 4.79997196e+00] [ 2.45116328e-03 9.99989694e-01 -3.82146244e-03 5.36540024e-01] [ 2.27401382e-02 3.76474616e-03 9.99734321e-01 1.52656862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91255784400005 meters Centerline goodness : 0.120729 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99739297e-01 -2.47971573e-03 -2.26977940e-02 4.79941758e+00] [ 2.40345044e-03 9.99991377e-01 -3.38669452e-03 5.34155423e-01] [ 2.27059964e-02 3.33125857e-03 9.99736636e-01 1.52740901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9425578440001 meters Centerline goodness : 0.145829 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99745661e-01 -2.94539912e-03 -2.23592916e-02 4.79826681e+00] [ 2.87906398e-03 9.99991360e-01 -2.99839332e-03 5.30106476e-01] [ 2.23679299e-02 2.93325688e-03 9.99745503e-01 1.52812775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97255784400005 meters Centerline goodness : 0.145521 Centerline is valid? [False, False] Translation: X:4.80, Y:0.53, Z:1.53 [[ 9.99746915e-01 -2.90293724e-03 -2.23087025e-02 4.79805126e+00] [ 2.84804788e-03 9.99992840e-01 -2.49182448e-03 5.27307357e-01] [ 2.23157764e-02 2.42765759e-03 9.99748025e-01 1.52835875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0025578440001 meters Centerline goodness : 0.119850 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99749581e-01 -2.88253431e-03 -2.21915831e-02 4.79761363e+00] [ 2.83929920e-03 9.99994010e-01 -1.97952780e-03 5.24278138e-01] [ 2.21971563e-02 1.91602355e-03 9.99751777e-01 1.52871759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03255784400005 meters Centerline goodness : 0.144665 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99755811e-01 -2.92777061e-03 -2.19030987e-02 4.79667126e+00] [ 2.89326006e-03 9.99994523e-01 -1.60712505e-03 5.21781716e-01] [ 2.19076841e-02 1.54336125e-03 9.99758807e-01 1.52922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters Centerline goodness : 0.119562 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99758961e-01 -3.17138372e-03 -2.17247141e-02 4.79609672e+00] [ 3.14557558e-03 9.99994306e-01 -1.22203158e-03 5.18392719e-01] [ 2.17284659e-02 1.15340029e-03 9.99763244e-01 1.52961850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09255784400005 meters Centerline goodness : 0.160344 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99754057e-01 -3.06336509e-03 -2.19645507e-02 4.79682651e+00] [ 3.04455080e-03 9.99994969e-01 -8.89963972e-04 5.16727246e-01] [ 2.19671665e-02 8.22872901e-04 9.99758354e-01 1.52941477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters Centerline goodness : 0.163430 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.53 [[ 9.99749880e-01 -2.94659199e-03 -2.21696721e-02 4.79767987e+00] [ 2.93460346e-03 9.99995530e-01 -5.73276857e-04 5.15183006e-01] [ 2.21712622e-02 5.08074273e-04 9.99754058e-01 1.52885988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15255784400006 meters Centerline goodness : 0.121861 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99744822e-01 -2.85402461e-03 -2.24086158e-02 4.79854965e+00] [ 2.84735922e-03 9.99995892e-01 -3.29348482e-04 5.13939171e-01] [ 2.24094637e-02 2.65459060e-04 9.99748841e-01 1.52839985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters Centerline goodness : 0.124265 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99740738e-01 -2.74674884e-03 -2.26033569e-02 4.79910413e+00] [ 2.74932532e-03 9.99996217e-01 8.29113185e-05 5.11622826e-01] [ 2.26030437e-02 -1.45033804e-04 9.99744508e-01 1.52832651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21255784400006 meters Centerline goodness : 0.123790 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99742128e-01 -2.64687534e-03 -2.25537335e-02 4.79873838e+00] [ 2.65675969e-03 9.99996387e-01 4.08305295e-04 5.09832197e-01] [ 2.25525713e-02 -4.68119854e-04 9.99745549e-01 1.52874467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters Centerline goodness : 0.120018 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.53 [[ 9.99744664e-01 -2.55939983e-03 -2.24512025e-02 4.79823731e+00] [ 2.57596056e-03 9.99996431e-01 7.08743038e-04 5.08221168e-01] [ 2.24493084e-02 -7.66395482e-04 9.99747689e-01 1.52916731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27255784400006 meters Centerline goodness : 0.150180 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99749262e-01 -2.75640157e-03 -2.22219643e-02 4.79757689e+00] [ 2.78326540e-03 9.99995433e-01 1.17804862e-03 5.04845183e-01] [ 2.22186156e-02 -1.23960287e-03 9.99752368e-01 1.52939148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters Centerline goodness : 0.124174 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99739671e-01 -2.80239900e-03 -2.26436761e-02 4.79879212e+00] [ 2.83821368e-03 9.99994772e-01 1.54968060e-03 5.02329002e-01] [ 2.26392149e-02 -1.61354477e-03 9.99742398e-01 1.52913166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33255784400006 meters Centerline goodness : 0.122932 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99710004e-01 -5.58407029e-03 -2.34248959e-02 4.80195025e+00] [ 5.56519879e-03 9.99984135e-01 -8.70731204e-04 4.98673209e-01] [ 2.34293865e-02 7.40114493e-04 9.99725220e-01 1.52762194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36255784400004 meters Centerline goodness : 0.128239 Centerline is valid? [False, False] Translation: X:4.80, Y:0.50, Z:1.53 [[ 9.99689926e-01 -5.81102679e-03 -2.42133008e-02 4.80417127e+00] [ 5.80055099e-03 9.99983050e-01 -5.02860109e-04 4.95293105e-01] [ 2.42158125e-02 3.62253699e-04 9.99706689e-01 1.52727465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39255784400007 meters Centerline goodness : 0.157574 Centerline is valid? [False, False] Translation: X:4.80, Y:0.49, Z:1.53 [[ 9.99661548e-01 -9.31122011e-03 -2.42917876e-02 4.80497732e+00] [ 9.23380074e-03 9.99951931e-01 -3.29728703e-03 4.91518370e-01] [ 2.43213217e-02 3.07186553e-03 9.99699473e-01 1.52626459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42255784400004 meters Centerline goodness : 0.170501 Centerline is valid? [False, False] Translation: X:4.76, Y:0.48, Z:1.53 [[ 9.99576652e-01 -1.21427882e-02 -2.64399134e-02 4.75766018e+00] [ 1.20624563e-02 9.99922139e-01 -3.19566408e-03 4.79069242e-01] [ 2.64766590e-02 2.87538090e-03 9.99645296e-01 1.52656386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45255784400007 meters Centerline goodness : 0.133896 Centerline is valid? [False, False] Translation: X:4.76, Y:0.48, Z:1.53 [[ 9.99583670e-01 -1.21894477e-02 -2.61515518e-02 4.75667617e+00] [ 1.21240073e-02 9.99922965e-01 -2.65945928e-03 4.76471504e-01] [ 2.61819546e-02 2.34129047e-03 9.99654452e-01 1.52672745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48255784400004 meters Centerline goodness : 0.151433 Centerline is valid? [False, False] Translation: X:4.76, Y:0.47, Z:1.53 [[ 9.99587626e-01 -1.20325817e-02 -2.60728773e-02 4.75636513e+00] [ 1.19822886e-02 9.99926037e-01 -2.08432572e-03 4.74131415e-01] [ 2.60960287e-02 1.77105346e-03 9.99657872e-01 1.52672089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51255784400007 meters Centerline goodness : 0.153408 Centerline is valid? [False, False] Translation: X:4.76, Y:0.47, Z:1.53 [[ 9.99589060e-01 -1.18250835e-02 -2.61128124e-02 4.75655828e+00] [ 1.17884419e-02 9.99929302e-01 -1.55670385e-03 4.72040739e-01] [ 2.61293744e-02 1.24823477e-03 9.99657790e-01 1.52647654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54255784400004 meters Centerline goodness : 0.170053 Centerline is valid? [False, False] Translation: X:4.74, Y:0.46, Z:1.53 [[ 9.99698917e-01 -2.68876928e-03 -2.43894596e-02 4.73678067e+00] [ 2.65109399e-03 9.99995242e-01 -1.57693920e-03 4.64137726e-01] [ 2.43935836e-02 1.51180566e-03 9.99701289e-01 1.52505802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5725578440001 meters Centerline goodness : 0.157122 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99761643e-01 -1.40337713e-03 -2.17873090e-02 4.77865799e+00] [ 1.37386477e-03 9.99998119e-01 -1.36947542e-03 4.64337155e-01] [ 2.17891899e-02 1.33921618e-03 9.99761690e-01 1.52614177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60255784400005 meters Centerline goodness : 0.148388 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99767971e-01 -1.33786707e-03 -2.14991904e-02 4.77768648e+00] [ 1.31144020e-03 9.99998367e-01 -1.24325489e-03 4.63814258e-01] [ 2.15008186e-02 1.21477152e-03 9.99768093e-01 1.52652350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6325578440001 meters Centerline goodness : 0.152362 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99772362e-01 -1.29617573e-03 -2.12965793e-02 4.77714698e+00] [ 1.27277365e-03 9.99998571e-01 -1.11238329e-03 4.63044133e-01] [ 2.12979907e-02 1.08502435e-03 9.99772583e-01 1.52657548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66255784400005 meters Centerline goodness : 0.131321 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99760860e-01 -1.55177454e-03 -2.18131726e-02 4.77873022e+00] [ 1.52901655e-03 9.99998269e-01 -1.05995372e-03 4.61228150e-01] [ 2.18147797e-02 1.02634754e-03 9.99761503e-01 1.52607128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6925578440001 meters Centerline goodness : 0.134063 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99751773e-01 -1.49008607e-03 -2.22299796e-02 4.78001645e+00] [ 1.47282780e-03 9.99998601e-01 -7.92703694e-04 4.59884824e-01] [ 2.22311297e-02 7.59765992e-04 9.99752569e-01 1.52559100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72255784400005 meters Centerline goodness : 0.133811 Centerline is valid? [False, False] Translation: X:4.78, Y:0.46, Z:1.53 [[ 9.99744677e-01 -1.39641019e-03 -2.25528502e-02 4.78101439e+00] [ 1.38605957e-03 9.99998927e-01 -4.74574783e-04 4.58516821e-01] [ 2.25534887e-02 4.43194019e-04 9.99745539e-01 1.52520770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7525578440001 meters Centerline goodness : 0.144773 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.53 [[ 9.99766749e-01 -9.62807829e-04 -2.15759329e-02 4.82643451e+00] [ 9.51160033e-04 9.99999396e-01 -5.50107111e-04 4.57321010e-01] [ 2.15764496e-02 5.29456633e-04 9.99767061e-01 1.52516288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78255784400005 meters Centerline goodness : 0.152591 Centerline is valid? [False, False] Translation: X:4.83, Y:0.45, Z:1.53 [[ 9.99767142e-01 -1.67003193e-03 -2.15144743e-02 4.82610231e+00] [ 1.65949078e-03 9.99998494e-01 -5.07800624e-04 4.54146398e-01] [ 2.15152899e-02 4.71979307e-04 9.99768408e-01 1.52546845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.812557844 meters Centerline goodness : 0.144343 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99803242e-01 3.72314451e-03 -1.94837139e-02 4.84725570e+00] [-3.80441184e-03 9.99984211e-01 -4.13563667e-03 4.51043469e-01] [ 1.94680087e-02 4.20894703e-03 9.99801621e-01 1.52514556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84255784400005 meters Centerline goodness : 0.156848 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99808804e-01 3.64825225e-03 -1.92105853e-02 4.84640087e+00] [-3.72372095e-03 9.99985484e-01 -3.89419165e-03 4.49428809e-01] [ 1.91960995e-02 3.96498196e-03 9.99807876e-01 1.52535939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.872557844 meters Centerline goodness : 0.138742 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99816737e-01 3.44624501e-03 -1.88312578e-02 4.84543512e+00] [-3.51318889e-03 9.99987623e-01 -3.52300950e-03 4.47136500e-01] [ 1.88188836e-02 3.58852163e-03 9.99816469e-01 1.52531513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90255784400006 meters Centerline goodness : 0.140939 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99816225e-01 3.42992402e-03 -1.88613801e-02 4.84554476e+00] [-3.49393774e-03 9.99988245e-01 -3.36199908e-03 4.46211293e-01] [ 1.88496269e-02 3.42728171e-03 9.99816456e-01 1.52521937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93255784400003 meters Centerline goodness : 0.148957 Centerline is valid? [False, False] Translation: X:4.83, Y:0.45, Z:1.52 [[ 9.99800566e-01 -5.53645021e-03 -1.91879198e-02 4.82573014e+00] [ 5.49287972e-03 9.99982217e-01 -2.32268572e-03 4.49966396e-01] [ 1.92004380e-02 2.21682556e-03 9.99813197e-01 1.52419177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96255784400006 meters Centerline goodness : 0.142801 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.52 [[ 9.99803685e-01 -5.58278865e-03 -1.90111696e-02 4.82498027e+00] [ 5.54117327e-03 9.99982137e-01 -2.24097032e-03 4.49459726e-01] [ 1.90233408e-02 2.13518620e-03 9.99816760e-01 1.52468480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99255784400003 meters Centerline goodness : 0.131073 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.53 [[ 9.99809711e-01 -5.57000587e-03 -1.86953488e-02 4.82381121e+00] [ 5.52956753e-03 9.99982261e-01 -2.21401317e-03 4.49574976e-01] [ 1.87073493e-02 2.11021467e-03 9.99822775e-01 1.52524476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02255784400006 meters Centerline goodness : 0.131162 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.53 [[ 9.99808898e-01 -5.60742019e-03 -1.87276105e-02 4.82403387e+00] [ 5.56449743e-03 9.99981773e-01 -2.34327466e-03 4.50350678e-01] [ 1.87404088e-02 2.23861711e-03 9.99821877e-01 1.52501264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05255784400003 meters Centerline goodness : 0.364251 Centerline is valid? [False, False] Translation: X:4.82, Y:0.45, Z:1.52 [[ 9.99804746e-01 -5.69384456e-03 -1.89221909e-02 4.82480928e+00] [ 5.64728589e-03 9.99980896e-01 -2.51305764e-03 4.51297645e-01] [ 1.89361384e-02 2.40570793e-03 9.99817801e-01 1.52450019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08255784400006 meters Centerline goodness : 0.164937 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.53 [[ 9.99820807e-01 2.82406503e-03 -1.87183978e-02 4.84506288e+00] [-2.89470944e-03 9.99988786e-01 -3.74804310e-03 4.47849370e-01] [ 1.87076031e-02 3.80155580e-03 9.99817770e-01 1.52518620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11255784400004 meters Centerline goodness : 0.128947 Centerline is valid? [False, False] Translation: X:4.84, Y:0.45, Z:1.53 [[ 9.99824103e-01 2.73000637e-03 -1.85555782e-02 4.84459253e+00] [-2.80994890e-03 9.99986878e-01 -4.28356865e-03 4.50973797e-01] [ 1.85436406e-02 4.33495541e-03 9.99818654e-01 1.52534709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14255784400007 meters Centerline goodness : 0.140966 Centerline is valid? [False, False] Translation: X:4.84, Y:0.45, Z:1.53 [[ 9.99828262e-01 2.67587385e-03 -1.83380985e-02 4.84372340e+00] [-2.76161973e-03 9.99985366e-01 -4.65210544e-03 4.53424506e-01] [ 1.83253817e-02 4.70194935e-03 9.99821020e-01 1.52594051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17255784400004 meters Centerline goodness : 0.110260 Centerline is valid? [False, False] Translation: X:4.84, Y:0.46, Z:1.53 [[ 9.99830002e-01 2.56601518e-03 -1.82587720e-02 4.84345127e+00] [-2.66064743e-03 9.99983145e-01 -5.16043434e-03 4.56312012e-01] [ 1.82452225e-02 5.20813723e-03 9.99819977e-01 1.52612107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20255784400007 meters Centerline goodness : 0.147164 Centerline is valid? [False, False] Translation: X:4.84, Y:0.46, Z:1.53 [[ 9.99827298e-01 2.40088904e-03 -1.84285289e-02 4.84412562e+00] [-2.50807379e-03 9.99980062e-01 -5.79533340e-03 4.59662720e-01] [ 1.84142475e-02 5.84055264e-03 9.99813384e-01 1.52574229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23255784400004 meters Centerline goodness : 0.134630 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.53 [[ 9.99822580e-01 2.23003483e-03 -1.87038648e-02 4.84526568e+00] [-2.35030325e-03 9.99976690e-01 -6.41062237e-03 4.62919334e-01] [ 1.86891329e-02 6.45344476e-03 9.99804516e-01 1.52507011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26255784400007 meters Centerline goodness : 0.141880 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:1.52 [[ 9.99803291e-01 5.32344991e-03 -1.91060497e-02 4.84815448e+00] [-5.40356740e-03 9.99976814e-01 -4.14413195e-03 4.69028507e-01] [ 1.90835456e-02 4.24655759e-03 9.99808874e-01 1.52275387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29255784400004 meters Centerline goodness : 0.121214 Centerline is valid? [False, False] Translation: X:4.85, Y:0.47, Z:1.52 [[ 9.99801907e-01 5.10673703e-03 -1.92371556e-02 4.84876184e+00] [-5.20053909e-03 9.99974816e-01 -4.82922088e-03 4.72484848e-01] [ 1.92120096e-02 4.92830783e-03 9.99803286e-01 1.52235438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3225578440001 meters Centerline goodness : 0.133456 Centerline is valid? [False, False] Translation: X:4.87, Y:0.48, Z:1.53 [[ 9.99777295e-01 -1.02857123e-03 -2.10784751e-02 4.86626803e+00] [ 9.43587344e-04 9.99991389e-01 -4.04133478e-03 4.80054979e-01] [ 2.10824504e-02 4.02054537e-03 9.99769656e-01 1.52507885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35255784400005 meters Centerline goodness : 0.146026 Centerline is valid? [False, False] Translation: X:4.87, Y:0.48, Z:1.53 [[ 9.99775114e-01 -1.19825419e-03 -2.11727636e-02 4.86647482e+00] [ 1.09990537e-03 9.99988555e-01 -4.65609790e-03 4.83177453e-01] [ 2.11781005e-02 4.63176277e-03 9.99764990e-01 1.52517841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3825578440001 meters Centerline goodness : 0.170952 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99765067e-01 2.59652095e-03 -2.15190556e-02 4.86709898e+00] [-2.62814181e-03 9.99995508e-01 -1.44128505e-03 4.86730998e-01] [ 2.15152166e-02 1.49750158e-03 9.99767399e-01 1.52544262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41255784400005 meters Centerline goodness : 0.147898 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99762718e-01 2.47706894e-03 -2.16419160e-02 4.86752643e+00] [-2.51858395e-03 9.99995040e-01 -1.89122267e-03 4.89068192e-01] [ 2.16371240e-02 1.94528090e-03 9.99763998e-01 1.52526787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4425578440001 meters Centerline goodness : 0.144938 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99762765e-01 2.30967924e-03 -2.16582570e-02 4.86769532e+00] [-2.36171626e-03 9.99994385e-01 -2.37737073e-03 4.91420795e-01] [ 2.16526444e-02 2.42795739e-03 9.99762606e-01 1.52504486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47255784400005 meters Centerline goodness : 0.175532 Centerline is valid? [False, False] Translation: X:4.87, Y:0.49, Z:1.53 [[ 9.99764869e-01 2.20109383e-03 -2.15722271e-02 4.86734471e+00] [-2.26130200e-03 9.99993615e-01 -2.76700792e-03 4.93453729e-01] [ 2.15659989e-02 2.81513863e-03 9.99763463e-01 1.52528123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5025578440001 meters Centerline goodness : 0.179631 Centerline is valid? [False, False] Translation: X:4.88, Y:0.50, Z:1.53 [[ 9.99773323e-01 -4.40786658e-03 -2.08296291e-02 4.88420182e+00] [ 4.39236471e-03 9.99990042e-01 -7.89914063e-04 5.00817891e-01] [ 2.08329035e-02 6.98243680e-04 9.99782728e-01 1.52841821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53255784400005 meters Centerline goodness : 0.129556 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99797419e-01 4.15175162e-03 -1.96947497e-02 4.90365564e+00] [-4.18717862e-03 9.99989689e-01 -1.75790841e-03 4.96763816e-01] [ 1.96872482e-02 1.84001773e-03 9.99804494e-01 1.52960776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters Centerline goodness : 0.157783 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99798845e-01 4.22543201e-03 -1.96065217e-02 4.90345087e+00] [-4.25549955e-03 9.99989832e-01 -1.49207939e-03 4.95129346e-01] [ 1.96000177e-02 1.57521480e-03 9.99806660e-01 1.52961151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59255784400005 meters Centerline goodness : 0.126984 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99800076e-01 4.21898682e-03 -1.95450405e-02 4.90332259e+00] [-4.24950605e-03 9.99989815e-01 -1.52021282e-03 4.95147614e-01] [ 1.95384276e-02 1.60296566e-03 9.99807822e-01 1.52957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters Centerline goodness : 0.126984 Centerline is valid? [False, False] Translation: X:4.90, Y:0.50, Z:1.53 [[ 9.99800076e-01 4.21898682e-03 -1.95450405e-02 4.90332259e+00] [-4.24950605e-03 9.99989815e-01 -1.52021282e-03 4.95147614e-01] [ 1.95384276e-02 1.60296566e-03 9.99807822e-01 1.52957023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65255784400006 meters Centerline goodness : 0.180586 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 9.99809676e-01 -2.96717104e-03 -1.92822981e-02 4.92184587e+00] [ 2.96191098e-03 9.99995568e-01 -3.01345315e-04 5.00647842e-01] [ 1.92831068e-02 2.44175512e-04 9.99814034e-01 1.53141373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters Centerline goodness : 0.127817 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 9.99811955e-01 4.37652670e-04 -1.93871687e-02 4.92173895e+00] [-3.82492096e-04 9.99995869e-01 2.84882710e-03 5.02354665e-01] [ 1.93883354e-02 -2.84087595e-03 9.99807993e-01 1.53188063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71255784400006 meters Centerline goodness : 0.138367 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99792523e-01 4.34082203e-03 -1.99014605e-02 4.92331236e+00] [-4.21658878e-03 9.99971390e-01 6.28013685e-03 5.05133637e-01] [ 1.99281521e-02 -6.19491759e-03 9.99782222e-01 1.53141412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters Centerline goodness : 0.139129 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99787475e-01 4.22289621e-03 -2.01785268e-02 4.92422474e+00] [-4.10761454e-03 9.99975026e-01 5.75112261e-03 5.07850804e-01] [ 2.02023093e-02 -5.66701474e-03 9.99779852e-01 1.53101588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77255784400006 meters Centerline goodness : 0.155771 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99784506e-01 4.06054888e-03 -2.03581370e-02 4.92475547e+00] [-3.95542035e-03 9.99978649e-01 5.20156661e-03 5.10489329e-01] [ 2.03788235e-02 -5.11992072e-03 9.99779221e-01 1.53080502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters Centerline goodness : 0.149853 Centerline is valid? [False, False] Translation: X:4.92, Y:0.51, Z:1.53 [[ 9.99785985e-01 3.89946560e-03 -2.03169258e-02 4.92457514e+00] [-3.80468408e-03 9.99981709e-01 4.70171815e-03 5.12904102e-01] [ 2.03348884e-02 -4.62341243e-03 9.99782535e-01 1.53091169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83255784400006 meters Centerline goodness : 0.157249 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99811201e-01 -3.34185594e-03 -1.91414359e-02 4.94220653e+00] [ 3.45721965e-03 9.99976042e-01 5.99699298e-03 5.22007779e-01] [ 1.91209362e-02 -6.06203690e-03 9.99798801e-01 1.53324137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters Centerline goodness : 0.165513 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99813994e-01 -3.43376852e-03 -1.89785868e-02 4.94164363e+00] [ 3.54433656e-03 9.99976925e-01 5.79537387e-03 5.23008351e-01] [ 1.89582489e-02 -5.86156240e-03 9.99803094e-01 1.53345948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89255784400007 meters Centerline goodness : 0.142558 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99814981e-01 -3.55638835e-03 -1.89038324e-02 4.94135401e+00] [ 3.66315355e-03 9.99977520e-01 5.61618391e-03 5.23651802e-01] [ 1.88834341e-02 -5.68439246e-03 9.99805533e-01 1.53361920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92255784400004 meters Centerline goodness : 0.144475 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99815542e-01 -3.70629214e-03 -1.88452920e-02 4.94119498e+00] [ 3.80963163e-03 9.99977888e-01 5.45063072e-03 5.24056286e-01] [ 1.88246736e-02 -5.52141893e-03 9.99807554e-01 1.53354590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95255784400007 meters Centerline goodness : 0.153359 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99816641e-01 -3.76969831e-03 -1.87742738e-02 4.94101995e+00] [ 3.87264023e-03 9.99977651e-01 5.44980216e-03 5.23974022e-01] [ 1.87533101e-02 -5.52150890e-03 9.99808895e-01 1.53340934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98255784400004 meters Centerline goodness : 0.149489 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.53 [[ 9.99814636e-01 4.27111456e-03 -1.87736576e-02 4.95885360e+00] [-4.17899228e-03 9.99979049e-01 4.94349206e-03 5.18501794e-01] [ 1.87943785e-02 -4.86412075e-03 9.99811538e-01 1.53483356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01255784400007 meters Centerline goodness : 0.141982 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99823615e-01 4.02805359e-03 -1.83443003e-02 4.95757182e+00] [-3.93623984e-03 9.99979560e-01 5.03838854e-03 5.17365101e-01] [ 1.83642203e-02 -4.96529228e-03 9.99819034e-01 1.53526907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04255784400004 meters Centerline goodness : 0.149710 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99825290e-01 3.99474260e-03 -1.82601140e-02 4.95722546e+00] [-3.90021156e-03 9.99978824e-01 5.20959823e-03 5.16072091e-01] [ 1.82805384e-02 -5.13746975e-03 9.99819698e-01 1.53552411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0725578440001 meters Centerline goodness : 0.158877 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99825829e-01 4.02402098e-03 -1.82241261e-02 4.95707728e+00] [-3.92635107e-03 9.99977755e-01 5.39198692e-03 5.14982720e-01] [ 1.82454181e-02 -5.31949347e-03 9.99819388e-01 1.53563534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10255784400005 meters Centerline goodness : 0.142694 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99780370e-01 4.12467058e-03 -2.05475000e-02 4.91133407e+00] [-3.99638609e-03 9.99972292e-01 6.28046916e-03 5.14028168e-01] [ 2.05728355e-02 -6.19697403e-03 9.99769151e-01 1.53577604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1325578440001 meters Centerline goodness : 0.143720 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99778818e-01 4.16031283e-03 -2.06156953e-02 4.91160987e+00] [-4.03175628e-03 9.99972194e-01 6.27350271e-03 5.14174315e-01] [ 2.06412218e-02 -6.18899767e-03 9.99767791e-01 1.53559205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16255784400005 meters Centerline goodness : 0.142295 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99780576e-01 4.14473584e-03 -2.05333995e-02 4.91145047e+00] [-4.01834062e-03 9.99972749e-01 6.19303182e-03 5.14493706e-01] [ 2.05585084e-02 -6.10916273e-03 9.99769986e-01 1.53553718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1925578440001 meters Centerline goodness : 0.164061 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99779862e-01 4.12606172e-03 -2.05718926e-02 4.91136945e+00] [-4.00149075e-03 9.99973432e-01 6.09288723e-03 5.14730002e-01] [ 2.05964857e-02 -6.00922771e-03 9.99769810e-01 1.53580358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22255784400005 meters Centerline goodness : 0.127516 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99777522e-01 4.18224357e-03 -2.06740119e-02 4.91166633e+00] [-4.05550161e-03 9.99972750e-01 6.16862642e-03 5.14467935e-01] [ 2.06992473e-02 -6.08341055e-03 9.99767240e-01 1.53572082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2525578440001 meters Centerline goodness : 0.129981 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99774864e-01 4.22958572e-03 -2.07926016e-02 4.91219131e+00] [-4.09996499e-03 9.99971922e-01 6.27266485e-03 5.14039840e-01] [ 2.08185485e-02 -6.18600371e-03 9.99764133e-01 1.53534551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28255784400005 meters Centerline goodness : 0.139053 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99769991e-01 4.34682094e-03 -2.10016764e-02 4.91294403e+00] [-4.21191567e-03 9.99970241e-01 6.46351707e-03 5.13254891e-01] [ 2.10291472e-02 -6.37357311e-03 9.99758547e-01 1.53501344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.312557844 meters Centerline goodness : 0.142653 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99765259e-01 4.40343545e-03 -2.12140727e-02 4.91318060e+00] [-4.26385519e-03 9.99968995e-01 6.62035213e-03 5.12097757e-01] [ 2.12425672e-02 -6.52834432e-03 9.99753037e-01 1.53559701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34255784400005 meters Centerline goodness : 0.163459 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99766062e-01 4.42726047e-03 -2.11712322e-02 4.91285104e+00] [-4.28624534e-03 9.99968359e-01 6.70144106e-03 5.11596442e-01] [ 2.12002313e-02 -6.60912825e-03 9.99753404e-01 1.53596974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.372557844 meters Centerline goodness : 0.142764 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99769387e-01 4.49757793e-03 -2.09986898e-02 4.91223215e+00] [-4.35496962e-03 9.99967178e-01 6.83209287e-03 5.11018730e-01] [ 2.10287284e-02 -6.73906865e-03 9.99756159e-01 1.53628555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40255784400006 meters Centerline goodness : 0.140405 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99772520e-01 4.58909180e-03 -2.08290461e-02 4.91170280e+00] [-4.44392108e-03 9.99965551e-01 7.01057221e-03 5.10213278e-01] [ 2.08605007e-02 -6.91641480e-03 9.99758472e-01 1.53649261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43255784400003 meters Centerline goodness : 0.138400 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99772983e-01 4.72140181e-03 -2.07771832e-02 4.91147749e+00] [-4.56825562e-03 9.99962095e-01 7.41218359e-03 5.07977432e-01] [ 2.08113915e-02 -7.31558541e-03 9.99756654e-01 1.53664524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46255784400006 meters Centerline goodness : 0.138972 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99767382e-01 4.80139114e-03 -2.10268401e-02 4.91228137e+00] [-4.64097428e-03 9.99959805e-01 7.67131171e-03 5.06556570e-01] [ 2.10628279e-02 -7.57194220e-03 9.99749480e-01 1.53634451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49255784400003 meters Centerline goodness : 0.158714 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.54 [[ 9.99760167e-01 4.84817696e-03 -2.13565905e-02 4.91351898e+00] [-4.68076765e-03 9.99957983e-01 7.88179223e-03 5.05256690e-01] [ 2.13939055e-02 -7.77993667e-03 9.99740853e-01 1.53568664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52255784400006 meters Centerline goodness : 0.142490 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 9.99754634e-01 4.92182735e-03 -2.15974057e-02 4.91433577e+00] [-4.74751981e-03 9.99955806e-01 8.11462774e-03 5.04000840e-01] [ 2.16363900e-02 -8.01010257e-03 9.99733817e-01 1.53532080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55255784400003 meters Centerline goodness : 0.155391 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99975279 0.0050984 -0.02164168 4.91421177] [-0.00491531 0.99995175 0.00850466 0.50218747] [ 0.021684 -0.00839618 0.99972962 1.53572103] [ 0. 0. 0. 1. ]] SLAMing on 365.58255784400006 meters Centerline goodness : 0.151886 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99975639 0.00514914 -0.02146283 4.91346509] [-0.00496612 0.99995093 0.00857201 0.50197527] [ 0.02150591 -0.00846333 0.9997329 1.53621756] [ 0. 0. 0. 1. ]] SLAMing on 365.61255784400004 meters Centerline goodness : 0.120661 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99976033 0.00520937 -0.02126351 4.9128459 ] [-0.00502609 0.99994984 0.00866359 0.50163977] [ 0.02130757 -0.00855464 0.99973637 1.53643076] [ 0. 0. 0. 1. ]] SLAMing on 365.64255784400007 meters Centerline goodness : 0.134193 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99976022 0.00526338 -0.02125571 4.91284653] [-0.00507675 0.99994818 0.00882436 0.50079142] [ 0.02130105 -0.00871433 0.99973513 1.53643912] [ 0. 0. 0. 1. ]] SLAMing on 365.67255784400004 meters Centerline goodness : 0.148580 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.54 [[ 0.99974439 0.00547954 -0.02193474 4.91540803] [-0.00527636 0.99994274 0.00931017 0.49839872] [ 0.0219845 -0.00919206 0.99971605 1.53520546] [ 0. 0. 0. 1. ]] SLAMing on 365.70255784400007 meters Centerline goodness : 0.141043 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 0.99973865 0.00562797 -0.02215778 4.91624955] [-0.00541759 0.99993979 0.00954332 0.49756409] [ 0.02221016 -0.00942078 0.99970894 1.53480291] [ 0. 0. 0. 1. ]] SLAMing on 365.73255784400004 meters Centerline goodness : 0.164764 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.53 [[ 0.99973909 0.00570198 -0.02211858 4.91619533] [-0.00548939 0.99993827 0.00966012 0.49715192] [ 0.0221723 -0.00953619 0.99970868 1.53475434] [ 0. 0. 0. 1. ]] SLAMing on 365.76255784400007 meters Centerline goodness : 0.130083 Centerline is valid? [False, False] Translation: X:4.92, Y:0.50, Z:1.54 [[ 0.99974136 0.00571679 -0.0220119 4.91560684] [-0.00550537 0.99993825 0.00965335 0.49711711] [ 0.02206573 -0.00952967 0.9997111 1.53533242] [ 0. 0. 0. 1. ]] SLAMing on 365.79255784400004 meters Centerline goodness : 0.119325 Centerline is valid? [False, False] Translation: X:4.91, Y:0.50, Z:1.54 [[ 0.99974624 0.00566449 -0.02180288 4.91467307] [-0.00545838 0.99993996 0.00950129 0.49758985] [ 0.02185539 -0.00937987 0.99971714 1.5360773 ] [ 0. 0. 0. 1. ]] SLAMing on 365.8225578440001 meters Centerline goodness : 0.136148 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99966896 0.01553542 -0.02050916 4.93553143] [-0.01534686 0.9998388 0.00931963 0.49574165] [ 0.02065064 -0.00900179 0.99974623 1.53632425] [ 0. 0. 0. 1. ]] SLAMing on 365.85255784400005 meters Centerline goodness : 0.145848 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99966121 0.01566314 -0.02078788 4.93660845] [-0.01547607 0.99983856 0.00912925 0.49736935] [ 0.02092751 -0.00880445 0.99974223 1.5357598 ] [ 0. 0. 0. 1. ]] SLAMing on 365.8825578440001 meters Centerline goodness : 0.146395 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99965378 0.01572536 -0.02109592 4.93773201] [-0.01554201 0.99984025 0.00882724 0.49933718] [ 0.02123137 -0.00849631 0.99973849 1.53523348] [ 0. 0. 0. 1. ]] SLAMing on 365.91255784400005 meters Centerline goodness : 0.141098 Centerline is valid? [False, False] Translation: X:4.94, Y:0.50, Z:1.54 [[ 0.99964845 0.01613072 -0.02104216 4.93749197] [-0.01595734 0.99983754 0.00838156 0.5030468 ] [ 0.02117394 -0.00804284 0.99974346 1.53548863] [ 0. 0. 0. 1. ]] SLAMing on 365.9425578440001 meters Centerline goodness : 0.112778 Centerline is valid? [False, False] Translation: X:4.94, Y:0.51, Z:1.54 [[ 0.99965336 0.01600608 -0.02090348 4.93696766] [-0.01584542 0.9998438 0.00782884 0.50584432] [ 0.02102552 -0.0074949 0.99975085 1.53577028] [ 0. 0. 0. 1. ]] SLAMing on 365.97255784400005 meters Centerline goodness : 0.143752 Centerline is valid? [False, False] Translation: X:4.94, Y:0.51, Z:1.54 [[ 0.99965494 0.01584322 -0.02095209 4.93716802] [-0.01569443 0.99985057 0.00724686 0.50881468] [ 0.02106377 -0.00691552 0.99975422 1.53555402] [ 0. 0. 0. 1. ]] SLAMing on 366.0025578440001 meters Centerline goodness : 0.125447 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99970501 0.00896223 -0.02257352 4.95701651] [-0.0087817 0.99992877 0.00808371 0.51787441] [ 0.02264436 -0.0078831 0.9997125 1.5369399 ] [ 0. 0. 0. 1. ]] SLAMing on 366.03255784400005 meters Centerline goodness : 0.147516 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99969599 0.00883999 -0.0230168 4.95892698] [-0.00866554 0.99993305 0.00766779 0.51997296] [ 0.02308304 -0.00746601 0.99970567 1.53550473] [ 0. 0. 0. 1. ]] SLAMing on 366.062557844 meters Centerline goodness : 0.124709 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99969283 0.008735 -0.02319356 4.95954849] [-0.00856156 0.99993472 0.00756656 0.52003615] [ 0.02325814 -0.00736567 0.99970236 1.53518789] [ 0. 0. 0. 1. ]] SLAMing on 366.09255784400005 meters Centerline goodness : 0.145010 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99705434e-01 -6.36629362e-04 -2.42619026e-02 4.93857445e+00] [ 8.31488515e-04 9.99967476e-01 8.02224515e-03 5.23086170e-01] [ 2.42560063e-02 -8.04005557e-03 9.99673449e-01 1.53464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters Centerline goodness : 0.144235 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99703201e-01 -6.51717769e-04 -2.43533227e-02 4.93862005e+00] [ 8.50066498e-04 9.99966548e-01 8.13516229e-03 5.22318349e-01] [ 2.43472062e-02 -8.15344973e-03 9.99670313e-01 1.53500329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15255784400006 meters Centerline goodness : 0.127795 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99705779e-01 -5.73407022e-04 -2.42492491e-02 4.93819320e+00] [ 7.77116128e-04 9.99964484e-01 8.39204657e-03 5.21195769e-01] [ 2.42435758e-02 -8.40842194e-03 9.99670720e-01 1.53528803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters Centerline goodness : 0.144990 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99707945e-01 -5.37377481e-04 -2.41606088e-02 4.93801931e+00] [ 7.42586703e-04 9.99963723e-01 8.48537558e-03 5.20763005e-01] [ 2.41551725e-02 -8.50083874e-03 9.99672078e-01 1.53520984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21255784400006 meters Centerline goodness : 0.123558 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709297e-01 -4.91852894e-04 -2.41055909e-02 4.93802444e+00] [ 7.00029848e-04 9.99962530e-01 8.62836690e-03 5.19971075e-01] [ 2.41004437e-02 -8.64273324e-03 9.99672182e-01 1.53501657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters Centerline goodness : 0.124428 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709938e-01 -4.33180991e-04 -2.40801305e-02 4.93796434e+00] [ 6.44728151e-04 9.99961264e-01 8.77806407e-03 5.19168951e-01] [ 2.40753953e-02 -8.79104302e-03 9.99671492e-01 1.53503507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27255784400006 meters Centerline goodness : 0.124642 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99709895e-01 -2.88735916e-04 -2.40840827e-02 4.93779245e+00] [ 5.06807185e-04 9.99958929e-01 9.04896826e-03 5.17971669e-01] [ 2.40804808e-02 -9.05854910e-03 9.99668982e-01 1.53535694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters Centerline goodness : 0.126227 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 0.99967786 0.00808264 -0.02405915 4.95780641] [-0.00790045 0.99993947 0.00765786 0.51458082] [ 0.02411958 -0.00746532 0.99968121 1.53707457] [ 0. 0. 0. 1. ]] SLAMing on 366.33255784400006 meters Centerline goodness : 0.125043 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99682237e-01 -5.44678867e-04 -2.52017683e-02 4.93945432e+00] [ 7.70463582e-04 9.99959649e-01 8.95023975e-03 5.17899905e-01] [ 2.51958764e-02 -8.96681273e-03 9.99642318e-01 1.53503888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters Centerline goodness : 0.126819 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.53 [[ 9.99682245e-01 -5.48852364e-04 -2.52013567e-02 4.93970845e+00] [ 7.72278782e-04 9.99960480e-01 8.85677372e-03 5.18409193e-01] [ 2.51954996e-02 -8.87342191e-03 9.99643161e-01 1.53455320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39255784400007 meters Centerline goodness : 0.163728 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99711127e-01 -1.97060305e-05 -2.40345945e-02 4.93652566e+00] [ 2.38763176e-04 9.99958462e-01 9.11140781e-03 5.19119517e-01] [ 2.40334166e-02 -9.11451434e-03 9.99669606e-01 1.53500332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42255784400004 meters Centerline goodness : 0.125711 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 0.99972799 0.00866371 -0.02165395 4.95597458] [-0.00849189 0.99993183 0.00801427 0.51808851] [ 0.02172191 -0.00782821 0.9997334 1.53601582] [ 0. 0. 0. 1. ]] SLAMing on 366.45255784400007 meters Centerline goodness : 0.125626 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.53 [[ 9.99784673e-01 -5.73277510e-05 -2.07509961e-02 4.93442829e+00] [ 2.38786685e-04 9.99961758e-01 8.74221695e-03 5.23036985e-01] [ 2.07497013e-02 -8.74528958e-03 9.99746453e-01 1.53452169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48255784400004 meters Centerline goodness : 0.129574 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.53 [[ 9.99789765e-01 -1.22997441e-04 -2.05039189e-02 4.93385959e+00] [ 2.98039943e-04 9.99963539e-01 8.53418941e-03 5.24084867e-01] [ 2.05021216e-02 -8.53850621e-03 9.99753348e-01 1.53436390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51255784400007 meters Centerline goodness : 0.136591 Centerline is valid? [False, False] Translation: X:4.95, Y:0.52, Z:1.54 [[ 0.99977599 0.00836737 -0.01944124 4.95419127] [-0.00823341 0.99994188 0.00696012 0.52377422] [ 0.01949834 -0.0067985 0.99978677 1.53524718] [ 0. 0. 0. 1. ]] SLAMing on 366.54255784400004 meters Centerline goodness : 0.136591 Centerline is valid? [False, False] Translation: X:4.95, Y:0.52, Z:1.54 [[ 0.99977599 0.00836737 -0.01944124 4.95419127] [-0.00823341 0.99994188 0.00696012 0.52377422] [ 0.01949834 -0.0067985 0.99978677 1.53524718] [ 0. 0. 0. 1. ]] SLAMing on 366.5725578440001 meters Centerline goodness : 0.122902 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99801335e-01 -7.68788023e-04 -1.99173009e-02 4.93299362e+00] [ 9.19879119e-04 9.99970864e-01 7.57787157e-03 5.28437160e-01] [ 1.99108948e-02 -7.59468762e-03 9.99772913e-01 1.53419239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60255784400005 meters Centerline goodness : 0.125786 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99804018e-01 -8.27966279e-04 -1.97797965e-02 4.93262863e+00] [ 9.74564160e-04 9.99972122e-01 7.40300668e-03 5.29372242e-01] [ 1.97731156e-02 -7.42083250e-03 9.99776953e-01 1.53418389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6325578440001 meters Centerline goodness : 0.127099 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99807221e-01 -8.64573656e-04 -1.96156654e-02 4.93216471e+00] [ 1.00786718e-03 9.99972873e-01 7.29634619e-03 5.29928048e-01] [ 1.96088251e-02 -7.31470959e-03 9.99780971e-01 1.53426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66255784400005 meters Centerline goodness : 0.128902 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99811031e-01 -9.30703487e-04 -1.94174017e-02 4.93171884e+00] [ 1.06974004e-03 9.99973857e-01 7.15125207e-03 5.30659583e-01] [ 1.94102384e-02 -7.17067227e-03 9.99785889e-01 1.53412770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6925578440001 meters Centerline goodness : 0.122373 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99807183e-01 -1.02741541e-03 -1.96097314e-02 4.93245676e+00] [ 1.16522693e-03 9.99974698e-01 7.01757898e-03 5.31006545e-01] [ 1.96020253e-02 -7.03907566e-03 9.99783082e-01 1.53371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72255784400005 meters Centerline goodness : 0.152522 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99798595e-01 -1.15267907e-03 -2.00359982e-02 4.93390324e+00] [ 1.29014303e-03 9.99975711e-01 6.84927818e-03 5.31438581e-01] [ 2.00276165e-02 -6.87374800e-03 9.99775798e-01 1.53306767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7525578440001 meters Centerline goodness : 0.122338 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99794096e-01 -1.23271510e-03 -2.02545476e-02 4.93461987e+00] [ 1.36840965e-03 9.99976706e-01 6.68696749e-03 5.32117353e-01] [ 2.02458326e-02 -6.71330714e-03 9.99772493e-01 1.53275001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78255784400005 meters Centerline goodness : 0.130132 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99803720e-01 -1.21500897e-03 -1.97748644e-02 4.93283927e+00] [ 1.34512365e-03 9.99977527e-01 6.56783067e-03 5.33403153e-01] [ 1.97664401e-02 -6.59314118e-03 9.99782886e-01 1.53361740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.812557844 meters Centerline goodness : 0.128481 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99810655e-01 -1.24863214e-03 -1.94189410e-02 4.93158222e+00] [ 1.37487179e-03 9.99978002e-01 6.48886017e-03 5.33792127e-01] [ 1.94104116e-02 -6.51433009e-03 9.99790378e-01 1.53421611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84255784400005 meters Centerline goodness : 0.139913 Centerline is valid? [False, False] Translation: X:4.93, Y:0.53, Z:1.53 [[ 9.99814496e-01 -1.33145867e-03 -1.92145739e-02 4.93079544e+00] [ 1.45447258e-03 9.99978529e-01 6.38956091e-03 5.33951762e-01] [ 1.92056539e-02 -6.41632270e-03 9.99794966e-01 1.53468828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.872557844 meters Centerline goodness : 0.126902 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99806938e-01 -1.50886180e-03 -1.95910472e-02 4.93208260e+00] [ 1.62823450e-03 9.99980199e-01 6.07870686e-03 5.35019518e-01] [ 1.95814873e-02 -6.10943211e-03 9.99789598e-01 1.53401902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90255784400006 meters Centerline goodness : 0.147980 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.53 [[ 0.99974433 0.00651513 -0.02165223 4.91262253] [-0.00640199 0.99996551 0.00529059 0.53071185] [ 0.02168596 -0.00515062 0.99975156 1.53265687] [ 0. 0. 0. 1. ]] SLAMing on 366.93255784400003 meters Centerline goodness : 0.131078 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.53 [[ 0.99973946 0.00649313 -0.02188257 4.91352833] [-0.00638028 0.99996601 0.00522303 0.53116518] [ 0.02191574 -0.00508205 0.9997469 1.53206948] [ 0. 0. 0. 1. ]] SLAMing on 366.96255784400006 meters Centerline goodness : 0.128711 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99764359e-01 -1.37863187e-03 -2.16639202e-02 4.93340602e+00] [ 1.50753558e-03 9.99981252e-01 5.93495135e-03 5.36535494e-01] [ 2.16553319e-02 -5.96621196e-03 9.99747694e-01 1.53344806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99255784400003 meters Centerline goodness : 0.128870 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99768717e-01 -1.39037252e-03 -2.14611208e-02 4.93262142e+00] [ 1.51705665e-03 9.99981516e-01 5.88780793e-03 5.36923409e-01] [ 2.14525379e-02 -5.91900392e-03 9.99752346e-01 1.53390480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02255784400006 meters Centerline goodness : 0.133562 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99768561e-01 -1.45142985e-03 -2.14643466e-02 4.93275222e+00] [ 1.57472830e-03 9.99982352e-01 5.72855123e-03 5.37682111e-01] [ 2.14556532e-02 -5.76102593e-03 9.99753202e-01 1.53365316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05255784400003 meters Centerline goodness : 0.130638 Centerline is valid? [False, False] Translation: X:4.95, Y:0.54, Z:1.53 [[ 9.99747654e-01 6.94043165e-03 -2.13648961e-02 4.95329541e+00] [-6.85332738e-03 9.99967915e-01 4.14750402e-03 5.36053387e-01] [ 2.13929961e-02 -4.00003678e-03 9.99763142e-01 1.53499007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08255784400006 meters Centerline goodness : 0.141460 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99750335e-01 -1.98437266e-03 -2.22560051e-02 4.93412958e+00] [ 2.09455175e-03 9.99985662e-01 4.92831532e-03 5.40908375e-01] [ 2.22459064e-02 -4.97370125e-03 9.99740157e-01 1.53295522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11255784400004 meters Centerline goodness : 0.130876 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.53 [[ 9.99750912e-01 -1.68074973e-03 -2.22550773e-02 4.93422970e+00] [ 1.78453086e-03 9.99987623e-01 4.64421751e-03 5.44595493e-01] [ 2.22469961e-02 -4.68277557e-03 9.99741538e-01 1.53250780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14255784400007 meters Centerline goodness : 0.119585 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99756616e-01 -1.66826923e-03 -2.19982878e-02 4.93361422e+00] [ 1.76376805e-03 9.99989102e-01 4.32250587e-03 5.47080764e-01] [ 2.19908370e-02 -4.36025372e-03 9.99748664e-01 1.53235449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17255784400004 meters Centerline goodness : 0.293305 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99761506e-01 -1.71167257e-03 -2.17715784e-02 4.93293924e+00] [ 1.79980080e-03 9.99990264e-01 4.02890669e-03 5.48912081e-01] [ 2.17644703e-02 -4.06713032e-03 9.99754853e-01 1.53246396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20255784400007 meters Centerline goodness : 0.123781 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99771480e-01 -1.91616933e-03 -2.12912320e-02 4.93140170e+00] [ 1.98913306e-03 9.99992220e-01 3.40628881e-03 5.51874398e-01] [ 2.12845393e-02 -3.44786150e-03 9.99767513e-01 1.53292505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23255784400004 meters Centerline goodness : 0.127349 Centerline is valid? [False, False] Translation: X:4.93, Y:0.55, Z:1.53 [[ 9.99773433e-01 -2.02111162e-03 -2.11895714e-02 4.93117485e+00] [ 2.08741446e-03 9.99992993e-01 3.10738046e-03 5.53427501e-01] [ 2.11831426e-02 -3.15090785e-03 9.99770647e-01 1.53275663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26255784400007 meters Centerline goodness : 0.125019 Centerline is valid? [False, False] Translation: X:4.95, Y:0.55, Z:1.53 [[ 9.99767494e-01 6.40805763e-03 -2.05886871e-02 4.95042190e+00] [-6.37168466e-03 9.99978023e-01 1.83176280e-03 5.52977741e-01] [ 2.05999727e-02 -1.70015228e-03 9.99786352e-01 1.53396673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29255784400004 meters Centerline goodness : 0.125311 Centerline is valid? [False, False] Translation: X:4.95, Y:0.55, Z:1.53 [[ 9.99771586e-01 6.28633033e-03 -2.04268874e-02 4.95004141e+00] [-6.25643615e-03 9.99979262e-01 1.52704957e-03 5.54596339e-01] [ 2.04360633e-02 -1.39890125e-03 9.99790183e-01 1.53388451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3225578440001 meters Centerline goodness : 0.128314 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99840329e-01 -2.09444232e-03 -1.77462610e-02 4.92852349e+00] [ 2.12257909e-03 9.99996520e-01 1.56681707e-03 5.61627156e-01] [ 1.77429176e-02 -1.60423474e-03 9.99841295e-01 1.53185248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35255784400005 meters Centerline goodness : 0.126869 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99839969e-01 -2.22497836e-03 -1.77506631e-02 4.92826147e+00] [ 2.24781625e-03 9.99996671e-01 1.26674575e-03 5.62993698e-01] [ 1.77477855e-02 -1.30644326e-03 9.99841642e-01 1.53225842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3825578440001 meters Centerline goodness : 0.128488 Centerline is valid? [False, False] Translation: X:4.93, Y:0.56, Z:1.53 [[ 9.99839109e-01 -2.36286168e-03 -1.77812614e-02 4.92828890e+00] [ 2.37950152e-03 9.99996751e-01 9.14709358e-04 5.64735875e-01] [ 1.77790423e-02 -9.56872728e-04 9.99841482e-01 1.53228039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41255784400005 meters Centerline goodness : 0.275207 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.53 [[ 9.99837872e-01 -2.45735434e-03 -1.78379132e-02 4.92866354e+00] [ 2.46979535e-03 9.99996722e-01 6.75451403e-04 5.65908235e-01] [ 1.78361949e-02 -7.19397889e-04 9.99840664e-01 1.53182449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4425578440001 meters Centerline goodness : 0.133571 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99827278e-01 5.88426025e-03 -1.76292550e-02 4.94934464e+00] [-5.89630473e-03 9.99982417e-01 -6.31309690e-04 5.64434890e-01] [ 1.76252302e-02 7.35148109e-04 9.99844393e-01 1.53261117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47255784400005 meters Centerline goodness : 0.161419 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.53 [[ 9.99830444e-01 5.77630989e-03 -1.74847683e-02 4.94916854e+00] [-5.79206216e-03 9.99982864e-01 -8.50407222e-04 5.65286960e-01] [ 1.74795564e-02 9.51535895e-04 9.99846768e-01 1.53223870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5025578440001 meters Centerline goodness : 0.266305 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.53 [[ 9.99832737e-01 5.77493535e-03 -1.73536235e-02 4.94872657e+00] [-5.79075102e-03 9.99982863e-01 -8.61264352e-04 5.65391009e-01] [ 1.73483524e-02 9.61610807e-04 9.99849044e-01 1.53240680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53255784400005 meters Centerline goodness : 0.325472 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.53 [[ 9.99854976e-01 -1.74500725e-03 -1.69405695e-02 4.96678782e+00] [ 1.75127204e-03 9.99998404e-01 3.54982307e-04 5.70215432e-01] [ 1.69399230e-02 -3.84598372e-04 9.99856435e-01 1.53442125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters Centerline goodness : 0.136693 Centerline is valid? [False, False] Translation: X:4.94, Y:0.57, Z:1.53 [[ 9.99838864e-01 3.87016470e-03 -1.75290522e-02 4.94406783e+00] [-3.92080217e-03 9.99988237e-01 -2.85532912e-03 5.66289342e-01] [ 1.75177954e-02 2.92359697e-03 9.99842277e-01 1.53444941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59255784400005 meters Centerline goodness : 0.134640 Centerline is valid? [False, False] Translation: X:4.94, Y:0.56, Z:1.53 [[ 9.99835833e-01 3.87944706e-03 -1.76990420e-02 4.94490989e+00] [-3.92560313e-03 9.99988982e-01 -2.57383193e-03 5.64146448e-01] [ 1.76888620e-02 2.64288881e-03 9.99840047e-01 1.53377601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters Centerline goodness : 0.152744 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99834805e-01 3.96068604e-03 -1.77390909e-02 4.94531626e+00] [-4.00356218e-03 9.99989148e-01 -2.38218269e-03 5.63361108e-01] [ 1.77294633e-02 2.45280872e-03 9.99839812e-01 1.53323572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65255784400006 meters Centerline goodness : 0.134026 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99834687e-01 4.04654792e-03 -1.77263616e-02 4.94539577e+00] [-4.08608398e-03 9.99989244e-01 -2.19470328e-03 5.62610573e-01] [ 1.77172900e-02 2.26677187e-03 9.99840467e-01 1.53308653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters Centerline goodness : 0.165443 Centerline is valid? [False, False] Translation: X:4.95, Y:0.56, Z:1.53 [[ 9.99831454e-01 4.13938462e-03 -1.78865719e-02 4.94585727e+00] [-4.17503674e-03 9.99989371e-01 -1.95635223e-03 5.61320246e-01] [ 1.78782836e-02 2.03069959e-03 9.99838109e-01 1.53299270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71255784400006 meters Centerline goodness : 0.136816 Centerline is valid? [False, False] Translation: X:4.97, Y:0.57, Z:1.53 [[ 9.99819656e-01 -3.14899301e-03 -1.87280375e-02 4.96543372e+00] [ 3.13346477e-03 9.99994722e-01 -8.58430775e-04 5.65838752e-01] [ 1.87306419e-02 7.99592317e-04 9.99824246e-01 1.53459485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters Centerline goodness : 0.130091 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99816350e-01 -3.07409286e-03 -1.89160084e-02 4.96613016e+00] [ 3.06187865e-03 9.99995085e-01 -6.74635395e-04 5.64907342e-01] [ 1.89179893e-02 6.16592976e-04 9.99820849e-01 1.53421907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77255784400006 meters Centerline goodness : 0.127776 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99816494e-01 -2.86706887e-03 -1.89409039e-02 4.96646146e+00] [ 2.86532727e-03 9.99995888e-01 -1.19086605e-04 5.62219263e-01] [ 1.89411674e-02 6.47928635e-05 9.99820598e-01 1.53382618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters Centerline goodness : 0.129090 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99819427e-01 -2.75861665e-03 -1.88016929e-02 4.96598273e+00] [ 2.76341341e-03 9.99996156e-01 2.29147783e-04 5.60406040e-01] [ 1.88009885e-02 -2.81063256e-04 9.99823206e-01 1.53409669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83255784400006 meters Centerline goodness : 0.135291 Centerline is valid? [False, False] Translation: X:4.97, Y:0.56, Z:1.53 [[ 9.99822135e-01 -2.62352081e-03 -1.86766040e-02 4.96539662e+00] [ 2.63640832e-03 9.99996303e-01 6.65446792e-04 5.58168994e-01] [ 1.86747891e-02 -7.14567587e-04 9.99825356e-01 1.53460528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters Centerline goodness : 0.133307 Centerline is valid? [False, False] Translation: X:4.96, Y:0.56, Z:1.53 [[ 9.99825068e-01 -2.46518956e-03 -1.85406473e-02 4.96489617e+00] [ 2.48614080e-03 9.99996297e-01 1.10705233e-03 5.56056437e-01] [ 1.85378496e-02 -1.15295333e-03 9.99827495e-01 1.53489985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89255784400007 meters Centerline goodness : 0.151376 Centerline is valid? [False, False] Translation: X:4.97, Y:0.55, Z:1.53 [[ 9.99816574e-01 -2.35487231e-03 -1.90071939e-02 4.96635416e+00] [ 2.38797333e-03 9.99995671e-01 1.71899134e-03 5.52255457e-01] [ 1.90030636e-02 -1.76406471e-03 9.99817869e-01 1.53456024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92255784400004 meters Centerline goodness : 0.132711 Centerline is valid? [False, False] Translation: X:4.92, Y:0.55, Z:1.53 [[ 9.99740873e-01 -3.68199921e-03 -2.24639549e-02 4.92329546e+00] [ 3.71653066e-03 9.99991975e-01 1.49563787e-03 5.47181249e-01] [ 2.24582677e-02 -1.57873829e-03 9.99746535e-01 1.53396965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95255784400007 meters Centerline goodness : 0.129257 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99718801e-01 4.44587013e-03 -2.32927636e-02 4.94341907e+00] [-4.43998730e-03 9.99990097e-01 3.04271542e-04 5.42830126e-01] [ 2.32938857e-02 -2.00766407e-04 9.99728640e-01 1.53575092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98255784400004 meters Centerline goodness : 0.126825 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99718225e-01 4.53667501e-03 -2.32999754e-02 4.94341965e+00] [-4.52683874e-03 9.99989641e-01 4.74885680e-04 5.42144288e-01] [ 2.33018885e-02 -3.69276638e-04 9.99728406e-01 1.53578943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01255784400007 meters Centerline goodness : 0.130676 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99723666e-01 4.66279625e-03 -2.30401719e-02 4.94240634e+00] [-4.64795344e-03 9.99988955e-01 6.97724633e-04 5.41057745e-01] [ 2.30431707e-02 -5.90442182e-04 9.99734297e-01 1.53636553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04255784400004 meters Centerline goodness : 0.129630 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99726959e-01 4.71830353e-03 -2.28854556e-02 4.94199660e+00] [-4.70069184e-03 9.99988613e-01 8.23293369e-04 5.40396120e-01] [ 2.28890795e-02 -7.15491103e-04 9.99737755e-01 1.53639867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0725578440001 meters Centerline goodness : 0.127192 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99745372e-01 -2.73397953e-03 -2.23990119e-02 4.96125242e+00] [ 2.77667926e-03 9.99994386e-01 1.87544271e-03 5.45842958e-01] [ 2.23937588e-02 -1.93716004e-03 9.99747352e-01 1.53738181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10255784400005 meters Centerline goodness : 0.129419 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99748165e-01 -2.73734127e-03 -2.22736234e-02 4.96123259e+00] [ 2.77796140e-03 9.99994534e-01 1.79295021e-03 5.46434282e-01] [ 2.22685937e-02 -1.85437394e-03 9.99750304e-01 1.53687477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1325578440001 meters Centerline goodness : 0.132810 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99756997e-01 -2.77622261e-03 -2.18686786e-02 4.95994759e+00] [ 2.81440938e-03 9.99994568e-01 1.71560137e-03 5.46755971e-01] [ 2.18637970e-02 -1.77673189e-03 9.99759380e-01 1.53727121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16255784400005 meters Centerline goodness : 0.129727 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99760744e-01 -2.77655001e-03 -2.16966531e-02 4.95907575e+00] [ 2.81585422e-03 9.99994449e-01 1.78119278e-03 5.46305119e-01] [ 2.16915871e-02 -1.84186123e-03 9.99763013e-01 1.53799015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1925578440001 meters Centerline goodness : 0.129169 Centerline is valid? [False, False] Translation: X:4.98, Y:0.54, Z:1.54 [[ 9.99772731e-01 5.45162110e-03 -2.06098727e-02 4.97860679e+00] [-5.44267604e-03 9.99985068e-01 4.90086070e-04 5.43316238e-01] [ 2.06122367e-02 -3.77801828e-04 9.99787474e-01 1.53950600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22255784400005 meters Centerline goodness : 0.130232 Centerline is valid? [False, False] Translation: X:4.93, Y:0.54, Z:1.54 [[ 9.99709062e-01 4.29695020e-03 -2.37345273e-02 4.93416333e+00] [-4.28072029e-03 9.99990568e-01 7.34575969e-04 5.39250021e-01] [ 2.37374599e-02 -6.32761380e-04 9.99718027e-01 1.53959673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2525578440001 meters Centerline goodness : 0.131269 Centerline is valid? [False, False] Translation: X:4.94, Y:0.54, Z:1.54 [[ 9.99688227e-01 4.03352763e-03 -2.46410125e-02 4.93655954e+00] [-4.01156835e-03 9.99991511e-01 9.40535129e-04 5.36747171e-01] [ 2.46445970e-02 -8.41392790e-04 9.99695922e-01 1.53938067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28255784400005 meters Centerline goodness : 0.131022 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99684822e-01 4.06700837e-03 -2.47733108e-02 4.93680182e+00] [-4.03544433e-03 9.99990981e-01 1.32397495e-03 5.34379151e-01] [ 2.47784719e-02 -1.22358634e-03 9.99692218e-01 1.53957975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.312557844 meters Centerline goodness : 0.141069 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99688395e-01 4.17869164e-03 -2.46099726e-02 4.93624688e+00] [-4.13491687e-03 9.99989778e-01 1.82936059e-03 5.31693720e-01] [ 2.46173654e-02 -1.72703036e-03 9.99695455e-01 1.53988259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34255784400005 meters Centerline goodness : 0.133272 Centerline is valid? [False, False] Translation: X:4.94, Y:0.53, Z:1.54 [[ 9.99692398e-01 4.40543808e-03 -2.44069926e-02 4.93574946e+00] [-4.33874108e-03 9.99986710e-01 2.78498258e-03 5.26674611e-01] [ 2.44189373e-02 -2.67823029e-03 9.99698226e-01 1.54004935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.372557844 meters Centerline goodness : 0.136328 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99682721e-01 4.48232472e-03 -2.47864012e-02 4.93703938e+00] [-4.40577630e-03 9.99985358e-01 3.14207170e-03 5.24538990e-01] [ 2.48001221e-02 -3.03187145e-03 9.99687832e-01 1.53953092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40255784400006 meters Centerline goodness : 0.136750 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99671932e-01 4.57796767e-03 -2.52006239e-02 4.93840659e+00] [-4.49164389e-03 9.99983854e-01 3.48100216e-03 5.22517686e-01] [ 2.52161529e-02 -3.36666793e-03 9.99676353e-01 1.53901138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43255784400003 meters Centerline goodness : 0.136750 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99671932e-01 4.57796767e-03 -2.52006239e-02 4.93840659e+00] [-4.49164389e-03 9.99983854e-01 3.48100216e-03 5.22517686e-01] [ 2.52161529e-02 -3.36666793e-03 9.99676353e-01 1.53901138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46255784400006 meters Centerline goodness : 0.141998 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99651814e-01 -2.83377227e-03 -2.62339624e-02 4.95923213e+00] [ 2.94519930e-03 9.99986802e-01 4.20977024e-03 5.25982727e-01] [ 2.62216866e-02 -4.28556870e-03 9.99646966e-01 1.54010379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49255784400003 meters Centerline goodness : 0.150915 Centerline is valid? [False, False] Translation: X:4.92, Y:0.52, Z:1.54 [[ 9.99545290e-01 -2.92812147e-03 -3.00106447e-02 4.91638648e+00] [ 3.08277587e-03 9.99982200e-01 5.10834574e-03 5.20803192e-01] [ 2.99951526e-02 -5.19853902e-03 9.99536526e-01 1.53926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52255784400006 meters Centerline goodness : 0.140044 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99558642e-01 6.26808845e-03 -2.90384525e-02 4.93752461e+00] [-6.13941454e-03 9.99970946e-01 4.51819789e-03 5.18511923e-01] [ 2.90659293e-02 -4.33792465e-03 9.99568084e-01 1.53996144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55255784400003 meters Centerline goodness : 0.146117 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99568285e-01 6.34655112e-03 -2.86873682e-02 4.93659190e+00] [-6.22066202e-03 9.99970637e-01 4.47542991e-03 5.19169351e-01] [ 2.87149294e-02 -4.29504337e-03 9.99578414e-01 1.54005600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58255784400006 meters Centerline goodness : 0.145740 Centerline is valid? [False, False] Translation: X:4.94, Y:0.52, Z:1.54 [[ 9.99576723e-01 6.40990920e-03 -2.83775945e-02 4.93572341e+00] [-6.28891646e-03 9.99970759e-01 4.35087154e-03 5.20167480e-01] [ 2.84046534e-02 -4.17056559e-03 9.99587806e-01 1.54019826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61255784400004 meters Centerline goodness : 0.134528 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99596376e-01 8.83785801e-03 -2.69995720e-02 4.97837373e+00] [-8.72399956e-03 9.99952562e-01 4.33193570e-03 5.26281754e-01] [ 2.70365762e-02 -4.09464297e-03 9.99626059e-01 1.54151902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64255784400007 meters Centerline goodness : 0.141074 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99636015e-01 1.08228816e-03 -2.69567327e-02 4.95982845e+00] [-9.19931998e-04 9.99981369e-01 6.03451606e-03 5.32531252e-01] [ 2.69627615e-02 -6.00752123e-03 9.99618387e-01 1.53879475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67255784400004 meters Centerline goodness : 0.135390 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99644601e-01 1.07912290e-03 -2.66365678e-02 4.95911436e+00] [-9.29224584e-04 9.99983667e-01 5.63927514e-03 5.35106395e-01] [ 2.66422182e-02 -5.61251960e-03 9.99629277e-01 1.53855721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70255784400007 meters Centerline goodness : 0.149160 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99654742e-01 9.62467722e-04 -2.62577805e-02 4.95826619e+00] [-8.27522256e-04 9.99986398e-01 5.14963873e-03 5.37812120e-01] [ 2.62623797e-02 -5.12613188e-03 9.99641941e-01 1.53827994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73255784400004 meters Centerline goodness : 0.122985 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99655909e-01 5.43157036e-04 -2.62253509e-02 4.95826503e+00] [-4.35509044e-04 9.99991458e-01 4.11026750e-03 5.42454688e-01] [ 2.62273594e-02 -4.09743181e-03 9.99647606e-01 1.53795009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76255784400007 meters Centerline goodness : 0.139559 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99655000e-01 3.69313887e-04 -2.62629850e-02 4.95830039e+00] [-2.72295983e-04 9.99993127e-01 3.69757315e-03 5.44464530e-01] [ 2.62641700e-02 -3.68914618e-03 9.99648230e-01 1.53795227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79255784400004 meters Centerline goodness : 0.118471 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99656552e-01 2.19214336e-04 -2.62055281e-02 4.95802658e+00] [-1.32398490e-04 9.99994498e-01 3.31457210e-03 5.46523082e-01] [ 2.62061105e-02 -3.30996414e-03 9.99651081e-01 1.53806721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8225578440001 meters Centerline goodness : 0.120922 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99658609e-01 -6.40929339e-06 -2.61278631e-02 4.95767782e+00] [ 8.26038651e-05 9.99995748e-01 2.91514076e-03 5.48478894e-01] [ 2.61277333e-02 -2.91630382e-03 9.99654359e-01 1.53832521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85255784400005 meters Centerline goodness : 0.119785 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99659578e-01 -1.09905083e-04 -2.60905201e-02 4.95738627e+00] [ 1.85825467e-04 9.99995756e-01 2.90747714e-03 5.48130846e-01] [ 2.60900899e-02 -2.91133565e-03 9.99655356e-01 1.53869120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8825578440001 meters Centerline goodness : 0.117740 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99655880e-01 -2.77657399e-04 -2.62306144e-02 4.95754540e+00] [ 3.55609921e-04 9.99995535e-01 2.96719658e-03 5.47167284e-01] [ 2.62296734e-02 -2.97550337e-03 9.99651515e-01 1.53904641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91255784400005 meters Centerline goodness : 0.126653 Centerline is valid? [False, False] Translation: X:4.96, Y:0.55, Z:1.54 [[ 9.99657553e-01 -3.81350039e-04 -2.61654616e-02 4.95724023e+00] [ 4.63359398e-04 9.99995000e-01 3.12826852e-03 5.45970924e-01] [ 2.61641378e-02 -3.13932127e-03 9.99652731e-01 1.53938057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9425578440001 meters Centerline goodness : 0.120705 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99656877e-01 -6.27670193e-04 -2.61865195e-02 4.95710406e+00] [ 7.17806618e-04 9.99993850e-01 3.43283456e-03 5.43775745e-01] [ 2.61842038e-02 -3.45045353e-03 9.99651180e-01 1.53984305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97255784400005 meters Centerline goodness : 0.120292 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99648246e-01 -6.28758379e-04 -2.65139466e-02 4.95792880e+00] [ 7.27641296e-04 9.99992816e-01 3.71998501e-03 5.41880311e-01] [ 2.65114171e-02 -3.73796913e-03 9.99641522e-01 1.53991440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0025578440001 meters Centerline goodness : 0.140651 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99640267e-01 -5.78056919e-04 -2.68142072e-02 4.95870594e+00] [ 6.88585638e-04 9.99991305e-01 4.11297034e-03 5.39411214e-01] [ 2.68115965e-02 -4.12995465e-03 9.99631973e-01 1.53996134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03255784400005 meters Centerline goodness : 0.144325 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99634922e-01 -4.60640871e-04 -2.70150196e-02 4.95918034e+00] [ 5.85519946e-04 9.99989180e-01 4.61485133e-03 5.36563870e-01] [ 2.70126015e-02 -4.62898438e-03 9.99624375e-01 1.54005224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters Centerline goodness : 0.146271 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99628410e-01 -1.91030549e-04 -2.72581136e-02 4.95985255e+00] [ 3.39399930e-04 9.99985153e-01 5.43860451e-03 5.32356680e-01] [ 2.72566700e-02 -5.44583498e-03 9.99613634e-01 1.54005152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09255784400005 meters Centerline goodness : 0.121553 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99626144e-01 -4.98933987e-05 -2.73417368e-02 4.96023237e+00] [ 2.07103283e-04 9.99983464e-01 5.74701175e-03 5.30974627e-01] [ 2.73409980e-02 -5.75052576e-03 9.99609624e-01 1.53979000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters Centerline goodness : 0.130595 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99624045e-01 2.31682538e-05 -2.74183757e-02 4.96064420e+00] [ 1.38882417e-04 9.99982536e-01 5.90837527e-03 5.30154702e-01] [ 2.74180337e-02 -5.90996192e-03 9.99606585e-01 1.53945383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15255784400006 meters Centerline goodness : 0.146241 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99629075e-01 2.88894146e-04 -2.72328685e-02 4.96022935e+00] [-1.21911363e-04 9.99981185e-01 6.13312429e-03 5.29402515e-01] [ 2.72341279e-02 -6.12752936e-03 9.99610302e-01 1.53941068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters Centerline goodness : 0.124129 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99618621e-01 9.32606393e-03 -2.59930172e-02 4.98100772e+00] [-9.19430819e-03 9.99944295e-01 5.18380559e-03 5.27628629e-01] [ 2.60399138e-02 -4.94284079e-03 9.99648684e-01 1.54030607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21255784400006 meters Centerline goodness : 0.125282 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99621774e-01 9.41320701e-03 -2.58399073e-02 4.98070015e+00] [-9.28702299e-03 9.99944379e-01 4.99897469e-03 5.29220988e-01] [ 2.58855264e-02 -4.75710813e-03 9.99653595e-01 1.54017624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters Centerline goodness : 0.118684 Centerline is valid? [False, False] Translation: X:4.98, Y:0.53, Z:1.54 [[ 9.99622700e-01 9.49046333e-03 -2.57757447e-02 4.98060621e+00] [-9.37063756e-03 9.99944739e-01 4.76559841e-03 5.31048504e-01] [ 2.58195480e-02 -4.52226519e-03 9.99656391e-01 1.54003018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27255784400006 meters Centerline goodness : 0.122749 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99642309e-01 1.01682642e-03 -2.67249135e-02 4.96077287e+00] [-8.71050805e-04 9.99984683e-01 5.46574662e-03 5.36426578e-01] [ 2.67300619e-02 -5.44051282e-03 9.99627883e-01 1.53855219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters Centerline goodness : 0.123554 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99638926e-01 9.54388678e-04 -2.68534484e-02 4.96128755e+00] [-8.10570562e-04 9.99985274e-01 5.36604224e-03 5.36597401e-01] [ 2.68581743e-02 -5.34233808e-03 9.99624979e-01 1.53821895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33255784400006 meters Centerline goodness : 0.120811 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99635748e-01 9.07859898e-04 -2.69730788e-02 4.96170739e+00] [-7.63417148e-04 9.99985317e-01 5.36488611e-03 5.36299284e-01] [ 2.69775533e-02 -5.34234023e-03 9.99621764e-01 1.53802421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters Centerline goodness : 0.119708 Centerline is valid? [False, False] Translation: X:4.96, Y:0.54, Z:1.54 [[ 9.99634522e-01 9.28016544e-04 -2.70177829e-02 4.96171539e+00] [-7.78233899e-04 9.99984274e-01 5.55384133e-03 5.35285787e-01] [ 2.70225120e-02 -5.53078537e-03 9.99619525e-01 1.53822098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39255784400007 meters Centerline goodness : 0.129700 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99642104e-01 5.45233831e-04 -2.67463376e-02 4.96070048e+00] [-3.90382224e-04 9.99983135e-01 5.79451775e-03 5.32943091e-01] [ 2.67490459e-02 -5.78200262e-03 9.99625458e-01 1.53897017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42255784400004 meters Centerline goodness : 0.128326 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99635198e-01 4.96758343e-04 -2.70041560e-02 4.96117647e+00] [-3.32034986e-04 9.99981315e-01 6.10406790e-03 5.30938995e-01] [ 2.70066837e-02 -6.09287480e-03 9.99616684e-01 1.53930438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45255784400007 meters Centerline goodness : 0.118466 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99626953e-01 4.25360323e-04 -2.73088445e-02 4.96183937e+00] [-2.49700678e-04 9.99979261e-01 6.43542327e-03 5.28544340e-01] [ 2.73110155e-02 -6.42620352e-03 9.99606329e-01 1.53955374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48255784400004 meters Centerline goodness : 0.113833 Centerline is valid? [False, False] Translation: X:4.96, Y:0.53, Z:1.54 [[ 9.99616902e-01 3.67218975e-04 -2.76751707e-02 4.96265983e+00] [-1.80104934e-04 9.99977113e-01 6.76326937e-03 5.26207517e-01] [ 2.76770209e-02 -6.75569393e-03 9.99594089e-01 1.53978153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51255784400007 meters Centerline goodness : 0.112624 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99613889e-01 -3.39496648e-03 -2.75780040e-02 4.96243327e+00] [ 3.49553833e-03 9.99987413e-01 3.59942343e-03 5.22836161e-01] [ 2.75654369e-02 -3.69443362e-03 9.99613174e-01 1.53985786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54255784400004 meters Centerline goodness : 0.124315 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99614738e-01 -3.24905760e-03 -2.75648267e-02 4.96225350e+00] [ 3.36326795e-03 9.99985947e-01 4.09798564e-03 5.20332926e-01] [ 2.75511247e-02 -4.18911474e-03 9.99611618e-01 1.54018849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5725578440001 meters Centerline goodness : 0.125818 Centerline is valid? [False, False] Translation: X:4.96, Y:0.52, Z:1.54 [[ 9.99617297e-01 -3.06496756e-03 -2.74930227e-02 4.96184273e+00] [ 3.19290151e-03 9.99984274e-01 4.61063220e-03 5.17835754e-01] [ 2.74784589e-02 -4.69665021e-03 9.99611362e-01 1.54063705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60255784400005 meters Centerline goodness : 0.125692 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99620685e-01 -2.85242365e-03 -2.73925015e-02 4.96093967e+00] [ 2.99825985e-03 9.99981543e-01 5.28435003e-03 5.14117450e-01] [ 2.73769227e-02 -5.36447544e-03 9.99610788e-01 1.54176926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6325578440001 meters Centerline goodness : 0.126261 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99620373e-01 -2.75835190e-03 -2.74135296e-02 4.96108022e+00] [ 2.91034140e-03 9.99980607e-01 5.50597262e-03 5.13025577e-01] [ 2.73978106e-02 -5.58366513e-03 9.99609015e-01 1.54162661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66255784400005 meters Centerline goodness : 0.124112 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99615397e-01 5.90959601e-03 -2.70949181e-02 4.98103388e+00] [-5.79258660e-03 9.99973565e-01 4.39495816e-03 5.08954444e-01] [ 2.71201742e-02 -4.23631819e-03 9.99623204e-01 1.54307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6925578440001 meters Centerline goodness : 0.116213 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99617821e-01 5.98873190e-03 -2.69879056e-02 4.98089148e+00] [-5.86854358e-03 9.99972517e-01 4.53042101e-03 5.08435722e-01] [ 2.70142954e-02 -4.37030988e-03 9.99625494e-01 1.54293642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72255784400005 meters Centerline goodness : 0.124881 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99620083e-01 6.12891857e-03 -2.68723981e-02 4.98050138e+00] [-6.00323917e-03 9.99970675e-01 4.75508001e-03 5.07373290e-01] [ 2.69007536e-02 -4.59195204e-03 9.99627562e-01 1.54321334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7525578440001 meters Centerline goodness : 0.119979 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99620603e-01 6.19564906e-03 -2.68377294e-02 4.98023615e+00] [-6.06676337e-03 9.99969684e-01 4.88117189e-03 5.06813353e-01] [ 2.68671578e-02 -4.71650183e-03 9.99627886e-01 1.54352376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78255784400005 meters Centerline goodness : 0.124744 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99619490e-01 6.27074708e-03 -2.68617230e-02 4.98028913e+00] [-6.13824838e-03 9.99968599e-01 5.01224202e-03 5.06279726e-01] [ 2.68923101e-02 -4.84545089e-03 9.99626593e-01 1.54353176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.812557844 meters Centerline goodness : 0.122801 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 0.99960504 0.0064344 -0.02735606 4.98230097] [-0.00629529 0.99996683 0.00516835 0.50580361] [ 0.02738841 -0.0049941 0.99961239 1.54247124] [ 0. 0. 0. 1. ]] SLAMing on 369.84255784400005 meters Centerline goodness : 0.162074 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 0.9996015 0.00644192 -0.02748357 4.98294842] [-0.00630175 0.99996671 0.00518373 0.505631 ] [ 0.02751605 -0.00500847 0.99960881 1.54202325] [ 0. 0. 0. 1. ]] SLAMing on 369.872557844 meters Centerline goodness : 0.124275 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99598382e-01 6.41629904e-03 -2.76026265e-02 4.98342877e+00] [-6.27647959e-03 9.99967046e-01 5.14910256e-03 5.05618481e-01] [ 2.76347551e-02 -4.97378727e-03 9.99605713e-01 1.54172252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90255784400006 meters Centerline goodness : 0.121456 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99595603e-01 6.36647829e-03 -2.77145923e-02 4.98376151e+00] [-6.22975363e-03 9.99968010e-01 5.01686221e-03 5.06180342e-01] [ 2.77456455e-02 -4.84217832e-03 9.99603288e-01 1.54167244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93255784400003 meters Centerline goodness : 0.154457 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99591696e-01 6.33041153e-03 -2.78633805e-02 4.98436617e+00] [-6.19829586e-03 9.99969148e-01 4.82537136e-03 5.07287265e-01] [ 2.78930675e-02 -4.65069566e-03 9.99600094e-01 1.54129534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96255784400006 meters Centerline goodness : 0.168916 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99589576e-01 6.31537509e-03 -2.79427066e-02 4.98483296e+00] [-6.18578184e-03 9.99969720e-01 4.72183353e-03 5.07970724e-01] [ 2.79716806e-02 -4.54704809e-03 9.99598374e-01 1.54086026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99255784400003 meters Centerline goodness : 0.154411 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99588197e-01 -2.80771160e-03 -2.85578976e-02 4.96404163e+00] [ 2.96767012e-03 9.99980137e-01 5.56036017e-03 5.12305310e-01] [ 2.85417185e-02 -5.64282082e-03 9.99576675e-01 1.53950274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02255784400006 meters Centerline goodness : 0.167042 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99590363e-01 -2.84934070e-03 -2.84778426e-02 4.96362697e+00] [ 3.00675921e-03 9.99980429e-01 5.48646175e-03 5.12614674e-01] [ 2.84616524e-02 -5.56984031e-03 9.99579367e-01 1.53985055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05255784400003 meters Centerline goodness : 0.152075 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99588396e-01 -2.93632936e-03 -2.85379879e-02 4.96343475e+00] [ 3.09330356e-03 9.99980321e-01 5.45794467e-03 5.12430206e-01] [ 2.85214000e-02 -5.54397482e-03 9.99577808e-01 1.54040455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08255784400006 meters Centerline goodness : 0.123086 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99586122e-01 -2.95814518e-03 -2.86152735e-02 4.96361009e+00] [ 3.11668288e-03 9.99980033e-01 5.49730339e-03 5.12157600e-01] [ 2.85984403e-02 -5.58421291e-03 9.99575383e-01 1.54039889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11255784400004 meters Centerline goodness : 0.145624 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99586023e-01 -2.96202816e-03 -2.86183406e-02 4.96354337e+00] [ 3.12224120e-03 9.99979695e-01 5.55520139e-03 5.11828985e-01] [ 2.86013049e-02 -5.64225503e-03 9.99574975e-01 1.54052311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14255784400007 meters Centerline goodness : 0.145320 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99584595e-01 -3.00351001e-03 -2.86638370e-02 4.96347640e+00] [ 3.16735082e-03 9.99978897e-01 5.67225024e-03 5.11005560e-01] [ 2.86461954e-02 -5.76068239e-03 9.99573014e-01 1.54085653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17255784400004 meters Centerline goodness : 0.147817 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99585497e-01 -2.98757828e-03 -2.86340357e-02 4.96321995e+00] [ 3.15365120e-03 9.99978459e-01 5.75643869e-03 5.10596413e-01] [ 2.86162210e-02 -5.84435439e-03 9.99573387e-01 1.54114992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20255784400007 meters Centerline goodness : 0.410128 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99613201e-01 5.39266460e-03 -2.72830952e-02 4.98195272e+00] [-5.27424042e-03 9.99976364e-01 4.41067205e-03 5.07325980e-01] [ 2.73062356e-02 -4.26506840e-03 9.99618016e-01 1.54287615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23255784400004 meters Centerline goodness : 0.149057 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99614955e-01 -3.59982242e-03 -2.75133126e-02 4.96155874e+00] [ 3.74320931e-03 9.99979672e-01 5.16182008e-03 5.11977536e-01] [ 2.74941716e-02 -5.26282063e-03 9.99608110e-01 1.54160974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26255784400007 meters Centerline goodness : 0.132049 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99612510e-01 -3.60662586e-03 -2.76011309e-02 4.96206599e+00] [ 3.75030871e-03 9.99979677e-01 5.15569242e-03 5.11977590e-01] [ 2.75819754e-02 -5.25720741e-03 9.99605720e-01 1.54110899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29255784400004 meters Centerline goodness : 0.118189 Centerline is valid? [False, False] Translation: X:4.96, Y:0.51, Z:1.54 [[ 9.99613240e-01 -3.56491180e-03 -2.75801088e-02 4.96263561e+00] [ 3.70965315e-03 9.99979606e-01 5.19864917e-03 5.12031226e-01] [ 2.75610136e-02 -5.29895118e-03 9.99606078e-01 1.54010378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3225578440001 meters Centerline goodness : 0.149490 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99653484e-01 4.74776647e-03 -2.58915010e-02 4.98115033e+00] [-4.65390194e-03 9.99982383e-01 3.68435741e-03 5.08369423e-01] [ 2.59085373e-02 -3.56258422e-03 9.99657969e-01 1.54199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35255784400005 meters Centerline goodness : 0.149490 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99653484e-01 4.74776647e-03 -2.58915010e-02 4.98115033e+00] [-4.65390194e-03 9.99982383e-01 3.68435741e-03 5.08369423e-01] [ 2.59085373e-02 -3.56258422e-03 9.99657969e-01 1.54199131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3825578440001 meters Centerline goodness : 0.122167 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99716294e-01 -3.23485455e-03 -2.35980392e-02 5.00049693e+00] [ 3.34281763e-03 9.99984120e-01 4.53707476e-03 5.12084184e-01] [ 2.35829877e-02 -4.61467151e-03 9.99711232e-01 1.54313639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41255784400005 meters Centerline goodness : 0.120120 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99725045e-01 -3.02990409e-03 -2.32519676e-02 4.99901885e+00] [ 3.14605170e-03 9.99982749e-01 4.96021910e-03 5.10375553e-01] [ 2.32365374e-02 -5.03200715e-03 9.99717331e-01 1.54415501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4425578440001 meters Centerline goodness : 0.128411 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99724484e-01 -2.95277203e-03 -2.32859731e-02 4.99922260e+00] [ 3.07143289e-03 9.99982473e-01 5.06169059e-03 5.10194882e-01] [ 2.32706189e-02 -5.13181732e-03 9.99716031e-01 1.54394960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47255784400005 meters Centerline goodness : 0.160007 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99722963e-01 -2.94623276e-03 -2.33520083e-02 4.99983648e+00] [ 3.06565238e-03 9.99982399e-01 5.07974206e-03 5.10099217e-01] [ 2.33366311e-02 -5.14992392e-03 9.99714399e-01 1.54324238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5025578440001 meters Centerline goodness : 0.119365 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99718800e-01 -2.97871064e-03 -2.35254854e-02 5.00064640e+00] [ 3.09863328e-03 9.99982383e-01 5.06275538e-03 5.09774249e-01] [ 2.35099905e-02 -5.13422859e-03 9.99710418e-01 1.54265620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53255784400005 meters Centerline goodness : 0.141550 Centerline is valid? [False, False] Translation: X:5.02, Y:0.51, Z:1.54 [[ 9.99722165e-01 4.30589222e-03 -2.31743854e-02 5.02358678e+00] [-4.25267608e-03 9.99988207e-01 2.34512820e-03 5.08490877e-01] [ 2.31842100e-02 -2.24592349e-03 9.99728687e-01 1.54225701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters Centerline goodness : 0.120636 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99642410e-01 4.31767859e-03 -2.63895671e-02 4.97879211e+00] [-4.23017342e-03 9.99985371e-01 3.37082730e-03 5.05681600e-01] [ 2.64037352e-02 -3.25798948e-03 9.99646051e-01 1.54321620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59255784400005 meters Centerline goodness : 0.120166 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99637046e-01 4.37159641e-03 -2.65831716e-02 4.97952118e+00] [-4.28565498e-03 9.99985408e-01 3.28904038e-03 5.06547849e-01] [ 2.65971621e-02 -3.17392031e-03 9.99641194e-01 1.54278105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters Centerline goodness : 0.122171 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99625165e-01 4.20583481e-03 -2.70525622e-02 4.98161161e+00] [-4.12692944e-03 9.99987068e-01 2.97191446e-03 5.07327816e-01] [ 2.70647117e-02 -2.85915646e-03 9.99629595e-01 1.54151404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65255784400006 meters Centerline goodness : 0.124195 Centerline is valid? [False, False] Translation: X:4.98, Y:0.51, Z:1.54 [[ 9.99622249e-01 4.21411655e-03 -2.71588081e-02 4.98184976e+00] [-4.13296490e-03 9.99986828e-01 3.04348297e-03 5.06648542e-01] [ 2.71712759e-02 -2.93008689e-03 9.99626498e-01 1.54155333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters Centerline goodness : 0.166976 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99658545e-01 -3.14266014e-03 -2.59406455e-02 5.00062703e+00] [ 3.25406311e-03 9.99985660e-01 4.25343764e-03 5.11647027e-01] [ 2.59269063e-02 -4.33639778e-03 9.99654436e-01 1.54298143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71255784400006 meters Centerline goodness : 0.125303 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99668381e-01 -3.01322265e-03 -2.55743853e-02 4.99946259e+00] [ 3.12513612e-03 9.99985711e-01 4.33715872e-03 5.11977696e-01] [ 2.55609511e-02 -4.41564387e-03 9.99663513e-01 1.54334949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters Centerline goodness : 0.143499 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99683093e-01 -2.99819797e-03 -2.49944968e-02 4.99800455e+00] [ 3.10046146e-03 9.99986977e-01 4.05369103e-03 5.13757244e-01] [ 2.49820176e-02 -4.12990086e-03 9.99679370e-01 1.54335973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77255784400006 meters Centerline goodness : 0.122659 Centerline is valid? [False, False] Translation: X:5.00, Y:0.51, Z:1.54 [[ 9.99681654e-01 -3.10790258e-03 -2.50386120e-02 4.99831627e+00] [ 3.20313030e-03 9.99987786e-01 3.76402537e-03 5.14891159e-01] [ 2.50266080e-02 -3.84302904e-03 9.99679399e-01 1.54300193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters Centerline goodness : 0.152163 Centerline is valid? [False, False] Translation: X:5.00, Y:0.52, Z:1.54 [[ 9.99678878e-01 -3.18835722e-03 -2.51391074e-02 4.99869812e+00] [ 3.27586849e-03 9.99988715e-01 3.44066686e-03 5.16570662e-01] [ 2.51278537e-02 -3.52191440e-03 9.99678042e-01 1.54268548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83255784400006 meters Centerline goodness : 0.155263 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99671015e-01 5.99797307e-03 -2.49376348e-02 5.01923124e+00] [-5.93464381e-03 9.99978977e-01 2.61274062e-03 5.15722480e-01] [ 2.49527816e-02 -2.46388509e-03 9.99685595e-01 1.54386868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters Centerline goodness : 0.158309 Centerline is valid? [False, False] Translation: X:5.00, Y:0.52, Z:1.54 [[ 9.99694825e-01 -1.94806892e-03 -2.46264422e-02 4.99961370e+00] [ 2.06084749e-03 9.99987502e-01 4.55502236e-03 5.20362303e-01] [ 2.46172610e-02 -4.60438362e-03 9.99686346e-01 1.54133609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89255784400007 meters Centerline goodness : 0.122909 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727770e-01 4.90446487e-03 -2.28107735e-02 5.01965164e+00] [-4.87396601e-03 9.99987153e-01 1.39244275e-03 5.19316149e-01] [ 2.28173096e-02 -1.28088475e-03 9.99738831e-01 1.54181412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92255784400004 meters Centerline goodness : 0.118449 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727417e-01 4.90097844e-03 -2.28269930e-02 5.01954772e+00] [-4.86886692e-03 9.99987078e-01 1.46210075e-03 5.18632961e-01] [ 2.28338638e-02 -1.35056062e-03 9.99738361e-01 1.54205719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95255784400007 meters Centerline goodness : 0.119639 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99728280e-01 5.05607426e-03 -2.27552749e-02 5.01927676e+00] [-5.01790815e-03 9.99985907e-01 1.73402974e-03 5.17817813e-01] [ 2.27637216e-02 -1.61937469e-03 9.99739561e-01 1.54215254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98255784400004 meters Centerline goodness : 0.121507 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727782e-01 5.13519722e-03 -2.27594198e-02 5.01919153e+00] [-5.09245245e-03 9.99985160e-01 1.93567388e-03 5.16966624e-01] [ 2.27690221e-02 -1.81924569e-03 9.99739097e-01 1.54230968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01255784400007 meters Centerline goodness : 0.158908 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99727716e-01 5.18980548e-03 -2.27499471e-02 5.01910192e+00] [-5.14255496e-03 9.99984498e-01 2.13496330e-03 5.15774720e-01] [ 2.27606745e-02 -2.01738913e-03 9.99738907e-01 1.54246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04255784400004 meters Centerline goodness : 0.156011 Centerline is valid? [False, False] Translation: X:5.02, Y:0.51, Z:1.54 [[ 9.99727247e-01 5.21176744e-03 -2.27655213e-02 5.01906863e+00] [-5.16174374e-03 9.99984134e-01 2.25555531e-03 5.14885814e-01] [ 2.27769156e-02 -2.13743032e-03 9.99738288e-01 1.54262051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0725578440001 meters Centerline goodness : 0.126590 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99717413e-01 5.23423157e-03 -2.31882906e-02 5.02049197e+00] [-5.18843060e-03 9.99984470e-01 2.03490055e-03 5.16276038e-01] [ 2.31985816e-02 -1.91401468e-03 9.99729044e-01 1.54186828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10255784400005 meters Centerline goodness : 0.133951 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99713684e-01 5.16073053e-03 -2.33648556e-02 5.02136337e+00] [-5.12265870e-03 9.99985453e-01 1.68900903e-03 5.18189050e-01] [ 2.33732323e-02 -1.56883526e-03 9.99725578e-01 1.54113189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1325578440001 meters Centerline goodness : 0.119858 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99712162e-01 5.02475874e-03 -2.34594439e-02 5.02184625e+00] [-4.99699409e-03 9.99986744e-01 1.24198851e-03 5.20380342e-01] [ 2.34653736e-02 -1.12440431e-03 9.99724018e-01 1.54065766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16255784400005 meters Centerline goodness : 0.119670 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99722006e-01 4.89731690e-03 -2.30635596e-02 5.02079508e+00] [-4.88341160e-03 9.99987859e-01 6.59195559e-04 5.23434886e-01] [ 2.30665078e-02 -5.46383452e-04 9.99733783e-01 1.54067383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1925578440001 meters Centerline goodness : 0.121578 Centerline is valid? [False, False] Translation: X:5.02, Y:0.52, Z:1.54 [[ 9.99725445e-01 4.83463502e-03 -2.29273084e-02 5.02043032e+00] [-4.82602679e-03 9.99988262e-01 4.30774140e-04 5.24813719e-01] [ 2.29291219e-02 -3.20008064e-04 9.99737042e-01 1.54064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22255784400005 meters Centerline goodness : 0.142071 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99726981e-01 4.76708029e-03 -2.28744080e-02 5.02037702e+00] [-4.76246327e-03 9.99988627e-01 2.56314397e-04 5.25794037e-01] [ 2.28753697e-02 -1.47305890e-04 9.99738314e-01 1.54047038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2525578440001 meters Centerline goodness : 0.139659 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99724001e-01 4.65124308e-03 -2.30279981e-02 5.02087382e+00] [-4.65102363e-03 9.99989182e-01 6.30888141e-05 5.26540486e-01] [ 2.30280425e-02 4.40323619e-05 9.99734819e-01 1.54025250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28255784400005 meters Centerline goodness : 0.304927 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99705846e-01 4.22333694e-03 -2.38827409e-02 5.02326112e+00] [-4.23317356e-03 9.99990975e-01 -3.61329233e-04 5.27536099e-01] [ 2.38809994e-02 4.62322734e-04 9.99714701e-01 1.53980642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.312557844 meters Centerline goodness : 0.145923 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99706050e-01 4.18364983e-03 -2.38811833e-02 5.02314922e+00] [-4.19411742e-03 9.99991129e-01 -3.88248651e-04 5.27752900e-01] [ 2.38793472e-02 4.88295013e-04 9.99714728e-01 1.53997822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34255784400005 meters Centerline goodness : 0.111351 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99710927e-01 4.17541733e-03 -2.36775845e-02 5.02233851e+00] [-4.18645711e-03 9.99991150e-01 -4.16703814e-04 5.28213112e-01] [ 2.36756350e-02 5.15708548e-04 9.99719560e-01 1.54045768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.372557844 meters Centerline goodness : 0.123622 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99725722e-01 3.99319169e-03 -2.30767061e-02 5.01995566e+00] [-4.01336589e-03 9.99991604e-01 -8.27975370e-04 5.30471974e-01] [ 2.30732061e-02 9.20363540e-04 9.99733354e-01 1.54185630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40255784400006 meters Centerline goodness : 0.150388 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99734178e-01 3.89787025e-03 -2.27240073e-02 5.01872879e+00] [-3.92481863e-03 9.99991646e-01 -1.14141964e-03 5.32141462e-01] [ 2.27193683e-02 1.23030383e-03 9.99741125e-01 1.54239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43255784400003 meters Centerline goodness : 0.123738 Centerline is valid? [False, False] Translation: X:5.02, Y:0.53, Z:1.54 [[ 9.99736737e-01 3.76066542e-03 -2.26343463e-02 5.01851685e+00] [-3.79731762e-03 9.99991547e-01 -1.57655522e-03 5.34391560e-01] [ 2.26282260e-02 1.66208997e-03 9.99742567e-01 1.54231432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46255784400006 meters Centerline goodness : 0.123083 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99714257e-01 3.65264117e-03 -2.36233362e-02 5.02172605e+00] [-3.70835463e-03 9.99990444e-01 -2.31502966e-03 5.38452427e-01] [ 2.36146545e-02 2.40197187e-03 9.99718250e-01 1.54088155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49255784400003 meters Centerline goodness : 0.121289 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99708777e-01 3.50148111e-03 -2.38767865e-02 5.02257467e+00] [-3.56612815e-03 9.99990089e-01 -2.66548431e-03 5.39962440e-01] [ 2.38672167e-02 2.74985574e-03 9.99711355e-01 1.54049238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52255784400006 meters Centerline goodness : 0.118769 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99706280e-01 3.39206578e-03 -2.39968333e-02 5.02285362e+00] [-3.46326697e-03 9.99989722e-01 -2.92617040e-03 5.41097116e-01] [ 2.39866609e-02 3.00841836e-03 9.99707752e-01 1.54049694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55255784400003 meters Centerline goodness : 0.123756 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.54 [[ 9.99705612e-01 3.28077548e-03 -2.40400950e-02 5.02281721e+00] [-3.35806357e-03 9.99989320e-01 -3.17530188e-03 5.42306440e-01] [ 2.40294208e-02 3.25509528e-03 9.99705952e-01 1.54069852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58255784400006 meters Centerline goodness : 0.122997 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99685411e-01 -5.18136769e-03 -2.45404105e-02 5.00337598e+00] [ 5.13656954e-03 9.99985025e-01 -1.88816997e-03 5.49375962e-01] [ 2.45498263e-02 1.76152245e-03 9.99697056e-01 1.53876834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61255784400004 meters Centerline goodness : 0.120605 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99683520e-01 -5.30085544e-03 -2.45918806e-02 5.00354632e+00] [ 5.24842744e-03 9.99983816e-01 -2.19597814e-03 5.50971194e-01] [ 2.46031231e-02 2.06621445e-03 9.99695162e-01 1.53868469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64255784400007 meters Centerline goodness : 0.121859 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99684734e-01 -5.39633547e-03 -2.45216533e-02 5.00330812e+00] [ 5.33773727e-03 9.99982742e-01 -2.45447847e-03 5.52314951e-01] [ 2.45344753e-02 2.32281452e-03 9.99696286e-01 1.53873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67255784400004 meters Centerline goodness : 0.119983 Centerline is valid? [False, False] Translation: X:5.00, Y:0.55, Z:1.54 [[ 9.99689275e-01 -5.47530499e-03 -2.43181974e-02 5.00254472e+00] [ 5.41190187e-03 9.99981785e-01 -2.67227900e-03 5.53460846e-01] [ 2.43323860e-02 2.53984096e-03 9.99700697e-01 1.53913773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70255784400007 meters Centerline goodness : 0.151824 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99699970e-01 -5.67399649e-03 -2.38280427e-02 5.00057185e+00] [ 5.60237334e-03 9.99979589e-01 -3.07151626e-03 5.55343245e-01] [ 2.38449842e-02 2.93710112e-03 9.99711353e-01 1.54036980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73255784400004 meters Centerline goodness : 0.120965 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99701686e-01 -5.78837079e-03 -2.37283435e-02 5.00017774e+00] [ 5.71050307e-03 9.99978090e-01 -3.34808119e-03 5.56756529e-01] [ 2.37472035e-02 3.21158163e-03 9.99712837e-01 1.54057853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76255784400007 meters Centerline goodness : 0.141073 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.54 [[ 9.99702604e-01 -5.90000763e-03 -2.36620609e-02 4.99991687e+00] [ 5.81548907e-03 9.99976468e-01 -3.63912595e-03 5.58282535e-01] [ 2.36829750e-02 3.50043723e-03 9.99713391e-01 1.54068087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79255784400004 meters Centerline goodness : 0.133264 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99746303e-01 2.61807686e-03 -2.23713164e-02 5.01896265e+00] [-2.73124064e-03 9.99983623e-01 -5.02937522e-03 5.58203749e-01] [ 2.23577828e-02 5.08920073e-03 9.99737080e-01 1.54201234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8225578440001 meters Centerline goodness : 0.139909 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99758143e-01 2.43678485e-03 -2.18567398e-02 5.01752466e+00] [-2.56213619e-03 9.99980421e-01 -5.70896547e-03 5.61914260e-01] [ 2.18424004e-02 5.76358466e-03 9.99744813e-01 1.54218858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85255784400005 meters Centerline goodness : 0.122259 Centerline is valid? [False, False] Translation: X:5.02, Y:0.56, Z:1.54 [[ 9.99760480e-01 2.26810126e-03 -2.17678300e-02 5.01716842e+00] [-2.40174181e-03 9.99978418e-01 -6.11518162e-03 5.63834718e-01] [ 2.17534903e-02 6.16599762e-03 9.99744350e-01 1.54238545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8825578440001 meters Centerline goodness : 0.136643 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99762669e-01 2.13382717e-03 -2.16806983e-02 5.01694841e+00] [-2.27436861e-03 9.99976549e-01 -6.45974128e-03 5.65523643e-01] [ 2.16664059e-02 6.50751808e-03 9.99744077e-01 1.54233383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91255784400005 meters Centerline goodness : 0.130434 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99761317e-01 1.99971750e-03 -2.17556989e-02 5.01747574e+00] [-2.14897092e-03 9.99974303e-01 -6.83921405e-03 5.67717499e-01] [ 2.17414634e-02 6.88433401e-03 9.99739924e-01 1.54175619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9425578440001 meters Centerline goodness : 0.117819 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99760816e-01 1.97083493e-03 -2.17813358e-02 5.01763264e+00] [-2.12187405e-03 9.99973851e-01 -6.91340231e-03 5.68182970e-01] [ 2.17671411e-02 6.95796599e-03 9.99738855e-01 1.54159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97255784400005 meters Centerline goodness : 0.116884 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99757974e-01 1.92216689e-03 -2.19157336e-02 5.01813025e+00] [-2.07559629e-03 9.99973483e-01 -6.98028310e-03 5.68400898e-01] [ 2.19017352e-02 7.02408190e-03 9.99735453e-01 1.54132221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0025578440001 meters Centerline goodness : 0.177608 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99751745e-01 1.83302865e-03 -2.22056090e-02 5.01909945e+00] [-1.99165096e-03 9.99972645e-01 -7.12333585e-03 5.68914537e-01] [ 2.21919443e-02 7.16579327e-03 9.99728048e-01 1.54090038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03255784400005 meters Centerline goodness : 0.137345 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99738899e-01 1.61460340e-03 -2.27931424e-02 5.02105600e+00] [-1.78609473e-03 9.99970239e-01 -7.50546061e-03 5.70507668e-01] [ 2.27803457e-02 7.54421164e-03 9.99712029e-01 1.54004166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters Centerline goodness : 0.134355 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99738842e-01 1.54189351e-03 -2.28006645e-02 5.02129537e+00] [-1.71765350e-03 9.99968949e-01 -7.69097310e-03 5.71505224e-01] [ 2.27880979e-02 7.72812818e-03 9.99710447e-01 1.53963924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09255784400005 meters Centerline goodness : 0.133219 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99740650e-01 1.49622121e-03 -2.27242963e-02 5.02113825e+00] [-1.67425261e-03 9.99968042e-01 -7.81740378e-03 5.72203629e-01] [ 2.27118735e-02 7.85342255e-03 9.99711206e-01 1.53956562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters Centerline goodness : 0.170376 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99703222e-01 -4.80976372e-03 -2.38816515e-02 5.03696586e+00] [ 4.66018537e-03 9.99969201e-01 -6.31502607e-03 5.77794354e-01] [ 2.39112897e-02 6.20185899e-03 9.99694847e-01 1.54320677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15255784400006 meters Centerline goodness : 0.126903 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99701105e-01 -4.97682817e-03 -2.39360117e-02 5.03700544e+00] [ 4.81966604e-03 9.99966478e-01 -6.61914233e-03 5.78975737e-01] [ 2.39681517e-02 6.50180031e-03 9.99691580e-01 1.54334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters Centerline goodness : 0.146596 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99699597e-01 -5.05717795e-03 -2.39820968e-02 5.03714713e+00] [ 4.89607441e-03 9.99965086e-01 -6.77162501e-03 5.79598707e-01] [ 2.40155048e-02 6.65217267e-03 9.99689454e-01 1.54326684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21255784400006 meters Centerline goodness : 0.117262 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99697056e-01 -5.13050019e-03 -2.40722704e-02 5.03749557e+00] [ 4.96580242e-03 9.99963888e-01 -6.89660169e-03 5.80126020e-01] [ 2.41067842e-02 6.77497427e-03 9.99686432e-01 1.54307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters Centerline goodness : 0.117262 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99697056e-01 -5.13050019e-03 -2.40722704e-02 5.03749557e+00] [ 4.96580242e-03 9.99963888e-01 -6.89660169e-03 5.80126020e-01] [ 2.41067842e-02 6.77497427e-03 9.99686432e-01 1.54307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27255784400006 meters Centerline goodness : 0.134998 Centerline is valid? [False, False] Translation: X:5.02, Y:0.58, Z:1.54 [[ 9.99658102e-01 2.79325384e-03 -2.59976238e-02 5.01874058e+00] [-2.99834000e-03 9.99964669e-01 -7.85301436e-03 5.75407594e-01] [ 2.59747699e-02 7.92827914e-03 9.99631159e-01 1.54144271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters Centerline goodness : 0.163395 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99642553e-01 -4.74285843e-03 -2.63110624e-02 5.03808110e+00] [ 4.56868985e-03 9.99967280e-01 -6.67576464e-03 5.80714959e-01] [ 2.63418637e-02 6.55317133e-03 9.99631513e-01 1.54346251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33255784400006 meters Centerline goodness : 0.146163 Centerline is valid? [False, False] Translation: X:5.02, Y:0.57, Z:1.54 [[ 9.99641632e-01 2.99339283e-03 -2.66016252e-02 5.01868825e+00] [-3.19905335e-03 9.99965299e-01 -7.69193440e-03 5.74474365e-01] [ 2.65776771e-02 7.77427788e-03 9.99616520e-01 1.54193137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters Centerline goodness : 0.143337 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99626216e-01 -4.80503613e-03 -2.69135673e-02 5.03831808e+00] [ 4.62591213e-03 9.99966762e-01 -6.71383989e-03 5.78774532e-01] [ 2.69449330e-02 6.58683057e-03 9.99615218e-01 1.54380946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39255784400007 meters Centerline goodness : 0.281162 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99623163e-01 -4.76594808e-03 -2.70336340e-02 5.03863822e+00] [ 4.59088022e-03 9.99968113e-01 -6.53430083e-03 5.77792219e-01] [ 2.70639141e-02 6.40773029e-03 9.99613168e-01 1.54381565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42255784400004 meters Centerline goodness : 0.117549 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99626400e-01 -4.76673346e-03 -2.69135553e-02 5.03822309e+00] [ 4.59180831e-03 9.99967956e-01 -6.55758432e-03 5.77929412e-01] [ 2.69439511e-02 6.43155251e-03 9.99616256e-01 1.54400318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45255784400007 meters Centerline goodness : 0.318279 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99631792e-01 -4.77920948e-03 -2.67102867e-02 5.03746635e+00] [ 4.60291781e-03 9.99967243e-01 -6.65773266e-03 5.78487191e-01] [ 2.67412305e-02 6.53233597e-03 9.99621046e-01 1.54438180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48255784400004 meters Centerline goodness : 0.252091 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99646499e-01 -4.68571995e-03 -2.61710099e-02 5.03589517e+00] [ 4.50762284e-03 9.99966310e-01 -6.85998346e-03 5.80090085e-01] [ 2.62022722e-02 6.73958940e-03 9.99633942e-01 1.54468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51255784400007 meters Centerline goodness : 0.225236 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.54 [[ 9.99648853e-01 -4.69003438e-03 -2.60801527e-02 5.03570677e+00] [ 4.50798498e-03 9.99965094e-01 -7.03479957e-03 5.81140078e-01] [ 2.61122358e-02 6.91476038e-03 9.99635102e-01 1.54459752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54255784400004 meters Centerline goodness : 0.120561 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99573502e-01 -4.98477283e-03 -2.87744050e-02 4.98956600e+00] [ 4.79132754e-03 9.99965483e-01 -6.78786336e-03 5.78766397e-01] [ 2.88072478e-02 6.64710075e-03 9.99562884e-01 1.54512920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5725578440001 meters Centerline goodness : 0.164148 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99575306e-01 -5.01571308e-03 -2.87062751e-02 4.98938267e+00] [ 4.81851287e-03 9.99964346e-01 -6.93464326e-03 5.79489113e-01] [ 2.87400338e-02 6.79337661e-03 9.99563835e-01 1.54511102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60255784400005 meters Centerline goodness : 0.112481 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99610661e-01 3.74344972e-03 -2.76498224e-02 5.00879496e+00] [-3.97022445e-03 9.99958896e-01 -8.15133070e-03 5.78770465e-01] [ 2.76181717e-02 8.25793307e-03 9.99584435e-01 1.54718053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6325578440001 meters Centerline goodness : 0.144144 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99614770e-01 3.79324695e-03 -2.74940612e-02 5.00816164e+00] [-4.01701596e-03 9.99959222e-01 -8.08815427e-03 5.78686586e-01] [ 2.74622597e-02 8.19548255e-03 9.99589245e-01 1.54752579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66255784400005 meters Centerline goodness : 0.147217 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.55 [[ 9.99596188e-01 -5.00277655e-03 -2.79720046e-02 4.98683032e+00] [ 4.80612783e-03 9.99963294e-01 -7.09301551e-03 5.81528109e-01] [ 2.80064627e-02 6.95571423e-03 9.99583541e-01 1.54647368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6925578440001 meters Centerline goodness : 0.236716 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99644053e-01 -4.17548458e-03 -2.63501809e-02 5.03029918e+00] [ 3.99322632e-03 9.99967767e-01 -6.96560834e-03 5.83452847e-01] [ 2.63784163e-02 6.85790672e-03 9.99628505e-01 1.54775822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72255784400005 meters Centerline goodness : 0.293933 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99640884e-01 -4.10911836e-03 -2.64805161e-02 5.03070394e+00] [ 3.92926193e-03 9.99968884e-01 -6.84048732e-03 5.83024585e-01] [ 2.65078005e-02 6.73398191e-03 9.99625925e-01 1.54759381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7525578440001 meters Centerline goodness : 0.142166 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99636784e-01 -4.02359055e-03 -2.66479004e-02 5.03132281e+00] [ 3.84706510e-03 9.99970340e-01 -6.67232394e-03 5.82374993e-01] [ 2.66739567e-02 6.56738423e-03 9.99622614e-01 1.54727779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78255784400005 meters Centerline goodness : 0.105640 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99635149e-01 -3.96313446e-03 -2.67181878e-02 5.03157083e+00] [ 3.78960582e-03 9.99971418e-01 -6.54228528e-03 5.81734706e-01] [ 2.67433521e-02 6.43864692e-03 9.99621597e-01 1.54719807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.812557844 meters Centerline goodness : 0.242915 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99641621e-01 -3.97126225e-03 -2.64737288e-02 5.03072104e+00] [ 3.80042045e-03 9.99971650e-01 -6.50045190e-03 5.81039603e-01] [ 2.64987933e-02 6.39751098e-03 9.99628374e-01 1.54757237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84255784400005 meters Centerline goodness : 0.116243 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99642091e-01 -3.97238734e-03 -2.64558278e-02 5.03067384e+00] [ 3.79948478e-03 9.99971116e-01 -6.58258324e-03 5.81549545e-01] [ 2.64812122e-02 6.47970876e-03 9.99628310e-01 1.54752110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.872557844 meters Centerline goodness : 0.157610 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.55 [[ 9.99640238e-01 -3.95107907e-03 -2.65289081e-02 5.03104906e+00] [ 3.77429020e-03 9.99970360e-01 -6.71077768e-03 5.82570385e-01] [ 2.65546366e-02 6.60823560e-03 9.99625521e-01 1.54713436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90255784400006 meters Centerline goodness : 0.142261 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.54 [[ 9.99636108e-01 4.12413828e-03 -2.66579061e-02 5.01136057e+00] [-4.33121982e-03 9.99960859e-01 -7.71504210e-03 5.78813546e-01] [ 2.66250447e-02 7.82769591e-03 9.99614843e-01 1.54480255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93255784400003 meters Centerline goodness : 0.141129 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99646599e-01 4.12523142e-03 -2.62613653e-02 5.01020100e+00] [-4.33299225e-03 9.99959728e-01 -7.85928968e-03 5.79690399e-01] [ 2.62278863e-02 7.97030250e-03 9.99624216e-01 1.54504156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96255784400006 meters Centerline goodness : 0.147082 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99647646e-01 4.12642766e-03 -2.62212811e-02 5.00989793e+00] [-4.33200111e-03 9.99960290e-01 -7.78798355e-03 5.79235678e-01] [ 2.61881033e-02 7.89883004e-03 9.99625826e-01 1.54535235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99255784400003 meters Centerline goodness : 0.145000 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99643510e-01 4.18424060e-03 -2.63693816e-02 5.01012700e+00] [-4.38085994e-03 9.99963001e-01 -7.40299554e-03 5.77058008e-01] [ 2.63374300e-02 7.51587702e-03 9.99624855e-01 1.54556700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02255784400006 meters Centerline goodness : 0.142661 Centerline is valid? [False, False] Translation: X:5.01, Y:0.58, Z:1.55 [[ 9.99640823e-01 4.22285580e-03 -2.64649213e-02 5.01044286e+00] [-4.41460710e-03 9.99964398e-01 -7.19125580e-03 5.75820762e-01] [ 2.64336115e-02 7.30550510e-03 9.99623876e-01 1.54545817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05255784400003 meters Centerline goodness : 0.118811 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99638119e-01 4.28521488e-03 -2.65568847e-02 5.01066698e+00] [-4.47111325e-03 9.99965890e-01 -6.94458443e-03 5.74441688e-01] [ 2.65262199e-02 7.06081015e-03 9.99623181e-01 1.54548890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08255784400006 meters Centerline goodness : 0.231828 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99636161e-01 4.36145039e-03 -2.66180956e-02 5.01087371e+00] [-4.53997829e-03 9.99967581e-01 -6.65026785e-03 5.72795848e-01] [ 2.65882278e-02 6.76869380e-03 9.99623555e-01 1.54542066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11255784400004 meters Centerline goodness : 0.119740 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99630839e-01 4.57219014e-03 -2.67821164e-02 5.01135255e+00] [-4.73201554e-03 9.99971356e-01 -5.90728129e-03 5.68870257e-01] [ 2.67543400e-02 6.03183394e-03 9.99623840e-01 1.54537647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14255784400007 meters Centerline goodness : 0.120820 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.55 [[ 9.99629166e-01 4.73655869e-03 -2.68159506e-02 5.01137767e+00] [-4.88487677e-03 9.99973118e-01 -5.46816071e-03 5.66652656e-01] [ 2.67893295e-02 5.59712554e-03 9.99625432e-01 1.54548191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17255784400004 meters Centerline goodness : 0.120726 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.55 [[ 9.99625932e-01 4.88451877e-03 -2.69097938e-02 5.01168700e+00] [-5.02258908e-03 9.99974556e-01 -5.06565774e-03 5.64557821e-01] [ 2.68843658e-02 5.19891968e-03 9.99625031e-01 1.54534153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20255784400007 meters Centerline goodness : 0.138976 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.55 [[ 9.99620438e-01 5.01126129e-03 -2.70899775e-02 5.01225203e+00] [-5.14208764e-03 9.99975442e-01 -4.76182303e-03 5.62997866e-01] [ 2.70654495e-02 4.89931466e-03 9.99621658e-01 1.54513803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23255784400004 meters Centerline goodness : 0.131075 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99607156e-01 5.30647636e-03 -2.75204367e-02 5.01388414e+00] [-5.42928697e-03 9.99975626e-01 -4.38972240e-03 5.61654755e-01] [ 2.74964720e-02 4.53741428e-03 9.99611603e-01 1.54419053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26255784400007 meters Centerline goodness : 0.120058 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99605870e-01 5.38448930e-03 -2.75519793e-02 5.01422060e+00] [-5.50721732e-03 9.99975241e-01 -4.38047577e-03 5.61833393e-01] [ 2.75277105e-02 4.53048403e-03 9.99610774e-01 1.54375870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29255784400004 meters Centerline goodness : 0.116253 Centerline is valid? [False, False] Translation: X:5.01, Y:0.56, Z:1.54 [[ 9.99606499e-01 5.44947728e-03 -2.75163492e-02 5.01430006e+00] [-5.57692476e-03 9.99974065e-01 -4.55708336e-03 5.63018331e-01] [ 2.74908018e-02 4.70874675e-03 9.99610966e-01 1.54341241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3225578440001 meters Centerline goodness : 0.117544 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 9.99614094e-01 6.15043284e-03 -2.70894029e-02 5.01334744e+00] [-6.27905192e-03 9.99969403e-01 -4.66544553e-03 5.66267676e-01] [ 2.70598795e-02 4.83374087e-03 9.99622128e-01 1.54293091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35255784400005 meters Centerline goodness : 0.140724 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 0.99962432 0.00623824 -0.02668892 5.01248833] [-0.00637643 0.99996669 -0.00509582 0.56919608] [ 0.02665624 0.00526409 0.9996308 1.54255388] [ 0. 0. 0. 1. ]] SLAMing on 373.3825578440001 meters Centerline goodness : 0.117294 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.54 [[ 0.99963395 0.00619275 -0.02633665 5.01176263] [-0.00634462 0.9999637 -0.00568679 0.57272337] [ 0.02630048 0.00585181 0.99963695 1.54220891] [ 0. 0. 0. 1. ]] SLAMing on 373.41255784400005 meters Centerline goodness : 0.122170 Centerline is valid? [False, False] Translation: X:5.03, Y:0.58, Z:1.54 [[ 9.99638926e-01 1.58968204e-03 -2.68233037e-02 5.03326987e+00] [-1.66147283e-03 9.99995097e-01 -2.65435866e-03 5.80643840e-01] [ 2.68189526e-02 2.69796643e-03 9.99636666e-01 1.54271729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4425578440001 meters Centerline goodness : 0.086140 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99645910e-01 1.56162485e-03 -2.65634196e-02 5.03275775e+00] [-1.65753387e-03 9.99992186e-01 -3.58893209e-03 5.88864148e-01] [ 2.65576074e-02 3.63169106e-03 9.99640688e-01 1.54220241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47255784400005 meters Centerline goodness : 0.137292 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99648355e-01 1.27548956e-03 -2.64865827e-02 5.03257592e+00] [-1.38987100e-03 9.99989787e-01 -4.30050671e-03 5.92321173e-01] [ 2.64808269e-02 4.33580740e-03 9.99639918e-01 1.54206689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5025578440001 meters Centerline goodness : 0.140959 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99649240e-01 1.03366304e-03 -2.64637205e-02 5.03240756e+00] [-1.16270820e-03 9.99987507e-01 -4.86138122e-03 5.95032955e-01] [ 2.64583649e-02 4.89044562e-03 9.99637954e-01 1.54218263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53255784400005 meters Centerline goodness : 0.146978 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.54 [[ 9.99629085e-01 -6.50314177e-03 -2.64462088e-02 5.05113176e+00] [ 6.40285584e-03 9.99971994e-01 -3.87498697e-03 6.03728842e-01] [ 2.64706678e-02 3.70421842e-03 9.99642727e-01 1.54450193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters Centerline goodness : 0.147304 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99633987e-01 -6.95168734e-03 -2.61450793e-02 5.04993167e+00] [ 6.83471836e-03 9.99966243e-01 -4.56054859e-03 6.07097833e-01] [ 2.61759002e-02 4.38018512e-03 9.99647756e-01 1.54509943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59255784400005 meters Centerline goodness : 0.176117 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99636670e-01 -7.12665433e-03 -2.59949750e-02 5.04941333e+00] [ 7.00383602e-03 9.99963892e-01 -4.81268696e-03 6.08271949e-01] [ 2.60283347e-02 4.62887382e-03 9.99650489e-01 1.54536312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters Centerline goodness : 0.121622 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99638116e-01 -7.29891854e-03 -2.58913549e-02 5.04901619e+00] [ 7.17160578e-03 9.99961750e-01 -5.00664640e-03 6.08989823e-01] [ 2.59269076e-02 4.81915199e-03 9.99652225e-01 1.54560295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65255784400006 meters Centerline goodness : 0.157346 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99639868e-01 -7.45351931e-03 -2.57794416e-02 5.04864740e+00] [ 7.32280753e-03 9.99959869e-01 -5.16108317e-03 6.09386178e-01] [ 2.58168752e-02 4.97044661e-03 9.99654332e-01 1.54578557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters Centerline goodness : 0.162677 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99963112 -0.00794076 -0.02597233 5.04893613] [ 0.0078007 0.99995451 -0.0054897 0.6100713 ] [ 0.02601474 0.00528507 0.99964759 1.54617115] [ 0. 0. 0. 1. ]] SLAMing on 373.71255784400006 meters Centerline goodness : 0.180665 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99662158e-01 -1.52560398e-04 -2.59912864e-02 5.02942850e+00] [-1.62459587e-05 9.99978911e-01 -6.49439388e-03 6.04340896e-01] [ 2.59917290e-02 6.49262206e-03 9.99641074e-01 1.54464789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters Centerline goodness : 0.146197 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99963976 -0.00830591 -0.02552175 5.04940663] [ 0.0081639 0.99995064 -0.00566335 0.60937429] [ 0.02556753 0.00545295 0.99965822 1.54644307] [ 0. 0. 0. 1. ]] SLAMing on 373.77255784400006 meters Centerline goodness : 0.116830 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99964071 -0.00834254 -0.0254726 5.04920512] [ 0.00820241 0.99995068 -0.00560071 0.60876388] [ 0.02551806 0.00538977 0.99965983 1.54660769] [ 0. 0. 0. 1. ]] SLAMing on 373.80255784400003 meters Centerline goodness : 0.176584 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 0.99964462 -0.00834401 -0.02531825 5.04887834] [ 0.00821256 0.99995227 -0.00529166 0.6068366 ] [ 0.0253612 0.00508185 0.99966544 1.54662491] [ 0. 0. 0. 1. ]] SLAMing on 373.83255784400006 meters Centerline goodness : 0.149346 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99642678e-01 -8.27187282e-03 -2.54183326e-02 5.04916976e+00] [ 8.14530042e-03 9.99953927e-01 -5.07908128e-03 6.05740823e-01] [ 2.54591750e-02 4.87022646e-03 9.99663999e-01 1.54660651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters Centerline goodness : 0.172923 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99640841e-01 -8.19187241e-03 -2.55162954e-02 5.04955665e+00] [ 8.06983388e-03 9.99955521e-01 -4.88207643e-03 6.04732580e-01] [ 2.55551538e-02 4.67441073e-03 9.99662485e-01 1.54640386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89255784400007 meters Centerline goodness : 0.139058 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99638311e-01 -8.13307374e-03 -2.56339587e-02 5.04992636e+00] [ 8.01422404e-03 9.99956672e-01 -4.73574789e-03 6.03895842e-01] [ 2.56713642e-02 4.52859873e-03 9.99660179e-01 1.54630757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92255784400004 meters Centerline goodness : 0.142476 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.55 [[ 9.99637280e-01 -7.96988126e-03 -2.57252676e-02 5.05029694e+00] [ 7.85564030e-03 9.99958843e-01 -4.53881937e-03 6.02882252e-01] [ 2.57603826e-02 4.33508460e-03 9.99658747e-01 1.54604137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95255784400007 meters Centerline goodness : 0.144367 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99671369e-01 3.84096731e-04 -2.56321514e-02 5.02943052e+00] [-5.17275575e-04 9.99986401e-01 -5.18934490e-03 5.96843291e-01] [ 2.56298097e-02 5.20089840e-03 9.99657973e-01 1.54451758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98255784400004 meters Centerline goodness : 0.125673 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99716985e-01 1.52003310e-03 -2.37411014e-02 5.07336657e+00] [-1.64312188e-03 9.99985306e-01 -5.16598149e-03 5.99493901e-01] [ 2.37329001e-02 5.20352896e-03 9.99704793e-01 1.54531943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01255784400007 meters Centerline goodness : 0.148702 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99718263e-01 1.51144005e-03 -2.36877569e-02 5.07321404e+00] [-1.63683511e-03 9.99984747e-01 -5.27517063e-03 6.00019600e-01] [ 2.36794225e-02 5.31245737e-03 9.99705488e-01 1.54531127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04255784400004 meters Centerline goodness : 0.144639 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99727552e-01 1.62982807e-03 -2.32844494e-02 5.07220458e+00] [-1.75707476e-03 9.99983630e-01 -5.44546512e-03 6.01333794e-01] [ 2.32751930e-02 5.48489403e-03 9.99714050e-01 1.54520311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0725578440001 meters Centerline goodness : 0.117298 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99731656e-01 1.61399923e-03 -2.31086888e-02 5.07177267e+00] [-1.74337821e-03 9.99982914e-01 -5.57966465e-03 6.02167108e-01] [ 2.30992884e-02 5.61845456e-03 9.99717388e-01 1.54510995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10255784400005 meters Centerline goodness : 0.143660 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99707127e-01 -6.66352190e-03 -2.32649272e-02 5.05260492e+00] [ 6.56773658e-03 9.99969649e-01 -4.19114080e-03 6.06229771e-01] [ 2.32921488e-02 4.03711542e-03 9.99720550e-01 1.54267454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1325578440001 meters Centerline goodness : 0.148511 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99703809e-01 -6.70068508e-03 -2.33964812e-02 5.05312237e+00] [ 6.60116339e-03 9.99968845e-01 -4.32834907e-03 6.06981981e-01] [ 2.34247552e-02 4.17262305e-03 9.99716895e-01 1.54229672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16255784400005 meters Centerline goodness : 0.148511 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99703809e-01 -6.70068508e-03 -2.33964812e-02 5.05312237e+00] [ 6.60116339e-03 9.99968845e-01 -4.32834907e-03 6.06981981e-01] [ 2.34247552e-02 4.17262305e-03 9.99716895e-01 1.54229672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1925578440001 meters Centerline goodness : 0.146519 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99702682e-01 1.33808618e-03 -2.43465949e-02 5.07449094e+00] [-1.47169999e-03 9.99983952e-01 -5.47089758e-03 6.04788785e-01] [ 2.43388836e-02 5.50510187e-03 9.99688608e-01 1.54345860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22255784400005 meters Centerline goodness : 0.151807 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99702730e-01 1.37960023e-03 -2.43423184e-02 5.07429578e+00] [-1.50825559e-03 9.99984988e-01 -5.26768713e-03 6.03750693e-01] [ 2.43346857e-02 5.30283564e-03 9.99689803e-01 1.54378563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2525578440001 meters Centerline goodness : 0.160221 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99705322e-01 1.42340583e-03 -2.42331009e-02 5.07383980e+00] [-1.54342082e-03 9.99986634e-01 -4.93453989e-03 6.02030600e-01] [ 2.42257531e-02 4.97048767e-03 9.99694157e-01 1.54414804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28255784400005 meters Centerline goodness : 0.144321 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99700283e-01 8.97789796e-04 -2.44650346e-02 5.07470531e+00] [-1.01467163e-03 9.99988130e-01 -4.76551041e-03 5.98987316e-01] [ 2.44604658e-02 4.78890608e-03 9.99689328e-01 1.54393147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.312557844 meters Centerline goodness : 0.151201 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.54 [[ 9.99695060e-01 9.20404854e-04 -2.46767035e-02 5.07535354e+00] [-1.02994316e-03 9.99989672e-01 -4.42659362e-03 5.96802605e-01] [ 2.46723744e-02 4.45065938e-03 9.99685683e-01 1.54383916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34255784400005 meters Centerline goodness : 0.151557 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99694904e-01 1.01510993e-03 -2.46793126e-02 5.07543343e+00] [-1.11634943e-03 9.99991018e-01 -4.08876975e-03 5.94925411e-01] [ 2.46749403e-02 4.11507302e-03 9.99687058e-01 1.54374782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.372557844 meters Centerline goodness : 0.154201 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99695386e-01 1.13796360e-03 -2.46544248e-02 5.07548355e+00] [-1.23167265e-03 9.99992074e-01 -3.78604999e-03 5.93555983e-01] [ 2.46499210e-02 3.81526289e-03 9.99688864e-01 1.54354810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40255784400006 meters Centerline goodness : 0.129511 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.54 [[ 9.99687961e-01 1.34179525e-03 -2.49435540e-02 5.07671680e+00] [-1.42615228e-03 9.99993323e-01 -3.36443537e-03 5.91815651e-01] [ 2.49388730e-02 3.39895884e-03 9.99683200e-01 1.54278881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43255784400003 meters Centerline goodness : 0.146630 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99607769e-01 8.93535197e-04 -2.79912589e-02 5.03228481e+00] [-9.82642257e-04 9.99994493e-01 -3.16979516e-03 5.88574735e-01] [ 2.79882725e-02 3.19605726e-03 9.99603142e-01 1.54254004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46255784400006 meters Centerline goodness : 0.150808 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99604734e-01 9.06819913e-04 -2.80989813e-02 5.03251177e+00] [-9.97909013e-04 9.99994293e-01 -3.22786924e-03 5.88934878e-01] [ 2.80958938e-02 3.25463361e-03 9.99599934e-01 1.54258623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49255784400003 meters Centerline goodness : 0.124978 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99621249e-01 1.11085552e-03 -2.74977043e-02 5.03082737e+00] [-1.20645225e-03 9.99993286e-01 -3.46018889e-03 5.91269496e-01] [ 2.74936759e-02 3.49205301e-03 9.99615878e-01 1.54277520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52255784400006 meters Centerline goodness : 0.266845 Centerline is valid? [False, False] Translation: X:5.03, Y:0.59, Z:1.54 [[ 9.99634298e-01 1.06838313e-03 -2.70208815e-02 5.02955254e+00] [-1.17160230e-03 9.99992077e-01 -3.80443462e-03 5.93318099e-01] [ 2.70166028e-02 3.83470105e-03 9.99627630e-01 1.54283095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55255784400003 meters Centerline goodness : 0.149862 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99647042e-01 1.01227850e-03 -2.65474558e-02 5.02821247e+00] [-1.12420984e-03 9.99990541e-01 -4.20168791e-03 5.95647744e-01] [ 2.65429514e-02 4.23004980e-03 9.99638724e-01 1.54299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58255784400006 meters Centerline goodness : 0.155281 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99656098e-01 7.92885756e-04 -2.62117816e-02 5.02722169e+00] [-9.23967016e-04 9.99987127e-01 -4.98911957e-03 5.99744352e-01] [ 2.62074883e-02 5.01162262e-03 9.99643962e-01 1.54309878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61255784400004 meters Centerline goodness : 0.259922 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99652204e-01 6.40655798e-04 -2.63640184e-02 5.02765941e+00] [-7.81798935e-04 9.99985417e-01 -5.34366841e-03 6.01360073e-01] [ 2.63602105e-02 5.36242127e-03 9.99638126e-01 1.54299595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64255784400007 meters Centerline goodness : 0.165126 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99647994e-01 5.56015477e-04 -2.65250592e-02 5.02805275e+00] [-7.03922607e-04 9.99984256e-01 -5.56711665e-03 6.02500977e-01] [ 2.65215462e-02 5.58382858e-03 9.99632647e-01 1.54297308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67255784400004 meters Centerline goodness : 0.096069 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99648233e-01 4.95152759e-04 -2.65172787e-02 5.02805043e+00] [-6.46596832e-04 9.99983529e-01 -5.70287694e-03 6.03209803e-01] [ 2.65140181e-02 5.71801684e-03 9.99632088e-01 1.54290434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70255784400007 meters Centerline goodness : 0.152650 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99650213e-01 4.12635969e-04 -2.64439391e-02 5.02768790e+00] [-5.66202425e-04 9.99983019e-01 -5.80002140e-03 6.03465494e-01] [ 2.64410968e-02 5.81296525e-03 9.99633472e-01 1.54319697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73255784400004 meters Centerline goodness : 0.148386 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99652788e-01 1.85966761e-04 -2.63489885e-02 5.02740333e+00] [-3.42723837e-04 9.99982270e-01 -5.94487244e-03 6.03392906e-01] [ 2.63474158e-02 5.95183873e-03 9.99635128e-01 1.54335121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76255784400007 meters Centerline goodness : 0.146864 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.54 [[ 9.99653119e-01 1.76663395e-04 -2.63364778e-02 5.02730243e+00] [-3.34265407e-04 9.99982064e-01 -5.97988963e-03 6.03735627e-01] [ 2.63349490e-02 5.98661869e-03 9.99635249e-01 1.54344267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79255784400004 meters Centerline goodness : 0.166750 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99649679e-01 -4.68636832e-03 -2.60491206e-02 5.04885194e+00] [ 4.63107988e-03 9.99986895e-01 -2.18239170e-03 6.08760957e-01] [ 2.60590067e-02 2.06099160e-03 9.99658282e-01 1.54455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8225578440001 meters Centerline goodness : 0.148173 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99649807e-01 -4.79887482e-03 -2.60237169e-02 5.04894378e+00] [ 4.73272413e-03 9.99985413e-01 -2.60293535e-03 6.10915808e-01] [ 2.60358284e-02 2.47886075e-03 9.99657937e-01 1.54422512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85255784400005 meters Centerline goodness : 0.157332 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99657724e-01 3.76426851e-03 -2.58894758e-02 5.06977136e+00] [-3.87351117e-03 9.99983800e-01 -4.17072292e-03 6.11192665e-01] [ 2.58733567e-02 4.26957856e-03 9.99656111e-01 1.54577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8825578440001 meters Centerline goodness : 0.147509 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99660184e-01 3.63561977e-03 -2.58127462e-02 5.06975239e+00] [-3.75801873e-03 9.99981918e-01 -4.69487698e-03 6.13912331e-01] [ 2.57952107e-02 4.79028637e-03 9.99655771e-01 1.54534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91255784400005 meters Centerline goodness : 0.144695 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99687118e-01 3.88785788e-03 -2.47093092e-02 5.06636375e+00] [-4.00808690e-03 9.99980361e-01 -4.81807548e-03 6.16350097e-01] [ 2.46900919e-02 4.91560505e-03 9.99683068e-01 1.54617535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9425578440001 meters Centerline goodness : 0.153800 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99692325e-01 3.91943404e-03 -2.44927357e-02 5.06536153e+00] [-4.03526673e-03 9.99980899e-01 -4.68163286e-03 6.15663297e-01] [ 2.44739185e-02 4.77902715e-03 9.99689046e-01 1.54690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97255784400005 meters Centerline goodness : 0.152173 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99692791e-01 3.95033972e-03 -2.44687105e-02 5.06505592e+00] [-4.05840420e-03 9.99982223e-01 -4.36835161e-03 6.13700877e-01] [ 2.44510191e-02 4.46631353e-03 9.99691052e-01 1.54740055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0025578440001 meters Centerline goodness : 0.147031 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99690742e-01 3.94454714e-03 -2.45532267e-02 5.06523552e+00] [-4.04405970e-03 9.99983804e-01 -4.00459725e-03 6.11121818e-01] [ 2.45370328e-02 4.10265351e-03 9.99690503e-01 1.54751281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03255784400005 meters Centerline goodness : 0.135128 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99678818e-01 -4.62633166e-03 -2.49170101e-02 5.08706227e+00] [ 4.55051433e-03 9.99984846e-01 -3.09863688e-03 6.10809407e-01] [ 2.49309678e-02 2.98425644e-03 9.99684721e-01 1.54815283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters Centerline goodness : 0.159833 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99675199e-01 -4.45005487e-03 -2.50936931e-02 5.08795411e+00] [ 4.38294458e-03 9.99986672e-01 -2.72875581e-03 6.09278925e-01] [ 2.51055018e-02 2.61788524e-03 9.99681379e-01 1.54745919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09255784400005 meters Centerline goodness : 0.144181 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99665693e-01 -4.30756031e-03 -2.54940772e-02 5.08956468e+00] [ 4.24586353e-03 9.99987927e-01 -2.47368030e-03 6.08180149e-01] [ 2.55044249e-02 2.36460896e-03 9.99671913e-01 1.54656812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters Centerline goodness : 0.148475 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99655719e-01 -4.26806435e-03 -2.58887383e-02 5.09126552e+00] [ 4.20667499e-03 9.99988211e-01 -2.42527518e-03 6.07732236e-01] [ 2.58987843e-02 2.31553469e-03 9.99661888e-01 1.54543358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15255784400006 meters Centerline goodness : 0.259524 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99628041e-01 -3.87130421e-03 -2.69961420e-02 5.09470159e+00] [ 3.80919651e-03 9.99989980e-01 -2.35166115e-03 6.08173110e-01] [ 2.70049755e-02 2.24795282e-03 9.99632772e-01 1.54419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters Centerline goodness : 0.145315 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.54 [[ 9.99609874e-01 4.83133169e-03 -2.75092465e-02 5.07430124e+00] [-4.91353153e-03 9.99983662e-01 -2.92126817e-03 6.04393041e-01] [ 2.74946835e-02 3.05529606e-03 9.99617281e-01 1.54263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21255784400006 meters Centerline goodness : 0.146120 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99608946e-01 4.84597630e-03 -2.75403581e-02 5.07470999e+00] [-4.93454147e-03 9.99982868e-01 -3.14877970e-03 6.06047390e-01] [ 2.75246273e-02 3.28344740e-03 9.99615733e-01 1.54204415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters Centerline goodness : 0.143130 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99611736e-01 4.78195694e-03 -2.74501287e-02 5.07463451e+00] [-4.87530146e-03 9.99982556e-01 -3.33459408e-03 6.06881421e-01] [ 2.74337040e-02 3.46712703e-03 9.99617612e-01 1.54176720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27255784400006 meters Centerline goodness : 0.315194 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99611758e-01 4.67411680e-03 -2.74678969e-02 5.07470878e+00] [-4.77034928e-03 9.99982708e-01 -3.43896920e-03 6.06803298e-01] [ 2.74513478e-02 3.56866551e-03 9.99616771e-01 1.54171752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters Centerline goodness : 0.099345 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99624407e-01 4.42519239e-03 -2.70455771e-02 5.07319672e+00] [-4.52124701e-03 9.99983684e-01 -3.49146431e-03 6.06045455e-01] [ 2.70296854e-02 3.61243267e-03 9.99628104e-01 1.54249366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33255784400006 meters Centerline goodness : 0.143106 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.54 [[ 9.99631679e-01 4.43341053e-03 -2.67740632e-02 5.07220261e+00] [-4.52726448e-03 9.99983815e-01 -3.44580588e-03 6.06017293e-01] [ 2.67583532e-02 3.56574999e-03 9.99635572e-01 1.54300739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters Centerline goodness : 0.156015 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99657588e-01 -2.96887145e-03 -2.59979529e-02 5.09060479e+00] [ 2.92224883e-03 9.99994054e-01 -1.83112808e-03 6.11954749e-01] [ 2.60032347e-02 1.75452859e-03 9.99660319e-01 1.54514553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39255784400007 meters Centerline goodness : 0.153849 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99646098e-01 -3.15450780e-03 -2.64145352e-02 5.09184541e+00] [ 3.10502430e-03 9.99993347e-01 -1.91415020e-03 6.11714176e-01] [ 2.64203977e-02 1.83145501e-03 9.99649243e-01 1.54492207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42255784400004 meters Centerline goodness : 0.150107 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99633632e-01 -3.24912299e-03 -2.68708823e-02 5.09331962e+00] [ 3.19852349e-03 9.99993030e-01 -1.92582790e-03 6.11229772e-01] [ 2.68769523e-02 1.83917519e-03 9.99637058e-01 1.54442757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45255784400007 meters Centerline goodness : 0.270678 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99623776e-01 -3.26746164e-03 -2.72328707e-02 5.09448785e+00] [ 3.21775497e-03 9.99993077e-01 -1.86886813e-03 6.10781410e-01] [ 2.72387886e-02 1.78053631e-03 9.99627370e-01 1.54399647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48255784400004 meters Centerline goodness : 0.158003 Centerline is valid? [False, False] Translation: X:5.10, Y:0.61, Z:1.54 [[ 9.99618507e-01 -3.26195485e-03 -2.74262581e-02 5.09504052e+00] [ 3.21365571e-03 9.99993207e-01 -1.80494825e-03 6.10482785e-01] [ 2.74319595e-02 1.71612113e-03 9.99622200e-01 1.54391461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51255784400007 meters Centerline goodness : 0.149381 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.54 [[ 9.99628136e-01 -3.31625379e-03 -2.70664420e-02 5.09369759e+00] [ 3.27399773e-03 9.99993352e-01 -1.60536387e-03 6.09072497e-01] [ 2.70715859e-02 1.51615142e-03 9.99632348e-01 1.54472632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54255784400004 meters Centerline goodness : 0.149312 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.55 [[ 9.99572255e-01 -4.32361781e-03 -2.89242705e-02 5.04565038e+00] [ 4.27612795e-03 9.99989406e-01 -1.70352271e-03 6.05216291e-01] [ 2.89313295e-02 1.57911016e-03 9.99580154e-01 1.54591984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5725578440001 meters Centerline goodness : 0.166366 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.55 [[ 9.99577087e-01 -4.27799451e-03 -2.87636377e-02 5.04499886e+00] [ 4.23386626e-03 9.99989765e-01 -1.59489645e-03 6.04911745e-01] [ 2.87701662e-02 1.47244055e-03 9.99584969e-01 1.54631169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60255784400005 meters Centerline goodness : 0.150540 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.55 [[ 9.99578838e-01 -4.23886943e-03 -2.87084975e-02 5.04492350e+00] [ 4.19540909e-03 9.99989961e-01 -1.57391462e-03 6.05158019e-01] [ 2.87148809e-02 1.45280786e-03 9.99586587e-01 1.54620125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6325578440001 meters Centerline goodness : 0.148180 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99562369e-01 -4.24386058e-03 -2.92756048e-02 5.04708771e+00] [ 4.19619496e-03 9.99989769e-01 -1.68941306e-03 6.05691602e-01] [ 2.92824749e-02 1.56582757e-03 9.99569950e-01 1.54499910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66255784400005 meters Centerline goodness : 0.149271 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.54 [[ 9.99559696e-01 -4.27431309e-03 -2.93623014e-02 5.04739173e+00] [ 4.22577795e-03 9.99989601e-01 -1.71482861e-03 6.05501597e-01] [ 2.93693258e-02 1.58999500e-03 9.99567364e-01 1.54487307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6925578440001 meters Centerline goodness : 0.151601 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.55 [[ 9.99603874e-01 3.91571823e-03 -2.78704626e-02 5.06561476e+00] [-4.00590498e-03 9.99986917e-01 -3.18082740e-03 6.02216968e-01] [ 2.78576428e-02 3.29121382e-03 9.99606482e-01 1.54720686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72255784400005 meters Centerline goodness : 0.157235 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99632751e-01 4.04794390e-03 -2.67950807e-02 5.06178675e+00] [-4.12519898e-03 9.99987491e-01 -2.82853172e-03 6.00898811e-01] [ 2.67832958e-02 2.93802798e-03 9.99636946e-01 1.54913004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7525578440001 meters Centerline goodness : 0.237975 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99634395e-01 4.07253397e-03 -2.67299483e-02 5.06154344e+00] [-4.14657102e-03 9.99987717e-01 -2.71497200e-03 6.00224059e-01] [ 2.67185631e-02 2.82481703e-03 9.99639004e-01 1.54928765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78255784400005 meters Centerline goodness : 0.121852 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99628927e-01 4.05781047e-03 -2.69359088e-02 5.06225791e+00] [-4.13188980e-03 9.99987832e-01 -2.69511876e-03 5.99840678e-01] [ 2.69246448e-02 2.80541488e-03 9.99633529e-01 1.54896943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.812557844 meters Centerline goodness : 0.247644 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99623061e-01 4.06178475e-03 -2.71521126e-02 5.06299613e+00] [-4.13583401e-03 9.99987879e-01 -2.67159824e-03 5.99566461e-01] [ 2.71409321e-02 2.78288784e-03 9.99627743e-01 1.54864443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84255784400005 meters Centerline goodness : 0.279141 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99619532e-01 4.14439380e-03 -2.72693264e-02 5.06323839e+00] [-4.21841466e-03 9.99987571e-01 -2.65746941e-03 5.99897640e-01] [ 2.72579739e-02 2.77149166e-03 9.99624590e-01 1.54867888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.872557844 meters Centerline goodness : 0.163365 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99624442e-01 4.20121046e-03 -2.70799663e-02 5.06264778e+00] [-4.27376057e-03 9.99987431e-01 -2.62178592e-03 6.00022833e-01] [ 2.70686113e-02 2.73653458e-03 9.99629832e-01 1.54883981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90255784400006 meters Centerline goodness : 0.153593 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99625161e-01 4.18704958e-03 -2.70555937e-02 5.06254880e+00] [-4.26099616e-03 9.99987341e-01 -2.67606012e-03 6.00310086e-01] [ 2.70440464e-02 2.79034081e-03 9.99630348e-01 1.54888504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93255784400003 meters Centerline goodness : 0.153982 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99622034e-01 4.13499087e-03 -2.71788553e-02 5.06297746e+00] [-4.21191215e-03 9.99987284e-01 -2.77354977e-03 6.00509460e-01] [ 2.71670411e-02 2.88697641e-03 9.99626739e-01 1.54868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96255784400006 meters Centerline goodness : 0.165333 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99618014e-01 4.06658093e-03 -2.73365859e-02 5.06363579e+00] [-4.14751536e-03 9.99987181e-01 -2.90461550e-03 6.00856350e-01] [ 2.73244236e-02 3.01688489e-03 9.99622066e-01 1.54822879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99255784400003 meters Centerline goodness : 0.105766 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.55 [[ 9.99615667e-01 3.93967383e-03 -2.74407967e-02 5.06420312e+00] [-4.03409083e-03 9.99986130e-01 -3.38624309e-03 6.03425743e-01] [ 2.74270754e-02 3.49564031e-03 9.99617695e-01 1.54765135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02255784400006 meters Centerline goodness : 0.145621 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99621848e-01 3.85722971e-03 -2.72264965e-02 5.06366464e+00] [-3.95879765e-03 9.99985402e-01 -3.67756539e-03 6.05070736e-01] [ 2.72119138e-02 3.78395890e-03 9.99622525e-01 1.54757299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05255784400003 meters Centerline goodness : 0.145621 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99621848e-01 3.85722971e-03 -2.72264965e-02 5.06366464e+00] [-3.95879765e-03 9.99985402e-01 -3.67756539e-03 6.05070736e-01] [ 2.72119138e-02 3.78395890e-03 9.99622525e-01 1.54757299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08255784400006 meters Centerline goodness : 0.153720 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99629380e-01 3.77206049e-03 -2.69605970e-02 5.06274906e+00] [-3.88014052e-03 9.99984641e-01 -3.95762406e-03 6.06551746e-01] [ 2.69452545e-02 4.06076819e-03 9.99628663e-01 1.54793447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11255784400004 meters Centerline goodness : 0.146802 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99636305e-01 3.63345642e-03 -2.67218130e-02 5.06176559e+00] [-3.74945937e-03 9.99983759e-01 -4.29231018e-03 6.08081075e-01] [ 2.67057831e-02 4.39094144e-03 9.99633693e-01 1.54851201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14255784400007 meters Centerline goodness : 0.110975 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99633767e-01 3.31145167e-03 -2.68582571e-02 5.06210567e+00] [-3.44916077e-03 9.99981135e-01 -5.08254789e-03 6.11973933e-01] [ 2.68409198e-02 5.17332494e-03 9.99626331e-01 1.54841029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17255784400004 meters Centerline goodness : 0.157709 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.55 [[ 9.99628835e-01 3.17482703e-03 -2.70575825e-02 5.06301304e+00] [-3.32445079e-03 9.99979422e-01 -5.48663872e-03 6.14236447e-01] [ 2.70396066e-02 5.57455388e-03 9.99618819e-01 1.54775224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20255784400007 meters Centerline goodness : 0.156530 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99626244e-01 3.07619609e-03 -2.71645046e-02 5.06347048e+00] [-3.23468898e-03 9.99977991e-01 -5.79254464e-03 6.16013700e-01] [ 2.71460877e-02 5.87824836e-03 9.99614194e-01 1.54741562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23255784400004 meters Centerline goodness : 0.155198 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99626275e-01 2.99697471e-03 -2.71722098e-02 5.06359072e+00] [-3.16063752e-03 9.99977111e-01 -5.98222234e-03 6.16968478e-01] [ 2.71536593e-02 6.06586814e-03 9.99612867e-01 1.54722506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26255784400007 meters Centerline goodness : 0.104235 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99622452e-01 2.80905579e-03 -2.73324539e-02 5.06408375e+00] [-2.98178485e-03 9.99975830e-01 -6.28085517e-03 6.18024967e-01] [ 2.73141500e-02 6.35998334e-03 9.99606667e-01 1.54711144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29255784400004 meters Centerline goodness : 0.111815 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99619678e-01 2.74630921e-03 -2.74400522e-02 5.06446031e+00] [-2.92338013e-03 9.99975151e-01 -6.41497809e-03 6.18633790e-01] [ 2.74217528e-02 6.49275604e-03 9.99602867e-01 1.54695449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3225578440001 meters Centerline goodness : 0.162083 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99617634e-01 2.64308506e-03 -2.75245374e-02 5.06481538e+00] [-2.82686649e-03 9.99973958e-01 -6.64023389e-03 6.19624379e-01] [ 2.75062699e-02 6.71550308e-03 9.99599073e-01 1.54672841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35255784400005 meters Centerline goodness : 0.158383 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99616180e-01 2.55582721e-03 -2.75855090e-02 5.06505964e+00] [-2.74698975e-03 9.99972462e-01 -6.89414787e-03 6.20899841e-01] [ 2.75671291e-02 6.96727887e-03 9.99595673e-01 1.54652516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3825578440001 meters Centerline goodness : 0.151669 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.55 [[ 9.99617251e-01 2.45040361e-03 -2.75562437e-02 5.06500886e+00] [-2.64921001e-03 9.99970712e-01 -7.18037602e-03 6.22433404e-01] [ 2.75378418e-02 7.25063002e-03 9.99594466e-01 1.54644090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41255784400005 meters Centerline goodness : 0.160719 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623083e-01 2.36637647e-03 -2.73512835e-02 5.06440072e+00] [-2.57355160e-03 9.99968248e-01 -7.54188540e-03 6.24787306e-01] [ 2.73325681e-02 7.60943268e-03 9.99597433e-01 1.54651252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4425578440001 meters Centerline goodness : 0.108605 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99624695e-01 2.34705946e-03 -2.72939736e-02 5.06414496e+00] [-2.55388899e-03 9.99968271e-01 -7.54545732e-03 6.24797908e-01] [ 2.72753979e-02 7.61233125e-03 9.99598972e-01 1.54670266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47255784400005 meters Centerline goodness : 0.291643 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623723e-01 2.36066989e-03 -2.73283646e-02 5.06409644e+00] [-2.56338767e-03 9.99969443e-01 -7.38519741e-03 6.23795421e-01] [ 2.73100955e-02 7.45247172e-03 9.99599229e-01 1.54695054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5025578440001 meters Centerline goodness : 0.109294 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99621019e-01 2.33355737e-03 -2.74294046e-02 5.06429587e+00] [-2.53287737e-03 9.99970625e-01 -7.23415778e-03 6.22698312e-01] [ 2.74117176e-02 7.30089149e-03 9.99597566e-01 1.54708656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53255784400005 meters Centerline goodness : 0.159707 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99621706e-01 2.37110726e-03 -2.74011429e-02 5.06420589e+00] [-2.56372501e-03 9.99972237e-01 -6.99655994e-03 6.21266202e-01] [ 2.73837926e-02 7.06416218e-03 9.99600033e-01 1.54715412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters Centerline goodness : 0.160303 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99634585e-01 2.44243081e-03 -2.69208271e-02 5.06270528e+00] [-2.62050399e-03 9.99974909e-01 -6.58140594e-03 6.19142172e-01] [ 2.69040770e-02 6.64954713e-03 9.99615903e-01 1.54772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59255784400005 meters Centerline goodness : 0.105497 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99638956e-01 2.50477146e-03 -2.67522722e-02 5.06220176e+00] [-2.67842572e-03 9.99975564e-01 -6.45733687e-03 6.18632017e-01] [ 2.67354443e-02 6.52665946e-03 9.99621238e-01 1.54785683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters Centerline goodness : 0.120558 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99638188e-01 2.59404575e-03 -2.67724389e-02 5.06250915e+00] [-2.76216591e-03 9.99976688e-01 -6.24452821e-03 6.17401740e-01] [ 2.67556162e-02 6.31621879e-03 9.99622050e-01 1.54746133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65255784400006 meters Centerline goodness : 0.162539 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99634072e-01 2.68980187e-03 -2.69162945e-02 5.06307930e+00] [-2.85332429e-03 9.99977696e-01 -6.03865829e-03 6.16320673e-01] [ 2.68994514e-02 6.11324950e-03 9.99619451e-01 1.54712189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters Centerline goodness : 0.103295 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99627421e-01 2.75978651e-03 -2.71551506e-02 5.06392976e+00] [-2.92093009e-03 9.99978351e-01 -5.89630494e-03 6.15548438e-01] [ 2.71382901e-02 5.97342640e-03 9.99613841e-01 1.54670287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71255784400006 meters Centerline goodness : 0.150588 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.55 [[ 9.99623297e-01 2.80345470e-03 -2.73020926e-02 5.06458933e+00] [-2.96334112e-03 9.99978687e-01 -5.81749819e-03 6.15102558e-01] [ 2.72852016e-02 5.89621213e-03 9.99610300e-01 1.54622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters Centerline goodness : 0.162641 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99616452e-01 2.86713300e-03 -2.75450204e-02 5.06550969e+00] [-3.02426529e-03 9.99979383e-01 -5.66459731e-03 6.14022745e-01] [ 2.75282113e-02 5.74572811e-03 9.99604514e-01 1.54570557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77255784400006 meters Centerline goodness : 0.164157 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.55 [[ 9.99615796e-01 2.92426383e-03 -2.75628058e-02 5.06548543e+00] [-3.07786057e-03 9.99979963e-01 -5.53183182e-03 6.13335126e-01] [ 2.75460770e-02 5.61454094e-03 9.99604767e-01 1.54580343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters Centerline goodness : 0.107927 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:1.55 [[ 9.99624527e-01 -4.49941576e-03 -2.70288630e-02 5.08333565e+00] [ 4.39503931e-03 9.99982659e-01 -3.91983356e-03 6.17887259e-01] [ 2.70460313e-02 3.79956886e-03 9.99626968e-01 1.54808915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83255784400006 meters Centerline goodness : 0.129719 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:1.55 [[ 9.99629867e-01 -4.38410858e-03 -2.68497377e-02 5.08269924e+00] [ 4.28740316e-03 9.99984118e-01 -3.65823678e-03 6.16779229e-01] [ 2.68653493e-02 3.54176709e-03 9.99632787e-01 1.54840248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters Centerline goodness : 0.163306 Centerline is valid? [False, False] Translation: X:5.08, Y:0.61, Z:1.55 [[ 9.99620432e-01 -4.28812855e-03 -2.72140511e-02 5.08401867e+00] [ 4.20347023e-03 9.99986150e-01 -3.16727676e-03 6.13937373e-01] [ 2.72272559e-02 3.05168111e-03 9.99624611e-01 1.54781389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89255784400007 meters Centerline goodness : 0.156677 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99606671e-01 -4.21288670e-03 -2.77264282e-02 5.08569245e+00] [ 4.13574131e-03 9.99987417e-01 -2.83913546e-03 6.11943528e-01] [ 2.77380403e-02 2.72334941e-03 9.99611517e-01 1.54726160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92255784400004 meters Centerline goodness : 0.160238 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99599839e-01 -4.08478779e-03 -2.79906509e-02 5.08643187e+00] [ 4.01790621e-03 9.99988939e-01 -2.44525235e-03 6.09771936e-01] [ 2.80003296e-02 2.33181004e-03 9.99605194e-01 1.54720911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95255784400007 meters Centerline goodness : 0.159371 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.55 [[ 9.99602116e-01 -3.92952872e-03 -2.79314932e-02 5.08602338e+00] [ 3.87400833e-03 9.99990412e-01 -2.04157063e-03 6.07797131e-01] [ 2.79392478e-02 1.93255149e-03 9.99607755e-01 1.54768522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98255784400004 meters Centerline goodness : 0.298338 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99691463e-01 3.85208465e-03 -2.45385323e-02 5.10288226e+00] [-3.93938118e-03 9.99986080e-01 -3.51018199e-03 6.01652784e-01] [ 2.45246692e-02 3.60576560e-03 9.99692722e-01 1.54996970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01255784400007 meters Centerline goodness : 0.139281 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99698391e-01 3.96339330e-03 -2.42367366e-02 5.10195732e+00] [-4.04440180e-03 9.99986395e-01 -3.29427983e-03 6.00667357e-01] [ 2.42233503e-02 3.39130935e-03 9.99700819e-01 1.55023367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04255784400004 meters Centerline goodness : 0.135971 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:1.55 [[ 9.99699147e-01 4.04141947e-03 -2.41926281e-02 5.10196367e+00] [-4.11921697e-03 9.99986502e-01 -3.16678172e-03 6.00190773e-01] [ 2.41795032e-02 3.26548367e-03 9.99702300e-01 1.55002757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0725578440001 meters Centerline goodness : 0.274785 Centerline is valid? [False, False] Translation: X:5.12, Y:0.60, Z:1.55 [[ 9.99672859e-01 -1.59621584e-03 -2.55269748e-02 5.12379315e+00] [ 1.58186649e-03 9.99998579e-01 -5.82308595e-04 6.04044252e-01] [ 2.55278680e-02 5.41737832e-04 9.99673964e-01 1.55073882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10255784400005 meters Centerline goodness : 0.131390 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.55 [[ 9.99663908e-01 -1.56718402e-03 -2.58769247e-02 5.12518744e+00] [ 1.55145420e-03 9.99998599e-01 -6.27936087e-04 6.04367023e-01] [ 2.58778726e-02 5.87578179e-04 9.99664939e-01 1.54986460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1325578440001 meters Centerline goodness : 0.131428 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.55 [[ 9.99651816e-01 -1.30525133e-03 -2.63541786e-02 5.12676684e+00] [ 1.28887778e-03 9.99998966e-01 -6.38265505e-04 6.05049295e-01] [ 2.63549844e-02 6.04075956e-04 9.99652465e-01 1.54907426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16255784400005 meters Centerline goodness : 0.300455 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.55 [[ 9.99659318e-01 -1.27269612e-03 -2.60696725e-02 5.12586536e+00] [ 1.25264415e-03 9.99998907e-01 -7.85485091e-04 6.06134908e-01] [ 2.60706437e-02 7.52561468e-04 9.99659820e-01 1.54933679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1925578440001 meters Centerline goodness : 0.286756 Centerline is valid? [False, False] Translation: X:5.12, Y:0.61, Z:1.55 [[ 9.99669485e-01 -1.24595963e-03 -2.56781620e-02 5.12458259e+00] [ 1.22254366e-03 9.99998822e-01 -9.27581019e-04 6.07240627e-01] [ 2.56792875e-02 8.95881765e-04 9.99669831e-01 1.54976653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22255784400005 meters Centerline goodness : 0.134376 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99705295e-01 7.21574500e-03 -2.31787929e-02 5.14431120e+00] [-7.26582065e-03 9.99971447e-01 -2.07691591e-03 6.07638635e-01] [ 2.31631446e-02 2.24471678e-03 9.99729178e-01 1.55061121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2525578440001 meters Centerline goodness : 0.137354 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99708398e-01 7.15949953e-03 -2.30621161e-02 5.14401786e+00] [-7.21186885e-03 9.99971599e-01 -2.18842253e-03 6.08166453e-01] [ 2.30457931e-02 2.35410534e-03 9.99731639e-01 1.55058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28255784400005 meters Centerline goodness : 0.120136 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:1.55 [[ 9.99709609e-01 7.12210112e-03 -2.30211438e-02 5.14385118e+00] [-7.17531602e-03 9.99971771e-01 -2.22978953e-03 6.08275449e-01] [ 2.30046132e-02 2.39432600e-03 9.99732492e-01 1.55066812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.312557844 meters Centerline goodness : 0.142204 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99735710e-01 -5.22516569e-04 -2.29834262e-02 5.16224242e+00] [ 4.97246003e-04 9.99999266e-01 -1.10521376e-03 6.13667202e-01] [ 2.29839868e-02 1.09349325e-03 9.99735235e-01 1.55303696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34255784400005 meters Centerline goodness : 0.136389 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99729003e-01 -6.68487271e-04 -2.32695741e-02 5.16298562e+00] [ 6.37811334e-04 9.99998918e-01 -1.32568215e-03 6.14477576e-01] [ 2.32704351e-02 1.31048130e-03 9.99728348e-01 1.55301637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.372557844 meters Centerline goodness : 0.117240 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99726939e-01 -7.38870228e-04 -2.33559555e-02 5.16317863e+00] [ 7.04235163e-04 9.99998640e-01 -1.49111259e-03 6.15340252e-01] [ 2.33570255e-02 1.47425734e-03 9.99726100e-01 1.55303591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40255784400006 meters Centerline goodness : 0.149124 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99729198e-01 -7.89694903e-04 -2.32574235e-02 5.16276276e+00] [ 7.51690973e-04 9.99998368e-01 -1.64275296e-03 6.16222207e-01] [ 2.32586828e-02 1.62482570e-03 9.99728160e-01 1.55328819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43255784400003 meters Centerline goodness : 0.160584 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99732022e-01 -8.66540552e-04 -2.31329678e-02 5.16222906e+00] [ 8.24129841e-04 9.99997962e-01 -1.84281562e-03 6.17284360e-01] [ 2.31345176e-02 1.82325722e-03 9.99730699e-01 1.55364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46255784400006 meters Centerline goodness : 0.165889 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99730673e-01 -1.04490349e-03 -2.31838392e-02 5.16228571e+00] [ 9.95143475e-04 9.99997177e-01 -2.15775681e-03 6.18444767e-01] [ 2.31860284e-02 2.13410442e-03 9.99728890e-01 1.55374746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49255784400003 meters Centerline goodness : 0.322773 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99729899e-01 -1.09004230e-03 -2.32151178e-02 5.16229126e+00] [ 1.03873550e-03 9.99996992e-01 -2.22200412e-03 6.18663583e-01] [ 2.32174700e-02 2.19728959e-03 9.99728024e-01 1.55385601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52255784400006 meters Centerline goodness : 0.169339 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.55 [[ 9.99733908e-01 -1.07401926e-03 -2.30425429e-02 5.16172104e+00] [ 1.02457667e-03 9.99997148e-01 -2.15740732e-03 6.18419357e-01] [ 2.30447943e-02 2.13322440e-03 9.99732158e-01 1.55409609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55255784400003 meters Centerline goodness : 0.159314 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99753839e-01 7.19634602e-03 -2.09874502e-02 5.18099499e+00] [-7.26500352e-03 9.99968499e-01 -3.19694994e-03 6.15507341e-01] [ 2.09637827e-02 3.34863688e-03 9.99774628e-01 1.55529075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58255784400006 meters Centerline goodness : 0.162382 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.56 [[ 9.99757036e-01 7.22020086e-03 -2.08263501e-02 5.18046673e+00] [-7.28601144e-03 9.99968695e-01 -3.08582009e-03 6.14907749e-01] [ 2.08034179e-02 3.23681137e-03 9.99778346e-01 1.55550208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61255784400004 meters Centerline goodness : 0.164364 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.56 [[ 9.99753770e-01 7.21827256e-03 -2.09832187e-02 5.18095982e+00] [-7.28308495e-03 9.99968936e-01 -3.01399446e-03 6.14290786e-01] [ 2.09608110e-02 3.16607489e-03 9.99775285e-01 1.55536120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64255784400007 meters Centerline goodness : 0.167149 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99747760e-01 7.18242979e-03 -2.12798031e-02 5.18208015e+00] [-7.25195018e-03 9.99968611e-01 -3.19159949e-03 6.15092485e-01] [ 2.12562117e-02 3.34511451e-03 9.99768465e-01 1.55466506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67255784400004 meters Centerline goodness : 0.160157 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99751736e-01 7.24192080e-03 -2.10718118e-02 5.18152837e+00] [-7.31368106e-03 9.99967709e-01 -3.33043892e-03 6.16310779e-01] [ 2.10470126e-02 3.48372460e-03 9.99772418e-01 1.55470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70255784400007 meters Centerline goodness : 0.151800 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99760882e-01 7.30287055e-03 -2.06118314e-02 5.18018916e+00] [-7.37690482e-03 9.99966602e-01 -3.51808706e-03 6.17679400e-01] [ 2.05854508e-02 3.66929734e-03 9.99781364e-01 1.55497059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73255784400004 meters Centerline goodness : 0.279317 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99765731e-01 7.56705241e-03 -2.02786261e-02 5.17916682e+00] [-7.64793193e-03 9.99963095e-01 -3.91383109e-03 6.20569253e-01] [ 2.02482616e-02 4.06800375e-03 9.99786707e-01 1.55508074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76255784400007 meters Centerline goodness : 0.155886 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99763774e-01 7.53255036e-03 -2.03876655e-02 5.17966676e+00] [-7.62118115e-03 9.99961828e-01 -4.27307354e-03 6.22545957e-01] [ 2.03547001e-02 4.42744222e-03 9.99783018e-01 1.55456973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79255784400004 meters Centerline goodness : 0.261149 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.55 [[ 9.99762631e-01 7.49984384e-03 -2.04556801e-02 5.18005859e+00] [-7.59588489e-03 9.99960472e-01 -4.62142903e-03 6.24578403e-01] [ 2.04202116e-02 4.77571104e-03 9.99780080e-01 1.55407541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8225578440001 meters Centerline goodness : 0.152737 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 9.99762227e-01 7.43735928e-03 -2.04981910e-02 5.18039965e+00] [-7.54049677e-03 9.99959275e-01 -4.95884989e-03 6.26471187e-01] [ 2.04604754e-02 5.11223735e-03 9.99777592e-01 1.55359409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85255784400005 meters Centerline goodness : 0.149693 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.9997634 0.00730588 -0.0204882 5.18073646] [-0.00742005 0.99995733 -0.00550234 0.62938943] [ 0.02044713 0.00565306 0.99977495 1.55281714] [ 0. 0. 0. 1. ]] SLAMing on 377.8825578440001 meters Centerline goodness : 0.156782 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99976306 0.00724378 -0.02052668 5.18087056] [-0.00736152 0.99995685 -0.00566586 0.63022012] [ 0.02048475 0.00581563 0.99977325 1.55272892] [ 0. 0. 0. 1. ]] SLAMing on 377.91255784400005 meters Centerline goodness : 0.151713 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99976025 0.00714845 -0.02069667 5.18130106] [-0.0072704 0.99995662 -0.00582305 0.63082183] [ 0.02065415 0.00597213 0.99976884 1.55269979] [ 0. 0. 0. 1. ]] SLAMing on 377.9425578440001 meters Centerline goodness : 0.115612 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975659 0.00703505 -0.02091095 5.18186417] [-0.00716144 0.9999565 -0.00597551 0.63132769] [ 0.02086801 0.0061238 0.99976348 1.55264733] [ 0. 0. 0. 1. ]] SLAMing on 377.97255784400005 meters Centerline goodness : 0.115612 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975659 0.00703505 -0.02091095 5.18186417] [-0.00716144 0.9999565 -0.00597551 0.63132769] [ 0.02086801 0.0061238 0.99976348 1.55264733] [ 0. 0. 0. 1. ]] SLAMing on 378.0025578440001 meters Centerline goodness : 0.152910 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.9997537 0.00692935 -0.0210837 5.1823132 ] [-0.00705893 0.99995661 -0.00607795 0.6315138 ] [ 0.02104067 0.00622528 0.99975924 1.55261371] [ 0. 0. 0. 1. ]] SLAMing on 378.03255784400005 meters Centerline goodness : 0.161342 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.55 [[ 0.99975642 0.00681234 -0.02099264 5.18202876] [-0.00694315 0.99995689 -0.00616457 0.63195834] [ 0.02094974 0.00630882 0.99976062 1.55274608] [ 0. 0. 0. 1. ]] SLAMing on 378.062557844 meters Centerline goodness : 0.101853 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.55 [[ 9.99801388e-01 -9.40678020e-04 -1.99072637e-02 5.20086173e+00] [ 8.44175906e-04 9.99987856e-01 -4.85543141e-03 6.37714223e-01] [ 1.99115893e-02 4.83766183e-03 9.99790041e-01 1.55464294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09255784400005 meters Centerline goodness : 0.110289 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.56 [[ 9.99804219e-01 -9.52917317e-04 -1.97640002e-02 5.20030608e+00] [ 8.58475685e-04 9.99988177e-01 -4.78640144e-03 6.37340639e-01] [ 1.97683275e-02 4.76849744e-03 9.99793216e-01 1.55501467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters Centerline goodness : 0.163216 Centerline is valid? [False, False] Translation: X:5.20, Y:0.64, Z:1.56 [[ 9.99801637e-01 -9.93238404e-04 -1.98921977e-02 5.20048961e+00] [ 8.99285194e-04 9.99988402e-01 -4.73150712e-03 6.36754630e-01] [ 1.98966665e-02 4.71267981e-03 9.99790935e-01 1.55528424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15255784400006 meters Centerline goodness : 0.129943 Centerline is valid? [False, False] Translation: X:5.22, Y:0.64, Z:1.56 [[ 9.99744702e-01 -9.68008628e-03 -2.04163410e-02 5.22246195e+00] [ 9.58791661e-03 9.99943419e-01 -4.60757118e-03 6.40899708e-01] [ 2.04597875e-02 4.41064470e-03 9.99780948e-01 1.55596130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters Centerline goodness : 0.162184 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99800925e-01 -1.97779120e-03 -1.98544196e-02 5.20396937e+00] [ 1.86944354e-03 9.99983269e-01 -5.47418335e-03 6.34238849e-01] [ 1.98649142e-02 5.43597686e-03 9.99787895e-01 1.55372354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21255784400006 meters Centerline goodness : 0.164439 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99802945e-01 -1.90071206e-03 -1.97600001e-02 5.20372609e+00] [ 1.79641117e-03 9.99984369e-01 -5.29479617e-03 6.33507383e-01] [ 1.97697551e-02 5.25825572e-03 9.99790732e-01 1.55372547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters Centerline goodness : 0.151118 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99804873e-01 -1.80796185e-03 -1.96709612e-02 5.20336316e+00] [ 1.70872545e-03 9.99985736e-01 -5.06045589e-03 6.32459742e-01] [ 1.96798297e-02 5.02585619e-03 9.99793701e-01 1.55395411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27255784400006 meters Centerline goodness : 0.158258 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.55 [[ 9.99802960e-01 -1.66498249e-03 -1.97805374e-02 5.20385433e+00] [ 1.57638671e-03 9.99988661e-01 -4.49368561e-03 6.29275955e-01] [ 1.97877950e-02 4.46161840e-03 9.99794247e-01 1.55370536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters Centerline goodness : 0.114617 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 0.99976426 0.0060143 -0.02086256 5.18571156] [-0.00613428 0.99996499 -0.00569158 0.62132552] [ 0.0208276 0.00581822 0.99976615 1.55152222] [ 0. 0. 0. 1. ]] SLAMing on 378.33255784400006 meters Centerline goodness : 0.113694 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 0.99975822 0.00613703 -0.02111484 5.18667174] [-0.00625095 0.99996624 -0.0053339 0.61953457] [ 0.02108139 0.0054646 0.99976283 1.55097536] [ 0. 0. 0. 1. ]] SLAMing on 378.36255784400004 meters Centerline goodness : 0.112745 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.55 [[ 9.99756109e-01 6.34644067e-03 -2.11529047e-02 5.18693787e+00] [-6.44692864e-03 9.99968240e-01 -4.68574792e-03 6.16053442e-01] [ 2.11224950e-02 4.82097637e-03 9.99765272e-01 1.55076899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39255784400007 meters Centerline goodness : 0.127888 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99787480e-01 -1.66345148e-03 -2.05481853e-02 5.20560038e+00] [ 1.58874588e-03 9.99992071e-01 -3.65141957e-03 6.18886712e-01] [ 2.05540964e-02 3.61799772e-03 9.99782196e-01 1.55245537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42255784400004 meters Centerline goodness : 0.109689 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99786574e-01 -1.58032679e-03 -2.05987794e-02 5.20557505e+00] [ 1.51007674e-03 9.99992993e-01 -3.42550685e-03 6.17647839e-01] [ 2.06040484e-02 3.39367002e-03 9.99781954e-01 1.55269939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45255784400007 meters Centerline goodness : 0.165458 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99783973e-01 -1.46580625e-03 -2.07330308e-02 5.20614017e+00] [ 1.39969705e-03 9.99993892e-01 -3.20274547e-03 6.16681624e-01] [ 2.07375987e-02 3.17303362e-03 9.99779918e-01 1.55231289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48255784400004 meters Centerline goodness : 0.138862 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99782328e-01 -1.37224667e-03 -2.08185663e-02 5.20663053e+00] [ 1.30912307e-03 9.99994506e-01 -3.04540747e-03 6.16161056e-01] [ 2.08226310e-02 3.01749051e-03 9.99778632e-01 1.55183740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51255784400007 meters Centerline goodness : 0.112620 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.55 [[ 9.99783864e-01 -1.29555958e-03 -2.07496298e-02 5.20654547e+00] [ 1.23565413e-03 9.99995033e-01 -2.89962229e-03 6.15601321e-01] [ 2.07532834e-02 2.87335621e-03 9.99780498e-01 1.55167740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54255784400004 meters Centerline goodness : 0.138187 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99790185e-01 -1.17781781e-03 -2.04498868e-02 5.20548947e+00] [ 1.12564078e-03 9.99996083e-01 -2.56278123e-03 6.13825582e-01] [ 2.04528252e-02 2.53922430e-03 9.99787595e-01 1.55219937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5725578440001 meters Centerline goodness : 0.133701 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99791832e-01 -1.11098684e-03 -2.03729982e-02 5.20524013e+00] [ 1.06330505e-03 9.99996671e-01 -2.35112403e-03 6.12704513e-01] [ 2.03755424e-02 2.32897189e-03 9.99789684e-01 1.55227843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60255784400005 meters Centerline goodness : 0.135197 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99789521e-01 -1.05662737e-03 -2.04889582e-02 5.20549834e+00] [ 1.01256594e-03 9.99997153e-01 -2.16075150e-03 6.11744431e-01] [ 2.04911830e-02 2.13955028e-03 9.99787744e-01 1.55233865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6325578440001 meters Centerline goodness : 0.135128 Centerline is valid? [False, False] Translation: X:5.21, Y:0.61, Z:1.55 [[ 9.99788366e-01 -9.98607300e-04 -2.05481280e-02 5.20559411e+00] [ 9.58369166e-04 9.99997604e-01 -1.96799261e-03 6.10837597e-01] [ 2.05500440e-02 1.94788342e-03 9.99786928e-01 1.55241935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66255784400005 meters Centerline goodness : 0.243233 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99798705e-01 -1.07716165e-03 -2.00346985e-02 5.20383867e+00] [ 1.04372659e-03 9.99998045e-01 -1.67923918e-03 6.09206657e-01] [ 2.00364681e-02 1.65799041e-03 9.99797875e-01 1.55333179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6925578440001 meters Centerline goodness : 0.138458 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99805950e-01 -1.07630917e-03 -1.96698942e-02 5.20250651e+00] [ 1.04816562e-03 9.99998412e-01 -1.44104680e-03 6.07883343e-01] [ 1.96714140e-02 1.42014986e-03 9.99805490e-01 1.55410995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72255784400005 meters Centerline goodness : 0.133982 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99813230e-01 -1.11563168e-03 -1.92940414e-02 5.20123718e+00] [ 1.09259406e-03 9.99998678e-01 -1.20452774e-03 6.06292319e-01] [ 1.92953596e-02 1.18322221e-03 9.99813127e-01 1.55476442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7525578440001 meters Centerline goodness : 0.177474 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99822915e-01 -1.84659022e-03 -1.87277695e-02 5.19964040e+00] [ 1.82248765e-03 9.99997489e-01 -1.30398191e-03 6.04116213e-01] [ 1.87301304e-02 1.26961987e-03 9.99823770e-01 1.55526971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78255784400005 meters Centerline goodness : 0.134321 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99814812e-01 -1.84242612e-03 -1.91558708e-02 5.20083896e+00] [ 1.82438190e-03 9.99997876e-01 -9.59400949e-04 6.02010565e-01] [ 1.91575977e-02 9.24275655e-04 9.99816049e-01 1.55503096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.812557844 meters Centerline goodness : 0.177905 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99805962e-01 -1.84176201e-03 -1.96124140e-02 5.20204909e+00] [ 1.83182050e-03 9.99998184e-01 -5.24851419e-04 5.99426155e-01] [ 1.96133451e-02 4.88823156e-04 9.99807520e-01 1.55492944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84255784400005 meters Centerline goodness : 0.137930 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99805686e-01 -1.80442405e-03 -1.96299174e-02 5.20198769e+00] [ 1.80423796e-03 9.99998372e-01 -2.71904077e-05 5.96613622e-01] [ 1.96299345e-02 -8.23191790e-06 9.99807314e-01 1.55518784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.872557844 meters Centerline goodness : 0.139086 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99810433e-01 -1.75611955e-03 -1.93910948e-02 5.20113792e+00] [ 1.76635306e-03 9.99998310e-01 5.10627943e-04 5.93623253e-01] [ 1.93901653e-02 -5.44782664e-04 9.99811845e-01 1.55567743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90255784400006 meters Centerline goodness : 0.137219 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99818427e-01 -1.76636847e-03 -1.89734931e-02 5.19989756e+00] [ 1.78459159e-03 9.99997962e-01 9.43563043e-04 5.90877806e-01] [ 1.89717877e-02 -9.77251654e-04 9.99819542e-01 1.55609395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93255784400003 meters Centerline goodness : 0.128268 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99817323e-01 -1.96244092e-03 -1.90123355e-02 5.20015589e+00] [ 1.99136399e-03 9.99996889e-01 1.50246635e-03 5.86598256e-01] [ 1.90093278e-02 -1.54005237e-03 9.99818120e-01 1.55597467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96255784400006 meters Centerline goodness : 0.165615 Centerline is valid? [False, False] Translation: X:5.20, Y:0.58, Z:1.56 [[ 9.99809373e-01 -1.84481182e-03 -1.94374720e-02 5.20156552e+00] [ 1.88350890e-03 9.99996280e-01 1.97273013e-03 5.84141001e-01] [ 1.94337604e-02 -2.00896472e-03 9.99809128e-01 1.55531240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99255784400003 meters Centerline goodness : 0.137666 Centerline is valid? [False, False] Translation: X:5.20, Y:0.58, Z:1.55 [[ 9.99795478e-01 -1.82542548e-03 -2.01412533e-02 5.20375141e+00] [ 1.87321598e-03 9.99995474e-01 2.35415610e-03 5.81818434e-01] [ 2.01368648e-02 -2.39140354e-03 9.99794373e-01 1.55453224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02255784400006 meters Centerline goodness : 0.144187 Centerline is valid? [False, False] Translation: X:5.21, Y:0.58, Z:1.55 [[ 9.99783938e-01 -1.75013911e-03 -2.07126726e-02 5.20559387e+00] [ 1.80984009e-03 9.99994261e-01 2.86394658e-03 5.78811013e-01] [ 2.07075414e-02 -2.90081442e-03 9.99781368e-01 1.55384840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05255784400003 meters Centerline goodness : 0.146281 Centerline is valid? [False, False] Translation: X:5.21, Y:0.57, Z:1.55 [[ 9.99772691e-01 -2.50792185e-03 -2.11725254e-02 5.20722095e+00] [ 2.56736229e-03 9.99992838e-01 2.78071799e-03 5.72089726e-01] [ 2.11653999e-02 -2.83444345e-03 9.99771970e-01 1.55328367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08255784400006 meters Centerline goodness : 0.127986 Centerline is valid? [False, False] Translation: X:5.21, Y:0.57, Z:1.55 [[ 9.99775400e-01 -2.34563771e-03 -2.10629529e-02 5.20679975e+00] [ 2.41579428e-03 9.99991617e-01 3.30597731e-03 5.69523562e-01] [ 2.10550217e-02 -3.35611855e-03 9.99772685e-01 1.55347672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11255784400004 meters Centerline goodness : 0.131081 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99782869e-01 5.28774520e-03 -2.01557778e-02 5.18712420e+00] [-5.24332678e-03 9.99983709e-01 2.25596710e-03 5.60187971e-01] [ 2.01673784e-02 -2.14979393e-03 9.99794306e-01 1.55158184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14255784400007 meters Centerline goodness : 0.177779 Centerline is valid? [False, False] Translation: X:5.23, Y:0.56, Z:1.55 [[ 9.99835159e-01 4.56576325e-03 -1.75729468e-02 5.23144248e+00] [-4.54320820e-03 9.99988804e-01 1.32321792e-03 5.58854565e-01] [ 1.75787916e-02 -1.24316224e-03 9.99844708e-01 1.55156860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17255784400004 meters Centerline goodness : 0.128019 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99808527e-01 -5.39186362e-03 -1.88105791e-02 5.20963706e+00] [ 5.42372413e-03 9.99983942e-01 1.64314999e-03 5.57450874e-01] [ 1.88014174e-02 -1.74485877e-03 9.99821715e-01 1.55161441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20255784400007 meters Centerline goodness : 0.147408 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99807575e-01 -5.25098831e-03 -1.89007715e-02 5.21001906e+00] [ 5.29217866e-03 9.99983728e-01 2.12993677e-03 5.55239421e-01] [ 1.88892797e-02 -2.22955318e-03 9.99819096e-01 1.55127640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23255784400004 meters Centerline goodness : 0.180003 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807298e-01 -5.07990033e-03 -1.89621289e-02 5.21042048e+00] [ 5.13175965e-03 9.99983222e-01 2.68723296e-03 5.52950981e-01] [ 1.89481598e-02 -2.78402421e-03 9.99816591e-01 1.55069580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26255784400007 meters Centerline goodness : 0.155508 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807026e-01 -4.87120725e-03 -1.90310668e-02 5.21096110e+00] [ 4.93442241e-03 9.99982459e-01 3.27613749e-03 5.50608209e-01] [ 1.90147742e-02 -3.36941261e-03 9.99813525e-01 1.54996488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29255784400004 meters Centerline goodness : 0.135937 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99804807e-01 -4.98060360e-03 -1.91191595e-02 5.21104720e+00] [ 5.04825726e-03 9.99981161e-01 3.49189551e-03 5.49016034e-01] [ 1.91014075e-02 -3.58773235e-03 9.99811114e-01 1.55000611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3225578440001 meters Centerline goodness : 0.151277 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99807373e-01 -5.08291052e-03 -1.89573263e-02 5.21036557e+00] [ 5.14812012e-03 9.99980993e-01 3.39259554e-03 5.49167688e-01] [ 1.89397217e-02 -3.48953663e-03 9.99814538e-01 1.55038083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35255784400005 meters Centerline goodness : 0.182410 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99810092e-01 -5.15053364e-03 -1.87949994e-02 5.20983815e+00] [ 5.21426928e-03 9.99980815e-01 3.34366704e-03 5.49340130e-01] [ 1.87774172e-02 -3.44103424e-03 9.99817767e-01 1.55046889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3825578440001 meters Centerline goodness : 0.166916 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99810474e-01 -5.16731274e-03 -1.87700608e-02 5.20974443e+00] [ 5.22994729e-03 9.99980914e-01 3.28938532e-03 5.49819565e-01] [ 1.87527053e-02 -3.38692832e-03 9.99818416e-01 1.55049609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41255784400005 meters Centerline goodness : 0.170185 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99813627e-01 -5.23653749e-03 -1.85819630e-02 5.20928111e+00] [ 5.29653673e-03 9.99980913e-01 3.18115268e-03 5.50413549e-01] [ 1.85649501e-02 -3.27897985e-03 9.99822280e-01 1.55044464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4425578440001 meters Centerline goodness : 0.164058 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99816500e-01 -5.30101475e-03 -1.84083071e-02 5.20863925e+00] [ 5.35949507e-03 9.99980743e-01 3.12896441e-03 5.50419715e-01] [ 1.83913659e-02 -3.22704948e-03 9.99825657e-01 1.55077929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47255784400005 meters Centerline goodness : 0.146427 Centerline is valid? [False, False] Translation: X:5.23, Y:0.55, Z:1.55 [[ 9.99876825e-01 1.68639510e-03 -1.56041651e-02 5.22824071e+00] [-1.67324437e-03 9.99998234e-01 8.55787536e-04 5.48372440e-01] [ 1.56055808e-02 -8.29572543e-04 9.99877881e-01 1.55091355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5025578440001 meters Centerline goodness : 0.137765 Centerline is valid? [False, False] Translation: X:5.23, Y:0.55, Z:1.55 [[ 9.99879938e-01 1.62337515e-03 -1.54102062e-02 5.22730587e+00] [-1.61071526e-03 9.99998355e-01 8.33902477e-04 5.48365712e-01] [ 1.54115346e-02 -8.08980902e-04 9.99880908e-01 1.55158210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53255784400005 meters Centerline goodness : 0.163262 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99854118e-01 -7.37251602e-03 -1.54074091e-02 5.20578105e+00] [ 7.39935522e-03 9.99971204e-01 1.68568692e-03 5.53539514e-01] [ 1.53945377e-02 -1.79944591e-03 9.99879878e-01 1.55053749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters Centerline goodness : 0.125019 Centerline is valid? [False, False] Translation: X:5.21, Y:0.55, Z:1.55 [[ 9.99852018e-01 -7.45689693e-03 -1.55027836e-02 5.20631407e+00] [ 7.48235132e-03 9.99970751e-01 1.58456986e-03 5.54116820e-01] [ 1.54905142e-02 -1.70033264e-03 9.99878569e-01 1.54997581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59255784400005 meters Centerline goodness : 0.118101 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99848740e-01 -7.55235789e-03 -1.56671596e-02 5.20694263e+00] [ 7.57510027e-03 9.99970339e-01 1.39275935e-03 5.55141657e-01] [ 1.56561763e-02 -1.51122899e-03 9.99876293e-01 1.54957523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters Centerline goodness : 0.150935 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99845587e-01 -7.63371785e-03 -1.58281167e-02 5.20740205e+00] [ 7.65362246e-03 9.99969994e-01 1.19735306e-03 5.56210978e-01] [ 1.58185015e-02 -1.31831060e-03 9.99874011e-01 1.54945914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65255784400006 meters Centerline goodness : 0.094686 Centerline is valid? [False, False] Translation: X:5.21, Y:0.56, Z:1.55 [[ 9.99841024e-01 -7.82371332e-03 -1.60223645e-02 5.20780687e+00] [ 7.83576147e-03 9.99969062e-01 6.89317970e-04 5.58752727e-01] [ 1.60164757e-02 -8.14755811e-04 9.99871396e-01 1.54959631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters Centerline goodness : 0.152812 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99864537e-01 6.96483714e-04 -1.64445242e-02 5.18632218e+00] [-6.96078401e-04 9.99999757e-01 3.03709972e-05 5.56246444e-01] [ 1.64445414e-02 -1.89202049e-05 9.99864779e-01 1.54877404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71255784400006 meters Centerline goodness : 0.163469 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99863213e-01 5.81917770e-04 -1.65292524e-02 5.18664345e+00] [-5.87453162e-04 9.99999773e-01 -3.30031179e-04 5.58105563e-01] [ 1.65290566e-02 3.39696197e-04 9.99863328e-01 1.54862098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters Centerline goodness : 0.339936 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99861343e-01 4.62666771e-04 -1.66457127e-02 5.18719509e+00] [-4.74534015e-04 9.99999636e-01 -7.08988261e-04 5.60150615e-01] [ 1.66453786e-02 7.16788912e-04 9.99861199e-01 1.54819757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77255784400006 meters Centerline goodness : 0.145249 Centerline is valid? [False, False] Translation: X:5.19, Y:0.56, Z:1.55 [[ 9.99858080e-01 3.56052302e-04 -1.68432125e-02 5.18793574e+00] [-3.74498907e-04 9.99999334e-01 -1.09205376e-03 5.62243520e-01] [ 1.68428124e-02 1.09820654e-03 9.99857547e-01 1.54778850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters Centerline goodness : 0.154612 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99845143e-01 3.54799850e-04 -1.75944250e-02 5.19024038e+00] [-3.85139709e-04 9.99998445e-01 -1.72104343e-03 5.66369945e-01] [ 1.75937870e-02 1.72755323e-03 9.99843725e-01 1.54706359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83255784400006 meters Centerline goodness : 0.137939 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99843604e-01 2.27393435e-04 -1.76837945e-02 5.19043906e+00] [-2.64886243e-04 9.99997722e-01 -2.11786556e-03 5.68420458e-01] [ 1.76832726e-02 2.12221853e-03 9.99841386e-01 1.54709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters Centerline goodness : 0.137939 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99843604e-01 2.27393435e-04 -1.76837945e-02 5.19043906e+00] [-2.64886243e-04 9.99997722e-01 -2.11786556e-03 5.68420458e-01] [ 1.76832726e-02 2.12221853e-03 9.99841386e-01 1.54709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89255784400007 meters Centerline goodness : 0.096519 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99840882e-01 1.56861228e-04 -1.78377753e-02 5.19075410e+00] [-1.99403337e-04 9.99997140e-01 -2.38319119e-03 5.69960526e-01] [ 1.78373504e-02 2.38636889e-03 9.99838054e-01 1.54718968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92255784400004 meters Centerline goodness : 0.196685 Centerline is valid? [False, False] Translation: X:5.19, Y:0.57, Z:1.55 [[ 9.99839413e-01 1.08214131e-04 -1.79202932e-02 5.19106592e+00] [-1.54006267e-04 9.99996727e-01 -2.55396264e-03 5.70884409e-01] [ 1.79199581e-02 2.55631235e-03 9.99836157e-01 1.54701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95255784400007 meters Centerline goodness : 0.117069 Centerline is valid? [False, False] Translation: X:5.15, Y:0.57, Z:1.55 [[ 9.99779084e-01 1.11649715e-04 -2.10183335e-02 5.14709905e+00] [-1.60755320e-04 9.99997262e-01 -2.33464737e-03 5.72316287e-01] [ 2.10180153e-02 2.33751041e-03 9.99776365e-01 1.54693222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98255784400004 meters Centerline goodness : 0.147055 Centerline is valid? [False, False] Translation: X:5.15, Y:0.57, Z:1.55 [[ 9.99777108e-01 7.38860119e-05 -2.11123070e-02 5.14727274e+00] [-1.26044050e-04 9.99996944e-01 -2.46918394e-03 5.72986266e-01] [ 2.11120600e-02 2.47129466e-03 9.99774061e-01 1.54705301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01255784400007 meters Centerline goodness : 0.099643 Centerline is valid? [False, False] Translation: X:5.17, Y:0.58, Z:1.55 [[ 9.99754421e-01 -7.30042666e-03 -2.09236998e-02 5.16613201e+00] [ 7.27410263e-03 9.99972654e-01 -1.33393010e-03 5.77856720e-01] [ 2.09328659e-02 1.18140138e-03 9.99780186e-01 1.54898270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04255784400004 meters Centerline goodness : 0.136938 Centerline is valid? [False, False] Translation: X:5.16, Y:0.58, Z:1.55 [[ 9.99779172e-01 -4.80558323e-03 -2.04576175e-02 5.16400081e+00] [ 4.82776771e-03 9.99987810e-01 1.03516220e-03 5.79792501e-01] [ 2.04523936e-02 -1.13369823e-03 9.99790185e-01 1.55015291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0725578440001 meters Centerline goodness : 0.165286 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99803590e-01 4.74370627e-03 -1.92426050e-02 5.18469126e+00] [-4.73483611e-03 9.99988662e-01 5.06498056e-04 5.78307100e-01] [ 1.92447896e-02 -4.15287994e-04 9.99814716e-01 1.55113137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10255784400005 meters Centerline goodness : 0.158443 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99806124e-01 4.81156286e-03 -1.90935492e-02 5.18440227e+00] [-4.80592610e-03 9.99988393e-01 3.41092716e-04 5.79548290e-01] [ 1.90949688e-02 -2.49264400e-04 9.99817643e-01 1.55102473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1325578440001 meters Centerline goodness : 0.149467 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99809972e-01 4.85939786e-03 -1.88787103e-02 5.18388525e+00] [-4.85791590e-03 9.99988193e-01 1.24358175e-04 5.80967597e-01] [ 1.88790917e-02 -3.26233566e-05 9.99821774e-01 1.55104552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16255784400005 meters Centerline goodness : 0.142009 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99811963e-01 4.88472839e-03 -1.87664074e-02 5.18351239e+00] [-4.88777685e-03 9.99988048e-01 -1.16578295e-04 5.82466723e-01] [ 1.87656137e-02 2.08282386e-04 9.99823889e-01 1.55121075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1925578440001 meters Centerline goodness : 0.180361 Centerline is valid? [False, False] Translation: X:5.18, Y:0.58, Z:1.55 [[ 9.99815333e-01 4.91267050e-03 -1.85786189e-02 5.18280256e+00] [-4.91950223e-03 9.99987847e-01 -3.22035049e-04 5.83804483e-01] [ 1.85768111e-02 4.13373137e-04 9.99827351e-01 1.55163081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22255784400005 meters Centerline goodness : 0.145722 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99804986e-01 5.21247933e-03 -1.90478515e-02 5.18390096e+00] [-5.22357448e-03 9.99986215e-01 -5.32780909e-04 5.85788171e-01] [ 1.90448118e-02 6.32174880e-04 9.99818431e-01 1.55181138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2525578440001 meters Centerline goodness : 0.129803 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99803474e-01 5.17994755e-03 -1.91358752e-02 5.18418918e+00] [-5.19458931e-03 9.99986252e-01 -7.15520064e-04 5.86709727e-01] [ 1.91319057e-02 8.14782458e-04 9.99816636e-01 1.55175977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28255784400005 meters Centerline goodness : 0.144989 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99803603e-01 5.17318910e-03 -1.91309713e-02 5.18413937e+00] [-5.18930138e-03 9.99986221e-01 -7.92662156e-04 5.87179818e-01] [ 1.91266071e-02 8.91782855e-04 9.99816672e-01 1.55178792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.312557844 meters Centerline goodness : 0.143237 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99806549e-01 5.19338764e-03 -1.89708584e-02 5.18365404e+00] [-5.20928667e-03 9.99986121e-01 -7.88755668e-04 5.87359478e-01] [ 1.89664988e-02 8.87427722e-04 9.99819726e-01 1.55190235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34255784400005 meters Centerline goodness : 0.137829 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99810638e-01 5.28465846e-03 -1.87286051e-02 5.18268736e+00] [-5.29733097e-03 9.99985772e-01 -6.27093556e-04 5.86812939e-01] [ 1.87250247e-02 7.26186429e-04 9.99824408e-01 1.55251027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.372557844 meters Centerline goodness : 0.147769 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.55 [[ 9.99839250e-01 -2.61578984e-03 -1.77378498e-02 5.20146333e+00] [ 2.62687109e-03 9.99996369e-01 6.01452770e-04 5.91030083e-01] [ 1.77362121e-02 -6.47951131e-04 9.99842491e-01 1.55424429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40255784400006 meters Centerline goodness : 0.139181 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.55 [[ 9.99840238e-01 -2.63432958e-03 -1.76793198e-02 5.20102298e+00] [ 2.64535708e-03 9.99996321e-01 6.00394478e-04 5.90856674e-01] [ 1.76776731e-02 -6.47066672e-04 9.99843528e-01 1.55472433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43255784400003 meters Centerline goodness : 0.153929 Centerline is valid? [False, False] Translation: X:5.20, Y:0.59, Z:1.56 [[ 9.99843127e-01 -2.56490761e-03 -1.75254933e-02 5.20043586e+00] [ 2.57388652e-03 9.99996568e-01 4.89797855e-04 5.91882313e-01] [ 1.75241769e-02 -5.34829649e-04 9.99846297e-01 1.55505859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46255784400006 meters Centerline goodness : 0.139261 Centerline is valid? [False, False] Translation: X:5.18, Y:0.59, Z:1.55 [[ 9.99828334e-01 5.85396315e-03 -1.75793258e-02 5.17997513e+00] [-5.86133627e-03 9.99982755e-01 -3.67925615e-04 5.88700432e-01] [ 1.75768688e-02 4.70900795e-04 9.99845404e-01 1.55345630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49255784400003 meters Centerline goodness : 0.145581 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99846164e-01 -1.16603288e-03 -1.75011235e-02 5.19859590e+00] [ 1.18314614e-03 9.99998832e-01 9.67515516e-04 5.96481444e-01] [ 1.74999749e-02 -9.88073064e-04 9.99846375e-01 1.55506032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52255784400006 meters Centerline goodness : 0.136953 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.56 [[ 9.99847203e-01 -1.21647051e-03 -1.74382009e-02 5.19846464e+00] [ 1.22678096e-03 9.99999079e-01 5.80571393e-04 5.98565197e-01] [ 1.74374786e-02 -6.01875536e-04 9.99847774e-01 1.55501254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55255784400003 meters Centerline goodness : 0.135047 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99848030e-01 -1.26250034e-03 -1.73874461e-02 5.19841763e+00] [ 1.26546952e-03 9.99999187e-01 1.59764010e-04 6.00829662e-01] [ 1.73872303e-02 -1.81743013e-04 9.99848814e-01 1.55484238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58255784400006 meters Centerline goodness : 0.142258 Centerline is valid? [False, False] Translation: X:5.20, Y:0.60, Z:1.55 [[ 9.99835259e-01 -9.70590382e-04 -1.81249240e-02 5.20033622e+00] [ 9.65972451e-04 9.99999499e-01 -2.63536515e-04 6.04255753e-01] [ 1.81251707e-02 2.45984923e-04 9.99835695e-01 1.55443856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61255784400004 meters Centerline goodness : 0.138816 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99834497e-01 -1.03379417e-03 -1.81634127e-02 5.20039988e+00] [ 1.02477152e-03 9.99999347e-01 -5.06049123e-04 6.05619628e-01] [ 1.81639240e-02 4.87352022e-04 9.99834904e-01 1.55443764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64255784400007 meters Centerline goodness : 0.144126 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99834302e-01 -1.04039699e-03 -1.81737860e-02 5.20043950e+00] [ 1.02973081e-03 9.99999292e-01 -5.96246882e-04 6.06238425e-01] [ 1.81743935e-02 5.77433978e-04 9.99834665e-01 1.55439047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67255784400004 meters Centerline goodness : 0.140820 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99836161e-01 -1.01108243e-03 -1.80728943e-02 5.20015739e+00] [ 1.00142414e-03 9.99999351e-01 -5.43449773e-04 6.06111081e-01] [ 1.80734320e-02 5.25262102e-04 9.99836524e-01 1.55444766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70255784400007 meters Centerline goodness : 0.141953 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99838099e-01 -9.94788734e-04 -1.79662638e-02 5.20003870e+00] [ 9.86266173e-04 9.99999397e-01 -4.83218919e-04 6.05713445e-01] [ 1.79667337e-02 4.65421167e-04 9.99838477e-01 1.55419763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73255784400004 meters Centerline goodness : 0.054265 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99833397e-01 -1.01156712e-03 -1.82251409e-02 5.20101261e+00] [ 1.00301297e-03 9.99999383e-01 -4.78494578e-04 6.05183973e-01] [ 1.82256137e-02 4.60134806e-04 9.99833794e-01 1.55368827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76255784400007 meters Centerline goodness : 0.141307 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99831128e-01 -9.94603112e-04 -1.83500859e-02 5.20148930e+00] [ 9.85472718e-04 9.99999386e-01 -5.06602598e-04 6.05379843e-01] [ 1.83505785e-02 4.88433539e-04 9.99831495e-01 1.55342665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79255784400004 meters Centerline goodness : 0.139199 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99829466e-01 -9.35749365e-04 -1.84435090e-02 5.20192186e+00] [ 9.25974957e-04 9.99999426e-01 -5.38497377e-04 6.05842296e-01] [ 1.84440023e-02 5.21327318e-04 9.99829759e-01 1.55306538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8225578440001 meters Centerline goodness : 0.131693 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99828559e-01 -9.02167976e-04 -1.84942795e-02 5.20216707e+00] [ 8.90512567e-04 9.99999400e-01 -6.38442714e-04 6.06696844e-01] [ 1.84948444e-02 6.21863871e-04 9.99828762e-01 1.55282681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85255784400005 meters Centerline goodness : 0.155851 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99820345e-01 -4.76462497e-04 -1.89486340e-02 5.20360831e+00] [ 4.64678407e-04 9.99999696e-01 -6.26294564e-04 6.07924546e-01] [ 1.89489266e-02 6.17377026e-04 9.99820262e-01 1.55216445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8825578440001 meters Centerline goodness : 0.127625 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99816659e-01 -4.69840985e-04 -1.91423095e-02 5.20454917e+00] [ 4.54539185e-04 9.99999574e-01 -8.03713618e-04 6.08881713e-01] [ 1.91426790e-02 7.94865334e-04 9.99816446e-01 1.55138076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91255784400005 meters Centerline goodness : 0.131600 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.55 [[ 9.99748632e-01 -5.87048954e-04 -2.24126692e-02 5.16059898e+00] [ 5.76312086e-04 9.99999716e-01 -4.85509670e-04 6.06383378e-01] [ 2.24129479e-02 4.72470936e-04 9.99748687e-01 1.55151259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9425578440001 meters Centerline goodness : 0.146404 Centerline is valid? [False, False] Translation: X:5.18, Y:0.60, Z:1.55 [[ 9.99720056e-01 8.36389607e-03 -2.21326486e-02 5.18237350e+00] [-8.39776689e-03 9.99963704e-01 -1.43785245e-03 6.04840284e-01] [ 2.21198192e-02 1.62331476e-03 9.99754009e-01 1.55236969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97255784400005 meters Centerline goodness : 0.127769 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.55 [[ 9.99719649e-01 8.29467637e-03 -2.21770384e-02 5.18258151e+00] [-8.33247929e-03 9.99963984e-01 -1.61273286e-03 6.05626956e-01] [ 2.21628626e-02 1.79707044e-03 9.99752758e-01 1.55219127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0025578440001 meters Centerline goodness : 0.266387 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.55 [[ 9.99720292e-01 8.20079887e-03 -2.21829863e-02 5.18268051e+00] [-8.24363761e-03 9.99964327e-01 -1.84039597e-03 6.06647194e-01] [ 2.21671023e-02 2.02274970e-03 9.99752233e-01 1.55202092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03255784400005 meters Centerline goodness : 0.128312 Centerline is valid? [False, False] Translation: X:5.20, Y:0.61, Z:1.55 [[ 9.99757560e-01 6.07513990e-04 -2.20102761e-02 5.20152346e+00] [-6.30212906e-04 9.99999277e-01 -1.02436546e-03 6.13430033e-01] [ 2.20096379e-02 1.03798827e-03 9.99757220e-01 1.55349191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters Centerline goodness : 0.125945 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.55 [[ 9.99698436e-01 2.35169052e-04 -2.45556714e-02 5.15465321e+00] [-2.54313894e-04 9.99999666e-01 -7.76530558e-04 6.11394114e-01] [ 2.45554806e-02 7.82541233e-04 9.99698162e-01 1.55481330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09255784400005 meters Centerline goodness : 0.138642 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99745609e-01 1.23178868e-03 -2.25211188e-02 5.19724338e+00] [-1.25489893e-03 9.99998700e-01 -1.01205514e-03 6.17617310e-01] [ 2.25198429e-02 1.04005941e-03 9.99745855e-01 1.55605429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters Centerline goodness : 0.159844 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99688139e-01 5.44436342e-04 -2.49665627e-02 5.15049114e+00] [-5.67651111e-04 9.99999413e-01 -9.22756577e-04 6.15162235e-01] [ 2.49660457e-02 9.36641101e-04 9.99687861e-01 1.55742144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15255784400006 meters Centerline goodness : 0.157225 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99688597e-01 4.95956816e-04 -2.49492233e-02 5.15014622e+00] [-5.20244314e-04 9.99999397e-01 -9.66995687e-04 6.15343664e-01] [ 2.49487287e-02 9.79674253e-04 9.99688252e-01 1.55789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters Centerline goodness : 0.117631 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99687000e-01 4.48631672e-04 -2.50140065e-02 5.15018385e+00] [-4.72676231e-04 9.99999432e-01 -9.55339427e-04 6.15214991e-01] [ 2.50135636e-02 9.66863932e-04 9.99686644e-01 1.55812133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21255784400006 meters Centerline goodness : 0.130255 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99689040e-01 2.04656242e-04 -2.49355372e-02 5.14985322e+00] [-2.26209999e-04 9.99999603e-01 -8.61561396e-04 6.14245564e-01] [ 2.49353509e-02 8.66934153e-04 9.99688690e-01 1.55845247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters Centerline goodness : 0.156392 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99692283e-01 2.14959736e-04 -2.48051210e-02 5.14924725e+00] [-2.31224966e-04 9.99999760e-01 -6.52854273e-04 6.13143169e-01] [ 2.48049747e-02 6.58388942e-04 9.99692092e-01 1.55895310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27255784400006 meters Centerline goodness : 0.132183 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99698012e-01 2.01589285e-04 -2.45732221e-02 5.14832814e+00] [-2.14073770e-04 9.99999849e-01 -5.05422857e-04 6.12288234e-01] [ 2.45731165e-02 5.10530708e-04 9.99697905e-01 1.55961199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters Centerline goodness : 0.285664 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99703077e-01 1.92116122e-04 -2.43663828e-02 5.14750965e+00] [-2.01511343e-04 9.99999906e-01 -3.83126432e-04 6.11461124e-01] [ 2.43663069e-02 3.87922776e-04 9.99703022e-01 1.56016987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33255784400006 meters Centerline goodness : 0.127871 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99698928e-01 1.57867902e-04 -2.45362562e-02 5.14794530e+00] [-1.65419665e-04 9.99999940e-01 -3.05750382e-04 6.10601856e-01] [ 2.45362064e-02 3.09717108e-04 9.99698894e-01 1.56017775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters Centerline goodness : 0.254032 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99694106e-01 1.74058481e-04 -2.47318585e-02 5.14862692e+00] [-1.82249907e-04 9.99999929e-01 -3.28955843e-04 6.10917439e-01] [ 2.47317995e-02 3.33362596e-04 9.99694067e-01 1.55985563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39255784400007 meters Centerline goodness : 0.129791 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99690548e-01 2.11612380e-04 -2.48749372e-02 5.14906812e+00] [-2.21818657e-04 9.99999892e-01 -4.07545059e-04 6.11709535e-01] [ 2.48748483e-02 4.12936669e-04 9.99690488e-01 1.55969911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42255784400004 meters Centerline goodness : 0.153441 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99687454e-01 2.03057076e-04 -2.49990683e-02 5.14946756e+00] [-2.16667045e-04 9.99999830e-01 -5.41711604e-04 6.12435762e-01] [ 2.49989541e-02 5.46958769e-04 9.99687328e-01 1.55952526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45255784400007 meters Centerline goodness : 0.238040 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99687263e-01 1.48870480e-04 -2.50070797e-02 5.14957768e+00] [-1.65727821e-04 9.99999760e-01 -6.72031570e-04 6.12797573e-01] [ 2.50069737e-02 6.75965769e-04 9.99687048e-01 1.55934920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48255784400004 meters Centerline goodness : 0.276392 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99688590e-01 1.60578529e-04 -2.49538833e-02 5.14933081e+00] [-1.78290309e-04 9.99999734e-01 -7.07557247e-04 6.12825348e-01] [ 2.49537631e-02 7.11785943e-04 9.99688353e-01 1.55945707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51255784400007 meters Centerline goodness : 0.151957 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99688381e-01 2.40792245e-04 -2.49616273e-02 5.14936163e+00] [-2.55793231e-04 9.99999789e-01 -5.97770602e-04 6.12620701e-01] [ 2.49614780e-02 6.03969341e-04 9.99688231e-01 1.55942521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54255784400004 meters Centerline goodness : 0.150834 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99685890e-01 3.02371385e-04 -2.50605088e-02 5.14981928e+00] [-3.14668084e-04 9.99999832e-01 -4.86738331e-04 6.12129909e-01] [ 2.50603575e-02 4.94471184e-04 9.99685818e-01 1.55906634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5725578440001 meters Centerline goodness : 0.289906 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99682971e-01 3.35714360e-04 -2.51762870e-02 5.15023111e+00] [-3.44641238e-04 9.99999879e-01 -3.50236589e-04 6.11141595e-01] [ 2.51761664e-02 3.58802340e-04 9.99682966e-01 1.55889287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60255784400005 meters Centerline goodness : 0.127579 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99686503e-01 3.31998974e-04 -2.50356777e-02 5.14943730e+00] [-3.39468085e-04 9.99999899e-01 -2.94089227e-04 6.10202929e-01] [ 2.50355775e-02 3.02495844e-04 9.99686515e-01 1.55955240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6325578440001 meters Centerline goodness : 0.122335 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99692386e-01 3.51333308e-04 -2.47994123e-02 5.14860066e+00] [-3.61717416e-04 9.99999849e-01 -4.14239330e-04 6.11028396e-01] [ 2.47992630e-02 4.23082283e-04 9.99692361e-01 1.55989273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66255784400005 meters Centerline goodness : 0.143848 Centerline is valid? [False, False] Translation: X:5.15, Y:0.61, Z:1.56 [[ 9.99695523e-01 4.26214749e-04 -2.46714402e-02 5.14824707e+00] [-4.40255804e-04 9.99999744e-01 -5.63692905e-04 6.12384197e-01] [ 2.46711936e-02 5.74383018e-04 9.99695455e-01 1.55985931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6925578440001 meters Centerline goodness : 0.147845 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99680795e-01 1.14099439e-03 -2.52389961e-02 5.15011402e+00] [-1.15635009e-03 9.99999155e-01 -5.93825150e-04 6.15444935e-01] [ 2.52382972e-02 6.22820713e-04 9.99681269e-01 1.55886694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72255784400005 meters Centerline goodness : 0.143194 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99680922e-01 1.08064316e-03 -2.52365936e-02 5.15015077e+00] [-1.10635745e-03 9.99998883e-01 -1.00498849e-03 6.17658577e-01] [ 2.52354793e-02 1.03258851e-03 9.99681001e-01 1.55865158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7525578440001 meters Centerline goodness : 0.125544 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99685544e-01 1.00341472e-03 -2.50560745e-02 5.14951482e+00] [-1.03995091e-03 9.99998415e-01 -1.44518876e-03 6.20100841e-01] [ 2.50545847e-02 1.47079140e-03 9.99685003e-01 1.55882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78255784400005 meters Centerline goodness : 0.125544 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99685544e-01 1.00341472e-03 -2.50560745e-02 5.14951482e+00] [-1.03995091e-03 9.99998415e-01 -1.44518876e-03 6.20100841e-01] [ 2.50545847e-02 1.47079140e-03 9.99685003e-01 1.55882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.812557844 meters Centerline goodness : 0.144204 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99693700e-01 9.33231422e-04 -2.47312613e-02 5.14846114e+00] [-9.77781342e-04 9.99997921e-01 -1.78932910e-03 6.22137496e-01] [ 2.47295400e-02 1.81296279e-03 9.99692534e-01 1.55913857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84255784400005 meters Centerline goodness : 0.151905 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99721065e-01 -4.77345334e-03 -2.31301925e-02 5.17026653e+00] [ 4.79583101e-03 9.99988084e-01 9.12090446e-04 6.27069827e-01] [ 2.31255630e-02 -1.02276453e-03 9.99732045e-01 1.55893750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.872557844 meters Centerline goodness : 0.271096 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99724200e-01 -4.85628263e-03 -2.29769378e-02 5.16984083e+00] [ 4.87459609e-03 9.99987844e-01 7.41094130e-04 6.27840113e-01] [ 2.29730596e-02 -8.52893028e-04 9.99735721e-01 1.55894608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90255784400006 meters Centerline goodness : 0.147980 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99716408e-01 -5.00510851e-03 -2.32820226e-02 5.17075211e+00] [ 5.01981315e-03 9.99987236e-01 5.73186516e-04 6.28539040e-01] [ 2.32788566e-02 -6.89895368e-04 9.99728773e-01 1.55866926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93255784400003 meters Centerline goodness : 0.150873 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99714571e-01 -4.99726983e-03 -2.33624478e-02 5.17082154e+00] [ 5.01416166e-03 9.99987208e-01 6.64509473e-04 6.28301793e-01] [ 2.33588283e-02 -7.81462893e-04 9.99726840e-01 1.55890331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96255784400006 meters Centerline goodness : 0.148696 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99712681e-01 -5.03113563e-03 -2.34359253e-02 5.17076464e+00] [ 5.05283151e-03 9.99986859e-01 8.66627363e-04 6.27046106e-01] [ 2.34312572e-02 -9.84796146e-04 9.99724965e-01 1.55936765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99255784400003 meters Centerline goodness : 0.147701 Centerline is valid? [False, False] Translation: X:5.17, Y:0.63, Z:1.56 [[ 9.99709669e-01 -5.20450065e-03 -2.35263835e-02 5.17066584e+00] [ 5.22947334e-03 9.99985826e-01 1.00007631e-03 6.25473401e-01] [ 2.35208452e-02 -1.12281655e-03 9.99722716e-01 1.56001495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02255784400006 meters Centerline goodness : 0.127929 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99699272e-01 -6.07029057e-03 -2.37595631e-02 5.17111015e+00] [ 6.08968446e-03 9.99981181e-01 7.43986346e-04 6.23537792e-01] [ 2.37545998e-02 -8.88450851e-04 9.99717425e-01 1.56040221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05255784400003 meters Centerline goodness : 0.280469 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99688726e-01 -6.05069193e-03 -2.42041509e-02 5.17254176e+00] [ 6.07458369e-03 9.99981132e-01 9.13688927e-04 6.22582729e-01] [ 2.41981658e-02 -1.06043466e-03 9.99706619e-01 1.55994071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08255784400006 meters Centerline goodness : 0.113573 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99681006e-01 -6.02157869e-03 -2.45280624e-02 5.17382669e+00] [ 6.04981103e-03 9.99981120e-01 1.07697774e-03 6.21699420e-01] [ 2.45211142e-02 -1.22502433e-03 9.99698562e-01 1.55924047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11255784400004 meters Centerline goodness : 0.143891 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99695326e-01 1.37062247e-03 -2.46450073e-02 5.15650860e+00] [-1.38115274e-03 9.99998962e-01 -4.10261172e-04 6.15422164e-01] [ 2.46444194e-02 4.44174695e-04 9.99696181e-01 1.55627258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14255784400007 meters Centerline goodness : 0.148485 Centerline is valid? [False, False] Translation: X:5.16, Y:0.61, Z:1.56 [[ 9.99703760e-01 1.34119932e-03 -2.43021411e-02 5.15500642e+00] [-1.34902479e-03 9.99999043e-01 -3.05615800e-04 6.14295317e-01] [ 2.43017080e-02 3.38309455e-04 9.99704613e-01 1.55737571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17255784400004 meters Centerline goodness : 0.148300 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99757466e-01 2.17211337e-03 -2.19155475e-02 5.19717256e+00] [-2.17971395e-03 9.99997572e-01 -3.22930387e-04 6.17442436e-01] [ 2.19147928e-02 3.70621690e-04 9.99759773e-01 1.55865955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20255784400007 meters Centerline goodness : 0.143004 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.56 [[ 9.99690975e-01 2.25833992e-03 -2.47559056e-02 5.15181506e+00] [-2.25339543e-03 9.99997435e-01 2.27624476e-04 6.15247085e-01] [ 2.47563561e-02 -1.71769290e-04 9.99693500e-01 1.55922770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23255784400004 meters Centerline goodness : 0.145597 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99666351e-01 2.17698740e-03 -2.57380481e-02 5.15504800e+00] [-2.18900439e-03 9.99997508e-01 -4.38730199e-04 6.18445500e-01] [ 2.57370289e-02 4.94924518e-04 9.99668625e-01 1.55775652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26255784400007 meters Centerline goodness : 0.130532 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99661398e-01 2.05436025e-03 -2.59397101e-02 5.15590879e+00] [-2.07634371e-03 9.99997508e-01 -8.20576927e-04 6.20265714e-01] [ 2.59379597e-02 8.74158832e-04 9.99663172e-01 1.55706299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29255784400004 meters Centerline goodness : 0.143622 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99662060e-01 1.98743242e-03 -2.59194248e-02 5.15601272e+00] [-2.01695307e-03 9.99997347e-01 -1.11284556e-03 6.21888055e-01] [ 2.59171443e-02 1.16474774e-03 9.99663416e-01 1.55672838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3225578440001 meters Centerline goodness : 0.146634 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99667605e-01 1.93262080e-03 -2.57088496e-02 5.15536891e+00] [-1.96684835e-03 9.99997213e-01 -1.30613263e-03 6.22961355e-01] [ 2.57062536e-02 1.35626388e-03 9.99668620e-01 1.55688301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35255784400005 meters Centerline goodness : 0.162246 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99733393e-01 1.31698578e-03 -2.30522902e-02 5.19560390e+00] [-1.38184611e-03 9.99995131e-01 -2.79791437e-03 6.27782706e-01] [ 2.30484932e-02 2.82902314e-03 9.99730345e-01 1.55894960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3825578440001 meters Centerline goodness : 0.276057 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99734574e-01 1.31700378e-03 -2.30010350e-02 5.19513098e+00] [-1.38077502e-03 9.99995247e-01 -2.75687623e-03 6.27577105e-01] [ 2.29972948e-02 2.78790374e-03 9.99731640e-01 1.55951306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41255784400005 meters Centerline goodness : 0.165010 Centerline is valid? [False, False] Translation: X:5.19, Y:0.63, Z:1.56 [[ 9.99733835e-01 1.33328033e-03 -2.30321781e-02 5.19498765e+00] [-1.39691117e-03 9.99995252e-01 -2.74682496e-03 6.27748911e-01] [ 2.30284064e-02 2.77826776e-03 9.99730951e-01 1.55985869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4425578440001 meters Centerline goodness : 0.146735 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99732931e-01 1.36284165e-03 -2.30696496e-02 5.19510760e+00] [-1.42635826e-03 9.99995237e-01 -2.73702294e-03 6.28027366e-01] [ 2.30658096e-02 2.76919755e-03 9.99730114e-01 1.55978188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47255784400005 meters Centerline goodness : 0.146324 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99731897e-01 1.40291282e-03 -2.31120519e-02 5.19521998e+00] [-1.46563820e-03 9.99995288e-01 -2.69725306e-03 6.28070301e-01] [ 2.31081590e-02 2.73040382e-03 9.99729242e-01 1.55975491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5025578440001 meters Centerline goodness : 0.279744 Centerline is valid? [False, False] Translation: X:5.22, Y:0.63, Z:1.56 [[ 9.99752236e-01 -4.26761172e-03 -2.18461466e-02 5.21696458e+00] [ 4.27281439e-03 9.99990853e-01 1.91478174e-04 6.31235934e-01] [ 2.18451297e-02 -2.84775263e-04 9.99761326e-01 1.55969208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53255784400005 meters Centerline goodness : 0.134055 Centerline is valid? [False, False] Translation: X:5.22, Y:0.63, Z:1.56 [[ 9.99753721e-01 -4.23039588e-03 -2.17853546e-02 5.21659819e+00] [ 4.23596884e-03 9.99991006e-01 2.09671602e-04 6.31275094e-01] [ 2.17842717e-02 -3.01902048e-04 9.99762649e-01 1.55997708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters Centerline goodness : 0.147166 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.56 [[ 9.99743771e-01 4.03551825e-03 -2.22734525e-02 5.19606699e+00] [-4.04690075e-03 9.99991703e-01 -4.65983201e-04 6.25516621e-01] [ 2.22713872e-02 5.56002254e-04 9.99751807e-01 1.55905482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59255784400005 meters Centerline goodness : 0.126915 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99754174e-01 -3.24937051e-03 -2.19324888e-02 5.21478306e+00] [ 3.27017226e-03 9.99994237e-01 9.12645351e-04 6.31233541e-01] [ 2.19293968e-02 -9.84144015e-04 9.99759037e-01 1.56067249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters Centerline goodness : 0.116016 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99756335e-01 -3.20063884e-03 -2.18409446e-02 5.21438606e+00] [ 3.22401689e-03 9.99994267e-01 1.03524940e-03 6.30377978e-01] [ 2.18375059e-02 -1.10541271e-03 9.99760922e-01 1.56092438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65255784400006 meters Centerline goodness : 0.159578 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99762010e-01 3.98066028e-03 -2.14494411e-02 5.19567993e+00] [-3.99160699e-03 9.99991924e-01 -4.67559832e-04 6.23040797e-01] [ 2.14474067e-02 5.53066296e-04 9.99769825e-01 1.55879115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters Centerline goodness : 0.130646 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99758331e-01 -3.50472594e-03 -2.17024484e-02 5.21406638e+00] [ 3.52200931e-03 9.99993510e-01 7.58207450e-04 6.27671791e-01] [ 2.16996502e-02 -8.34460440e-04 9.99764187e-01 1.56088309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71255784400006 meters Centerline goodness : 0.277372 Centerline is valid? [False, False] Translation: X:5.21, Y:0.63, Z:1.56 [[ 9.99760495e-01 -3.41886590e-03 -2.16162996e-02 5.21376500e+00] [ 3.43878342e-03 9.99993696e-01 8.84308286e-04 6.27404351e-01] [ 2.16131400e-02 -9.58430263e-04 9.99765949e-01 1.56099639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters Centerline goodness : 0.161558 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99797674e-01 4.11056483e-03 -1.96904564e-02 5.19323229e+00] [-4.10205389e-03 9.99991475e-01 4.72606881e-04 6.20611143e-01] [ 1.96922312e-02 -3.91739947e-04 9.99806012e-01 1.55950772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77255784400006 meters Centerline goodness : 0.313900 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99798098e-01 4.11270890e-03 -1.96684586e-02 5.19306561e+00] [-4.10196534e-03 9.99991415e-01 5.86545453e-04 6.19795536e-01] [ 1.96707021e-02 -5.05747693e-04 9.99806385e-01 1.55969309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters Centerline goodness : 0.146664 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99794834e-01 4.12624807e-03 -1.98308985e-02 5.19346497e+00] [-4.11331797e-03 9.99991300e-01 6.92763279e-04 6.19108274e-01] [ 1.98335845e-02 -6.11050356e-04 9.99803108e-01 1.55973653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83255784400006 meters Centerline goodness : 0.266490 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99789976e-01 4.12787531e-03 -2.00739757e-02 5.19421655e+00] [-4.11355159e-03 9.99991254e-01 7.54786638e-04 6.18636985e-01] [ 2.00769158e-02 -6.72052780e-04 9.99798213e-01 1.55950060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters Centerline goodness : 0.123400 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99786728e-01 4.13030701e-03 -2.02345938e-02 5.19491558e+00] [-4.11495216e-03 9.99991213e-01 8.00418999e-04 6.18273395e-01] [ 2.02377220e-02 -7.16983907e-04 9.99794939e-01 1.55902355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89255784400007 meters Centerline goodness : 0.122746 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99789357e-01 4.22438440e-03 -2.00847306e-02 5.19420938e+00] [-4.20329634e-03 9.99990570e-01 1.09205463e-03 6.16732403e-01] [ 2.00891544e-02 -1.00740252e-03 9.99797685e-01 1.55959413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92255784400004 meters Centerline goodness : 0.291540 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99791914e-01 4.27465015e-03 -1.99463130e-02 5.19362402e+00] [-4.25172247e-03 9.99990251e-01 1.19173598e-03 6.16372892e-01] [ 1.99512128e-02 -1.10668181e-03 9.99800342e-01 1.55996685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95255784400007 meters Centerline goodness : 0.156611 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99790781e-01 4.29263600e-03 -1.99992039e-02 5.19375993e+00] [-4.26999790e-03 9.99990194e-01 1.17451520e-03 6.16650421e-01] [ 2.00040495e-02 -1.08887291e-03 9.99799306e-01 1.55995716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98255784400004 meters Centerline goodness : 0.113778 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99785137e-01 4.28624275e-03 -2.02807346e-02 5.19472709e+00] [-4.26505540e-03 9.99990313e-01 1.08784231e-03 6.17188954e-01] [ 2.02852009e-02 -1.00111012e-03 9.99793733e-01 1.55949741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01255784400007 meters Centerline goodness : 0.143257 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99775211e-01 4.22303009e-03 -2.07772428e-02 5.19646718e+00] [-4.20483652e-03 9.99990737e-01 9.19258352e-04 6.17711373e-01] [ 2.07809324e-02 -8.31686803e-04 9.99783707e-01 1.55863762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04255784400004 meters Centerline goodness : 0.146412 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.56 [[ 9.99775658e-01 4.22986351e-03 -2.07542993e-02 5.19621112e+00] [-4.21141063e-03 9.99990697e-01 9.32738394e-04 6.17551643e-01] [ 2.07580516e-02 -8.45124265e-04 9.99784171e-01 1.55890001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0725578440001 meters Centerline goodness : 0.147077 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99797584e-01 -3.25461488e-03 -1.98544226e-02 5.21484906e+00] [ 3.29906139e-03 9.99992124e-01 2.20627698e-03 6.22920694e-01] [ 1.98470856e-02 -2.27133135e-03 9.99800447e-01 1.56045715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10255784400005 meters Centerline goodness : 0.125330 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99799965e-01 -3.21960078e-03 -1.97398967e-02 5.21434312e+00] [ 3.26437161e-03 9.99992172e-01 2.23623498e-03 6.22992756e-01] [ 1.97325423e-02 -2.30022601e-03 9.99802648e-01 1.56078004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1325578440001 meters Centerline goodness : 0.126185 Centerline is valid? [False, False] Translation: X:5.21, Y:0.62, Z:1.56 [[ 9.99802377e-01 -3.20575804e-03 -1.96196465e-02 5.21397439e+00] [ 3.25011492e-03 9.99992233e-01 2.22937128e-03 6.23154311e-01] [ 1.96123473e-02 -2.29269681e-03 9.99805031e-01 1.56085208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16255784400005 meters Centerline goodness : 0.151970 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99755720e-01 -3.40843441e-03 -2.18376424e-02 5.16700525e+00] [ 3.46177892e-03 9.99991115e-01 2.40544050e-03 6.20213790e-01] [ 2.18292496e-02 -2.48044999e-03 9.99758636e-01 1.56197572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1925578440001 meters Centerline goodness : 0.147033 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99760310e-01 -3.42558715e-03 -2.16237633e-02 5.16644650e+00] [ 3.47434712e-03 9.99991505e-01 2.21775946e-03 6.21403818e-01] [ 2.16159825e-02 -2.29235635e-03 9.99763719e-01 1.56195595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22255784400005 meters Centerline goodness : 0.142029 Centerline is valid? [False, False] Translation: X:5.17, Y:0.62, Z:1.56 [[ 9.99766602e-01 -3.41233750e-03 -2.13330154e-02 5.16575462e+00] [ 3.45612388e-03 9.99991995e-01 2.01598513e-03 6.22882851e-01] [ 2.13259654e-02 -2.08924415e-03 9.99770393e-01 1.56182599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2525578440001 meters Centerline goodness : 0.148368 Centerline is valid? [False, False] Translation: X:5.19, Y:0.62, Z:1.56 [[ 9.99775650e-01 5.42098332e-03 -2.04758796e-02 5.18658550e+00] [-5.39941809e-03 9.99984809e-01 1.10833977e-03 6.22593393e-01] [ 2.04815768e-02 -9.97533281e-04 9.99789733e-01 1.56275410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28255784400005 meters Centerline goodness : 0.144079 Centerline is valid? [False, False] Translation: X:5.14, Y:0.62, Z:1.56 [[ 9.99721183e-01 4.97245992e-03 -2.30831215e-02 5.14110353e+00] [-4.94656579e-03 9.99987071e-01 1.17874148e-03 6.20101853e-01] [ 2.30886843e-02 -1.06423065e-03 9.99732854e-01 1.56314394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.312557844 meters Centerline goodness : 0.285928 Centerline is valid? [False, False] Translation: X:5.16, Y:0.63, Z:1.56 [[ 9.99719068e-01 -3.29984461e-03 -2.34711946e-02 5.16158192e+00] [ 3.32816023e-03 9.99993780e-01 1.16743764e-03 6.25606451e-01] [ 2.34671963e-02 -1.24522556e-03 9.99723832e-01 1.56418749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34255784400005 meters Centerline goodness : 0.120327 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99718314e-01 -3.26942488e-03 -2.35075091e-02 5.16162781e+00] [ 3.30118741e-03 9.99993690e-01 1.31248536e-03 6.24668879e-01] [ 2.35030697e-02 -1.38971835e-03 9.99722799e-01 1.56426341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.372557844 meters Centerline goodness : 0.145086 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99720960e-01 -3.16399479e-03 -2.34092312e-02 5.16122318e+00] [ 3.20191613e-03 9.99993621e-01 1.58262582e-03 6.23463358e-01] [ 2.34040745e-02 -1.65713860e-03 9.99724714e-01 1.56451842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40255784400006 meters Centerline goodness : 0.147918 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.56 [[ 9.99724144e-01 -3.04611906e-03 -2.32885644e-02 5.16074682e+00] [ 3.09093266e-03 9.99993440e-01 1.88852048e-03 6.22049190e-01] [ 2.32826590e-02 -1.95998290e-03 9.99727001e-01 1.56486800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43255784400003 meters Centerline goodness : 0.130305 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99745627e-01 2.58527788e-03 -2.24053258e-02 5.18228205e+00] [-2.61777595e-03 9.99995564e-01 -1.42125362e-03 6.19482134e-01] [ 2.24015520e-02 1.47954421e-03 9.99747959e-01 1.56510811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46255784400006 meters Centerline goodness : 0.154435 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99739266e-01 2.61146701e-03 -2.26843826e-02 5.18314281e+00] [-2.64058991e-03 9.99995727e-01 -1.25397149e-03 6.18404179e-01] [ 2.26810110e-02 1.31354469e-03 9.99741890e-01 1.56484154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49255784400003 meters Centerline goodness : 0.125003 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99734002e-01 2.66424090e-03 -2.29090895e-02 5.18376797e+00] [-2.68944882e-03 9.99995811e-01 -1.06960548e-03 6.17324820e-01] [ 2.29061439e-02 1.13093379e-03 9.99736980e-01 1.56474801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52255784400006 meters Centerline goodness : 0.125948 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.56 [[ 9.99730993e-01 2.70550183e-03 -2.30352502e-02 5.18400459e+00] [-2.72652455e-03 9.99995895e-01 -8.81274131e-04 6.16163455e-01] [ 2.30327713e-02 9.43843237e-04 9.99734265e-01 1.56489511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55255784400003 meters Centerline goodness : 0.302487 Centerline is valid? [False, False] Translation: X:5.18, Y:0.61, Z:1.57 [[ 9.99734962e-01 2.84364842e-03 -2.28455475e-02 5.18318263e+00] [-2.85491796e-03 9.99995819e-01 -4.60692124e-04 6.13967429e-01] [ 2.28441419e-02 5.25792187e-04 9.99738900e-01 1.56550616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58255784400006 meters Centerline goodness : 0.150544 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.57 [[ 9.99740365e-01 -4.82935138e-03 -2.22683760e-02 5.20216433e+00] [ 4.84646601e-03 9.99988000e-01 7.14657656e-04 6.19019124e-01] [ 2.22646574e-02 -8.22395032e-04 9.99751774e-01 1.56700733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61255784400004 meters Centerline goodness : 0.129584 Centerline is valid? [False, False] Translation: X:5.20, Y:0.62, Z:1.57 [[ 9.99742729e-01 -4.79598348e-03 -2.21692138e-02 5.20199074e+00] [ 4.81386424e-03 9.99988130e-01 7.53261675e-04 6.18990659e-01] [ 2.21653380e-02 -8.59787468e-04 9.99753949e-01 1.56687070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64255784400007 meters Centerline goodness : 0.125452 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99671624e-01 -5.16730197e-03 -2.50986529e-02 5.15679865e+00] [ 5.19790666e-03 9.99985825e-01 1.15428792e-03 6.15384509e-01] [ 2.50923326e-02 -1.28436933e-03 9.99684313e-01 1.56722588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67255784400004 meters Centerline goodness : 0.125452 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99671624e-01 -5.16730197e-03 -2.50986529e-02 5.15679865e+00] [ 5.19790666e-03 9.99985825e-01 1.15428792e-03 6.15384509e-01] [ 2.50923326e-02 -1.28436933e-03 9.99684313e-01 1.56722588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70255784400007 meters Centerline goodness : 0.124546 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99668296e-01 -5.20184383e-03 -2.52237598e-02 5.15729802e+00] [ 5.22970634e-03 9.99985785e-01 1.03877200e-03 6.15961568e-01] [ 2.52179977e-02 -1.17034030e-03 9.99681291e-01 1.56685389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73255784400004 meters Centerline goodness : 0.129311 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99664834e-01 -5.23762349e-03 -2.53532324e-02 5.15785953e+00] [ 5.26320506e-03 9.99985705e-01 9.42380687e-04 6.16386031e-01] [ 2.53479341e-02 -1.07550409e-03 9.99678111e-01 1.56644903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76255784400007 meters Centerline goodness : 0.125161 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99657315e-01 -5.34881758e-03 -2.56250320e-02 5.15912185e+00] [ 5.36648734e-03 9.99985408e-01 6.20830743e-04 6.17926195e-01] [ 2.56213373e-02 -7.58134403e-04 9.99671432e-01 1.56537713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79255784400004 meters Centerline goodness : 0.125130 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99656691e-01 -5.39016297e-03 -2.56407196e-02 5.15909629e+00] [ 5.40430224e-03 9.99985280e-01 4.82173154e-04 6.18678961e-01] [ 2.56377432e-02 -6.20577818e-04 9.99671106e-01 1.56544264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8225578440001 meters Centerline goodness : 0.142662 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99660367e-01 -5.40977509e-03 -2.54928433e-02 5.15844443e+00] [ 5.42073288e-03 9.99985243e-01 3.60750685e-04 6.19517340e-01] [ 2.54905155e-02 -4.98818056e-04 9.99674940e-01 1.56581577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85255784400005 meters Centerline goodness : 0.128401 Centerline is valid? [False, False] Translation: X:5.16, Y:0.62, Z:1.57 [[ 9.99663290e-01 -5.47998414e-03 -2.53628896e-02 5.15791337e+00] [ 5.48510075e-03 9.99984948e-01 1.32169894e-04 6.20814089e-01] [ 2.53617835e-02 -2.71243396e-04 9.99678301e-01 1.56609024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8825578440001 meters Centerline goodness : 0.125792 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99707573e-01 3.09616470e-03 -2.39829751e-02 5.17731246e+00] [-3.13032113e-03 9.99994139e-01 -1.38678344e-03 6.22946379e-01] [ 2.39785409e-02 1.46145232e-03 9.99711405e-01 1.56771505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91255784400005 meters Centerline goodness : 0.130971 Centerline is valid? [False, False] Translation: X:5.18, Y:0.62, Z:1.57 [[ 9.99714594e-01 3.05437575e-03 -2.36938999e-02 5.17636516e+00] [-3.09347281e-03 9.99993913e-01 -1.61361166e-03 6.24487670e-01] [ 2.36888271e-02 1.68644756e-03 9.99717958e-01 1.56799081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9425578440001 meters Centerline goodness : 0.148441 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.57 [[ 9.99720230e-01 3.03696845e-03 -2.34571723e-02 5.17553148e+00] [-3.07861570e-03 9.99993748e-01 -1.73955041e-03 6.25464948e-01] [ 2.34517427e-02 1.81127936e-03 9.99723329e-01 1.56833405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97255784400005 meters Centerline goodness : 0.145132 Centerline is valid? [False, False] Translation: X:5.18, Y:0.63, Z:1.57 [[ 9.99723783e-01 2.96848600e-03 -2.33140567e-02 5.17513225e+00] [-3.01298124e-03 9.99993706e-01 -1.87362035e-03 6.26046966e-01] [ 2.33083482e-02 1.94334764e-03 9.99726435e-01 1.56839298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0025578440001 meters Centerline goodness : 0.121241 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.57 [[ 9.99714463e-01 -5.03415839e-03 -2.33591366e-02 5.19517138e+00] [ 5.00392366e-03 9.99986566e-01 -1.35261437e-03 6.31648280e-01] [ 2.33656320e-02 1.23534081e-03 9.99726223e-01 1.56955585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03255784400005 meters Centerline goodness : 0.294830 Centerline is valid? [False, False] Translation: X:5.20, Y:0.63, Z:1.57 [[ 9.99705949e-01 -5.08888942e-03 -2.37090230e-02 5.19609887e+00] [ 5.05914531e-03 9.99986339e-01 -1.31436171e-03 6.30937289e-01] [ 2.37153877e-02 1.19402783e-03 9.99718038e-01 1.56950301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters Centerline goodness : 0.146801 Centerline is valid? [False, False] Translation: X:5.15, Y:0.63, Z:1.57 [[ 9.99607320e-01 -6.61462136e-03 -2.72296299e-02 5.15212094e+00] [ 6.57072900e-03 9.99976966e-01 -1.70109518e-03 6.25776101e-01] [ 2.72402548e-02 1.52150867e-03 9.99627757e-01 1.56989286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09255784400005 meters Centerline goodness : 0.119980 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.57 [[ 9.99603788e-01 -6.55884097e-03 -2.73724166e-02 5.15236133e+00] [ 6.52007761e-03 9.99977611e-01 -1.50515956e-03 6.24840125e-01] [ 2.73816758e-02 1.32609292e-03 9.99624172e-01 1.57013163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters Centerline goodness : 0.143228 Centerline is valid? [False, False] Translation: X:5.15, Y:0.62, Z:1.57 [[ 9.99602856e-01 -6.46295580e-03 -2.74292060e-02 5.15236545e+00] [ 6.43239312e-03 9.99978589e-01 -1.20232757e-03 6.23324271e-01] [ 2.74363893e-02 1.02541464e-03 9.99623025e-01 1.57039862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15255784400006 meters Centerline goodness : 0.142757 Centerline is valid? [False, False] Translation: X:5.13, Y:0.62, Z:1.57 [[ 9.99657469e-01 5.28328122e-04 -2.61660955e-02 5.13300706e+00] [-5.86757219e-04 9.99997352e-01 -2.22538031e-03 6.15238988e-01] [ 2.61648504e-02 2.23997119e-03 9.99655132e-01 1.56832582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters Centerline goodness : 0.320178 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99661573e-01 5.68230697e-04 -2.60079917e-02 5.13243521e+00] [-6.18156994e-04 9.99997982e-01 -1.91165254e-03 6.13356322e-01] [ 2.60068530e-02 1.92708261e-03 9.99659907e-01 1.56869092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21255784400006 meters Centerline goodness : 0.180558 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99665721e-01 6.49340282e-04 -2.58461867e-02 5.13174109e+00] [-6.89719169e-04 9.99998556e-01 -1.55339224e-03 6.11375656e-01] [ 2.58451407e-02 1.57069959e-03 9.99664725e-01 1.56920924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters Centerline goodness : 0.120562 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99699951e-01 -1.30445400e-03 -2.44602984e-02 5.12569487e+00] [ 1.23085600e-03 9.99994671e-01 -3.02369003e-03 6.08187009e-01] [ 2.44641123e-02 2.99267567e-03 9.99696229e-01 1.57227435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27255784400006 meters Centerline goodness : 0.121678 Centerline is valid? [False, False] Translation: X:5.13, Y:0.61, Z:1.57 [[ 9.99701396e-01 -1.12855967e-03 -2.44099422e-02 5.12533475e+00] [ 1.06709722e-03 9.99996228e-01 -2.53080614e-03 6.05636049e-01] [ 2.44127063e-02 2.50400265e-03 9.99698830e-01 1.57266947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters Centerline goodness : 0.129242 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.57 [[ 9.99698646e-01 -9.45525185e-04 -2.45300329e-02 5.12569970e+00] [ 8.95537242e-04 9.99997500e-01 -2.04873157e-03 6.03200346e-01] [ 2.45319087e-02 2.02614662e-03 9.99696994e-01 1.57261485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33255784400006 meters Centerline goodness : 0.118614 Centerline is valid? [False, False] Translation: X:5.13, Y:0.60, Z:1.57 [[ 9.99694003e-01 -8.07905618e-04 -2.47234350e-02 5.12655300e+00] [ 7.67116576e-04 9.99998329e-01 -1.65925277e-03 6.01184484e-01] [ 2.47247342e-02 1.63977928e-03 9.99692952e-01 1.57204715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters Centerline goodness : 0.120680 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.57 [[ 9.99605380e-01 -1.51569487e-03 -2.80497072e-02 5.08333014e+00] [ 1.47424484e-03 9.99997791e-01 -1.49835599e-03 5.96153547e-01] [ 2.80519163e-02 1.45641257e-03 9.99605407e-01 1.57131897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39255784400007 meters Centerline goodness : 0.154973 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99598699e-01 5.02498819e-03 -2.78781260e-02 5.10682750e+00] [-5.14654228e-03 9.99977554e-01 -4.29015817e-03 5.94434273e-01] [ 2.78559422e-02 4.43191249e-03 9.99602123e-01 1.57088187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42255784400004 meters Centerline goodness : 0.126360 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99587446e-01 5.05361260e-03 -2.82736391e-02 5.10812148e+00] [-5.17062589e-03 9.99978362e-01 -4.06702082e-03 5.92448939e-01] [ 2.82524742e-02 4.21153536e-03 9.99591947e-01 1.57037546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45255784400007 meters Centerline goodness : 0.162728 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99584222e-01 5.13672364e-03 -2.83724687e-02 5.10850695e+00] [-5.25021740e-03 9.99978506e-01 -3.92709030e-03 5.91893478e-01] [ 2.83516864e-02 4.07441913e-03 9.99589706e-01 1.57015109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48255784400004 meters Centerline goodness : 0.117544 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99582818e-01 5.23853353e-03 -2.84033161e-02 5.10863767e+00] [-5.34669280e-03 9.99978737e-01 -3.73337085e-03 5.91190875e-01] [ 2.83831548e-02 3.88367716e-03 9.99589573e-01 1.57003437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51255784400007 meters Centerline goodness : 0.117421 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99575843e-01 5.38255688e-03 -2.86210107e-02 5.10944626e+00] [-5.48395896e-03 9.99978958e-01 -3.46561078e-03 5.90142974e-01] [ 2.86017546e-02 3.62109727e-03 9.99584327e-01 1.56962906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54255784400004 meters Centerline goodness : 0.120760 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99573709e-01 5.40904956e-03 -2.86904620e-02 5.10992841e+00] [-5.50910331e-03 9.99979012e-01 -3.40945348e-03 5.89865341e-01] [ 2.86714180e-02 3.56605878e-03 9.99582529e-01 1.56915517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5725578440001 meters Centerline goodness : 0.119176 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99572807e-01 5.38534233e-03 -2.87263310e-02 5.11016902e+00] [-5.48626396e-03 9.99979049e-01 -3.43555045e-03 5.89851502e-01] [ 2.87072275e-02 3.59168304e-03 9.99581410e-01 1.56890762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60255784400005 meters Centerline goodness : 0.119583 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99577012e-01 5.38257130e-03 -2.85801469e-02 5.10975087e+00] [-5.48289909e-03 9.99979075e-01 -3.43319535e-03 5.89714409e-01] [ 2.85610694e-02 3.58844521e-03 9.99585608e-01 1.56893274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6325578440001 meters Centerline goodness : 0.120655 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.57 [[ 9.99580513e-01 5.35188667e-03 -2.84632402e-02 5.10928148e+00] [-5.45247527e-03 9.99979158e-01 -3.45754406e-03 5.89621969e-01] [ 2.84441426e-02 3.61128877e-03 9.99588860e-01 1.56920157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66255784400005 meters Centerline goodness : 0.151612 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99607485e-01 -2.27097834e-03 -2.79234533e-02 5.12753625e+00] [ 2.20898784e-03 9.99995027e-01 -2.25066239e-03 5.94582530e-01] [ 2.79284257e-02 2.18809640e-03 9.99607531e-01 1.57145592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6925578440001 meters Centerline goodness : 0.151742 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99616037e-01 -2.19999130e-03 -2.76213598e-02 5.12625674e+00] [ 2.14751974e-03 9.99995833e-01 -1.92919403e-03 5.93205795e-01] [ 2.76254890e-02 1.86913587e-03 9.99616596e-01 1.57228444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72255784400005 meters Centerline goodness : 0.126465 Centerline is valid? [False, False] Translation: X:5.13, Y:0.59, Z:1.57 [[ 9.99615153e-01 -2.12890485e-03 -2.76588751e-02 5.12612815e+00] [ 2.08320569e-03 9.99996417e-01 -1.68095253e-03 5.91910637e-01] [ 2.76623546e-02 1.62268650e-03 9.99616007e-01 1.57263792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7525578440001 meters Centerline goodness : 0.120233 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.57 [[ 9.99535005e-01 -3.25657068e-03 -3.03177864e-02 5.07994168e+00] [ 3.20827788e-03 9.99993506e-01 -1.64139600e-03 5.87187938e-01] [ 3.03229348e-02 1.54336488e-03 9.99538963e-01 1.57329477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78255784400005 meters Centerline goodness : 0.142516 Centerline is valid? [False, False] Translation: X:5.08, Y:0.59, Z:1.57 [[ 9.99529058e-01 -3.20105705e-03 -3.05190987e-02 5.08043216e+00] [ 3.15962115e-03 9.99994020e-01 -1.40583305e-03 5.85773558e-01] [ 3.05234163e-02 1.30874219e-03 9.99533195e-01 1.57333192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.812557844 meters Centerline goodness : 0.142290 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.57 [[ 9.99519225e-01 -3.08289064e-03 -3.08514865e-02 5.08149235e+00] [ 3.05441848e-03 9.99994865e-01 -9.69963536e-04 5.83321553e-01] [ 3.08543183e-02 8.75263851e-04 9.99523509e-01 1.57297196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84255784400005 meters Centerline goodness : 0.119058 Centerline is valid? [False, False] Translation: X:5.10, Y:0.58, Z:1.58 [[ 9.99519591e-01 4.92209008e-03 -3.06000184e-02 5.10038613e+00] [-4.99184055e-03 9.99985113e-01 -2.20345032e-03 5.78467517e-01] [ 3.05887172e-02 2.35514218e-03 9.99529281e-01 1.57510356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.872557844 meters Centerline goodness : 0.135863 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99438073e-01 4.23020708e-03 -3.32512048e-02 5.05386931e+00] [-4.28948641e-03 9.99989335e-01 -1.71163922e-03 5.73689477e-01] [ 3.32436096e-02 1.85330799e-03 9.99445560e-01 1.57612549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90255784400006 meters Centerline goodness : 0.120655 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99436690e-01 4.31947486e-03 -3.32813122e-02 5.05384426e+00] [-4.37071201e-03 9.99989372e-01 -1.46691891e-03 5.72360928e-01] [ 3.32746222e-02 1.61155561e-03 9.99444947e-01 1.57631221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93255784400003 meters Centerline goodness : 0.141200 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99432349e-01 4.37402856e-03 -3.34043142e-02 5.05418222e+00] [-4.41963329e-03 9.99989399e-01 -1.29151829e-03 5.71209588e-01] [ 3.33983110e-02 1.43841997e-03 9.99441086e-01 1.57625608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96255784400006 meters Centerline goodness : 0.141182 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.58 [[ 9.99427080e-01 4.51138686e-03 -3.35434065e-02 5.05487439e+00] [-4.54814580e-03 9.99989137e-01 -1.01964065e-03 5.69709343e-01] [ 3.35384422e-02 1.17161678e-03 9.99436741e-01 1.57570967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99255784400003 meters Centerline goodness : 0.136278 Centerline is valid? [False, False] Translation: X:5.01, Y:0.57, Z:1.58 [[ 9.99354067e-01 4.55135375e-03 -3.56473567e-02 5.00789222e+00] [-4.55523006e-03 9.99989625e-01 -2.75240988e-05 5.65444256e-01] [ 3.56468615e-02 1.89888231e-04 9.99364431e-01 1.57612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02255784400006 meters Centerline goodness : 0.131188 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.58 [[ 9.99458130e-01 -6.08638171e-04 -3.29101255e-02 5.03005676e+00] [ 7.08829434e-04 9.99995150e-01 3.03280891e-03 5.65998051e-01] [ 3.29081200e-02 -3.05449319e-03 9.99453714e-01 1.57573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05255784400003 meters Centerline goodness : 0.132928 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99468980e-01 -4.51597429e-04 -3.25814851e-02 5.02882232e+00] [ 5.62340091e-04 9.99994096e-01 3.38986127e-03 5.64232813e-01] [ 3.25797619e-02 -3.40638306e-03 9.99463334e-01 1.57641339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08255784400006 meters Centerline goodness : 0.141862 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99474539e-01 -2.85118002e-04 -3.24123990e-02 5.02802110e+00] [ 4.08310925e-04 9.99992718e-01 3.79424083e-03 5.62197335e-01] [ 3.24110811e-02 -3.80548144e-03 9.99467378e-01 1.57702216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11255784400004 meters Centerline goodness : 0.138708 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99469100e-01 6.29933396e-05 -3.25808915e-02 5.02823281e+00] [ 8.92239081e-05 9.99989089e-01 4.67050423e-03 5.57733314e-01] [ 3.25808302e-02 -4.67093165e-03 9.99458189e-01 1.57741263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14255784400007 meters Centerline goodness : 0.132299 Centerline is valid? [False, False] Translation: X:5.03, Y:0.56, Z:1.58 [[ 9.99459448e-01 2.02197712e-04 -3.28750808e-02 5.02925254e+00] [-3.52736522e-05 9.99987106e-01 5.07802613e-03 5.55444767e-01] [ 3.28756837e-02 -5.07412157e-03 9.99446568e-01 1.57703006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17255784400004 meters Centerline goodness : 0.135463 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99451239e-01 3.26582769e-04 -3.31227071e-02 5.03031980e+00] [-1.45683227e-04 9.99985063e-01 5.46376262e-03 5.53201209e-01] [ 3.31239967e-02 -5.45593889e-03 9.99436358e-01 1.57638740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20255784400007 meters Centerline goodness : 0.137134 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99444731e-01 4.67310506e-04 -3.33168352e-02 5.03122018e+00] [-2.74093845e-04 9.99983121e-01 5.80370159e-03 5.51483698e-01] [ 3.33189849e-02 -5.79134703e-03 9.99427989e-01 1.57578910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23255784400004 meters Centerline goodness : 0.137483 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99436156e-01 7.28151372e-04 -3.35684212e-02 5.03211117e+00] [-5.19029980e-04 9.99980409e-01 6.23799904e-03 5.49629099e-01] [ 3.35723057e-02 -6.21705877e-03 9.99416954e-01 1.57537826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26255784400007 meters Centerline goodness : 0.131907 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99433066e-01 8.04171313e-04 -3.36585863e-02 5.03231006e+00] [-5.88638973e-04 9.99979264e-01 6.41290704e-03 5.48656893e-01] [ 3.36630455e-02 -6.38945858e-03 9.99412815e-01 1.57543402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29255784400004 meters Centerline goodness : 0.150475 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99427302e-01 8.47274493e-04 -3.38282514e-02 5.03282032e+00] [-6.25812782e-04 9.99978309e-01 6.55670116e-03 5.47640456e-01] [ 3.38330730e-02 -6.53177599e-03 9.99406153e-01 1.57530358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3225578440001 meters Centerline goodness : 0.115550 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.58 [[ 9.99421579e-01 9.15759765e-04 -3.39951388e-02 5.03334075e+00] [-6.86803952e-04 9.99977009e-01 6.74602396e-03 5.46580786e-01] [ 3.40005350e-02 -6.71877392e-03 9.99399230e-01 1.57516297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35255784400005 meters Centerline goodness : 0.138308 Centerline is valid? [False, False] Translation: X:5.03, Y:0.55, Z:1.57 [[ 9.99420987e-01 1.00779986e-03 -3.40099293e-02 5.03370333e+00] [-7.71691218e-04 9.99975518e-01 6.95475671e-03 5.45625792e-01] [ 3.40161057e-02 -6.92448465e-03 9.99397296e-01 1.57461521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3825578440001 meters Centerline goodness : 0.140003 Centerline is valid? [False, False] Translation: X:5.03, Y:0.54, Z:1.57 [[ 9.99424933e-01 1.09794088e-03 -3.38909611e-02 5.03358532e+00] [-8.54684093e-04 9.99973777e-01 7.19128307e-03 5.44460539e-01] [ 3.38979680e-02 -7.15818153e-03 9.99399664e-01 1.57433474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41255784400005 meters Centerline goodness : 0.139700 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.57 [[ 9.99488749e-01 6.56174671e-03 -3.12919259e-02 5.05526706e+00] [-6.44374122e-03 9.99971748e-01 3.87047068e-03 5.39804727e-01] [ 3.13164389e-02 -3.66685483e-03 9.99502794e-01 1.57421993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4425578440001 meters Centerline goodness : 0.119696 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.58 [[ 9.99530414e-01 3.71331432e-03 -3.04164832e-02 5.05189806e+00] [-3.67338297e-03 9.99992317e-01 1.36859308e-03 5.36837681e-01] [ 3.04213315e-02 -1.25621902e-03 9.99536375e-01 1.57543542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47255784400005 meters Centerline goodness : 0.137861 Centerline is valid? [False, False] Translation: X:5.07, Y:0.54, Z:1.58 [[ 9.99519061e-01 -4.07176887e-03 -3.07419408e-02 5.07233793e+00] [ 4.15066440e-03 9.99988253e-01 2.50300211e-03 5.37995519e-01] [ 3.07313881e-02 -2.62939779e-03 9.99524221e-01 1.57741110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5025578440001 meters Centerline goodness : 0.142087 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99509865e-01 -3.89765246e-03 -3.10618331e-02 5.07307415e+00] [ 3.99626142e-03 9.99987169e-01 3.11315362e-03 5.34762333e-01] [ 3.10493005e-02 -3.23575896e-03 9.99512617e-01 1.57757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53255784400005 meters Centerline goodness : 0.140587 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99516340e-01 -3.71041780e-03 -3.08758704e-02 5.07252753e+00] [ 3.84045998e-03 9.99983999e-01 4.15353709e-03 5.29012207e-01] [ 3.08599650e-02 -4.27010574e-03 9.99514597e-01 1.57789861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters Centerline goodness : 0.138036 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99522107e-01 -3.50024997e-03 -3.07132829e-02 5.07189557e+00] [ 3.64603245e-03 9.99982346e-01 4.69184146e-03 5.26436083e-01] [ 3.06963181e-02 -4.80158089e-03 9.99517224e-01 1.57834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59255784400005 meters Centerline goodness : 0.138036 Centerline is valid? [False, False] Translation: X:5.07, Y:0.53, Z:1.58 [[ 9.99522107e-01 -3.50024997e-03 -3.07132829e-02 5.07189557e+00] [ 3.64603245e-03 9.99982346e-01 4.69184146e-03 5.26436083e-01] [ 3.06963181e-02 -4.80158089e-03 9.99517224e-01 1.57834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters Centerline goodness : 0.144031 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99526487e-01 -3.34611999e-03 -3.05876726e-02 5.07140136e+00] [ 3.50582630e-03 9.99980494e-01 5.16912564e-03 5.23887470e-01] [ 3.05697795e-02 -5.27391306e-03 9.99518721e-01 1.57870650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65255784400006 meters Centerline goodness : 0.132789 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99523568e-01 -3.21464076e-03 -3.06969661e-02 5.07154698e+00] [ 3.38778479e-03 9.99978637e-01 5.59008509e-03 5.21513598e-01] [ 3.06783402e-02 -5.69141651e-03 9.99513105e-01 1.57896352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters Centerline goodness : 0.139292 Centerline is valid? [False, False] Translation: X:5.07, Y:0.52, Z:1.58 [[ 9.99516567e-01 -3.09839416e-03 -3.09359505e-02 5.07212912e+00] [ 3.28331279e-03 9.99977036e-01 5.92845910e-03 5.19643489e-01] [ 3.09168714e-02 -6.02716548e-03 9.99503787e-01 1.57904164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71255784400006 meters Centerline goodness : 0.117404 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99507522e-01 5.23879670e-03 -3.09397617e-02 5.09156778e+00] [-5.09893928e-03 9.99976432e-01 4.59748417e-03 5.15128917e-01] [ 3.09631178e-02 -4.43746004e-03 9.99510677e-01 1.58118077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters Centerline goodness : 0.118333 Centerline is valid? [False, False] Translation: X:5.09, Y:0.51, Z:1.58 [[ 9.99506528e-01 5.35873703e-03 -3.09513095e-02 5.09182738e+00] [-5.21335981e-03 9.99975006e-01 4.77575707e-03 5.14488247e-01] [ 3.09761279e-02 -4.61204005e-03 9.99509484e-01 1.58080400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77255784400006 meters Centerline goodness : 0.142680 Centerline is valid? [False, False] Translation: X:5.09, Y:0.51, Z:1.58 [[ 9.99507898e-01 5.33012431e-03 -3.09120003e-02 5.09193980e+00] [-5.18796150e-03 9.99975603e-01 4.67733491e-03 5.14945508e-01] [ 3.09361770e-02 -4.51466292e-03 9.99511166e-01 1.58044406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters Centerline goodness : 0.115072 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99511313e-01 5.26100014e-03 -3.08132476e-02 5.09176027e+00] [-5.12540464e-03 9.99976839e-01 4.47789113e-03 5.15871304e-01] [ 3.08360921e-02 -4.31777248e-03 9.99515129e-01 1.58032163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83255784400006 meters Centerline goodness : 0.128522 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99532567e-01 5.20863989e-03 -3.01250259e-02 5.08966922e+00] [-5.08941774e-03 9.99978917e-01 4.03290259e-03 5.18481561e-01] [ 3.01453967e-02 -3.87769864e-03 9.99538003e-01 1.58078987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters Centerline goodness : 0.139769 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99539512e-01 5.12454525e-03 -2.99082585e-02 5.08884645e+00] [-5.01613594e-03 9.99980579e-01 3.69863266e-03 5.20423409e-01] [ 2.99266315e-02 -3.54690559e-03 9.99545805e-01 1.58118503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89255784400007 meters Centerline goodness : 0.152699 Centerline is valid? [False, False] Translation: X:5.09, Y:0.52, Z:1.58 [[ 9.99546297e-01 5.01186151e-03 -2.96998485e-02 5.08811288e+00] [-4.91637692e-03 9.99982512e-01 3.28713860e-03 5.22779640e-01] [ 2.97158038e-02 -3.13963156e-03 9.99553457e-01 1.58146990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92255784400004 meters Centerline goodness : 0.136402 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99554073e-01 4.86263434e-03 -2.94619981e-02 5.08722983e+00] [-4.78103074e-03 9.99984539e-01 2.83960399e-03 5.25232458e-01] [ 2.94753505e-02 -2.69747902e-03 9.99561868e-01 1.58184674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95255784400007 meters Centerline goodness : 0.138016 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99561775e-01 4.68084712e-03 -2.92292332e-02 5.08652485e+00] [-4.61442528e-03 9.99986617e-01 2.33948510e-03 5.27802325e-01] [ 2.92397928e-02 -2.20358377e-03 9.99569997e-01 1.58197879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98255784400004 meters Centerline goodness : 0.137257 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.58 [[ 9.99565362e-01 4.46643457e-03 -2.91399626e-02 5.08633611e+00] [-4.41664082e-03 9.99988675e-01 1.77291918e-03 5.30639246e-01] [ 2.91475512e-02 -1.64344786e-03 9.99573769e-01 1.58184587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01255784400007 meters Centerline goodness : 0.116739 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99567060e-01 4.08196610e-03 -2.91381050e-02 5.08693965e+00] [-4.06439114e-03 9.99991521e-01 6.62362556e-04 5.36568779e-01] [ 2.91405617e-02 -5.43647138e-04 9.99575176e-01 1.58075337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04255784400004 meters Centerline goodness : 0.137210 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99568853e-01 3.86524703e-03 -2.91061631e-02 5.08686360e+00] [-3.86571572e-03 9.99992527e-01 4.01672966e-05 5.39896067e-01] [ 2.91061009e-02 7.23661737e-05 9.99576325e-01 1.58064912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0725578440001 meters Centerline goodness : 0.138566 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.58 [[ 9.99572961e-01 3.71021894e-03 -2.89849908e-02 5.08650144e+00] [-3.72763075e-03 9.99992903e-01 -5.46707046e-04 5.43310602e-01] [ 2.89827567e-02 6.54518924e-04 9.99579697e-01 1.58064247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10255784400005 meters Centerline goodness : 0.136808 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99575732e-01 3.49599778e-03 -2.89159659e-02 5.08633520e+00] [-3.53278179e-03 9.99993014e-01 -1.22111026e-03 5.46921500e-01] [ 2.89114949e-02 1.32274598e-03 9.99581100e-01 1.58052305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1325578440001 meters Centerline goodness : 0.123382 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99581746e-01 3.26990256e-03 -2.87339623e-02 5.08572970e+00] [-3.32440253e-03 9.99992764e-01 -1.84914225e-03 5.50016627e-01] [ 2.87277079e-02 1.94389210e-03 9.99585384e-01 1.58068486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16255784400005 meters Centerline goodness : 0.135972 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.58 [[ 9.99585676e-01 3.04826505e-03 -2.86213842e-02 5.08535214e+00] [-3.11853407e-03 9.99992231e-01 -2.41080646e-03 5.52754248e-01] [ 2.86138131e-02 2.49906437e-03 9.99587417e-01 1.58076071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1925578440001 meters Centerline goodness : 0.140045 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99587146e-01 2.65599695e-03 -2.86091318e-02 5.08556785e+00] [-2.75740641e-03 9.99990053e-01 -3.50578547e-03 5.58491359e-01] [ 2.85995359e-02 3.58322510e-03 9.99584527e-01 1.58022561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22255784400005 meters Centerline goodness : 0.135310 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99583828e-01 2.42339987e-03 -2.87453994e-02 5.08617544e+00] [-2.54067955e-03 9.99988595e-01 -4.04412402e-03 5.60938715e-01] [ 2.87352710e-02 4.11547382e-03 9.99578585e-01 1.57976081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2525578440001 meters Centerline goodness : 0.134361 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:1.58 [[ 9.99579175e-01 2.22751376e-03 -2.89224916e-02 5.08684196e+00] [-2.35867360e-03 9.99987086e-01 -4.50154898e-03 5.62972361e-01] [ 2.89120909e-02 4.56787333e-03 9.99571521e-01 1.57936916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28255784400005 meters Centerline goodness : 0.140324 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99573318e-01 2.04265635e-03 -2.91377581e-02 5.08747390e+00] [-2.18794092e-03 9.99985330e-01 -4.95511646e-03 5.65160758e-01] [ 2.91272091e-02 5.01675389e-03 9.99563124e-01 1.57915196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.312557844 meters Centerline goodness : 0.124020 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99563825e-01 1.77112341e-03 -2.94792043e-02 5.08853832e+00] [-1.94468174e-03 9.99980940e-01 -5.85985511e-03 5.70243132e-01] [ 2.94682639e-02 5.91462686e-03 9.99548217e-01 1.57862950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34255784400005 meters Centerline goodness : 0.120125 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.58 [[ 9.99565721e-01 1.57154708e-03 -2.94261860e-02 5.08836171e+00] [-1.76078016e-03 9.99977931e-01 -6.40596391e-03 5.73036938e-01] [ 2.94154693e-02 6.45499498e-03 9.99546429e-01 1.57861987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.372557844 meters Centerline goodness : 0.140186 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99569230e-01 1.37421583e-03 -2.93166516e-02 5.08792188e+00] [-1.57876875e-03 9.99974565e-01 -6.95535748e-03 5.75909156e-01] [ 2.93063477e-02 6.99864553e-03 9.99545975e-01 1.57882207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40255784400006 meters Centerline goodness : 0.137783 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99571603e-01 1.10535612e-03 -2.92470345e-02 5.08745373e+00] [-1.33560581e-03 9.99968263e-01 -7.85421882e-03 5.81117923e-01] [ 2.92374246e-02 7.88991661e-03 9.99541356e-01 1.57908493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43255784400003 meters Centerline goodness : 0.123126 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99555410e-01 -4.47540096e-03 -2.94779962e-02 5.10990119e+00] [ 4.32260490e-03 9.99976902e-01 -5.24508109e-03 5.86913655e-01] [ 2.95007891e-02 5.11532745e-03 9.99551668e-01 1.57957149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46255784400006 meters Centerline goodness : 0.155508 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99551346e-01 3.12331348e-03 -2.97884375e-02 5.09089893e+00] [-3.31980333e-03 9.99973044e-01 -6.54900410e-03 5.82001707e-01] [ 2.97671799e-02 6.64495762e-03 9.99534772e-01 1.57773687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49255784400003 meters Centerline goodness : 0.135856 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99550637e-01 -4.76877719e-03 -2.95936390e-02 5.11038889e+00] [ 4.59799651e-03 9.99972398e-01 -5.83622803e-03 5.88006880e-01] [ 2.96206538e-02 5.69753399e-03 9.99544974e-01 1.57955837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52255784400006 meters Centerline goodness : 0.136719 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99552139e-01 -4.84464643e-03 -2.95304900e-02 5.11013610e+00] [ 4.67154143e-03 9.99971517e-01 -5.92808351e-03 5.88257135e-01] [ 2.95583684e-02 5.78747565e-03 9.99546301e-01 1.57971790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55255784400003 meters Centerline goodness : 0.121597 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99546960e-01 -5.01655718e-03 -2.96767487e-02 5.11053540e+00] [ 4.83881600e-03 9.99969943e-01 -6.05802803e-03 5.88762495e-01] [ 2.97062472e-02 5.91168317e-03 9.99541190e-01 1.57963101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58255784400006 meters Centerline goodness : 0.140395 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99543355e-01 -5.01187953e-03 -2.97987148e-02 5.11104171e+00] [ 4.83425881e-03 9.99970136e-01 -6.02974271e-03 5.88824080e-01] [ 2.98280452e-02 5.88293456e-03 9.99537733e-01 1.57932272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61255784400004 meters Centerline goodness : 0.128597 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99535685e-01 -5.05989811e-03 -3.00468342e-02 5.11187229e+00] [ 4.88041467e-03 9.99969827e-01 -6.04379205e-03 5.88859667e-01] [ 3.00765085e-02 5.89434482e-03 9.99530220e-01 1.57903378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64255784400007 meters Centerline goodness : 0.138267 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99537682e-01 -5.17947679e-03 -2.99598868e-02 5.11155354e+00] [ 5.00031607e-03 9.99969185e-01 -6.05185360e-03 5.88402197e-01] [ 2.99903091e-02 5.89924682e-03 9.99532781e-01 1.57927878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67255784400004 meters Centerline goodness : 0.136716 Centerline is valid? [False, False] Translation: X:5.11, Y:0.59, Z:1.58 [[ 9.99539674e-01 -5.15859077e-03 -2.98969720e-02 5.11115958e+00] [ 4.98125797e-03 9.99969576e-01 -6.00291062e-03 5.88183743e-01] [ 2.99270289e-02 5.85122280e-03 9.99534960e-01 1.57966132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70255784400007 meters Centerline goodness : 0.143060 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99567921e-01 2.66098462e-03 -2.92726891e-02 5.09139419e+00] [-2.86344119e-03 9.99972257e-01 -6.87648337e-03 5.82985612e-01] [ 2.92535788e-02 6.95733281e-03 9.99547810e-01 1.57777422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73255784400004 meters Centerline goodness : 0.141326 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.58 [[ 9.99568431e-01 2.61015406e-03 -2.92598405e-02 5.09141933e+00] [-2.81735677e-03 9.99971233e-01 -7.04248241e-03 5.83847405e-01] [ 2.92406168e-02 7.12187850e-03 9.99547030e-01 1.57767004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76255784400007 meters Centerline goodness : 0.142795 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99558966e-01 2.41384821e-03 -2.95980714e-02 5.09252309e+00] [-2.63959253e-03 9.99967709e-01 -7.59029557e-03 5.86339030e-01] [ 2.95787938e-02 7.66507484e-03 9.99533062e-01 1.57720749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79255784400004 meters Centerline goodness : 0.139985 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99557271e-01 2.33942766e-03 -2.96612425e-02 5.09259098e+00] [-2.57425025e-03 9.99965630e-01 -7.88110292e-03 5.87965433e-01] [ 2.96417857e-02 7.95396919e-03 9.99528939e-01 1.57727242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8225578440001 meters Centerline goodness : 0.117557 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.58 [[ 9.99564425e-01 2.34052659e-03 -2.94190932e-02 5.09183649e+00] [-2.58100906e-03 9.99963546e-01 -8.13905317e-03 5.89770884e-01] [ 2.93989711e-02 8.21143895e-03 9.99534028e-01 1.57747424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85255784400005 meters Centerline goodness : 0.141937 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.58 [[ 9.99614399e-01 -5.02998094e-03 -2.73084616e-02 5.07025603e+00] [ 4.84822424e-03 9.99965682e-01 -6.71782845e-03 5.95685500e-01] [ 2.73413150e-02 6.58284051e-03 9.99604481e-01 1.57541692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8825578440001 meters Centerline goodness : 0.112994 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99686511e-01 3.48918234e-03 -2.47932499e-02 5.08990469e+00] [-3.68713439e-03 9.99961657e-01 -7.94288599e-03 5.96657894e-01] [ 2.47645851e-02 8.03181203e-03 9.99661045e-01 1.57644516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91255784400005 meters Centerline goodness : 0.167009 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99699158e-01 3.56619104e-03 -2.42667430e-02 5.08857619e+00] [-3.77545084e-03 9.99956038e-01 -8.58297141e-03 6.00984860e-01] [ 2.42350677e-02 8.67200719e-03 9.99668674e-01 1.57630888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9425578440001 meters Centerline goodness : 0.153876 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.58 [[ 9.99695897e-01 3.40918237e-03 -2.44231790e-02 5.08923104e+00] [-3.63162414e-03 9.99952279e-01 -9.06925615e-03 6.03435180e-01] [ 2.43910948e-02 9.15519397e-03 9.99660571e-01 1.57581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97255784400005 meters Centerline goodness : 0.250109 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.58 [[ 9.99694336e-01 3.24961883e-03 -2.45086563e-02 5.08953554e+00] [-3.48334317e-03 9.99948809e-01 -9.49974416e-03 6.05591533e-01] [ 2.44765311e-02 9.58221249e-03 9.99654481e-01 1.57557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0025578440001 meters Centerline goodness : 0.257494 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.58 [[ 9.99699401e-01 3.13800395e-03 -2.43158337e-02 5.08850830e+00] [-3.37787395e-03 9.99945979e-01 -9.82997903e-03 6.07593358e-01] [ 2.42836736e-02 9.90915998e-03 9.99655997e-01 1.57637546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03255784400005 meters Centerline goodness : 0.125151 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99721987e-01 -4.58925806e-03 -2.31276403e-02 5.10749629e+00] [ 4.38985335e-03 9.99952820e-01 -8.66532955e-03 6.13220733e-01] [ 2.31663166e-02 8.56139352e-03 9.99694966e-01 1.57824582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters Centerline goodness : 0.163583 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99726001e-01 -4.56620206e-03 -2.29580637e-02 5.10669416e+00] [ 4.37167699e-03 9.99954181e-01 -8.51612266e-03 6.12433613e-01] [ 2.29958981e-02 8.41342401e-03 9.99700157e-01 1.57886819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09255784400005 meters Centerline goodness : 0.126058 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.58 [[ 9.99724672e-01 -4.55512940e-03 -2.30180596e-02 5.10681105e+00] [ 4.36412111e-03 9.99955685e-01 -8.34162367e-03 6.11361769e-01] [ 2.30550368e-02 8.23887338e-03 9.99700248e-01 1.57895944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters Centerline goodness : 0.134938 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.58 [[ 0.99964844 -0.00568186 -0.02589816 5.06225838] [ 0.00546425 0.99994924 -0.00846559 0.60648752] [ 0.02594494 0.0083211 0.99962874 1.57895932] [ 0. 0. 0. 1. ]] SLAMing on 387.15255784400006 meters Centerline goodness : 0.118960 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964264 -0.0056758 -0.02612222 5.06273317] [ 0.00546537 0.99995209 -0.00812029 0.60434939] [ 0.02616706 0.00797462 0.99962578 1.57920089] [ 0. 0. 0. 1. ]] SLAMing on 387.18255784400003 meters Centerline goodness : 0.115928 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964636 -0.00561625 -0.0259927 5.06208651] [ 0.00541273 0.9999542 -0.00789348 0.60311033] [ 0.02603585 0.00775 0.99963097 1.5797361 ] [ 0. 0. 0. 1. ]] SLAMing on 387.21255784400006 meters Centerline goodness : 0.126184 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99965191 -0.005538 -0.02579512 5.06124954] [ 0.0053426 0.99995656 -0.00763812 0.60180056] [ 0.0258363 0.00749765 0.99963807 1.58029548] [ 0. 0. 0. 1. ]] SLAMing on 387.24255784400003 meters Centerline goodness : 0.118172 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99965437 -0.00544721 -0.02571889 5.06088916] [ 0.00525858 0.99995882 -0.00739637 0.60064623] [ 0.02575812 0.00725857 0.99964185 1.58059281] [ 0. 0. 0. 1. ]] SLAMing on 387.27255784400006 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.58 [[ 0.99964128 -0.00545826 -0.02622048 5.06267782] [ 0.00526713 0.99995909 -0.00735307 0.60011411] [ 0.02625954 0.00721232 0.99962914 1.5797679 ] [ 0. 0. 0. 1. ]] SLAMing on 387.30255784400003 meters Centerline goodness : 0.123059 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99606935e-01 2.92485646e-03 -2.78822653e-02 5.04278090e+00] [-3.15112595e-03 9.99962434e-01 -8.07469414e-03 5.95725346e-01] [ 2.78576005e-02 8.15938079e-03 9.99578601e-01 1.57833734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33255784400006 meters Centerline goodness : 0.118348 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99599809e-01 2.92897140e-03 -2.81361557e-02 5.04386796e+00] [-3.16277190e-03 9.99960812e-01 -8.26870473e-03 5.97104457e-01] [ 2.81108343e-02 8.35438391e-03 9.99569900e-01 1.57757156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters Centerline goodness : 0.121534 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99599673e-01 2.91094993e-03 -2.81428417e-02 5.04407506e+00] [-3.15072284e-03 9.99959087e-01 -8.47926767e-03 5.98431735e-01] [ 2.81170076e-02 8.56454349e-03 9.99567948e-01 1.57724051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39255784400007 meters Centerline goodness : 0.122802 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99613821e-01 2.86009401e-03 -2.76410604e-02 5.04244805e+00] [-3.10775849e-03 9.99955376e-01 -8.92121887e-03 6.00608454e-01] [ 2.76143114e-02 9.00367543e-03 9.99578103e-01 1.57773676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42255784400004 meters Centerline goodness : 0.122810 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99615812e-01 2.82607071e-03 -2.75724740e-02 5.04198361e+00] [-3.07703802e-03 9.99954188e-01 -9.06391694e-03 6.01385287e-01] [ 2.75455955e-02 9.14527624e-03 9.99578713e-01 1.57815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45255784400007 meters Centerline goodness : 0.125884 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99618005e-01 2.85391312e-03 -2.74900012e-02 5.04171065e+00] [-3.10456650e-03 9.99953960e-01 -9.07962284e-03 6.01752218e-01] [ 2.74628231e-02 9.16149901e-03 9.99580842e-01 1.57820399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48255784400004 meters Centerline goodness : 0.125884 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.58 [[ 9.99618005e-01 2.85391312e-03 -2.74900012e-02 5.04171065e+00] [-3.10456650e-03 9.99953960e-01 -9.07962284e-03 6.01752218e-01] [ 2.74628231e-02 9.16149901e-03 9.99580842e-01 1.57820399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51255784400007 meters Centerline goodness : 0.120961 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.58 [[ 0.99959294 -0.00553717 -0.02798752 5.02183731] [ 0.00532491 0.99995654 -0.00765282 0.60435284] [ 0.02802867 0.00750067 0.99957898 1.57640274] [ 0. 0. 0. 1. ]] SLAMing on 387.54255784400004 meters Centerline goodness : 0.171416 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.58 [[ 0.99959104 -0.00556144 -0.02805037 5.02224456] [ 0.0053507 0.99995694 -0.00758245 0.60345081] [ 0.02809133 0.00742926 0.99957775 1.57609325] [ 0. 0. 0. 1. ]] SLAMing on 387.5725578440001 meters Centerline goodness : 0.138108 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99610400e-01 1.99218240e-03 -2.78402592e-02 5.00333840e+00] [-2.24117223e-03 9.99957747e-01 -8.91517744e-03 5.97447785e-01] [ 2.78213222e-02 8.97409890e-03 9.99572628e-01 1.57381359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60255784400005 meters Centerline goodness : 0.123328 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99613761e-01 1.96978666e-03 -2.77209144e-02 5.00288580e+00] [-2.22098466e-03 9.99956728e-01 -9.03380726e-03 5.98182643e-01] [ 2.77019202e-02 9.09188577e-03 9.99574880e-01 1.57399934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6325578440001 meters Centerline goodness : 0.125439 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99618834e-01 1.99197231e-03 -2.75357599e-02 5.00220412e+00] [-2.24583325e-03 9.99955236e-01 -9.19146878e-03 5.99519832e-01] [ 2.75162181e-02 9.24980603e-03 9.99578561e-01 1.57427694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66255784400005 meters Centerline goodness : 0.117526 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99623651e-01 1.98848362e-03 -2.73605908e-02 5.00165946e+00] [-2.24710121e-03 9.99953062e-01 -9.42469564e-03 6.01211923e-01] [ 2.73405657e-02 9.48263068e-03 9.99581199e-01 1.57440968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6925578440001 meters Centerline goodness : 0.115375 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99606445e-01 2.10196662e-03 -2.79738627e-02 5.00373508e+00] [-2.38234861e-03 9.99947226e-01 -9.99344760e-03 6.04935374e-01] [ 2.79513805e-02 1.00561581e-02 9.99558700e-01 1.57335689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72255784400005 meters Centerline goodness : 0.151593 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99603365e-01 1.96820080e-03 -2.80933821e-02 5.00437408e+00] [-2.26279535e-03 9.99942750e-01 -1.04583253e-02 6.07277004e-01] [ 2.80711896e-02 1.05177467e-02 9.99550592e-01 1.57271677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7525578440001 meters Centerline goodness : 0.160249 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99603745e-01 1.86839619e-03 -2.80866849e-02 5.00454971e+00] [-2.17489355e-03 9.99938381e-01 -1.08859655e-02 6.09730204e-01] [ 2.80646150e-02 1.09427375e-02 9.99546214e-01 1.57228249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78255784400005 meters Centerline goodness : 0.144542 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99604406e-01 1.70518889e-03 -2.80735435e-02 5.00452085e+00] [-2.03089420e-03 9.99930917e-01 -1.15774377e-02 6.13804577e-01] [ 2.80518624e-02 1.16298721e-02 9.99538813e-01 1.57214468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.812557844 meters Centerline goodness : 0.118667 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99604049e-01 1.58116149e-03 -2.80935112e-02 5.00437481e+00] [-1.91407788e-03 9.99928222e-01 -1.18273576e-02 6.14910556e-01] [ 2.80727938e-02 1.18764477e-02 9.99535326e-01 1.57243426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84255784400005 meters Centerline goodness : 0.344881 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960009 -0.00626858 -0.02757479 5.02344288] [ 0.00597068 0.99992307 -0.01087236 0.62119534] [ 0.02764083 0.01070337 0.99956061 1.57430853] [ 0. 0. 0. 1. ]] SLAMing on 387.872557844 meters Centerline goodness : 0.340297 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960312 -0.00626287 -0.02746606 5.02303555] [ 0.00596793 0.99992379 -0.01080728 0.62092006] [ 0.02753165 0.01063908 0.99956431 1.57452972] [ 0. 0. 0. 1. ]] SLAMing on 387.90255784400006 meters Centerline goodness : 0.159274 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960487 -0.00625166 -0.02740489 5.02281622] [ 0.00596093 0.99992523 -0.01067744 0.62030591] [ 0.02746959 0.01050986 0.99956739 1.57469075] [ 0. 0. 0. 1. ]] SLAMing on 387.93255784400003 meters Centerline goodness : 0.144158 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960654 -0.00650347 -0.02728512 5.02256784] [ 0.00621958 0.99992578 -0.01047647 0.61867516] [ 0.02735123 0.01030264 0.99957279 1.57478625] [ 0. 0. 0. 1. ]] SLAMing on 387.96255784400006 meters Centerline goodness : 0.325431 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.57 [[ 0.99960492 -0.00642462 -0.02736302 5.02271286] [ 0.00614784 0.99992921 -0.01018712 0.61725415] [ 0.02742653 0.01001487 0.99957365 1.57492689] [ 0. 0. 0. 1. ]] SLAMing on 387.99255784400003 meters Centerline goodness : 0.241257 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.58 [[ 0.99960395 -0.00630507 -0.02742601 5.02279552] [ 0.0060377 0.99993355 -0.00982091 0.61549356] [ 0.02748611 0.00965143 0.99957559 1.5751064 ] [ 0. 0. 0. 1. ]] SLAMing on 388.02255784400006 meters Centerline goodness : 0.131465 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.58 [[ 0.99960262 -0.00624065 -0.02748928 5.02289643] [ 0.00597923 0.99993622 -0.00958185 0.61417244] [ 0.02754733 0.00941368 0.99957617 1.57526002] [ 0. 0. 0. 1. ]] SLAMing on 388.05255784400003 meters Centerline goodness : 0.242306 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.58 [[ 0.99960037 -0.00620424 -0.02757897 5.02326733] [ 0.00594599 0.9999378 -0.0094359 0.61320195] [ 0.0276358 0.00926814 0.99957509 1.57503919] [ 0. 0. 0. 1. ]] SLAMing on 388.08255784400006 meters Centerline goodness : 0.259019 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959657 -0.00617568 -0.02772306 5.02396263] [ 0.00591654 0.99993813 -0.00941965 0.61302753] [ 0.02777952 0.00925183 0.99957126 1.57449292] [ 0. 0. 0. 1. ]] SLAMing on 388.11255784400004 meters Centerline goodness : 0.136680 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959541 -0.00613682 -0.02777347 5.02426662] [ 0.00587592 0.99993794 -0.00946557 0.61351475] [ 0.02782983 0.00929854 0.99956943 1.57418686] [ 0. 0. 0. 1. ]] SLAMing on 388.14255784400007 meters Centerline goodness : 0.131658 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 0.99959678 -0.00611088 -0.02772952 5.02419607] [ 0.00584655 0.99993679 -0.00960367 0.61441558] [ 0.02778646 0.00943768 0.99956933 1.57406222] [ 0. 0. 0. 1. ]] SLAMing on 388.17255784400004 meters Centerline goodness : 0.134130 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.57 [[ 9.99600042e-01 2.41709721e-03 -2.81764894e-02 5.00287087e+00] [-2.70636982e-03 9.99943981e-01 -1.02328426e-02 6.09377081e-01] [ 2.81501772e-02 1.03050058e-02 9.99550586e-01 1.57311227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20255784400007 meters Centerline goodness : 0.116834 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99605340e-01 -2.77219578e-03 -2.79549509e-02 5.02523912e+00] [ 2.56780668e-03 9.99969731e-01 -7.34462364e-03 6.14073695e-01] [ 2.79744655e-02 7.26994210e-03 9.99582201e-01 1.57304449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23255784400004 meters Centerline goodness : 0.130030 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99608673e-01 -2.74326888e-03 -2.78383637e-02 5.02504713e+00] [ 2.53973557e-03 9.99969807e-01 -7.34397885e-03 6.14287591e-01] [ 2.78576697e-02 7.27040288e-03 9.99585460e-01 1.57284199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26255784400007 meters Centerline goodness : 0.116037 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609740e-01 -2.72279710e-03 -2.78020695e-02 5.02507943e+00] [ 2.52074976e-03 9.99970179e-01 -7.29981235e-03 6.14029193e-01] [ 2.78211163e-02 7.22688146e-03 9.99586793e-01 1.57264295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29255784400004 meters Centerline goodness : 0.119049 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99610593e-01 -2.72418631e-03 -2.77712206e-02 5.02508609e+00] [ 2.52368172e-03 9.99970517e-01 -7.25236435e-03 6.13523012e-01] [ 2.77901586e-02 7.17945451e-03 9.99587996e-01 1.57251570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3225578440001 meters Centerline goodness : 0.131307 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609185e-01 -2.70145516e-03 -2.78240658e-02 5.02518834e+00] [ 2.50393924e-03 9.99971438e-01 -7.13114091e-03 6.12689448e-01] [ 2.78425355e-02 7.05868418e-03 9.99587399e-01 1.57257882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35255784400005 meters Centerline goodness : 0.134033 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.57 [[ 9.99609323e-01 -2.64795329e-03 -2.78242806e-02 5.02517965e+00] [ 2.45452753e-03 9.99972602e-01 -6.98354583e-03 6.11892190e-01] [ 2.78420104e-02 6.91252205e-03 9.99588435e-01 1.57260323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3825578440001 meters Centerline goodness : 0.133817 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99612631e-01 -2.50404631e-03 -2.77185318e-02 5.02483924e+00] [ 2.32246168e-03 9.99975646e-01 -6.58127527e-03 6.10023402e-01] [ 2.77343366e-02 6.51435066e-03 9.99594103e-01 1.57276182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41255784400005 meters Centerline goodness : 0.156579 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99613042e-01 -2.38487666e-03 -2.77142255e-02 5.02479030e+00] [ 2.21249225e-03 9.99978027e-01 -6.24907022e-03 6.08419630e-01] [ 2.77285198e-02 6.18533458e-03 9.99596354e-01 1.57284123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4425578440001 meters Centerline goodness : 0.137497 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.57 [[ 9.99610465e-01 -2.30448236e-03 -2.78138198e-02 5.02498187e+00] [ 2.13960104e-03 9.99979972e-01 -5.95634182e-03 6.06751956e-01] [ 2.78269891e-02 5.89451114e-03 9.99595375e-01 1.57297669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47255784400005 meters Centerline goodness : 0.130225 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.57 [[ 9.99596665e-01 -2.38006345e-03 -2.82991695e-02 5.02601748e+00] [ 2.22841716e-03 9.99982996e-01 -5.38901401e-03 6.02862327e-01] [ 2.83115145e-02 5.32377808e-03 9.99584972e-01 1.57335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5025578440001 meters Centerline goodness : 0.134927 Centerline is valid? [False, False] Translation: X:4.98, Y:0.60, Z:1.57 [[ 9.99518384e-01 -3.47675804e-03 -3.08368691e-02 4.98036344e+00] [ 3.32171560e-03 9.99981592e-01 -5.07763062e-03 5.95723317e-01] [ 3.08539551e-02 4.97275384e-03 9.99511533e-01 1.57355607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53255784400005 meters Centerline goodness : 0.130036 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.57 [[ 9.99479263e-01 -1.18180292e-02 -3.00255973e-02 5.00143754e+00] [ 1.16975414e-02 9.99922822e-01 -4.18533188e-03 5.97543043e-01] [ 3.00727423e-02 3.83192676e-03 9.99540368e-01 1.57451248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters Centerline goodness : 0.133200 Centerline is valid? [False, False] Translation: X:4.98, Y:0.59, Z:1.57 [[ 0.99959622 -0.00547251 -0.02788293 4.98142054] [ 0.0053309 0.99997253 -0.00515027 0.58799034] [ 0.02791035 0.00499955 0.99959793 1.57224338] [ 0. 0. 0. 1. ]] SLAMing on 388.59255784400005 meters Centerline goodness : 0.111217 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99732274e-01 -1.68081608e-03 -2.30771643e-02 5.00054350e+00] [ 1.47686190e-03 9.99959729e-01 -8.85212215e-03 5.83143586e-01] [ 2.30911137e-02 8.81567043e-03 9.99694496e-01 1.57236372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters Centerline goodness : 0.141197 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99734385e-01 -1.61224923e-03 -2.29904521e-02 5.00012461e+00] [ 1.41873299e-03 9.99963451e-01 -8.43107207e-03 5.80838878e-01] [ 2.30032049e-02 8.39621534e-03 9.99700133e-01 1.57277201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65255784400006 meters Centerline goodness : 0.143409 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99730518e-01 -1.51289097e-03 -2.31646985e-02 5.00054150e+00] [ 1.32669717e-03 9.99966709e-01 -8.05108507e-03 5.78841084e-01] [ 2.31761078e-02 8.01818290e-03 9.99699243e-01 1.57282072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters Centerline goodness : 0.120947 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99726599e-01 -1.43739239e-03 -2.33379900e-02 5.00105332e+00] [ 1.25740066e-03 9.99969369e-01 -7.72523599e-03 5.77066879e-01] [ 2.33483793e-02 7.69377870e-03 9.99697784e-01 1.57271885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71255784400006 meters Centerline goodness : 0.137554 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99725626e-01 -1.32489926e-03 -2.33862819e-02 5.00121557e+00] [ 1.15341115e-03 9.99972361e-01 -7.34481675e-03 5.75157580e-01] [ 2.33953667e-02 7.31582752e-03 9.99699523e-01 1.57265611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters Centerline goodness : 0.135312 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99743735e-01 -1.42036222e-03 -2.25930547e-02 4.99882579e+00] [ 1.26496722e-03 9.99975458e-01 -6.89080387e-03 5.72035623e-01] [ 2.26022877e-02 6.86045853e-03 9.99720996e-01 1.57348620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77255784400006 meters Centerline goodness : 0.134415 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99746284e-01 -1.36175987e-03 -2.24836052e-02 4.99826347e+00] [ 1.21280511e-03 9.99977237e-01 -6.63734603e-03 5.70536250e-01] [ 2.24921319e-02 6.60839380e-03 9.99725179e-01 1.57397236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters Centerline goodness : 0.134846 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99746314e-01 -1.31093369e-03 -2.24852957e-02 4.99834431e+00] [ 1.16654742e-03 9.99978626e-01 -6.43327944e-03 5.69377687e-01] [ 2.24932487e-02 6.40541724e-03 9.99726475e-01 1.57382748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83255784400006 meters Centerline goodness : 0.137395 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99743636e-01 -1.25618499e-03 -2.26071810e-02 4.99888585e+00] [ 1.11460550e-03 9.99979696e-01 -6.27410073e-03 5.68565194e-01] [ 2.26146034e-02 6.24729419e-03 9.99724738e-01 1.57343933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters Centerline goodness : 0.136269 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99741188e-01 -1.13656068e-03 -2.27214837e-02 4.99955770e+00] [ 1.00097850e-03 9.99981633e-01 -5.97761861e-03 5.67126493e-01] [ 2.27278603e-02 5.95332781e-03 9.99723963e-01 1.57278956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89255784400007 meters Centerline goodness : 0.136006 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99740182e-01 -1.10227181e-03 -2.27673624e-02 4.99971541e+00] [ 9.69008929e-04 9.99982340e-01 -5.86344502e-03 5.66484227e-01] [ 2.27734235e-02 5.83985982e-03 9.99723595e-01 1.57272678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92255784400004 meters Centerline goodness : 0.136597 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99972905 0.00656569 -0.02233207 4.98050029] [-0.00672242 0.99995325 -0.00695019 0.56114755] [ 0.0222854 0.00709843 0.99972645 1.57045827] [ 0. 0. 0. 1. ]] SLAMing on 388.95255784400007 meters Centerline goodness : 0.134749 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973183 0.00655984 -0.0222088 4.98028833] [-0.00671559 0.99995333 -0.00694587 0.5610848 ] [ 0.0221622 0.00709315 0.99972923 1.57030659] [ 0. 0. 0. 1. ]] SLAMing on 388.98255784400004 meters Centerline goodness : 0.138773 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973554 0.00654036 -0.02204686 4.97993037] [-0.00669357 0.99995391 -0.00688281 0.56054093] [ 0.02200082 0.00702856 0.99973325 1.5702137 ] [ 0. 0. 0. 1. ]] SLAMing on 389.01255784400007 meters Centerline goodness : 0.134924 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973559 0.00654972 -0.02204217 4.97998924] [-0.0067011 0.99995442 -0.00680098 0.55997161] [ 0.02199663 0.00694689 0.99973391 1.57009331] [ 0. 0. 0. 1. ]] SLAMing on 389.04255784400004 meters Centerline goodness : 0.136945 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99973287 0.00651118 -0.02217646 4.98036801] [-0.00666315 0.99995478 -0.00678577 0.55961268] [ 0.02213127 0.00693172 0.99973104 1.56997652] [ 0. 0. 0. 1. ]] SLAMing on 389.0725578440001 meters Centerline goodness : 0.140166 Centerline is valid? [False, False] Translation: X:4.98, Y:0.56, Z:1.57 [[ 0.99972814 0.00648628 -0.02239567 4.98115593] [-0.00663901 0.99995517 -0.00675162 0.55922952] [ 0.02235088 0.00689847 0.99972639 1.56955839] [ 0. 0. 0. 1. ]] SLAMing on 389.10255784400005 meters Centerline goodness : 0.138442 Centerline is valid? [False, False] Translation: X:5.00, Y:0.56, Z:1.57 [[ 9.99702748e-01 -9.30901648e-04 -2.43628501e-02 5.00140682e+00] [ 7.88648110e-04 9.99982590e-01 -5.84791016e-03 5.64909860e-01] [ 2.43678697e-02 5.82695814e-03 9.99686077e-01 1.57118048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1325578440001 meters Centerline goodness : 0.144513 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99686597e-01 -1.01720448e-03 -2.50134704e-02 5.00400067e+00] [ 8.65434498e-04 9.99981157e-01 -6.07760714e-03 5.66498485e-01] [ 2.50191813e-02 6.05405488e-03 9.99668640e-01 1.56960582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16255784400005 meters Centerline goodness : 0.167658 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99687566e-01 -1.12263581e-03 -2.49701761e-02 5.00375327e+00] [ 9.66122250e-04 9.99979819e-01 -6.27920102e-03 5.67446821e-01] [ 2.49767214e-02 6.25311494e-03 9.99668476e-01 1.56981940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1925578440001 meters Centerline goodness : 0.136961 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99692280e-01 -1.21370806e-03 -2.47764531e-02 5.00279081e+00] [ 1.05541477e-03 9.99978957e-01 -6.40093733e-03 5.67920883e-01] [ 2.47837006e-02 6.37281820e-03 9.99672524e-01 1.57052807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22255784400005 meters Centerline goodness : 0.122970 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99697567e-01 -1.30301136e-03 -2.45576239e-02 5.00180316e+00] [ 1.14453474e-03 9.99978439e-01 -6.46620698e-03 5.68178975e-01] [ 2.45655200e-02 6.43614433e-03 9.99677504e-01 1.57123537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2525578440001 meters Centerline goodness : 0.160295 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99715056e-01 -2.34169468e-03 -2.37554703e-02 4.99925724e+00] [ 2.17722627e-03 9.99973500e-01 -6.94689428e-03 5.68245819e-01] [ 2.37711082e-02 6.89319378e-03 9.99693662e-01 1.57168655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28255784400005 meters Centerline goodness : 0.139271 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99715593e-01 -2.63375151e-03 -2.37022347e-02 4.99920035e+00] [ 2.46902783e-03 9.99972617e-01 -6.97629453e-03 5.67586949e-01] [ 2.37199595e-02 6.91578895e-03 9.99694721e-01 1.57139104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.312557844 meters Centerline goodness : 0.120696 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99717500e-01 -2.94759344e-03 -2.35845480e-02 4.99890886e+00] [ 2.78308034e-03 9.99971590e-01 -7.00524657e-03 5.66911141e-01] [ 2.36045266e-02 6.93762990e-03 9.99697302e-01 1.57119790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34255784400005 meters Centerline goodness : 0.183783 Centerline is valid? [False, False] Translation: X:5.00, Y:0.57, Z:1.57 [[ 9.99727823e-01 -3.17397806e-03 -2.31129097e-02 4.99773091e+00] [ 3.01279606e-03 9.99970925e-01 -7.00516446e-03 5.66414025e-01] [ 2.31344719e-02 6.93362333e-03 9.99708318e-01 1.57105878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.372557844 meters Centerline goodness : 0.115687 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99752590e-01 -3.82033321e-03 -2.19126408e-02 4.99428753e+00] [ 3.66269832e-03 9.99967160e-01 -7.22941702e-03 5.66774828e-01] [ 2.19395400e-02 7.14736900e-03 9.99733750e-01 1.57135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40255784400006 meters Centerline goodness : 0.115687 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99752590e-01 -3.82033321e-03 -2.19126408e-02 4.99428753e+00] [ 3.66269832e-03 9.99967160e-01 -7.22941702e-03 5.66774828e-01] [ 2.19395400e-02 7.14736900e-03 9.99733750e-01 1.57135451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43255784400003 meters Centerline goodness : 0.037415 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99756061e-01 -3.94375835e-03 -2.17316741e-02 4.99379166e+00] [ 3.78256003e-03 9.99965066e-01 -7.45378681e-03 5.67909111e-01] [ 2.17603109e-02 7.36976717e-03 9.99736053e-01 1.57135555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46255784400006 meters Centerline goodness : 0.185830 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99756921e-01 -4.10678951e-03 -2.16617810e-02 4.99368625e+00] [ 3.93792129e-03 9.99961571e-01 -7.83257966e-03 5.69781345e-01] [ 2.16931153e-02 7.74537334e-03 9.99734674e-01 1.57122114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49255784400003 meters Centerline goodness : 0.179566 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99758039e-01 -4.29139861e-03 -2.15742146e-02 4.99354573e+00] [ 4.11261203e-03 9.99956893e-01 -8.32459909e-03 5.72328706e-01] [ 2.16090088e-02 8.23385849e-03 9.99732591e-01 1.57109632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52255784400006 meters Centerline goodness : 0.176950 Centerline is valid? [False, False] Translation: X:4.99, Y:0.57, Z:1.57 [[ 9.99775632e-01 -1.12396541e-03 -2.11523766e-02 4.99232891e+00] [ 1.01135255e-03 9.99985264e-01 -5.33383139e-03 5.74107046e-01] [ 2.11580599e-02 5.31124214e-03 9.99762035e-01 1.57130510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55255784400003 meters Centerline goodness : 0.146961 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99777329e-01 -1.27061270e-03 -2.10636746e-02 4.99193487e+00] [ 1.14888473e-03 9.99982577e-01 -5.79014139e-03 5.76644624e-01] [ 2.10706646e-02 5.76465236e-03 9.99761369e-01 1.57157026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58255784400006 meters Centerline goodness : 0.150561 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99777924e-01 -1.54800001e-03 -2.10168062e-02 4.99183493e+00] [ 1.41438287e-03 9.99978705e-01 -6.37100971e-03 5.79354978e-01] [ 2.10262209e-02 6.33986905e-03 9.99758823e-01 1.57148754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61255784400004 meters Centerline goodness : 0.165934 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99774188e-01 -1.62183826e-03 -2.11882660e-02 4.99244422e+00] [ 1.48662841e-03 9.99978443e-01 -6.39554869e-03 5.79631919e-01] [ 2.11981818e-02 6.36260542e-03 9.99755047e-01 1.57111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64255784400007 meters Centerline goodness : 0.107110 Centerline is valid? [False, False] Translation: X:4.99, Y:0.58, Z:1.57 [[ 9.99756778e-01 -1.88395273e-03 -2.19735383e-02 4.99472394e+00] [ 1.74506641e-03 9.99978392e-01 -6.33808049e-03 5.78947600e-01] [ 2.19850041e-02 6.29819365e-03 9.99738462e-01 1.57042156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67255784400004 meters Centerline goodness : 0.102231 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99750751e-01 -1.92847003e-03 -2.22422430e-02 4.99534644e+00] [ 1.79097854e-03 9.99979177e-01 -6.19981211e-03 5.78005930e-01] [ 2.22537360e-02 6.15843143e-03 9.99733387e-01 1.57041120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70255784400007 meters Centerline goodness : 0.162294 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99748116e-01 -2.03375718e-03 -2.23510253e-02 4.99575872e+00] [ 1.89803153e-03 9.99979642e-01 -6.09199484e-03 5.76969257e-01] [ 2.23629600e-02 6.04803741e-03 9.99731624e-01 1.57013303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73255784400004 meters Centerline goodness : 0.097782 Centerline is valid? [False, False] Translation: X:5.00, Y:0.58, Z:1.57 [[ 9.99745952e-01 -2.04832657e-03 -2.24462942e-02 4.99612842e+00] [ 1.91589972e-03 9.99980643e-01 -5.91963763e-03 5.75756951e-01] [ 2.24579851e-02 5.87512891e-03 9.99730525e-01 1.56986238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76255784400007 meters Centerline goodness : 0.153962 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99678250e-01 -1.92931861e-03 -2.52918004e-02 4.95098329e+00] [ 1.79448941e-03 9.99984065e-01 -5.35255831e-03 5.75183704e-01] [ 2.53017242e-02 5.30545025e-03 9.99665782e-01 1.56995296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79255784400004 meters Centerline goodness : 0.226120 Centerline is valid? [False, False] Translation: X:4.95, Y:0.57, Z:1.57 [[ 9.99684284e-01 1.47135069e-03 -2.50831947e-02 4.95063101e+00] [-1.51682211e-03 9.99997241e-01 -1.79389439e-03 5.74190421e-01] [ 2.50804860e-02 1.83137478e-03 9.99683758e-01 1.56977266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8225578440001 meters Centerline goodness : 0.190031 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99695399e-01 3.62945795e-03 -2.44118181e-02 4.94811712e+00] [-3.63177586e-03 9.99993404e-01 -5.06151977e-05 5.77058599e-01] [ 2.44114734e-02 1.39258032e-04 9.99701986e-01 1.57075241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85255784400005 meters Centerline goodness : 0.156377 Centerline is valid? [False, False] Translation: X:4.95, Y:0.58, Z:1.57 [[ 9.99697774e-01 3.62613511e-03 -2.43148371e-02 4.94781520e+00] [-3.63384079e-03 9.99993360e-01 -2.72735383e-04 5.78231124e-01] [ 2.43136867e-02 3.61009203e-04 9.99704313e-01 1.57082215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8825578440001 meters Centerline goodness : 0.157326 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99697705e-01 -4.03680150e-03 -2.42528829e-02 4.92898436e+00] [ 4.06423910e-03 9.99991155e-01 1.08212750e-03 5.83653847e-01] [ 2.42483001e-02 -1.18036989e-03 9.99705270e-01 1.56882435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91255784400005 meters Centerline goodness : 0.184830 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699202e-01 -3.97105522e-03 -2.42020053e-02 4.92897027e+00] [ 3.99858107e-03 9.99991413e-01 1.08904953e-03 5.83981171e-01] [ 2.41974728e-02 -1.18549562e-03 9.99706495e-01 1.56857077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9425578440001 meters Centerline goodness : 0.125659 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99700889e-01 -3.87245485e-03 -2.41482014e-02 4.92914229e+00] [ 3.90576593e-03 9.99991485e-01 1.33243023e-03 5.82915807e-01] [ 2.41428360e-02 -1.42634891e-03 9.99707502e-01 1.56798933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97255784400005 meters Centerline goodness : 0.192288 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99701405e-01 -3.84297171e-03 -2.41315795e-02 4.92913921e+00] [ 3.88061313e-03 9.99991325e-01 1.51320497e-03 5.81869209e-01] [ 2.41255550e-02 -1.60639845e-03 9.99707646e-01 1.56786442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0025578440001 meters Centerline goodness : 0.199323 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699806e-01 -3.80971158e-03 -2.42029816e-02 4.92915300e+00] [ 3.85370348e-03 9.99991006e-01 1.77124100e-03 5.80571710e-01] [ 2.41960160e-02 -1.86398039e-03 9.99705496e-01 1.56808304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03255784400005 meters Centerline goodness : 0.153240 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99699423e-01 -3.79576775e-03 -2.42209864e-02 4.92911118e+00] [ 3.84371038e-03 9.99990744e-01 1.93313483e-03 5.79647127e-01] [ 2.42134245e-02 -2.02565223e-03 9.99704760e-01 1.56816438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters Centerline goodness : 0.097961 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99694701e-01 -3.81390368e-03 -2.44122650e-02 4.92979916e+00] [ 3.86476067e-03 9.99990458e-01 2.03641381e-03 5.79041833e-01] [ 2.44042654e-02 -2.13013966e-03 9.99699902e-01 1.56779412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09255784400005 meters Centerline goodness : 0.145292 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99693770e-01 -3.85291259e-03 -2.44442662e-02 4.92998645e+00] [ 3.90059039e-03 9.99990582e-01 1.90308881e-03 5.79819327e-01] [ 2.44367036e-02 -1.99785309e-03 9.99699383e-01 1.56760102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters Centerline goodness : 0.164620 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99694969e-01 -3.89468644e-03 -2.43885116e-02 4.92995824e+00] [ 3.93773918e-03 9.99990772e-01 1.71751145e-03 5.80914509e-01] [ 2.43815974e-02 -1.81302315e-03 9.99701081e-01 1.56741591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15255784400006 meters Centerline goodness : 0.164725 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99697149e-01 -3.91511372e-03 -2.42957349e-02 4.92971836e+00] [ 3.95337255e-03 9.99991020e-01 1.52688135e-03 5.82222750e-01] [ 2.42895388e-02 -1.62246903e-03 9.99703649e-01 1.56739610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters Centerline goodness : 0.160397 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.57 [[ 9.99700226e-01 -3.92972886e-03 -2.41664201e-02 4.92938590e+00] [ 3.96268058e-03 9.99991283e-01 1.31579545e-03 5.83689440e-01] [ 2.41610387e-02 -1.41116481e-03 9.99707084e-01 1.56743705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21255784400006 meters Centerline goodness : 0.098481 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99716853e-01 -1.77064719e-03 -2.37292577e-02 4.92888017e+00] [ 1.84355603e-03 9.99993646e-01 3.05100526e-03 5.87773808e-01] [ 2.37237047e-02 -3.09388760e-03 9.99713766e-01 1.56681475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters Centerline goodness : 0.100727 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99714848e-01 -1.77888342e-03 -2.38129921e-02 4.92919441e+00] [ 1.84824704e-03 9.99994113e-01 2.89115546e-03 5.88887304e-01] [ 2.38077089e-02 -2.93434334e-03 9.99712250e-01 1.56662090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27255784400006 meters Centerline goodness : 0.095166 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99711120e-01 -1.82379302e-03 -2.39655990e-02 4.92956723e+00] [ 1.88898068e-03 9.99994577e-01 2.69769464e-03 5.90067479e-01] [ 2.39605490e-02 -2.74218588e-03 9.99709144e-01 1.56659051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters Centerline goodness : 0.098960 Centerline is valid? [False, False] Translation: X:4.93, Y:0.59, Z:1.57 [[ 9.99708201e-01 -1.96861812e-03 -2.40756507e-02 4.92972954e+00] [ 2.02549677e-03 9.99995215e-01 2.33833877e-03 5.91619324e-01] [ 2.40709322e-02 -2.38642159e-03 9.99707405e-01 1.56680018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 390.36255784400004 meters Centerline goodness : 0.057568 Centerline is valid? [False, False] Translation: X:4.93, Y:0.60, Z:1.57 [[ 9.99726358e-01 3.95575518e-04 -2.33891484e-02 4.92645627e+00] [-3.02419626e-04 9.99992009e-01 3.98627104e-03 5.97861565e-01] [ 2.33905383e-02 -3.97810690e-03 9.99718489e-01 1.56856415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39255784400007 meters Centerline goodness : 0.210883 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.57 [[ 9.99768440e-01 1.62398699e-03 -2.14576290e-02 4.97030318e+00] [-1.52325759e-03 9.99987748e-01 4.70985091e-03 6.00930973e-01] [ 2.14650148e-02 -4.67607479e-03 9.99758665e-01 1.56890827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42255784400004 meters Centerline goodness : 0.122816 Centerline is valid? [False, False] Translation: X:4.97, Y:0.60, Z:1.57 [[ 9.99767361e-01 1.51803920e-03 -2.15155482e-02 4.97064405e+00] [-1.42781900e-03 9.99990127e-01 4.20799815e-03 6.03842794e-01] [ 2.15217237e-02 -4.17629890e-03 9.99759658e-01 1.56858630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45255784400007 meters Centerline goodness : 0.233349 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99761648e-01 1.39619959e-03 -2.17875429e-02 4.97143687e+00] [-1.32324776e-03 9.99993472e-01 3.36238536e-03 6.08413391e-01] [ 2.17920953e-02 -3.33275361e-03 9.99756969e-01 1.56830673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48255784400004 meters Centerline goodness : 0.041381 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99761469e-01 1.25475362e-03 -2.18043591e-02 4.97142295e+00] [-1.18975845e-03 9.99994812e-01 2.99355098e-03 6.10132871e-01] [ 2.18080021e-02 -2.96689500e-03 9.99757775e-01 1.56834881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51255784400007 meters Centerline goodness : 0.039418 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99763246e-01 1.17386055e-03 -2.17272692e-02 4.97127009e+00] [-1.11459803e-03 9.99995626e-01 2.73947326e-03 6.11453401e-01] [ 2.17303900e-02 -2.71460750e-03 9.99760182e-01 1.56822024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54255784400004 meters Centerline goodness : 0.418989 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99769337e-01 1.04656408e-03 -2.14517701e-02 4.97059262e+00] [-9.93188476e-04 9.99996385e-01 2.49867067e-03 6.12371262e-01] [ 2.14543075e-02 -2.47678866e-03 9.99766762e-01 1.56817033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5725578440001 meters Centerline goodness : 0.409541 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99773367e-01 1.04622579e-03 -2.12631038e-02 4.97007034e+00] [-9.91888631e-04 9.99996216e-01 2.56585272e-03 6.11870211e-01] [ 2.12657078e-02 -2.54418059e-03 9.99770622e-01 1.56826701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60255784400005 meters Centerline goodness : 0.121555 Centerline is valid? [False, False] Translation: X:4.97, Y:0.61, Z:1.57 [[ 9.99774000e-01 1.06263835e-03 -2.12325216e-02 4.96998763e+00] [-1.00711584e-03 9.99996046e-01 2.62549660e-03 6.11562601e-01] [ 2.12352276e-02 -2.60351963e-03 9.99771117e-01 1.56830517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6325578440001 meters Centerline goodness : 0.281586 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99706547e-01 1.14824596e-03 -2.41971563e-02 4.92518841e+00] [-1.07905674e-03 9.99995293e-01 2.87225798e-03 6.10735247e-01] [ 2.42003405e-02 -2.84530500e-03 9.99703080e-01 1.56826440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66255784400005 meters Centerline goodness : 0.120497 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99699303e-01 1.16576440e-03 -2.44937499e-02 4.92629865e+00] [-1.09631290e-03 9.99995341e-01 2.84871547e-03 6.10925773e-01] [ 2.44969568e-02 -2.82100606e-03 9.99695924e-01 1.56763424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6925578440001 meters Centerline goodness : 0.283861 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99688924e-01 1.17612905e-03 -2.49132718e-02 4.92777964e+00] [-1.10703992e-03 9.99995504e-01 2.78679646e-03 6.11174049e-01] [ 2.49164374e-02 -2.75834957e-03 9.99685732e-01 1.56689216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72255784400005 meters Centerline goodness : 0.335500 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99664798e-01 1.49754970e-03 -2.58466522e-02 4.93067069e+00] [-1.42959509e-03 9.99995474e-01 2.64742349e-03 6.12715144e-01] [ 2.58504999e-02 -2.60958582e-03 9.99662414e-01 1.56579267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7525578440001 meters Centerline goodness : 0.124439 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99608172e-01 2.07164548e-03 -2.79143436e-02 4.88411803e+00] [-1.98856268e-03 9.99993511e-01 3.00377968e-03 6.13169376e-01] [ 2.79203852e-02 -2.94709329e-03 9.99605806e-01 1.56612779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78255784400005 meters Centerline goodness : 0.118905 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99671992e-01 2.90347848e-03 -2.54456054e-02 4.92496852e+00] [-2.82906565e-03 9.99991618e-01 2.95989982e-03 6.15876860e-01] [ 2.54539862e-02 -2.88694166e-03 9.99671826e-01 1.56827929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8125578440001 meters Centerline goodness : 0.120410 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99687940e-01 2.92950810e-03 -2.48080695e-02 4.92300931e+00] [-2.86314037e-03 9.99992228e-01 2.71034500e-03 6.17394761e-01] [ 2.48158167e-02 -2.63847022e-03 9.99688558e-01 1.56888538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84255784400005 meters Centerline goodness : 0.119587 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99701441e-01 3.32635040e-03 -2.42067036e-02 4.92113610e+00] [-3.26607125e-03 9.99991468e-01 2.52929446e-03 6.19999577e-01] [ 2.42149104e-02 -2.44947850e-03 9.99703775e-01 1.56942126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.872557844 meters Centerline goodness : 0.146227 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99699006e-01 3.32941621e-03 -2.43066514e-02 4.92147475e+00] [-3.27651901e-03 9.99992177e-01 2.21574626e-03 6.22022372e-01] [ 2.43138384e-02 -2.13543813e-03 9.99702094e-01 1.56919379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90255784400006 meters Centerline goodness : 0.118883 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99697064e-01 3.31142224e-03 -2.43888207e-02 4.92182850e+00] [-3.26600407e-03 9.99992858e-01 1.90185145e-03 6.23921035e-01] [ 2.43949443e-02 -1.82162132e-03 9.99700739e-01 1.56886811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93255784400003 meters Centerline goodness : 0.138855 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.57 [[ 9.99694526e-01 3.40718982e-03 -2.44794931e-02 4.92219311e+00] [-3.37127942e-03 9.99993180e-01 1.50807872e-03 6.26536226e-01] [ 2.44844645e-02 -1.42509083e-03 9.99699195e-01 1.56848728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96255784400006 meters Centerline goodness : 0.139331 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99687507e-01 -4.06286410e-03 -2.46654018e-02 4.94125086e+00] [ 4.12748089e-03 9.99988181e-01 2.56938828e-03 6.32767967e-01] [ 2.46546712e-02 -2.67039134e-03 9.99692461e-01 1.57009694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99255784400003 meters Centerline goodness : 0.145326 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99689386e-01 -4.10142816e-03 -2.45827241e-02 4.94095088e+00] [ 4.16302201e-03 9.99988321e-01 2.45492113e-03 6.33396278e-01] [ 2.45723683e-02 -2.55649701e-03 9.99694785e-01 1.57022587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02255784400006 meters Centerline goodness : 0.147473 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691000e-01 -4.09526662e-03 -2.45180074e-02 4.94067491e+00] [ 4.15624622e-03 9.99988394e-01 2.43669247e-03 6.33615675e-01] [ 2.45077439e-02 -2.53784241e-03 9.99696419e-01 1.57038334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05255784400003 meters Centerline goodness : 0.142013 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691259e-01 -4.04508811e-03 -2.45157879e-02 4.94068434e+00] [ 4.10843354e-03 9.99988350e-01 2.53404513e-03 6.33253361e-01] [ 2.45052518e-02 -2.63398425e-03 9.99696231e-01 1.57037243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08255784400006 meters Centerline goodness : 0.142742 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99694796e-01 -4.01589347e-03 -2.43759590e-02 4.94060493e+00] [ 4.08013023e-03 9.99988332e-01 2.58608661e-03 6.33206177e-01] [ 2.43652891e-02 -2.68475441e-03 9.99699517e-01 1.56993940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11255784400004 meters Centerline goodness : 0.141415 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99695584e-01 -4.01212529e-03 -2.43442412e-02 4.94071417e+00] [ 4.07605957e-03 9.99988372e-01 2.57720558e-03 6.33357699e-01] [ 2.43336181e-02 -2.67564962e-03 9.99700313e-01 1.56961720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14255784400007 meters Centerline goodness : 0.139009 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99698664e-01 -4.01714141e-03 -2.42166005e-02 4.94058904e+00] [ 4.07991307e-03 9.99988443e-01 2.54324171e-03 6.33544699e-01] [ 2.42061040e-02 -2.64127696e-03 9.99703500e-01 1.56929903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17255784400004 meters Centerline goodness : 0.138888 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699116e-01 -4.01048163e-03 -2.41990314e-02 4.94061959e+00] [ 4.07264874e-03 9.99988531e-01 2.52025422e-03 6.33741059e-01] [ 2.41886464e-02 -2.61805007e-03 9.99703984e-01 1.56913625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20255784400007 meters Centerline goodness : 0.138101 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99700135e-01 -3.93047062e-03 -2.41700665e-02 4.94063702e+00] [ 3.99359166e-03 9.99988739e-01 2.56382279e-03 6.33886669e-01] [ 2.41597172e-02 -2.65957937e-03 9.99704574e-01 1.56900363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23255784400004 meters Centerline goodness : 0.144077 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99700481e-01 -3.90340867e-03 -2.41601128e-02 4.94060532e+00] [ 3.96740178e-03 9.99988746e-01 2.60134236e-03 6.33638485e-01] [ 2.41496868e-02 -2.69641608e-03 9.99704717e-01 1.56898834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26255784400007 meters Centerline goodness : 0.114310 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699845e-01 -3.90658311e-03 -2.41859064e-02 4.94078036e+00] [ 3.97079034e-03 9.99988717e-01 2.60728111e-03 6.33383043e-01] [ 2.41754480e-02 -2.70253568e-03 9.99704078e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29255784400004 meters Centerline goodness : 0.114310 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99699845e-01 -3.90658311e-03 -2.41859064e-02 4.94078036e+00] [ 3.97079034e-03 9.99988717e-01 2.60728111e-03 6.33383043e-01] [ 2.41754480e-02 -2.70253568e-03 9.99704078e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3225578440001 meters Centerline goodness : 0.143206 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99698343e-01 -3.92576753e-03 -2.42448313e-02 4.94124017e+00] [ 3.98932668e-03 9.99988730e-01 2.57374354e-03 6.33345961e-01] [ 2.42344542e-02 -2.66968771e-03 9.99702738e-01 1.56830737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35255784400005 meters Centerline goodness : 0.133539 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99693915e-01 -3.89821637e-03 -2.44311506e-02 4.94228554e+00] [ 3.96267027e-03 9.99988794e-01 2.59032715e-03 6.33160019e-01] [ 2.44207791e-02 -2.68634689e-03 9.99698159e-01 1.56734830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3825578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 391.41255784400005 meters Centerline goodness : 0.139065 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99691512e-01 -3.85984591e-03 -2.45353286e-02 4.94259495e+00] [ 3.92422322e-03 9.99988982e-01 2.57625488e-03 6.33448081e-01] [ 2.45251143e-02 -2.67174225e-03 9.99695644e-01 1.56722424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4425578440001 meters Centerline goodness : 0.138338 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99687231e-01 -3.87188971e-03 -2.47072607e-02 4.94314362e+00] [ 3.93531129e-03 9.99989084e-01 2.51881409e-03 6.33715753e-01] [ 2.46972384e-02 -2.61525705e-03 9.99691556e-01 1.56699630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47255784400005 meters Centerline goodness : 0.115200 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99656580e-01 4.38718798e-03 -2.58355308e-02 4.96584908e+00] [-4.35288041e-03 9.99989568e-01 1.38401176e-03 6.30560445e-01] [ 2.58413332e-02 -1.27107749e-03 9.99665249e-01 1.56809486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5025578440001 meters Centerline goodness : 0.141419 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99654920e-01 4.38282668e-03 -2.59004078e-02 4.96626216e+00] [-4.35004026e-03 9.99989665e-01 1.32207309e-03 6.30897420e-01] [ 2.59059345e-02 -1.20894905e-03 9.99663654e-01 1.56765176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53255784400005 meters Centerline goodness : 0.136701 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99657341e-01 4.39578189e-03 -2.58046195e-02 4.96623040e+00] [-4.36304883e-03 9.99989604e-01 1.32466225e-03 6.31002922e-01] [ 2.58101742e-02 -1.21162153e-03 9.99666128e-01 1.56729341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5625578440001 meters Centerline goodness : 0.142591 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99669319e-01 -3.16739779e-03 -2.55190212e-02 4.98421001e+00] [ 3.23510726e-03 9.99991355e-01 2.61244605e-03 6.36428900e-01] [ 2.55105259e-02 -2.69413894e-03 9.99670923e-01 1.56925540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59255784400005 meters Centerline goodness : 0.136757 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.57 [[ 9.99691677e-01 4.72637086e-03 -2.43764663e-02 4.96383562e+00] [-4.68380020e-03 9.99987405e-01 1.80318377e-03 6.30831302e-01] [ 2.43846818e-02 -1.68845331e-03 9.99701224e-01 1.56775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters Centerline goodness : 0.145517 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.57 [[ 9.99696002e-01 4.70487770e-03 -2.42026481e-02 4.96336840e+00] [-4.66389015e-03 9.99987593e-01 1.74968444e-03 6.31076759e-01] [ 2.42105798e-02 -1.63627405e-03 9.99705542e-01 1.56777141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65255784400006 meters Centerline goodness : 0.145965 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99727162e-01 -2.93974629e-03 -2.31723956e-02 4.98194858e+00] [ 3.00507927e-03 9.99991606e-01 2.78511368e-03 6.38320980e-01] [ 2.31640136e-02 -2.85398868e-03 9.99727605e-01 1.56899531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters Centerline goodness : 0.140087 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99733602e-01 -2.97483135e-03 -2.28883448e-02 4.98114622e+00] [ 3.03547473e-03 9.99991973e-01 2.61524409e-03 6.39368456e-01] [ 2.28803812e-02 -2.68402439e-03 9.99734607e-01 1.56909315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71255784400006 meters Centerline goodness : 0.141077 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99738713e-01 -3.06725354e-03 -2.26516601e-02 4.98033850e+00] [ 3.12165629e-03 9.99992327e-01 2.36674211e-03 6.40727577e-01] [ 2.26442269e-02 -2.43683440e-03 9.99740617e-01 1.56940546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters Centerline goodness : 0.130855 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99739052e-01 5.01062089e-03 -2.22872603e-02 4.95967423e+00] [-4.98130772e-03 9.99986654e-01 1.37056643e-03 6.36251950e-01] [ 2.22938302e-02 -1.25918908e-03 9.99750669e-01 1.56821618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77255784400006 meters Centerline goodness : 0.145985 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99743693e-01 4.86232131e-03 -2.21112442e-02 4.95892405e+00] [-4.84007298e-03 9.99987725e-01 1.05960526e-03 6.37641198e-01] [ 2.21161249e-02 -9.52313639e-04 9.99754955e-01 1.56869575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters Centerline goodness : 0.145633 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99739020e-01 4.79428752e-03 -2.23362183e-02 4.95975598e+00] [-4.77436650e-03 9.99988156e-01 9.45112868e-04 6.37993552e-01] [ 2.23404849e-02 -8.38224920e-04 9.99750069e-01 1.56823664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83255784400006 meters Centerline goodness : 0.146465 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.57 [[ 9.99730211e-01 -2.67726402e-03 -2.30724349e-02 4.97985454e+00] [ 2.72065039e-03 9.99994589e-01 1.84925669e-03 6.44132552e-01] [ 2.30673592e-02 -1.91152981e-03 9.99732086e-01 1.56922958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters Centerline goodness : 0.143476 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99658028e-01 -2.64761582e-03 -2.60156994e-02 4.93537842e+00] [ 2.70515514e-03 9.99993972e-01 2.17677011e-03 6.41157889e-01] [ 2.60097794e-02 -2.24640222e-03 9.99659164e-01 1.56871308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89255784400007 meters Centerline goodness : 0.152129 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.57 [[ 9.99663288e-01 -2.61681614e-03 -2.58159518e-02 4.93466495e+00] [ 2.67216266e-03 9.99994205e-01 2.10962329e-03 6.41776251e-01] [ 2.58102817e-02 -2.17789738e-03 9.99664487e-01 1.56904372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92255784400004 meters Centerline goodness : 0.115132 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99676275e-01 5.50815048e-03 -2.48396040e-02 4.95420911e+00] [-5.49200750e-03 9.99984661e-01 7.18062823e-04 6.39764537e-01] [ 2.48431782e-02 -5.81411077e-04 9.99691192e-01 1.57107159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95255784400007 meters Centerline goodness : 0.108755 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99676161e-01 5.48229112e-03 -2.48499003e-02 4.95418988e+00] [-5.46873856e-03 9.99984858e-01 6.13303725e-04 6.40384867e-01] [ 2.48528863e-02 -4.77207506e-04 9.99691005e-01 1.57114174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98255784400004 meters Centerline goodness : 0.143570 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99602231e-01 -2.33969563e-03 -2.81052454e-02 4.93567220e+00] [ 2.39275195e-03 9.99995418e-01 1.85428993e-03 6.43758650e-01] [ 2.81007781e-02 -1.92080124e-03 9.99603250e-01 1.56958287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01255784400007 meters Centerline goodness : 0.128935 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99591883e-01 -2.36420545e-03 -2.84688778e-02 4.93712283e+00] [ 2.41448405e-03 9.99995585e-01 1.73184388e-03 6.44270996e-01] [ 2.84646577e-02 -1.79987474e-03 9.99593179e-01 1.56864734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04255784400004 meters Centerline goodness : 0.149907 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99588689e-01 -2.33974136e-03 -2.85828516e-02 4.93768412e+00] [ 2.39087972e-03 9.99995602e-01 1.75508234e-03 6.44140809e-01] [ 2.85786195e-02 -1.82269862e-03 9.99589886e-01 1.56818989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0725578440001 meters Centerline goodness : 0.138990 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99589591e-01 -2.30135499e-03 -2.85543815e-02 4.93773396e+00] [ 2.35334726e-03 9.99995634e-01 1.78734330e-03 6.44126129e-01] [ 2.85501435e-02 -1.85380813e-03 9.99590643e-01 1.56795834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10255784400005 meters Centerline goodness : 0.150623 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.57 [[ 9.99591854e-01 -2.15134984e-03 -2.84867844e-02 4.93764007e+00] [ 2.20715590e-03 9.99995706e-01 1.92771694e-03 6.44132477e-01] [ 2.84825149e-02 -1.98980493e-03 9.99592310e-01 1.56779819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1325578440001 meters Centerline goodness : 0.147122 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99583523e-01 5.94898820e-03 -2.82380971e-02 4.95830155e+00] [-5.93056832e-03 9.99982143e-01 7.36012459e-04 6.41020186e-01] [ 2.82419714e-02 -5.68237963e-04 9.99600954e-01 1.56925911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16255784400005 meters Centerline goodness : 0.144012 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99580709e-01 5.93492214e-03 -2.83404740e-02 4.95880129e+00] [-5.91585463e-03 9.99982215e-01 7.56600366e-04 6.40659642e-01] [ 2.83444603e-02 -5.88625006e-04 9.99598042e-01 1.56888321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1925578440001 meters Centerline goodness : 0.139387 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99579172e-01 5.94250674e-03 -2.83930571e-02 4.95917068e+00] [-5.92154309e-03 9.99982129e-01 8.22363372e-04 6.40213510e-01] [ 2.83974366e-02 -6.53886587e-04 9.99596498e-01 1.56848295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22255784400005 meters Centerline goodness : 0.115756 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.57 [[ 9.99581161e-01 6.02033183e-03 -2.83064973e-02 4.95886497e+00] [-5.99396600e-03 9.99981520e-01 1.01620050e-03 6.39405588e-01] [ 2.83120920e-02 -8.46106696e-04 9.99598774e-01 1.56864084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2525578440001 meters Centerline goodness : 0.095149 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.57 [[ 9.99634924e-01 4.12396958e-03 -2.67022907e-02 4.95159961e+00] [-4.13736306e-03 9.99991341e-01 -4.46356176e-04 6.37120020e-01] [ 2.67002187e-02 5.56670293e-04 9.99643331e-01 1.57261292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28255784400005 meters Centerline goodness : 0.147654 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.57 [[ 9.99677947e-01 -4.00746739e-03 -2.50587792e-02 4.97089149e+00] [ 4.02540699e-03 9.99991677e-01 6.65497740e-04 6.39481918e-01] [ 2.50559037e-02 -7.66155200e-04 9.99685758e-01 1.57435037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3125578440001 meters Centerline goodness : 0.142400 Centerline is valid? [False, False] Translation: X:4.99, Y:0.64, Z:1.58 [[ 9.99707063e-01 3.65903940e-03 -2.39248809e-02 4.98930797e+00] [-3.68100592e-03 9.99992843e-01 -8.74169738e-04 6.35012982e-01] [ 2.39215111e-02 9.61981290e-04 9.99713377e-01 1.57648735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34255784400005 meters Centerline goodness : 0.152123 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.58 [[ 9.99707391e-01 3.79300993e-03 -2.38902919e-02 4.98945084e+00] [-3.80686631e-03 9.99992611e-01 -5.34546795e-04 6.33367864e-01] [ 2.38880878e-02 6.25337529e-04 9.99714443e-01 1.57615692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.372557844 meters Centerline goodness : 0.148911 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99682772e-01 -4.77309715e-03 -2.47299856e-02 4.96832565e+00] [ 4.79410611e-03 9.99988196e-01 7.90315121e-04 6.33653233e-01] [ 2.47259215e-02 -9.08622587e-04 9.99693855e-01 1.57455879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40255784400006 meters Centerline goodness : 0.140141 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.57 [[ 9.99683229e-01 -4.72076490e-03 -2.47215543e-02 4.96829962e+00] [ 4.74524453e-03 9.99988307e-01 9.31643604e-04 6.32859289e-01] [ 2.47168671e-02 -1.04865831e-03 9.99693942e-01 1.57458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43255784400003 meters Centerline goodness : 0.150301 Centerline is valid? [False, False] Translation: X:4.99, Y:0.63, Z:1.58 [[ 9.99700249e-01 3.26311127e-03 -2.42644591e-02 4.98808980e+00] [-3.27501305e-03 9.99994536e-01 -4.50779303e-04 6.29897893e-01] [ 2.42628556e-02 5.30110602e-04 9.99705473e-01 1.57647753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46255784400006 meters Centerline goodness : 0.148578 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99635255e-01 3.06411212e-03 -2.68322107e-02 4.94147385e+00] [-3.07075577e-03 9.99995264e-01 -2.06398218e-04 6.26747453e-01] [ 2.68314512e-02 2.88718102e-04 9.99639930e-01 1.57724368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49255784400003 meters Centerline goodness : 0.155268 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99646517e-01 3.17506333e-03 -2.63962037e-02 4.93989140e+00] [-3.18050287e-03 9.99994929e-01 -1.64091321e-04 6.27094648e-01] [ 2.63955489e-02 2.47986520e-04 9.99651546e-01 1.57803096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52255784400006 meters Centerline goodness : 0.145799 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99646208e-01 3.19031481e-03 -2.64060553e-02 4.93996388e+00] [-3.19437511e-03 9.99994892e-01 -1.11582449e-04 6.26743650e-01] [ 2.64055644e-02 1.95893818e-04 9.99651293e-01 1.57793276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55255784400003 meters Centerline goodness : 0.157530 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.58 [[ 9.99639545e-01 3.20921706e-03 -2.66548597e-02 4.94091693e+00] [-3.21025248e-03 9.99994847e-01 3.94677079e-06 6.25962258e-01] [ 2.66547351e-02 8.16234814e-05 9.99644696e-01 1.57740832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58255784400006 meters Centerline goodness : 0.144548 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99626783e-01 3.34639551e-03 -2.71126546e-02 4.94272086e+00] [-3.33613428e-03 9.99994345e-01 4.23691733e-04 6.23784093e-01] [ 2.71139191e-02 -3.33082148e-04 9.99632295e-01 1.57638077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61255784400004 meters Centerline goodness : 0.134871 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99629067e-01 3.41455446e-03 -2.70198041e-02 4.94246297e+00] [-3.39884277e-03 9.99994027e-01 6.27393001e-04 6.22650595e-01] [ 2.70217850e-02 -5.35324214e-04 9.99634702e-01 1.57645140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64255784400007 meters Centerline goodness : 0.147539 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99631603e-01 3.46357781e-03 -2.69195510e-02 4.94199803e+00] [-3.44298603e-03 9.99993744e-01 8.11250799e-04 6.21481401e-01] [ 2.69221924e-02 -7.18268299e-04 9.99637274e-01 1.57682861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67255784400004 meters Centerline goodness : 0.144783 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99631205e-01 3.47923330e-03 -2.69323002e-02 4.94185037e+00] [-3.45612986e-03 9.99993619e-01 9.04335628e-04 6.20696234e-01] [ 2.69352748e-02 -8.10920587e-04 9.99636851e-01 1.57712116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70255784400007 meters Centerline goodness : 0.143861 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99625415e-01 3.58792607e-03 -2.71322089e-02 4.94263725e+00] [-3.56185598e-03 9.99993147e-01 1.00912235e-03 6.20336765e-01] [ 2.71356437e-02 -9.12103324e-04 9.99631345e-01 1.57660312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73255784400004 meters Centerline goodness : 0.119253 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99619780e-01 3.61286128e-03 -2.73357301e-02 4.94356306e+00] [-3.58795991e-03 9.99993103e-01 9.59940186e-04 6.20718209e-01] [ 2.73390097e-02 -8.61495694e-04 9.99625848e-01 1.57588809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76255784400007 meters Centerline goodness : 0.141111 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.58 [[ 9.99613216e-01 3.65119305e-03 -2.75696831e-02 4.94445563e+00] [-3.62781975e-03 9.99993016e-01 8.97761042e-04 6.21244819e-01] [ 2.75727685e-02 -7.97395962e-04 9.99619481e-01 1.57537090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79255784400004 meters Centerline goodness : 0.145164 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.57 [[ 9.99605098e-01 3.69277334e-03 -2.78569834e-02 4.94571161e+00] [-3.67272246e-03 9.99992958e-01 7.70910706e-04 6.21834833e-01] [ 2.78596340e-02 -6.68295303e-04 9.99611622e-01 1.57441241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8225578440001 meters Centerline goodness : 0.145894 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99571850e-01 -5.07934954e-03 -2.88152227e-02 4.92443166e+00] [ 5.12761396e-03 9.99985572e-01 1.60131765e-03 6.24167451e-01] [ 2.88066733e-02 -1.74838539e-03 9.99583473e-01 1.57324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85255784400005 meters Centerline goodness : 0.142820 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99573346e-01 -5.02330097e-03 -2.87731240e-02 4.92424565e+00] [ 5.07603012e-03 9.99985568e-01 1.75983442e-03 6.23477625e-01] [ 2.87638686e-02 -1.90513682e-03 9.99584419e-01 1.57339833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8825578440001 meters Centerline goodness : 0.147591 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 9.99569111e-01 -4.94854447e-03 -2.89327529e-02 4.92479793e+00] [ 5.00827891e-03 9.99985473e-01 1.99249316e-03 6.22413425e-01] [ 2.89224727e-02 -2.13653791e-03 9.99579374e-01 1.57320174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91255784400005 meters Centerline goodness : 0.143302 Centerline is valid? [False, False] Translation: X:4.90, Y:0.62, Z:1.57 [[ 9.99560834e-01 -2.88513723e-05 -2.96334148e-02 4.90392942e+00] [-1.89621828e-05 9.99998699e-01 -1.61321908e-03 6.15757924e-01] [ 2.96334227e-02 1.61307252e-03 9.99559532e-01 1.57210356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9425578440001 meters Centerline goodness : 0.125570 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958353 0.00547164 -0.02833413 4.92595421] [-0.00562119 0.99997068 -0.00520107 0.61433817] [ 0.02830484 0.00535817 0.99958498 1.57251039] [ 0. 0. 0. 1. ]] SLAMing on 392.97255784400005 meters Centerline goodness : 0.129515 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958194 0.00551237 -0.02838223 4.92569323] [-0.00565596 0.9999716 -0.00498154 0.61300164] [ 0.02835397 0.00513998 0.99958473 1.57314049] [ 0. 0. 0. 1. ]] SLAMing on 393.0025578440001 meters Centerline goodness : 0.271092 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 9.99581546e-01 5.57029491e-03 -2.83849448e-02 4.92551396e+00] [-5.71068051e-03 9.99971849e-01 -4.86711357e-03 6.12610151e-01] [ 2.83570345e-02 5.02717426e-03 9.99585217e-01 1.57345404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03255784400005 meters Centerline goodness : 0.124696 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958071 0.00564903 -0.0283987 4.92560413] [-0.00579134 0.99997107 -0.00493141 0.61367977] [ 0.02837002 0.00509381 0.99958451 1.57334161] [ 0. 0. 0. 1. ]] SLAMing on 393.0625578440001 meters Centerline goodness : 0.157073 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.57 [[ 0.99958263 0.0056058 -0.02833961 4.92549136] [-0.00575284 0.9999704 -0.00510964 0.61471956] [ 0.02831012 0.00527054 0.99958529 1.57328807] [ 0. 0. 0. 1. ]] SLAMing on 393.09255784400005 meters Centerline goodness : 0.150370 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.57 [[ 0.99958648 0.0055183 -0.02822081 4.9251307 ] [-0.00567304 0.9999693 -0.00540595 0.6162266 ] [ 0.02819011 0.00556382 0.9995871 1.57335602] [ 0. 0. 0. 1. ]] SLAMing on 393.122557844 meters Centerline goodness : 0.150209 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.99959814 0.00563075 -0.02778242 4.92363222] [-0.00579585 0.999966 -0.00586562 0.61954497] [ 0.02774845 0.00602428 0.99959678 1.57386158] [ 0. 0. 0. 1. ]] SLAMing on 393.15255784400006 meters Centerline goodness : 0.151467 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.99960073 0.00549339 -0.02771661 4.92343461] [-0.00566991 0.99996412 -0.00629438 0.62171071] [ 0.02768104 0.00644902 0.999596 1.57384256] [ 0. 0. 0. 1. ]] SLAMing on 393.18255784400003 meters Centerline goodness : 0.151426 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.9996033 0.00534474 -0.02765281 4.92323996] [-0.00553182 0.9999623 -0.00669305 0.62356437] [ 0.02761599 0.00684337 0.99959518 1.57383961] [ 0. 0. 0. 1. ]] SLAMing on 393.21255784400006 meters Centerline goodness : 0.151426 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.57 [[ 0.9996033 0.00534474 -0.02765281 4.92323996] [-0.00553182 0.9999623 -0.00669305 0.62356437] [ 0.02761599 0.00684337 0.99959518 1.57383961] [ 0. 0. 0. 1. ]] SLAMing on 393.24255784400003 meters Centerline goodness : 0.142559 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.57 [[ 0.9996059 0.00521694 -0.02758298 4.92298751] [-0.00541342 0.99996047 -0.00705351 0.62539848] [ 0.02754509 0.00720005 0.99959463 1.57389748] [ 0. 0. 0. 1. ]] SLAMing on 393.27255784400006 meters Centerline goodness : 0.141390 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.57 [[ 9.99657937e-01 -4.64924579e-05 -2.61535222e-02 4.94323417e+00] [-5.29935203e-05 9.99992766e-01 -3.80321679e-03 6.33623987e-01] [ 2.61535098e-02 3.80330182e-03 9.99650703e-01 1.57467490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters Centerline goodness : 0.147717 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.58 [[ 9.99599516e-01 -3.74217701e-05 -2.82985057e-02 4.89611891e+00] [-5.96248057e-05 9.99994121e-01 -3.42853712e-03 6.32446837e-01] [ 2.82984676e-02 3.42885134e-03 9.99593637e-01 1.57537060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33255784400006 meters Centerline goodness : 0.143762 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.58 [[ 9.99580254e-01 -7.63096445e-03 -2.79478792e-02 4.91448937e+00] [ 7.56693476e-03 9.99968500e-01 -2.39608522e-03 6.40631977e-01] [ 2.79652832e-02 2.18359969e-03 9.99606510e-01 1.57767273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36255784400004 meters Centerline goodness : 0.149116 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.58 [[ 9.99610312e-01 1.93069206e-04 -2.79139131e-02 4.89498802e+00] [-2.95972015e-04 9.99993176e-01 -3.68234971e-03 6.36287718e-01] [ 2.79130116e-02 3.68917648e-03 9.99603548e-01 1.57617990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39255784400007 meters Centerline goodness : 0.148854 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.58 [[ 9.99656955e-01 4.74739713e-04 -2.61867709e-02 4.93888188e+00] [-5.72872981e-04 9.99992842e-01 -3.74006192e-03 6.43569066e-01] [ 2.61848079e-02 3.75378061e-03 9.99650071e-01 1.57715185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42255784400004 meters Centerline goodness : 0.157031 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.58 [[ 9.99576839e-01 1.34328152e-04 -2.90882429e-02 4.89391010e+00] [-2.38270033e-04 9.99993600e-01 -3.56989296e-03 6.41008735e-01] [ 2.90875772e-02 3.57531318e-03 9.99570473e-01 1.57699892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45255784400007 meters Centerline goodness : 0.149510 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99562672e-01 -9.37085083e-05 -2.95711899e-02 4.89546424e+00] [-1.87541368e-05 9.99992769e-01 -3.80281504e-03 6.41409576e-01] [ 2.95713325e-02 3.80170655e-03 9.99555443e-01 1.57652447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48255784400004 meters Centerline goodness : 0.115519 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99561989e-01 -1.08823325e-04 -2.95942381e-02 4.89543984e+00] [-3.49907881e-06 9.99992798e-01 -3.79533635e-03 6.41310861e-01] [ 2.95944379e-02 3.79377751e-03 9.99554789e-01 1.57664930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51255784400007 meters Centerline goodness : 0.146121 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99560706e-01 -9.48439256e-05 -2.96375794e-02 4.89527793e+00] [-1.75392061e-05 9.99992812e-01 -3.79163034e-03 6.41493890e-01] [ 2.96377259e-02 3.79048451e-03 9.99553519e-01 1.57705705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54255784400004 meters Centerline goodness : 0.152725 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99557829e-01 -1.07095233e-04 -2.97344052e-02 4.89549167e+00] [-7.69819356e-06 9.99992548e-01 -3.86048499e-03 6.42032955e-01] [ 2.97345970e-02 3.85900690e-03 9.99550380e-01 1.57709639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5725578440001 meters Centerline goodness : 0.145067 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99547799e-01 -1.45713714e-04 -3.00695278e-02 4.89687688e+00] [ 2.49342888e-05 9.99991931e-01 -4.01700772e-03 6.42832192e-01] [ 3.00698705e-02 4.01444146e-03 9.99539738e-01 1.57620075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60255784400005 meters Centerline goodness : 0.149315 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99547033e-01 -1.72209331e-04 -3.00948467e-02 4.89728121e+00] [ 5.03492486e-05 9.99991798e-01 -4.04991188e-03 6.42824717e-01] [ 3.00952973e-02 4.04656215e-03 9.99538843e-01 1.57565979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6325578440001 meters Centerline goodness : 0.156350 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99551681e-01 -1.66871251e-04 -2.99401050e-02 4.89671877e+00] [ 4.61944805e-05 9.99991873e-01 -4.03125255e-03 6.42674054e-01] [ 2.99405344e-02 4.02806219e-03 9.99543565e-01 1.57590511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66255784400005 meters Centerline goodness : 0.152055 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99556843e-01 -1.29298838e-04 -2.97674606e-02 4.89595522e+00] [ 1.21974764e-05 9.99992262e-01 -3.93401937e-03 6.42232097e-01] [ 2.97677389e-02 3.93191289e-03 9.99549109e-01 1.57643368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6925578440001 meters Centerline goodness : 0.151564 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99553711e-01 8.80037848e-06 -2.98727125e-02 4.89582522e+00] [-1.15133025e-04 9.99993664e-01 -3.55780612e-03 6.40366708e-01] [ 2.98724920e-02 3.55965764e-03 9.99547379e-01 1.57711585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72255784400005 meters Centerline goodness : 0.151468 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99552125e-01 1.05228703e-04 -2.99255428e-02 4.89599170e+00] [-2.03757873e-04 9.99994569e-01 -3.28944687e-03 6.38917966e-01] [ 2.99250341e-02 3.29407117e-03 9.99546718e-01 1.57708857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7525578440001 meters Centerline goodness : 0.153799 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549069e-01 1.56840701e-04 -3.00272215e-02 4.89632334e+00] [-2.50132373e-04 9.99995154e-01 -3.10317222e-03 6.37728618e-01] [ 3.00265893e-02 3.10928369e-03 9.99544264e-01 1.57698675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78255784400005 meters Centerline goodness : 0.161160 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549949e-01 2.30834321e-04 -2.99974250e-02 4.89629890e+00] [-3.18566933e-04 9.99995686e-01 -2.91992516e-03 6.36765390e-01] [ 2.99966216e-02 2.92816723e-03 9.99545711e-01 1.57691876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8125578440001 meters Centerline goodness : 0.126494 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99549972e-01 3.41054879e-04 -2.99956155e-02 4.89640893e+00] [-4.24344038e-04 9.99996072e-01 -2.77038930e-03 6.36254861e-01] [ 2.99945528e-02 2.78187100e-03 9.99546191e-01 1.57676042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84255784400005 meters Centerline goodness : 0.103763 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99548302e-01 3.57546437e-04 -3.00510160e-02 4.89663635e+00] [-4.41497084e-04 9.99996019e-01 -2.78701549e-03 6.36407961e-01] [ 3.00498998e-02 2.79902404e-03 9.99544481e-01 1.57661559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.872557844 meters Centerline goodness : 0.151831 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99545517e-01 3.66795239e-04 -3.01434156e-02 4.89697859e+00] [-4.53980770e-04 9.99995734e-01 -2.88556446e-03 6.36934240e-01] [ 3.01422285e-02 2.89793755e-03 9.99541419e-01 1.57638697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90255784400006 meters Centerline goodness : 0.149991 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99535025e-01 6.59916720e-04 -3.04843893e-02 4.89814427e+00] [-7.52098407e-04 9.99995179e-01 -3.01253078e-03 6.38455786e-01] [ 3.04822543e-02 3.03405729e-03 9.99530703e-01 1.57568703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93255784400003 meters Centerline goodness : 0.149694 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99533487e-01 6.57742704e-04 -3.05348295e-02 4.89831430e+00] [-7.58825626e-04 9.99994271e-01 -3.29894386e-03 6.40199945e-01] [ 3.05324847e-02 3.32057547e-03 9.99528259e-01 1.57551735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96255784400006 meters Centerline goodness : 0.146743 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99540667e-01 6.36413029e-04 -3.02993349e-02 4.89765955e+00] [-7.47073619e-04 9.99993092e-01 -3.64106444e-03 6.42277801e-01] [ 3.02968084e-02 3.66202781e-03 9.99534238e-01 1.57551000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99255784400003 meters Centerline goodness : 0.157557 Centerline is valid? [False, False] Translation: X:4.90, Y:0.64, Z:1.58 [[ 9.99555811e-01 5.76110574e-04 -2.97967965e-02 4.89608103e+00] [-6.96812461e-04 9.99991594e-01 -4.04060933e-03 6.44644929e-01] [ 2.97942182e-02 4.05957731e-03 9.99547810e-01 1.57586505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02255784400006 meters Centerline goodness : 0.151882 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99594266e-01 7.84478833e-04 -2.84725695e-02 4.89198741e+00] [-9.11178641e-04 9.99989741e-01 -4.43718860e-03 6.48697514e-01] [ 2.84687965e-02 4.46133188e-03 9.99584726e-01 1.57685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05255784400003 meters Centerline goodness : 0.148274 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99597614e-01 6.93975884e-04 -2.83571731e-02 4.89176332e+00] [-8.29378044e-04 9.99988311e-01 -4.76339943e-03 6.50732346e-01] [ 2.83535359e-02 4.78500152e-03 9.99586505e-01 1.57669784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08255784400006 meters Centerline goodness : 0.344448 Centerline is valid? [False, False] Translation: X:4.89, Y:0.65, Z:1.58 [[ 9.99596309e-01 5.65711155e-04 -2.84059720e-02 4.89215555e+00] [-7.10132536e-04 9.99986873e-01 -5.07436016e-03 6.52402603e-01] [ 2.84027285e-02 5.09248369e-03 9.99583589e-01 1.57623835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11255784400004 meters Centerline goodness : 0.146198 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99501035e-01 -3.57054463e-04 -3.15840589e-02 4.84780592e+00] [ 1.81295648e-04 9.99984485e-01 -5.56748381e-03 6.50038559e-01] [ 3.15855567e-02 5.55897978e-03 9.99485593e-01 1.57582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14255784400007 meters Centerline goodness : 0.148483 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99486881e-01 -7.94540712e-04 -3.20209701e-02 4.84858074e+00] [ 5.99065740e-04 9.99981132e-01 -6.11372394e-03 6.51930123e-01] [ 3.20252236e-02 6.09140421e-03 9.99468499e-01 1.57631772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17255784400004 meters Centerline goodness : 0.096565 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.58 [[ 9.99479361e-01 -9.08198002e-04 -3.22518449e-02 4.84908785e+00] [ 7.03462277e-04 9.99979535e-01 -6.35881107e-03 6.53233589e-01] [ 3.22569599e-02 6.33281247e-03 9.99459546e-01 1.57645497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20255784400007 meters Centerline goodness : 0.099914 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99470194e-01 -1.02401725e-03 -3.25312599e-02 4.84983919e+00] [ 8.06822480e-04 9.99977303e-01 -6.68891992e-03 6.55140283e-01] [ 3.25373711e-02 6.65912913e-03 9.99448336e-01 1.57636058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23255784400004 meters Centerline goodness : 0.149301 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99463967e-01 -1.21821231e-03 -3.27153642e-02 4.85050563e+00] [ 9.86148156e-04 9.99974247e-01 -7.10862897e-03 6.57133362e-01] [ 3.27231815e-02 7.07255632e-03 9.99439429e-01 1.57606251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26255784400007 meters Centerline goodness : 0.150578 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99466712e-01 -1.60789072e-03 -3.26145077e-02 4.85028737e+00] [ 1.34921424e-03 9.99967474e-01 -7.95178970e-03 6.61023754e-01] [ 3.26262325e-02 7.90354515e-03 9.99436373e-01 1.57593695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29255784400004 meters Centerline goodness : 0.150028 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99469939e-01 -1.71460674e-03 -3.25100083e-02 4.84981286e+00] [ 1.44597454e-03 9.99964635e-01 -8.28477226e-03 6.63077665e-01] [ 3.25230637e-02 8.23337218e-03 9.99437073e-01 1.57624964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3225578440001 meters Centerline goodness : 0.155321 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99471354e-01 -1.83869511e-03 -3.24596850e-02 4.84948704e+00] [ 1.55934581e-03 9.99961551e-01 -8.62925645e-03 6.65049844e-01] [ 3.24743035e-02 8.57407876e-03 9.99435793e-01 1.57650707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35255784400005 meters Centerline goodness : 0.156473 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99462502e-01 -2.13037091e-03 -3.27134303e-02 4.84978125e+00] [ 1.83602200e-03 9.99957586e-01 -9.02520492e-03 6.66566743e-01] [ 3.27312698e-02 8.96029131e-03 9.99424023e-01 1.57707985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3825578440001 meters Centerline goodness : 0.097970 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99456411e-01 -2.25745538e-03 -3.28905256e-02 4.85010336e+00] [ 1.96016926e-03 9.99956963e-01 -9.06809757e-03 6.66162278e-01] [ 3.29095809e-02 8.99869726e-03 9.99417822e-01 1.57731649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41255784400005 meters Centerline goodness : 0.152654 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99448827e-01 -2.33762990e-03 -3.31146034e-02 4.85066279e+00] [ 2.03978619e-03 9.99957191e-01 -9.02526007e-03 6.65546560e-01] [ 3.31342835e-02 8.95273889e-03 9.99410810e-01 1.57738502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4425578440001 meters Centerline goodness : 0.149932 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99440508e-01 -2.31701600e-03 -3.33661814e-02 4.85138446e+00] [ 2.02077207e-03 9.99958267e-01 -8.90955531e-03 6.64950290e-01] [ 3.33854326e-02 8.83714504e-03 9.99403481e-01 1.57729670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47255784400005 meters Centerline goodness : 0.114631 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99438785e-01 -2.20059324e-03 -3.34256237e-02 4.85179009e+00] [ 1.91195582e-03 9.99960633e-01 -8.66472415e-03 6.64017310e-01] [ 3.34433754e-02 8.59595306e-03 9.99403647e-01 1.57699888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5025578440001 meters Centerline goodness : 0.153029 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99440788e-01 -2.16285761e-03 -3.33681423e-02 4.85151173e+00] [ 1.87632835e-03 9.99961123e-01 -8.61583608e-03 6.63779777e-01] [ 3.33854798e-02 8.54840841e-03 9.99405991e-01 1.57722484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53255784400005 meters Centerline goodness : 0.118057 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99444785e-01 -2.18418107e-03 -3.32468323e-02 4.85096491e+00] [ 1.89601140e-03 9.99960386e-01 -8.69664319e-03 6.64032490e-01] [ 3.32645103e-02 8.62877830e-03 9.99409334e-01 1.57757679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5625578440001 meters Centerline goodness : 0.131974 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99455305e-01 -1.92925748e-03 -3.29449752e-02 4.84983137e+00] [ 1.64451539e-03 9.99961081e-01 -8.66787003e-03 6.64467342e-01] [ 3.29604156e-02 8.60897017e-03 9.99419580e-01 1.57805376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59255784400005 meters Centerline goodness : 0.144477 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99457725e-01 -1.88316448e-03 -3.28741576e-02 4.84982112e+00] [ 1.59896590e-03 9.99961143e-01 -8.66919504e-03 6.64565191e-01] [ 3.28892057e-02 8.61192929e-03 9.99421900e-01 1.57771397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters Centerline goodness : 0.146049 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99452508e-01 -1.84816739e-03 -3.30343578e-02 4.85054072e+00] [ 1.56215284e-03 9.99961092e-01 -8.68180649e-03 6.64697397e-01] [ 3.30491180e-02 8.62544856e-03 9.99416508e-01 1.57719139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65255784400006 meters Centerline goodness : 0.146832 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.58 [[ 9.99449157e-01 -1.79483385e-03 -3.31385016e-02 4.85108601e+00] [ 1.50897941e-03 9.99961458e-01 -8.64904746e-03 6.64731602e-01] [ 3.31527480e-02 8.59427788e-03 9.99413345e-01 1.57669610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters Centerline goodness : 0.149959 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99449259e-01 -1.68435021e-03 -3.31412416e-02 4.85119673e+00] [ 1.39928946e-03 9.99961845e-01 -8.62270466e-03 6.65170318e-01] [ 3.31545007e-02 8.57158159e-03 9.99413482e-01 1.57650165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71255784400006 meters Centerline goodness : 0.157705 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99452638e-01 -1.70588273e-03 -3.30380610e-02 4.85068457e+00] [ 1.42028764e-03 9.99961441e-01 -8.66596643e-03 6.65309175e-01] [ 3.30515702e-02 8.61429946e-03 9.99416524e-01 1.57687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters Centerline goodness : 0.119908 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99456020e-01 -1.74220905e-03 -3.29337072e-02 4.85022737e+00] [ 1.45586319e-03 9.99960950e-01 -8.71659520e-03 6.65413753e-01] [ 3.29476072e-02 8.66390657e-03 9.99419527e-01 1.57717937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77255784400006 meters Centerline goodness : 0.128865 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99449727e-01 -1.81628226e-03 -3.31201408e-02 4.85109635e+00] [ 1.51685683e-03 9.99957775e-01 -9.06347040e-03 6.67571869e-01] [ 3.31352041e-02 9.00824451e-03 9.99410281e-01 1.57647935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters Centerline goodness : 0.135363 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99447018e-01 -1.89425753e-03 -3.31974430e-02 4.85169412e+00] [ 1.58458494e-03 9.99955013e-01 -9.35203416e-03 6.69164122e-01] [ 3.32136647e-02 9.29425849e-03 9.99405058e-01 1.57581338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83255784400006 meters Centerline goodness : 0.134556 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99447963e-01 -2.03995542e-03 -3.31603317e-02 4.85173418e+00] [ 1.71963613e-03 9.99951617e-01 -9.68536421e-03 6.70642582e-01] [ 3.31784850e-02 9.62299383e-03 9.99403115e-01 1.57557000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters Centerline goodness : 0.132110 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99446035e-01 -2.20239337e-03 -3.32080268e-02 4.85181570e+00] [ 1.86985614e-03 9.99947835e-01 -1.00414932e-02 6.72166839e-01] [ 3.32284098e-02 9.97383633e-03 9.99398016e-01 1.57556872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89255784400007 meters Centerline goodness : 0.174507 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99437556e-01 -2.39957370e-03 -3.34486645e-02 4.85187500e+00] [ 2.04502621e-03 9.99941409e-01 -1.06299345e-02 6.75694590e-01] [ 3.34722120e-02 1.05555523e-02 9.99383906e-01 1.57626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92255784400004 meters Centerline goodness : 0.139974 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99435767e-01 -2.52208877e-03 -3.34930848e-02 4.85182206e+00] [ 2.15833103e-03 9.99938347e-01 -1.08923990e-02 6.77021846e-01] [ 3.35184915e-02 1.08139640e-02 9.99379592e-01 1.57653956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95255784400007 meters Centerline goodness : 0.155138 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99435466e-01 -2.69048215e-03 -3.34889657e-02 4.85168723e+00] [ 2.31942156e-03 9.99935547e-01 -1.11140063e-02 6.77818045e-01] [ 3.35167093e-02 1.10300570e-02 9.99377290e-01 1.57674562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98255784400004 meters Centerline goodness : 0.098397 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99445857e-01 -3.38167669e-03 -3.31141060e-02 4.85046899e+00] [ 2.99718362e-03 9.99927599e-01 -1.16539188e-02 6.78995941e-01] [ 3.31511183e-02 1.15482118e-02 9.99383631e-01 1.57729491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01255784400007 meters Centerline goodness : 0.192468 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99442566e-01 -3.41485183e-03 -3.32098762e-02 4.85059460e+00] [ 3.03036588e-03 9.99927883e-01 -1.16209076e-02 6.78949327e-01] [ 3.32471649e-02 1.15137916e-02 9.99380838e-01 1.57754494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04255784400004 meters Centerline goodness : 0.114120 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99436607e-01 -3.44746571e-03 -3.33853840e-02 4.85101726e+00] [ 3.06262340e-03 9.99928357e-01 -1.15715542e-02 6.78809702e-01] [ 3.34228848e-02 1.14627880e-02 9.99375563e-01 1.57766891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0725578440001 meters Centerline goodness : 0.099512 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99429294e-01 -3.52300919e-03 -3.35957546e-02 4.85143213e+00] [ 3.13690732e-03 9.99928510e-01 -1.15383705e-02 6.78469705e-01] [ 3.36340027e-02 1.14263987e-02 9.99368896e-01 1.57785787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10255784400005 meters Centerline goodness : 0.099512 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99429294e-01 -3.52300919e-03 -3.35957546e-02 4.85143213e+00] [ 3.13690732e-03 9.99928510e-01 -1.15383705e-02 6.78469705e-01] [ 3.36340027e-02 1.14263987e-02 9.99368896e-01 1.57785787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1325578440001 meters Centerline goodness : 0.288553 Centerline is valid? [False, False] Translation: X:4.87, Y:0.68, Z:1.58 [[ 0.9993587 -0.01292126 -0.03339512 4.87260107] [ 0.01254649 0.99985622 -0.01140761 0.6826424 ] [ 0.03353772 0.01098131 0.99937712 1.57961912] [ 0. 0. 0. 1. ]] SLAMing on 395.16255784400005 meters Centerline goodness : 0.093582 Centerline is valid? [False, False] Translation: X:4.87, Y:0.68, Z:1.58 [[ 0.99935694 -0.01287342 -0.03346605 4.8726062 ] [ 0.01250224 0.99985825 -0.01127712 0.68211936] [ 0.03360648 0.01085146 0.99937623 1.57990884] [ 0. 0. 0. 1. ]] SLAMing on 395.1925578440001 meters Centerline goodness : 0.090457 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99471803e-01 -4.57107227e-03 -3.21748454e-02 4.85276286e+00] [ 4.19843261e-03 9.99923442e-01 -1.16397547e-02 6.76143966e-01] [ 3.22255883e-02 1.14985227e-02 9.99414476e-01 1.57789028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22255784400005 meters Centerline goodness : 0.130440 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99486246e-01 -4.44053838e-03 -3.17415448e-02 4.85135466e+00] [ 4.07689905e-03 9.99925426e-01 -1.15118125e-02 6.75928557e-01] [ 3.17902964e-02 1.13764912e-02 9.99429814e-01 1.57843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2525578440001 meters Centerline goodness : 0.152311 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99487630e-01 -4.40218892e-03 -3.17032889e-02 4.85132125e+00] [ 4.03964116e-03 9.99925821e-01 -1.14906373e-02 6.75768049e-01] [ 3.17515211e-02 1.13566799e-02 9.99431272e-01 1.57831270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28255784400005 meters Centerline goodness : 0.139559 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99489358e-01 -4.36506741e-03 -3.16539008e-02 4.85123336e+00] [ 4.00391592e-03 9.99926272e-01 -1.14638076e-02 6.75568942e-01] [ 3.17016073e-02 1.13312141e-02 9.99433145e-01 1.57821644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3125578440001 meters Centerline goodness : 0.091445 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99511891e-01 -4.03848604e-03 -3.09785538e-02 4.84935917e+00] [ 3.69171511e-03 9.99929981e-01 -1.12429433e-02 6.75309483e-01] [ 3.10217892e-02 1.11230915e-02 9.99456815e-01 1.57847754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34255784400005 meters Centerline goodness : 0.158416 Centerline is valid? [False, False] Translation: X:4.85, Y:0.68, Z:1.58 [[ 9.99509896e-01 -3.93943341e-03 -3.10555600e-02 4.84962023e+00] [ 3.59327946e-03 9.99930887e-01 -1.11942196e-02 6.75323610e-01] [ 3.10975125e-02 1.10771420e-02 9.99454972e-01 1.57831003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.372557844 meters Centerline goodness : 0.107792 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 9.99494446e-01 4.47090250e-03 -3.14779926e-02 4.82985033e+00] [-4.85553035e-03 9.99914359e-01 -1.21531261e-02 6.69223320e-01] [ 3.14209613e-02 1.22998244e-02 9.99430557e-01 1.57628969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40255784400006 meters Centerline goodness : 0.148808 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99498922e-01 -3.36436771e-03 -3.14735820e-02 4.84958170e+00] [ 3.01078276e-03 9.99931903e-01 -1.12749951e-02 6.73757987e-01] [ 3.15093719e-02 1.11745854e-02 9.99440988e-01 1.57744701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43255784400003 meters Centerline goodness : 0.132295 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99505419e-01 -3.20589613e-03 -3.12832235e-02 4.84906101e+00] [ 2.86204628e-03 9.99935071e-01 -1.10301041e-02 6.72614261e-01] [ 3.13165536e-02 1.09351148e-02 9.99449697e-01 1.57744047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46255784400006 meters Centerline goodness : 0.151298 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 0.99950478 0.00531917 -0.03101466 4.82902114] [-0.00568132 0.99991657 -0.01160031 0.66681712] [ 0.03095037 0.01177077 0.99945161 1.57573826] [ 0. 0. 0. 1. ]] SLAMing on 395.49255784400003 meters Centerline goodness : 0.150497 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99518638e-01 -2.10622176e-03 -3.09524799e-02 4.84740210e+00] [ 1.79983716e-03 9.99949145e-01 -9.92307769e-03 6.71505570e-01] [ 3.09718060e-02 9.86259167e-03 9.99471599e-01 1.57788101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52255784400006 meters Centerline goodness : 0.141521 Centerline is valid? [False, False] Translation: X:4.85, Y:0.67, Z:1.58 [[ 9.99515209e-01 -2.01877575e-03 -3.10688055e-02 4.84774084e+00] [ 1.72384758e-03 9.99953230e-01 -9.51660203e-03 6.68874255e-01] [ 3.10865643e-02 9.45843059e-03 9.99471942e-01 1.57781752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55255784400003 meters Centerline goodness : 0.094614 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99562712e-01 4.22950442e-03 -2.92659448e-02 4.83179564e+00] [-4.55134819e-03 9.99929805e-01 -1.09393499e-02 6.61318832e-01] [ 2.92176224e-02 1.10677658e-02 9.99511798e-01 1.57412239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58255784400006 meters Centerline goodness : 0.146715 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99559423e-01 4.34292062e-03 -2.93615172e-02 4.83222661e+00] [-4.65665055e-03 9.99932709e-01 -1.06251511e-02 6.59801197e-01] [ 2.93133972e-02 1.07571963e-02 9.99512385e-01 1.57381258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61255784400004 meters Centerline goodness : 0.138025 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 9.99553826e-01 4.44155914e-03 -2.95367902e-02 4.83298210e+00] [-4.74931772e-03 9.99935081e-01 -1.03575202e-02 6.58547289e-01] [ 2.94888691e-02 1.04931786e-02 9.99510030e-01 1.57329325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64255784400007 meters Centerline goodness : 0.158483 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99533696e-01 -4.05781910e-03 -3.02642363e-02 4.85507925e+00] [ 3.76269659e-03 9.99944879e-01 -9.80211075e-03 6.61930970e-01] [ 3.03023433e-02 9.68366485e-03 9.99493869e-01 1.57374953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67255784400004 meters Centerline goodness : 0.242479 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99532711e-01 -3.98008898e-03 -3.03070622e-02 4.85513172e+00] [ 3.69089398e-03 9.99947183e-01 -9.59213681e-03 6.60933409e-01] [ 3.03436390e-02 9.47579436e-03 9.99494609e-01 1.57383287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70255784400007 meters Centerline goodness : 0.388139 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99538976e-01 -3.86383704e-03 -3.01148958e-02 4.85426611e+00] [ 3.58342841e-03 9.99949776e-01 -9.35970786e-03 6.60118019e-01] [ 3.01495477e-02 9.24747824e-03 9.99502621e-01 1.57445179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73255784400004 meters Centerline goodness : 0.142925 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99545915e-01 -3.72972544e-03 -2.99007035e-02 4.85339672e+00] [ 3.45912768e-03 9.99952643e-01 -9.09650395e-03 6.59211339e-01] [ 2.99332149e-02 8.98894302e-03 9.99511481e-01 1.57498105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76255784400007 meters Centerline goodness : 0.157420 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99525934e-01 -3.67841609e-03 -3.05675613e-02 4.85540866e+00] [ 3.41040325e-03 9.99955328e-01 -8.81539978e-03 6.57414217e-01] [ 3.05986225e-02 8.70697299e-03 9.99493828e-01 1.57448722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79255784400004 meters Centerline goodness : 0.159272 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99509999e-01 -3.67326878e-03 -3.10848712e-02 4.85733127e+00] [ 3.40189269e-03 9.99955681e-01 -8.77855421e-03 6.56950825e-01] [ 3.11157396e-02 8.66850531e-03 9.99478198e-01 1.57343269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8225578440001 meters Centerline goodness : 0.089724 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99498847e-01 -3.43850123e-03 -3.14679583e-02 4.85866300e+00] [ 3.17055178e-03 9.99958328e-01 -8.56093313e-03 6.56669731e-01] [ 3.14960838e-02 8.45687199e-03 9.99468098e-01 1.57277806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85255784400005 meters Centerline goodness : 0.143682 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99513395e-01 -3.31933762e-03 -3.10153983e-02 4.85722233e+00] [ 3.05950389e-03 9.99959860e-01 -8.42127701e-03 6.56402384e-01] [ 3.10421064e-02 8.32228744e-03 9.99483430e-01 1.57327676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8825578440001 meters Centerline goodness : 0.150797 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99530123e-01 -3.22782489e-03 -3.04813695e-02 4.85532625e+00] [ 2.97545892e-03 9.99960952e-01 -8.32108400e-03 6.56012335e-01] [ 3.05070383e-02 8.22647805e-03 9.99500698e-01 1.57416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91255784400005 meters Centerline goodness : 0.143967 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99538982e-01 -3.24101477e-03 -3.01880749e-02 4.85433738e+00] [ 2.98946353e-03 9.99960467e-01 -8.37421087e-03 6.56048459e-01] [ 3.02140224e-02 8.28010406e-03 9.99509156e-01 1.57455599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9425578440001 meters Centerline goodness : 0.188439 Centerline is valid? [False, False] Translation: X:4.86, Y:0.66, Z:1.57 [[ 9.99520918e-01 -3.02697381e-03 -3.08021523e-02 4.85615713e+00] [ 2.76586173e-03 9.99959912e-01 -8.51615219e-03 6.57273719e-01] [ 3.08266956e-02 8.42687776e-03 9.99489221e-01 1.57390448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97255784400005 meters Centerline goodness : 0.085742 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99418803e-01 -1.83563809e-03 -3.40394782e-02 4.81129636e+00] [ 1.58155584e-03 9.99970701e-01 -7.48976399e-03 6.54640216e-01] [ 3.40522294e-02 7.43157563e-03 9.99392424e-01 1.57357896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0025578440001 meters Centerline goodness : 0.138221 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99419865e-01 -1.81851263e-03 -3.40092161e-02 4.81120048e+00] [ 1.55515464e-03 9.99968615e-01 -7.76857416e-03 6.56493370e-01] [ 3.40222760e-02 7.71117774e-03 9.99391326e-01 1.57349426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03255784400005 meters Centerline goodness : 0.140554 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99430854e-01 -1.82137644e-03 -3.36845707e-02 4.81014122e+00] [ 1.55271644e-03 9.99966792e-01 -8.00019800e-03 6.58016202e-01] [ 3.36980235e-02 7.94334213e-03 9.99400494e-01 1.57381755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0625578440001 meters Centerline goodness : 0.087379 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.9994813 0.00686104 -0.0314651 4.83067202] [-0.00715171 0.9999327 -0.00913455 0.66052514] [ 0.03140031 0.00935484 0.99946311 1.57481339] [ 0. 0. 0. 1. ]] SLAMing on 396.09255784400005 meters Centerline goodness : 0.116259 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.99948417 0.00674384 -0.03139919 4.83049102] [-0.00704342 0.99993063 -0.00944024 0.66201761] [ 0.03133335 0.00965653 0.99946234 1.57476892] [ 0. 0. 0. 1. ]] SLAMing on 396.122557844 meters Centerline goodness : 0.142759 Centerline is valid? [False, False] Translation: X:4.83, Y:0.66, Z:1.57 [[ 0.99948377 0.00666644 -0.03142855 4.83058246] [-0.00697147 0.99992956 -0.00960595 0.66280431] [ 0.0313623 0.0098201 0.99945984 1.57471406] [ 0. 0. 0. 1. ]] SLAMing on 396.15255784400006 meters Centerline goodness : 0.105247 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99510623e-01 -2.25606794e-03 -3.11997423e-02 4.80836708e+00] [ 1.98267675e-03 9.99959395e-01 -8.79077309e-03 6.64972624e-01] [ 3.12183080e-02 8.72461208e-03 9.99474511e-01 1.57333826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters Centerline goodness : 0.114715 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99515610e-01 -2.32643075e-03 -3.10343919e-02 4.80752059e+00] [ 2.05974853e-03 9.99960706e-01 -8.62232199e-03 6.63802410e-01] [ 3.10532317e-02 8.55422238e-03 9.99481126e-01 1.57414249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21255784400006 meters Centerline goodness : 0.145200 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99523745e-01 -2.43499178e-03 -3.07628815e-02 4.80668743e+00] [ 2.17510817e-03 9.99961690e-01 -8.47860202e-03 6.62665605e-01] [ 3.07823483e-02 8.40765145e-03 9.99490750e-01 1.57452204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters Centerline goodness : 0.090163 Centerline is valid? [False, False] Translation: X:4.83, Y:0.67, Z:1.58 [[ 0.99948769 -0.01075116 -0.03014592 4.82671388] [ 0.01053101 0.99991678 -0.00745214 0.66690299] [ 0.03022353 0.00713085 0.99951773 1.57598217] [ 0. 0. 0. 1. ]] SLAMing on 396.27255784400006 meters Centerline goodness : 0.166270 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99531603e-01 -3.38405355e-03 -3.04158237e-02 4.80998642e+00] [ 3.11027614e-03 9.99954265e-01 -9.04395974e-03 6.60305214e-01] [ 3.04450379e-02 8.94512196e-03 9.99496415e-01 1.57269321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters Centerline goodness : 0.089552 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99527469e-01 -3.39794569e-03 -3.05498335e-02 4.81061443e+00] [ 3.12215412e-03 9.99953986e-01 -9.07077046e-03 6.60433036e-01] [ 3.05792498e-02 8.97110295e-03 9.99492085e-01 1.57221857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33255784400006 meters Centerline goodness : 0.148870 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99520325e-01 -3.39674707e-03 -3.07828099e-02 4.81131930e+00] [ 3.11608194e-03 9.99953182e-01 -9.16098359e-03 6.61088189e-01] [ 3.08124862e-02 9.06066754e-03 9.99484114e-01 1.57198322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters Centerline goodness : 0.133778 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99516555e-01 -3.31391545e-03 -3.09139831e-02 4.81170455e+00] [ 3.03052175e-03 9.99952999e-01 -9.20952272e-03 6.62090592e-01] [ 3.09430497e-02 9.11138493e-03 9.99479620e-01 1.57184402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39255784400007 meters Centerline goodness : 0.123093 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99520660e-01 -3.28270868e-03 -3.07843142e-02 4.81144901e+00] [ 3.00188580e-03 9.99953503e-01 -9.16405578e-03 6.61883727e-01] [ 3.08129657e-02 9.06725208e-03 9.99484040e-01 1.57172259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42255784400004 meters Centerline goodness : 0.144062 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99525043e-01 -3.26918877e-03 -3.06431130e-02 4.81104768e+00] [ 2.99326725e-03 9.99954605e-01 -9.04590800e-03 6.61042989e-01] [ 3.06712947e-02 8.94988856e-03 9.99489455e-01 1.57180649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45255784400007 meters Centerline goodness : 0.135038 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99524199e-01 -3.30684463e-03 -3.06666155e-02 4.81122967e+00] [ 3.03676011e-03 9.99956231e-01 -8.84951501e-03 6.59754877e-01] [ 3.06945373e-02 8.75217724e-03 9.99490493e-01 1.57166145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48255784400004 meters Centerline goodness : 0.164246 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99521339e-01 -3.23788132e-03 -3.07670087e-02 4.81156157e+00] [ 2.97285442e-03 9.99958118e-01 -8.65583937e-03 6.58908820e-01] [ 3.07937467e-02 8.56023032e-03 9.99489103e-01 1.57158904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51255784400007 meters Centerline goodness : 0.168615 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99519536e-01 -3.18677617e-03 -3.08308684e-02 4.81177774e+00] [ 2.92681273e-03 9.99959817e-01 -8.47337842e-03 6.58014084e-01] [ 3.08566322e-02 8.37907109e-03 9.99488699e-01 1.57155669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54255784400004 meters Centerline goodness : 0.152522 Centerline is valid? [False, False] Translation: X:4.81, Y:0.66, Z:1.57 [[ 9.99519782e-01 -3.16412772e-03 -3.08252170e-02 4.81162653e+00] [ 2.90940305e-03 9.99961282e-01 -8.30486636e-03 6.56966580e-01] [ 3.08503011e-02 8.21119524e-03 9.99490288e-01 1.57179748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5725578440001 meters Centerline goodness : 0.093441 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99526017e-01 -3.18515793e-03 -3.06201990e-02 4.81089351e+00] [ 2.94343053e-03 9.99964176e-01 -7.93621338e-03 6.54663404e-01] [ 3.06443802e-02 7.84232332e-03 9.99499585e-01 1.57223139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60255784400005 meters Centerline goodness : 0.161871 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99522342e-01 -3.06750923e-03 -3.07518959e-02 4.81133389e+00] [ 2.83369420e-03 9.99966769e-01 -7.64397205e-03 6.53356468e-01] [ 3.07743219e-02 7.55317938e-03 9.99497819e-01 1.57209690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6325578440001 meters Centerline goodness : 0.133365 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99513756e-01 -2.96166302e-03 -3.10399620e-02 4.81235743e+00] [ 2.73471570e-03 9.99969239e-01 -7.35136047e-03 6.51924120e-01] [ 3.10607794e-02 7.26290044e-03 9.99491110e-01 1.57163917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66255784400005 meters Centerline goodness : 0.098381 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99507096e-01 -2.84026162e-03 -3.12649716e-02 4.81329457e+00] [ 2.63008915e-03 9.99973683e-01 -6.76137223e-03 6.48427845e-01] [ 3.12833529e-02 6.67580986e-03 9.99488262e-01 1.57110499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6925578440001 meters Centerline goodness : 0.128427 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99513957e-01 -2.72347751e-03 -3.10553100e-02 4.81251813e+00] [ 2.52676365e-03 9.99976508e-01 -6.37179268e-03 6.46255896e-01] [ 3.10719339e-02 6.29022628e-03 9.99497358e-01 1.57157731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72255784400005 meters Centerline goodness : 0.134162 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99522536e-01 -2.56234603e-03 -3.07917863e-02 4.81145492e+00] [ 2.38174065e-03 9.99979755e-01 -5.90062243e-03 6.43833362e-01] [ 3.08062823e-02 5.82446705e-03 9.99508403e-01 1.57224813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7525578440001 meters Centerline goodness : 0.144048 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99531297e-01 -2.22653628e-03 -3.05324344e-02 4.81027321e+00] [ 2.06926008e-03 9.99984434e-01 -5.18174923e-03 6.40940731e-01] [ 3.05434965e-02 5.11614098e-03 9.99520345e-01 1.57313483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78255784400005 meters Centerline goodness : 0.172736 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99529154e-01 -2.13944104e-03 -3.06087062e-02 4.81069184e+00] [ 1.98648970e-03 9.99985394e-01 -5.02652477e-03 6.40298769e-01] [ 3.06190131e-02 4.96335417e-03 9.99518805e-01 1.57275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8125578440001 meters Centerline goodness : 0.137596 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99521598e-01 -2.12075361e-03 -3.08557558e-02 4.81169018e+00] [ 1.96594073e-03 9.99985332e-01 -5.04678208e-03 6.40288709e-01] [ 3.08660062e-02 4.98370710e-03 9.99511107e-01 1.57216890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84255784400005 meters Centerline goodness : 0.135197 Centerline is valid? [False, False] Translation: X:4.81, Y:0.64, Z:1.57 [[ 9.99508152e-01 -1.91320350e-03 -3.13016658e-02 4.81306379e+00] [ 1.74983645e-03 9.99984710e-01 -5.24567780e-03 6.42012753e-01] [ 3.13112233e-02 5.18832492e-03 9.99496217e-01 1.57153229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.872557844 meters Centerline goodness : 0.092741 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99565987e-01 -2.90945636e-04 -2.94576498e-02 4.85657544e+00] [ 1.60948117e-04 9.99990240e-01 -4.41530584e-03 6.46514337e-01] [ 2.94586469e-02 4.40864839e-03 9.99556278e-01 1.57281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90255784400006 meters Centerline goodness : 0.139980 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99574601e-01 -2.25021469e-04 -2.91644671e-02 4.85584029e+00] [ 8.89164865e-05 9.99989101e-01 -4.66802134e-03 6.48394832e-01] [ 2.91651996e-02 4.66344237e-03 9.99563727e-01 1.57278275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93255784400003 meters Centerline goodness : 0.134449 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99590443e-01 -1.04765141e-04 -2.86170328e-02 4.85453423e+00] [-4.22737567e-05 9.99986802e-01 -5.13750684e-03 6.51431196e-01] [ 2.86171933e-02 5.13661249e-03 9.99577246e-01 1.57257050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96255784400006 meters Centerline goodness : 0.136405 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99593249e-01 -2.03102187e-04 -2.85183316e-02 4.85423940e+00] [ 4.64938640e-05 9.99984917e-01 -5.49205238e-03 6.53196613e-01] [ 2.85190169e-02 5.48849256e-03 9.99578182e-01 1.57250904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99255784400003 meters Centerline goodness : 0.140311 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594510e-01 -2.98843302e-04 -2.84732509e-02 4.85414710e+00] [ 1.32804695e-04 9.99982978e-01 -5.83310181e-03 6.55005620e-01] [ 2.84745094e-02 5.82695516e-03 9.99577535e-01 1.57240037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02255784400006 meters Centerline goodness : 0.140311 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594510e-01 -2.98843302e-04 -2.84732509e-02 4.85414710e+00] [ 1.32804695e-04 9.99982978e-01 -5.83310181e-03 6.55005620e-01] [ 2.84745094e-02 5.82695516e-03 9.99577535e-01 1.57240037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05255784400003 meters Centerline goodness : 0.140127 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99594432e-01 -3.88481353e-04 -2.84749160e-02 4.85409668e+00] [ 2.14424799e-04 9.99981278e-01 -6.11542607e-03 6.56490493e-01] [ 2.84767586e-02 6.10684012e-03 9.99575800e-01 1.57239984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08255784400006 meters Centerline goodness : 0.147972 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99603992e-01 -5.21272004e-04 -2.81351563e-02 4.85300264e+00] [ 3.39150084e-04 9.99978963e-01 -6.47749236e-03 6.58521126e-01] [ 2.81379409e-02 6.46538518e-03 9.99583141e-01 1.57274969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11255784400004 meters Centerline goodness : 0.137412 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99609685e-01 -5.92368171e-04 -2.79307535e-02 4.85225711e+00] [ 4.08917592e-04 9.99978312e-01 -6.57330415e-03 6.58915234e-01] [ 2.79340415e-02 6.55931711e-03 9.99588248e-01 1.57306700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14255784400007 meters Centerline goodness : 0.103745 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99615438e-01 -5.95835217e-04 -2.77240244e-02 4.85156504e+00] [ 4.15494499e-04 9.99978722e-01 -6.51015961e-03 6.58577652e-01] [ 2.77273135e-02 6.49613687e-03 9.99594416e-01 1.57335211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17255784400004 meters Centerline goodness : 0.140012 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99616034e-01 -5.90788639e-04 -2.77026268e-02 4.85148720e+00] [ 4.14530900e-04 9.99979639e-01 -6.36780321e-03 6.57744705e-01] [ 2.77058248e-02 6.35387460e-03 9.99595926e-01 1.57342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20255784400007 meters Centerline goodness : 0.163858 Centerline is valid? [False, False] Translation: X:4.85, Y:0.66, Z:1.57 [[ 9.99615614e-01 -8.17607693e-04 -2.77120074e-02 4.85179769e+00] [ 6.49314105e-04 9.99981297e-01 -6.08140295e-03 6.55389289e-01] [ 2.77164613e-02 6.06107155e-03 9.99597450e-01 1.57311658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23255784400004 meters Centerline goodness : 0.177926 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99611392e-01 -7.50113436e-04 -2.78657893e-02 4.85235168e+00] [ 5.90120631e-04 9.99983298e-01 -5.74932944e-03 6.53481352e-01] [ 2.78696365e-02 5.73065103e-03 9.99595140e-01 1.57288773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26255784400007 meters Centerline goodness : 0.141848 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99604590e-01 -7.20959833e-04 -2.81094806e-02 4.85300265e+00] [ 5.66697486e-04 9.99984739e-01 -5.49549186e-03 6.51860898e-01] [ 2.81130137e-02 5.47738932e-03 9.99589744e-01 1.57285004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29255784400004 meters Centerline goodness : 0.158411 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99605392e-01 -5.07871771e-04 -2.80856311e-02 4.85275424e+00] [ 3.65301633e-04 9.99987024e-01 -5.08116403e-03 6.50276155e-01] [ 2.80878472e-02 5.06889924e-03 9.99592607e-01 1.57311772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3225578440001 meters Centerline goodness : 0.146291 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99609306e-01 -4.02891322e-04 -2.79477013e-02 4.85247107e+00] [ 2.63614566e-04 9.99987530e-01 -4.98698346e-03 6.50271859e-01] [ 2.79493620e-02 4.97766766e-03 9.99596947e-01 1.57299976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35255784400005 meters Centerline goodness : 0.162330 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99613463e-01 -3.70791663e-04 -2.77990606e-02 4.85225686e+00] [ 2.32196800e-04 9.99987530e-01 -4.98865748e-03 6.50354063e-01] [ 2.78005637e-02 4.98027432e-03 9.99601083e-01 1.57270027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3825578440001 meters Centerline goodness : 0.138723 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99614207e-01 -3.74189407e-04 -2.77722321e-02 4.85236599e+00] [ 2.33794736e-04 9.99987179e-01 -5.05829236e-03 6.50581310e-01] [ 2.77737688e-02 5.04984791e-03 9.99601479e-01 1.57240509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41255784400005 meters Centerline goodness : 0.148435 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99592732e-01 -1.72367801e-04 -2.85366438e-02 4.85484588e+00] [ 2.49760506e-05 9.99986660e-01 -5.16527535e-03 6.51698515e-01] [ 2.85371535e-02 5.16245897e-03 9.99579401e-01 1.57125051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4425578440001 meters Centerline goodness : 0.145649 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99586533e-01 -1.36327572e-04 -2.87531658e-02 4.85582688e+00] [-1.53749472e-05 9.99986083e-01 -5.27574133e-03 6.52593056e-01] [ 2.87534848e-02 5.27400207e-03 9.99572620e-01 1.57046267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47255784400005 meters Centerline goodness : 0.138217 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99508428e-01 -2.23281264e-04 -3.13504824e-02 4.81045229e+00] [ 5.48855955e-05 9.99985568e-01 -5.37214783e-03 6.50001655e-01] [ 3.13512295e-02 5.36778634e-03 9.99494016e-01 1.57004808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5025578440001 meters Centerline goodness : 0.137473 Centerline is valid? [False, False] Translation: X:4.81, Y:0.65, Z:1.57 [[ 9.99515738e-01 -2.47630903e-04 -3.11163707e-02 4.80981534e+00] [ 7.90100352e-05 9.99985308e-01 -5.42015304e-03 6.50115405e-01] [ 3.11172558e-02 5.41506976e-03 9.99501072e-01 1.57010438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53255784400005 meters Centerline goodness : 0.145932 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99607527e-01 -9.61217546e-04 -2.79976337e-02 4.85163526e+00] [ 7.79646957e-04 9.99978601e-01 -6.49540645e-03 6.54416728e-01] [ 2.80032780e-02 6.47102891e-03 9.99586886e-01 1.57154281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5625578440001 meters Centerline goodness : 0.105053 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99605764e-01 -1.01023495e-03 -2.80587974e-02 4.85190943e+00] [ 8.26399838e-04 9.99978124e-01 -6.56260530e-03 6.54584465e-01] [ 2.80648133e-02 6.53683030e-03 9.99584732e-01 1.57135035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59255784400005 meters Centerline goodness : 0.147361 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99592104e-01 -1.03023954e-03 -2.85405564e-02 4.85358058e+00] [ 8.43789084e-04 9.99978231e-01 -6.54409842e-03 6.54436856e-01] [ 2.85466771e-02 6.51734690e-03 9.99571214e-01 1.57059552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters Centerline goodness : 0.153578 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99589980e-01 -9.66693449e-04 -2.86170756e-02 4.85383690e+00] [ 7.84728880e-04 9.99979409e-01 -6.36914900e-03 6.53670823e-01] [ 2.86226434e-02 6.34408088e-03 9.99570156e-01 1.57051848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65255784400006 meters Centerline goodness : 0.151064 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99593277e-01 -8.84565659e-04 -2.85043665e-02 4.85328328e+00] [ 7.11072757e-04 9.99981166e-01 -6.09609942e-03 6.52284402e-01] [ 2.85092221e-02 6.07335131e-03 9.99575079e-01 1.57100098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters Centerline goodness : 0.156921 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99600679e-01 -7.67762946e-04 -2.82470001e-02 4.85232290e+00] [ 6.09216158e-04 9.99984016e-01 -5.62104963e-03 6.49767520e-01] [ 2.82508642e-02 5.60159650e-03 9.99585169e-01 1.57157063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71255784400006 meters Centerline goodness : 0.127177 Centerline is valid? [False, False] Translation: X:4.85, Y:0.64, Z:1.57 [[ 9.99616763e-01 -1.14330096e-03 -2.76589857e-02 4.85053532e+00] [ 1.00290310e-03 9.99986546e-01 -5.08937052e-03 6.43498459e-01] [ 2.76644323e-02 5.05968080e-03 9.99604461e-01 1.57224074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters Centerline goodness : 0.161983 Centerline is valid? [False, False] Translation: X:4.85, Y:0.64, Z:1.57 [[ 9.99608102e-01 -9.94186351e-04 -2.79759386e-02 4.85175775e+00] [ 8.70649218e-04 9.99989819e-01 -4.42766972e-03 6.39561493e-01] [ 2.79800557e-02 4.40157730e-03 9.99598791e-01 1.57166556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77255784400006 meters Centerline goodness : 0.162986 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99514645e-01 -1.99141907e-03 -3.10887234e-02 4.80869730e+00] [ 1.84451427e-03 9.99987002e-01 -4.75330413e-03 6.32140469e-01] [ 3.10977851e-02 4.69365350e-03 9.99505326e-01 1.57021743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters Centerline goodness : 0.117891 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99505497e-01 -1.71238123e-03 -3.13979277e-02 4.80990195e+00] [ 1.58836505e-03 9.99990841e-01 -3.97433731e-03 6.28121292e-01] [ 3.14044457e-02 3.92250062e-03 9.99499062e-01 1.56961312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83255784400006 meters Centerline goodness : 0.165018 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99503782e-01 -1.20877182e-03 -3.14758368e-02 4.81018223e+00] [ 1.12376089e-03 9.99995674e-01 -2.71838128e-03 6.21371667e-01] [ 3.14789866e-02 2.68166105e-03 9.99500816e-01 1.56958204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters Centerline goodness : 0.166004 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99506001e-01 -9.56059741e-04 -3.14139925e-02 4.80992609e+00] [ 8.89629064e-04 9.99997339e-01 -2.12859313e-03 6.18521277e-01] [ 3.14159439e-02 2.09959481e-03 9.99504192e-01 1.56975151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89255784400007 meters Centerline goodness : 0.165300 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99507965e-01 -7.23357313e-04 -3.13576738e-02 4.80978419e+00] [ 6.71821438e-04 9.99998406e-01 -1.65399009e-03 6.16325894e-01] [ 3.13588203e-02 1.63210951e-03 9.99506859e-01 1.56978017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92255784400004 meters Centerline goodness : 0.161416 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99511484e-01 -3.08592096e-04 -3.12521668e-02 4.80989586e+00] [ 2.77695214e-04 9.99999468e-01 -9.92967196e-04 6.13550646e-01] [ 3.12524566e-02 9.83803538e-04 9.99511039e-01 1.56918742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95255784400007 meters Centerline goodness : 0.154853 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99515415e-01 -1.62952849e-04 -3.11273090e-02 4.80972907e+00] [ 1.40412962e-04 9.99999726e-01 -7.26303846e-04 6.12254235e-01] [ 3.11274189e-02 7.21581212e-04 9.99515164e-01 1.56894643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98255784400004 meters Centerline goodness : 0.159598 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99507005e-01 8.09629716e-03 -3.03347584e-02 4.82935186e+00] [-8.16012530e-03 9.99964744e-01 -1.98091863e-03 6.07861417e-01] [ 3.03176508e-02 2.22747748e-03 9.99537832e-01 1.57080271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01255784400007 meters Centerline goodness : 0.121933 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99507779e-01 8.41048245e-03 -3.02235485e-02 4.82890573e+00] [-8.45272949e-03 9.99963468e-01 -1.27032365e-03 6.04334051e-01] [ 3.02117604e-02 1.52516985e-03 9.99542357e-01 1.57102716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04255784400004 meters Centerline goodness : 0.147959 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99511511e-01 8.59472982e-03 -3.00478021e-02 4.82840620e+00] [-8.62370923e-03 9.99962467e-01 -8.34983099e-04 6.02302255e-01] [ 3.00394979e-02 1.09369873e-03 9.99548114e-01 1.57113962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0725578440001 meters Centerline goodness : 0.152451 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99532861e-01 9.45455358e-05 -3.05622545e-02 4.80830895e+00] [-7.62736768e-05 9.99999818e-01 5.99022306e-04 6.02942340e-01] [ 3.05623056e-02 -5.96411384e-04 9.99532686e-01 1.56916394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10255784400005 meters Centerline goodness : 0.097481 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99528360e-01 1.79334391e-04 -3.07087230e-02 4.80885943e+00] [-1.53135669e-04 9.99999622e-01 8.55485878e-04 6.01489365e-01] [ 3.07088648e-02 -8.50379795e-04 9.99528010e-01 1.56892986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1325578440001 meters Centerline goodness : 0.148988 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99515902e-01 2.58314765e-04 -3.11110066e-02 4.81032759e+00] [-2.23504437e-04 9.99999345e-01 1.12237951e-03 5.99789464e-01] [ 3.11112761e-02 -1.11488272e-03 9.99515305e-01 1.56822380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16255784400005 meters Centerline goodness : 0.150791 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99513641e-01 2.99002225e-04 -3.11832044e-02 4.81069874e+00] [-2.62627617e-04 9.99999280e-01 1.17057002e-03 5.99674003e-01] [ 3.11835320e-02 -1.16181113e-03 9.99513000e-01 1.56792310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1925578440001 meters Centerline goodness : 0.139837 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99517080e-01 3.38443018e-04 -3.10723685e-02 4.81052402e+00] [-3.02561100e-04 9.99999282e-01 1.15947993e-03 5.99945489e-01] [ 3.10727387e-02 -1.14951870e-03 9.99516465e-01 1.56770606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22255784400005 meters Centerline goodness : 0.141708 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99524256e-01 3.11487165e-04 -3.08409622e-02 4.81002968e+00] [-2.80075948e-04 9.99999438e-01 1.02280486e-03 6.00741468e-01] [ 3.08412635e-02 -1.01368045e-03 9.99523781e-01 1.56753223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2525578440001 meters Centerline goodness : 0.154918 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99530147e-01 2.35044659e-04 -3.06501294e-02 4.80957649e+00] [-2.18325411e-04 9.99999826e-01 5.48832516e-04 6.03270906e-01] [ 3.06502530e-02 -5.41882943e-04 9.99530024e-01 1.56736086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28255784400005 meters Centerline goodness : 0.154926 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99526184e-01 1.35890913e-04 -3.07796762e-02 4.81004099e+00] [-1.28066494e-04 9.99999959e-01 2.56178576e-04 6.04813301e-01] [ 3.07797097e-02 -2.52115350e-04 9.99526161e-01 1.56707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3125578440001 meters Centerline goodness : 0.157368 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520795e-01 3.69591578e-06 -3.09544725e-02 4.81063597e+00] [-6.23695405e-06 9.99999997e-01 -8.19929821e-05 6.06591987e-01] [ 3.09544721e-02 8.21467523e-05 9.99520792e-01 1.56675735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34255784400005 meters Centerline goodness : 0.152732 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99517998e-01 -3.01104647e-04 -3.10432194e-02 4.81097128e+00] [ 2.76433505e-04 9.99999643e-01 -7.99023956e-04 6.10038490e-01] [ 3.10434489e-02 7.90057439e-04 9.99517724e-01 1.56647169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.372557844 meters Centerline goodness : 0.158985 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520364e-01 -4.32747663e-04 -3.09653752e-02 4.81072772e+00] [ 3.97216346e-04 9.99999256e-01 -1.15359538e-03 6.11983795e-01] [ 3.09658514e-02 1.14074212e-03 9.99519792e-01 1.56647574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40255784400006 meters Centerline goodness : 0.152993 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520732e-01 -5.51332184e-04 -3.09516101e-02 4.81064226e+00] [ 5.06563294e-04 9.99998814e-01 -1.45423828e-03 6.13752546e-01] [ 3.09523751e-02 1.43786236e-03 9.99519826e-01 1.56650128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43255784400003 meters Centerline goodness : 0.151731 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99518917e-01 -6.63736040e-04 -3.10079705e-02 4.81084761e+00] [ 6.10927357e-04 9.99998347e-01 -1.71251108e-03 6.15093225e-01] [ 3.10090559e-02 1.69274361e-03 9.99517670e-01 1.56639239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46255784400006 meters Centerline goodness : 0.159066 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99513889e-01 -9.68968269e-04 -3.11616244e-02 4.81102886e+00] [ 9.03936395e-04 9.99997384e-01 -2.10094160e-03 6.16290473e-01] [ 3.11635786e-02 2.07175218e-03 9.99512151e-01 1.56674556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49255784400003 meters Centerline goodness : 0.153092 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99514211e-01 -1.04958016e-03 -3.11486748e-02 4.81078512e+00] [ 9.80421464e-04 9.99997021e-01 -2.23546754e-03 6.16800401e-01] [ 3.11509283e-02 2.20384275e-03 9.99512262e-01 1.56709010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52255784400006 meters Centerline goodness : 0.159724 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99515671e-01 -1.12662847e-03 -3.10990923e-02 4.81042032e+00] [ 1.05252787e-03 9.99996569e-01 -2.39899300e-03 6.17699183e-01] [ 3.11016883e-02 2.36509844e-03 9.99513427e-01 1.56745409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55255784400003 meters Centerline goodness : 0.158492 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99517131e-01 -1.15093525e-03 -3.10512461e-02 4.81026138e+00] [ 1.07121467e-03 9.99996088e-01 -2.58390070e-03 6.19109625e-01] [ 3.10540985e-02 2.54939047e-03 9.99514454e-01 1.56747511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58255784400006 meters Centerline goodness : 0.110337 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99524133e-01 -1.18634485e-03 -3.08237010e-02 4.80955989e+00] [ 1.09377490e-03 9.99994842e-01 -3.01989434e-03 6.22024317e-01] [ 3.08271246e-02 2.98474308e-03 9.99520275e-01 1.56760477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61255784400004 meters Centerline goodness : 0.158491 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99530404e-01 -1.23648310e-03 -3.06176855e-02 4.80868593e+00] [ 1.13879806e-03 9.99994207e-01 -3.20770973e-03 6.23062255e-01] [ 3.06214744e-02 3.17133604e-03 9.99526022e-01 1.56811468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64255784400007 meters Centerline goodness : 0.155226 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99538464e-01 -1.27146166e-03 -3.03519761e-02 4.80752039e+00] [ 1.16516780e-03 9.99993128e-01 -3.51947061e-03 6.25209787e-01] [ 3.03562423e-02 3.48248111e-03 9.99533076e-01 1.56879478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67255784400004 meters Centerline goodness : 0.157080 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99533287e-01 -1.30351923e-03 -3.05206368e-02 4.80813374e+00] [ 1.19258475e-03 9.99992618e-01 -3.65265846e-03 6.26065315e-01] [ 3.05251728e-02 3.61455527e-03 9.99527463e-01 1.56844481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70255784400007 meters Centerline goodness : 0.148147 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99521905e-01 -1.37122847e-03 -3.08882145e-02 4.80957698e+00] [ 1.25540697e-03 9.99992110e-01 -3.76877993e-03 6.26460908e-01] [ 3.08931386e-02 3.72820082e-03 9.99515740e-01 1.56763017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73255784400004 meters Centerline goodness : 0.155705 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99497552e-01 -1.69801320e-03 -3.16506126e-02 4.81212691e+00] [ 1.57206422e-03 9.99990749e-01 -4.00381374e-03 6.26021500e-01] [ 3.16571183e-02 3.95204524e-03 9.99490975e-01 1.56667365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76255784400007 meters Centerline goodness : 0.162791 Centerline is valid? [False, False] Translation: X:4.81, Y:0.63, Z:1.57 [[ 9.99497587e-01 -1.66392947e-03 -3.16512905e-02 4.81207528e+00] [ 1.54248596e-03 9.99991357e-01 -3.86095127e-03 6.25263439e-01] [ 3.16574413e-02 3.81018981e-03 9.99491515e-01 1.56677573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79255784400004 meters Centerline goodness : 0.160773 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99501102e-01 -1.54889304e-03 -3.15459516e-02 4.81163225e+00] [ 1.43710944e-03 9.99992610e-01 -3.56588165e-03 6.24027988e-01] [ 3.15512417e-02 3.51876766e-03 9.99495942e-01 1.56709175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8225578440001 meters Centerline goodness : 0.153169 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99499885e-01 -1.48440572e-03 -3.15875968e-02 4.81152768e+00] [ 1.38766356e-03 9.99994281e-01 -3.08436461e-03 6.21300206e-01] [ 3.15919946e-02 3.03898911e-03 9.99496228e-01 1.56753848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85255784400005 meters Centerline goodness : 0.105774 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99490249e-01 -1.44614033e-03 -3.18928177e-02 4.81246295e+00] [ 1.35534365e-03 9.99994968e-01 -2.86836669e-03 6.19879629e-01] [ 3.18968052e-02 2.82367881e-03 9.99487179e-01 1.56734666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8825578440001 meters Centerline goodness : 0.158716 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99484015e-01 -1.37143643e-03 -3.20908664e-02 4.81312231e+00] [ 1.28725193e-03 9.99995677e-01 -2.64382913e-03 6.18610766e-01] [ 3.20943535e-02 2.60115592e-03 9.99481459e-01 1.56711157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91255784400005 meters Centerline goodness : 0.158716 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99484015e-01 -1.37143643e-03 -3.20908664e-02 4.81312231e+00] [ 1.28725193e-03 9.99995677e-01 -2.64382913e-03 6.18610766e-01] [ 3.20943535e-02 2.60115592e-03 9.99481459e-01 1.56711157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9425578440001 meters Centerline goodness : 0.160678 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99483782e-01 -1.24285790e-03 -3.21033507e-02 4.81326890e+00] [ 1.16702482e-03 9.99996485e-01 -2.38078427e-03 6.17540451e-01] [ 3.21061968e-02 2.34208986e-03 9.99481719e-01 1.56695982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97255784400005 meters Centerline goodness : 0.113068 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99493838e-01 -1.04830654e-03 -3.17957405e-02 4.81252439e+00] [ 9.86233091e-04 9.99997577e-01 -1.96787692e-03 6.15541685e-01] [ 3.17977264e-02 1.93552285e-03 9.99492450e-01 1.56696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0025578440001 meters Centerline goodness : 0.161538 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99495308e-01 -1.00376120e-03 -3.17509355e-02 4.81244097e+00] [ 9.46402622e-04 9.99997893e-01 -1.82149281e-03 6.14434930e-01] [ 3.17526970e-02 1.79052435e-03 9.99494152e-01 1.56695454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03255784400005 meters Centerline goodness : 0.158538 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99493742e-01 -9.83989153e-04 -3.18007953e-02 4.81255783e+00] [ 9.27647483e-04 9.99997974e-01 -1.78641147e-03 6.14053303e-01] [ 3.18024887e-02 1.75600716e-03 9.99492630e-01 1.56694356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0625578440001 meters Centerline goodness : 0.158117 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99502347e-01 -6.44101070e-04 -3.15379536e-02 4.81197864e+00] [ 5.90740404e-04 9.99998378e-01 -1.70123925e-03 6.14990645e-01] [ 3.15389982e-02 1.68176188e-03 9.99501107e-01 1.56672764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09255784400005 meters Centerline goodness : 0.129691 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99512520e-01 -5.87665150e-04 -3.12150004e-02 4.81107488e+00] [ 5.30572651e-04 9.99998171e-01 -1.83725985e-03 6.16291339e-01] [ 3.12160230e-02 1.81980240e-03 9.99511005e-01 1.56681738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.122557844 meters Centerline goodness : 0.156078 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99532350e-01 -5.59312223e-04 -3.05739875e-02 4.80933229e+00] [ 4.94961177e-04 9.99997647e-01 -2.11229231e-03 6.17924451e-01] [ 3.05750970e-02 2.09617156e-03 9.99530274e-01 1.56694627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15255784400006 meters Centerline goodness : 0.102266 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99530403e-01 -6.44735606e-04 -3.06358746e-02 4.80950322e+00] [ 5.75323265e-04 9.99997248e-01 -2.27448173e-03 6.18447688e-01] [ 3.06372567e-02 2.25578811e-03 9.99528024e-01 1.56688447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18255784400003 meters Centerline goodness : 0.152618 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99520315e-01 -6.16080302e-04 -3.09638566e-02 4.81046337e+00] [ 5.45817545e-04 9.99997257e-01 -2.27758734e-03 6.18680391e-01] [ 3.09651749e-02 2.25959420e-03 9.99517910e-01 1.56661788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21255784400006 meters Centerline goodness : 0.155541 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99519094e-01 -6.12013989e-04 -3.10033390e-02 4.81058557e+00] [ 5.42634711e-04 9.99997330e-01 -2.24616455e-03 6.18563660e-01] [ 3.10046309e-02 2.22826086e-03 9.99516757e-01 1.56656412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24255784400003 meters Centerline goodness : 0.102115 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99523733e-01 -6.00826616e-04 -3.08536142e-02 4.81015303e+00] [ 5.34730522e-04 9.99997545e-01 -2.15045449e-03 6.17885402e-01] [ 3.08548305e-02 2.13293194e-03 9.99521601e-01 1.56670895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27255784400006 meters Centerline goodness : 0.157027 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99529836e-01 -6.33393052e-04 -3.06546257e-02 4.80955500e+00] [ 5.71462656e-04 9.99997778e-01 -2.02898155e-03 6.16752779e-01] [ 3.06558427e-02 2.01050963e-03 9.99527977e-01 1.56694578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters Centerline goodness : 0.105701 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99532364e-01 -5.67582992e-04 -3.05733853e-02 4.80938010e+00] [ 5.15114403e-04 9.99998381e-01 -1.72400129e-03 6.15063468e-01] [ 3.05743143e-02 1.70744629e-03 9.99531038e-01 1.56699949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33255784400006 meters Centerline goodness : 0.104816 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99527434e-01 -5.24375555e-04 -3.07349040e-02 4.80990806e+00] [ 4.73465140e-04 9.99998504e-01 -1.66369071e-03 6.15014630e-01] [ 3.07357304e-02 1.64835260e-03 9.99526187e-01 1.56678677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters Centerline goodness : 0.154872 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99526195e-01 -4.75967210e-04 -3.07759350e-02 4.80998759e+00] [ 4.26326491e-04 9.99998598e-01 -1.61951365e-03 6.15086029e-01] [ 3.07766627e-02 1.60562572e-03 9.99524997e-01 1.56681233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39255784400007 meters Centerline goodness : 0.111660 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99528821e-01 -4.65179777e-04 -3.06907215e-02 4.80970982e+00] [ 4.15170886e-04 9.99998576e-01 -1.63579887e-03 6.15310339e-01] [ 3.06914387e-02 1.62228622e-03 9.99527590e-01 1.56692344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42255784400004 meters Centerline goodness : 0.158088 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99538938e-01 7.81801750e-03 -2.93392335e-02 4.82962044e+00] [-7.90823543e-03 9.99964348e-01 -2.96021622e-03 6.13987147e-01] [ 2.93150444e-02 3.19087295e-03 9.99565129e-01 1.56880730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45255784400007 meters Centerline goodness : 0.119834 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99562571e-01 -2.84188527e-04 -2.95734011e-02 4.81001214e+00] [ 2.39442388e-04 9.99998821e-01 -1.51658390e-03 6.17680300e-01] [ 2.95737972e-02 1.50883937e-03 9.99561461e-01 1.56672179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48255784400004 meters Centerline goodness : 0.143823 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99558461e-01 -2.50801721e-04 -2.97122988e-02 4.81061505e+00] [ 2.05907838e-04 9.99998833e-01 -1.51400291e-03 6.17825065e-01] [ 2.97126438e-02 1.50721643e-03 9.99557346e-01 1.56630108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51255784400007 meters Centerline goodness : 0.164130 Centerline is valid? [False, False] Translation: X:4.81, Y:0.62, Z:1.57 [[ 9.99557358e-01 -1.74651627e-04 -2.97499235e-02 4.81108852e+00] [ 1.42033592e-04 9.99999387e-01 -1.09851703e-03 6.15079078e-01] [ 2.97500971e-02 1.09380529e-03 9.99556769e-01 1.56580158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54255784400004 meters Centerline goodness : 0.121610 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99560595e-01 -1.31746693e-04 -2.96411897e-02 4.81071496e+00] [ 1.10080320e-04 9.99999726e-01 -7.32585533e-04 6.12728935e-01] [ 2.96412781e-02 7.29000719e-04 9.99560335e-01 1.56605273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5725578440001 meters Centerline goodness : 0.162607 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99563961e-01 -3.63999168e-05 -2.95277112e-02 4.81032826e+00] [ 2.74108453e-05 9.99999953e-01 -3.04833042e-04 6.10388728e-01] [ 2.95277209e-02 3.03890743e-04 9.99563916e-01 1.56628670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60255784400005 meters Centerline goodness : 0.170117 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99559657e-01 3.52797987e-05 -2.96730733e-02 4.81064768e+00] [-3.29838609e-05 9.99999996e-01 7.78639244e-05 6.08276575e-01] [ 2.96730759e-02 -7.68509050e-05 9.99559654e-01 1.56643623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6325578440001 meters Centerline goodness : 0.164497 Centerline is valid? [False, False] Translation: X:4.81, Y:0.61, Z:1.57 [[ 9.99520265e-01 -1.64115502e-04 -3.09711627e-02 4.81458379e+00] [ 1.76568771e-04 9.99999905e-01 3.99357910e-04 6.05197060e-01] [ 3.09710942e-02 -4.04634864e-04 9.99520199e-01 1.56548389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66255784400005 meters Centerline goodness : 0.158671 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99506579e-01 -7.21597339e-05 -3.14100733e-02 4.81606141e+00] [ 9.44037064e-05 9.99999746e-01 7.06697175e-04 6.03469091e-01] [ 3.14100144e-02 -7.09313704e-04 9.99506332e-01 1.56493771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6925578440001 meters Centerline goodness : 0.166728 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99500354e-01 7.53034336e-05 -3.16075509e-02 4.81685899e+00] [-4.05934074e-05 9.99999395e-01 1.09879640e-03 6.01542809e-01] [ 3.16076145e-02 -1.09696433e-03 9.99499753e-01 1.56451914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72255784400005 meters Centerline goodness : 0.160765 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99501713e-01 4.07044523e-04 -3.15620027e-02 4.81672698e+00] [-3.48056033e-04 9.99998183e-01 1.87444323e-03 5.97897038e-01] [ 3.15627083e-02 -1.86252388e-03 9.99500038e-01 1.56465060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7525578440001 meters Centerline goodness : 0.283095 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.57 [[ 9.99509593e-01 5.49771422e-04 -3.13092986e-02 4.81581847e+00] [-4.81704311e-04 9.99997504e-01 2.18152350e-03 5.96402586e-01] [ 3.13104198e-02 -2.16537184e-03 9.99507363e-01 1.56509622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78255784400005 meters Centerline goodness : 0.267606 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.57 [[ 9.99514577e-01 6.60027998e-04 -3.11476396e-02 4.81513245e+00] [-5.84529983e-04 9.99996870e-01 2.43291928e-03 5.95164440e-01] [ 3.11491479e-02 -2.41353155e-03 9.99511834e-01 1.56554391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8125578440001 meters Centerline goodness : 0.128810 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.57 [[ 9.99505283e-01 9.04688940e-04 -3.14383573e-02 4.81608792e+00] [-8.11854452e-04 9.99995273e-01 2.96554459e-03 5.92513739e-01] [ 3.14408916e-02 -2.93855411e-03 9.99501293e-01 1.56521399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84255784400005 meters Centerline goodness : 0.282387 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99497510e-01 1.02983670e-03 -3.16807020e-02 4.81726880e+00] [-9.27936995e-04 9.99994350e-01 3.23099405e-03 5.91146525e-01] [ 3.16838504e-02 -3.19997282e-03 9.99492818e-01 1.56431003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.872557844 meters Centerline goodness : 0.127378 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99489334e-01 1.14015033e-03 -3.19338727e-02 4.81847354e+00] [-1.02928733e-03 9.99993388e-01 3.48786640e-03 5.89752143e-01] [ 3.19376383e-02 -3.45321614e-03 9.99483898e-01 1.56344806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90255784400006 meters Centerline goodness : 0.229611 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99485917e-01 1.36959136e-03 -3.20316507e-02 4.81891128e+00] [-1.24281659e-03 9.99991318e-01 3.97737178e-03 5.87197484e-01] [ 3.20368200e-02 -3.93551761e-03 9.99478941e-01 1.56321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93255784400003 meters Centerline goodness : 0.256937 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.56 [[ 9.99410127e-01 1.09846308e-03 -3.43247797e-02 4.77147953e+00] [-9.51513901e-04 9.99990314e-01 4.29718151e-03 5.82891549e-01] [ 3.43291676e-02 -4.26198622e-03 9.99401493e-01 1.56407158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96255784400006 meters Centerline goodness : 0.127700 Centerline is valid? [False, False] Translation: X:4.79, Y:0.58, Z:1.57 [[ 9.99405164e-01 9.55366691e-03 -3.31367583e-02 4.79141444e+00] [-9.45915830e-03 9.99950738e-01 3.00767555e-03 5.80868590e-01] [ 3.31638602e-02 -2.69244064e-03 9.99446301e-01 1.56580885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99255784400003 meters Centerline goodness : 0.122529 Centerline is valid? [False, False] Translation: X:4.79, Y:0.58, Z:1.57 [[ 9.99403081e-01 9.61762946e-03 -3.31810751e-02 4.79172670e+00] [-9.53411558e-03 9.99950973e-01 2.67421863e-03 5.83269577e-01] [ 3.32051680e-02 -2.35627014e-03 9.99445779e-01 1.56536772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02255784400006 meters Centerline goodness : 0.133997 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.57 [[ 9.99406428e-01 9.53081957e-03 -3.31052075e-02 4.79169032e+00] [-9.45829456e-03 9.99952516e-01 2.34665871e-03 5.85076010e-01] [ 3.31260011e-02 -2.03214700e-03 9.99449117e-01 1.56503948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05255784400003 meters Centerline goodness : 0.262306 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99489352e-01 1.37406432e-03 -3.19240736e-02 4.77142236e+00] [-1.27019262e-03 9.99993835e-01 3.27376276e-03 5.90674415e-01] [ 3.19283752e-02 -3.23154130e-03 9.99484935e-01 1.56217570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08255784400006 meters Centerline goodness : 0.124862 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99508062e-01 1.25040064e-03 -3.13380062e-02 4.76910334e+00] [-1.15868622e-03 9.99994993e-01 2.94460853e-03 5.92546621e-01] [ 3.13415313e-02 -2.90684905e-03 9.99504507e-01 1.56346205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11255784400004 meters Centerline goodness : 0.206665 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99515349e-01 1.21349615e-03 -3.11061875e-02 4.76800452e+00] [-1.12053763e-03 9.99994855e-01 3.00568332e-03 5.92133105e-01] [ 3.11096748e-02 -2.96937096e-03 9.99511566e-01 1.56428115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14255784400007 meters Centerline goodness : 0.128655 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.56 [[ 9.99514337e-01 1.09401075e-03 -3.11430940e-02 4.76782884e+00] [-9.97552033e-04 9.99994658e-01 3.11264329e-03 5.91060832e-01] [ 3.11463329e-02 -3.08006474e-03 9.99510090e-01 1.56479466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17255784400004 meters Centerline goodness : 0.130580 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.57 [[ 9.99510824e-01 9.16321011e-04 -3.12613522e-02 4.76792638e+00] [-8.14749627e-04 9.99994349e-01 3.26168751e-03 5.89571844e-01] [ 3.12641643e-02 -3.23462179e-03 9.99505923e-01 1.56519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20255784400007 meters Centerline goodness : 0.144008 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.57 [[ 9.99516134e-01 -2.79607313e-03 -3.09787138e-02 4.76662416e+00] [ 2.80347045e-03 9.99996051e-01 1.95355264e-04 5.86491705e-01] [ 3.09780452e-02 -2.82108647e-04 9.99520025e-01 1.56607633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23255784400004 meters Centerline goodness : 0.130899 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99524393e-01 -2.91740006e-03 -3.06997943e-02 4.76578973e+00] [ 2.93397074e-03 9.99995574e-01 4.94732184e-04 5.84244491e-01] [ 3.06982151e-02 -5.84569184e-04 9.99528528e-01 1.56648188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26255784400007 meters Centerline goodness : 0.126681 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99528217e-01 -2.92835711e-03 -3.05739856e-02 4.76528955e+00] [ 2.95639251e-03 9.99995250e-01 8.71804367e-04 5.81883518e-01] [ 3.05712874e-02 -9.61781766e-04 9.99532126e-01 1.56688912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29255784400004 meters Centerline goodness : 0.128836 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99497828e-01 -2.81145043e-03 -3.15624361e-02 4.76843594e+00] [ 2.86104628e-03 9.99994742e-01 1.52630483e-03 5.78407584e-01] [ 3.15579790e-02 -1.61583996e-03 9.99500617e-01 1.56594490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3225578440001 meters Centerline goodness : 0.128605 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.57 [[ 9.99484669e-01 -2.68702241e-03 -3.19871211e-02 4.76986962e+00] [ 2.74955569e-03 9.99994394e-01 1.91112565e-03 5.76413727e-01] [ 3.19818066e-02 -1.99809116e-03 9.99486454e-01 1.56541893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35255784400005 meters Centerline goodness : 0.154161 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99468714e-01 -6.55307009e-03 -3.19272117e-02 4.76960384e+00] [ 6.51180629e-03 9.99977823e-01 -1.39624163e-03 5.72884257e-01] [ 3.19356533e-02 1.18759600e-03 9.99489221e-01 1.56566473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3825578440001 meters Centerline goodness : 0.143133 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99472957e-01 -6.38920874e-03 -3.18274398e-02 4.76905218e+00] [ 6.36830315e-03 9.99979435e-01 -7.58168546e-04 5.69341495e-01] [ 3.18316294e-02 5.55082173e-04 9.99493091e-01 1.56620622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41255784400005 meters Centerline goodness : 0.131672 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.57 [[ 9.99475038e-01 -6.13447926e-03 -3.18122099e-02 4.76874007e+00] [ 6.13728497e-03 9.99981167e-01 -9.44917060e-06 5.65678737e-01] [ 3.18116688e-02 -1.85796388e-04 9.99493864e-01 1.56667733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4425578440001 meters Centerline goodness : 0.148129 Centerline is valid? [False, False] Translation: X:4.79, Y:0.56, Z:1.57 [[ 9.99513469e-01 -3.99092649e-04 -3.11875827e-02 4.79044008e+00] [ 3.16419730e-04 9.99996424e-01 -2.65571850e-03 5.58599876e-01] [ 3.11885310e-02 2.64455804e-03 9.99510021e-01 1.56703310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47255784400005 meters Centerline goodness : 0.158408 Centerline is valid? [False, False] Translation: X:4.79, Y:0.56, Z:1.57 [[ 9.99511204e-01 -2.96991915e-04 -3.12612516e-02 4.79063683e+00] [ 2.27160375e-04 9.99997471e-01 -2.23733281e-03 5.56114237e-01] [ 3.12618370e-02 2.22913789e-03 9.99508744e-01 1.56703267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5025578440001 meters Centerline goodness : 0.130918 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99508385e-01 -1.60459728e-04 -3.13522420e-02 4.79099098e+00] [ 1.03116120e-04 9.99998319e-01 -1.83061970e-03 5.53932225e-01] [ 3.13524831e-02 1.82648681e-03 9.99506721e-01 1.56686929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53255784400005 meters Centerline goodness : 0.139628 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99504609e-01 4.19018864e-06 -3.14727887e-02 4.79143379e+00] [-4.82137457e-05 9.99999022e-01 -1.39802281e-03 5.51841501e-01] [ 3.14727520e-02 1.39884766e-03 9.99503631e-01 1.56664614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5625578440001 meters Centerline goodness : 0.131063 Centerline is valid? [False, False] Translation: X:4.79, Y:0.55, Z:1.57 [[ 9.99494407e-01 2.76540526e-04 -3.17939216e-02 4.79228354e+00] [-2.94494119e-04 9.99999800e-01 -5.60004982e-04 5.47595818e-01] [ 3.17937604e-02 5.69084971e-04 9.99494289e-01 1.56659182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59255784400005 meters Centerline goodness : 0.120846 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99490528e-01 4.34590161e-04 -3.19138784e-02 4.79251809e+00] [-4.36080008e-04 9.99999904e-01 -3.97231045e-05 5.44743234e-01] [ 3.19138581e-02 5.36198710e-05 9.99490622e-01 1.56673840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters Centerline goodness : 0.130927 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99492940e-01 5.72859168e-04 -3.18360713e-02 4.79211570e+00] [-5.55776028e-04 9.99999697e-01 5.45443510e-04 5.41436138e-01] [ 3.18363741e-02 -5.27473212e-04 9.99492955e-01 1.56710978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65255784400006 meters Centerline goodness : 0.128062 Centerline is valid? [False, False] Translation: X:4.79, Y:0.54, Z:1.57 [[ 9.99500111e-01 7.20686507e-04 -3.16071013e-02 4.79134970e+00] [-6.84339307e-04 9.99999092e-01 1.16077204e-03 5.37899834e-01] [ 3.16079091e-02 -1.13856180e-03 9.99499697e-01 1.56747969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68255784400003 meters Centerline goodness : 0.129313 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99513400e-01 8.79866525e-04 -3.11799558e-02 4.79016696e+00] [-8.15479506e-04 9.99997509e-01 2.07766937e-03 5.30657917e-01] [ 3.11817062e-02 -2.05123176e-03 9.99511628e-01 1.56781780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71255784400006 meters Centerline goodness : 0.122876 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99513329e-01 1.04537035e-03 -3.11771165e-02 4.79028445e+00] [-9.67984851e-04 9.99996414e-01 2.49711492e-03 5.28564749e-01] [ 3.11796151e-02 -2.46572067e-03 9.99510756e-01 1.56762827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74255784400003 meters Centerline goodness : 0.121840 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99511013e-01 1.22265914e-03 -3.12448466e-02 4.79088904e+00] [-1.13163122e-03 9.99995065e-01 2.93089115e-03 5.26280931e-01] [ 3.12482758e-02 -2.89410034e-03 9.99507463e-01 1.56701913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77255784400006 meters Centerline goodness : 0.127650 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99509681e-01 1.27209307e-03 -3.12854453e-02 4.79099681e+00] [-1.17958621e-03 9.99994879e-01 2.97514429e-03 5.26086490e-01] [ 3.12890697e-02 -2.93678164e-03 9.99506063e-01 1.56697787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters Centerline goodness : 0.128457 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99512338e-01 1.33472842e-03 -3.11978367e-02 4.79070544e+00] [-1.23975256e-03 9.99994539e-01 3.06345450e-03 5.25729661e-01] [ 3.12017552e-02 -3.02328297e-03 9.99508534e-01 1.56708702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83255784400006 meters Centerline goodness : 0.128457 Centerline is valid? [False, False] Translation: X:4.79, Y:0.53, Z:1.57 [[ 9.99512338e-01 1.33472842e-03 -3.11978367e-02 4.79070544e+00] [-1.23975256e-03 9.99994539e-01 3.06345450e-03 5.25729661e-01] [ 3.12017552e-02 -3.02328297e-03 9.99508534e-01 1.56708702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86255784400004 meters Centerline goodness : 0.147548 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99512121e-01 1.41365663e-03 -3.12013195e-02 4.79046970e+00] [-1.30989406e-03 9.99993545e-01 3.34577225e-03 5.23883561e-01] [ 3.12058479e-02 -3.30326949e-03 9.99507520e-01 1.56743017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89255784400007 meters Centerline goodness : 0.120560 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99504361e-01 1.47115585e-03 -3.14462866e-02 4.79128902e+00] [-1.35892001e-03 9.99992632e-01 3.59020232e-03 5.22365693e-01] [ 3.14513367e-02 -3.54568988e-03 9.99498995e-01 1.56711394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92255784400004 meters Centerline goodness : 0.128700 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99485042e-01 1.47404328e-03 -3.20542869e-02 4.79319628e+00] [-1.35172004e-03 9.99991723e-01 3.83746229e-03 5.20702992e-01] [ 3.20596782e-02 -3.79215774e-03 9.99478762e-01 1.56648201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95255784400007 meters Centerline goodness : 0.127758 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99451309e-01 1.40991112e-03 -3.30921910e-02 4.79612647e+00] [-1.26348507e-03 9.99989321e-01 4.44528603e-03 5.16452470e-01] [ 3.30981051e-02 -4.40103545e-03 9.99442418e-01 1.56600276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98255784400004 meters Centerline goodness : 0.126140 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99456319e-01 1.56021941e-03 -3.29337661e-02 4.79549226e+00] [-1.39890615e-03 9.99986915e-01 4.92058523e-03 5.14007854e-01] [ 3.29410123e-02 -4.87183876e-03 9.99445424e-01 1.56643191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01255784400007 meters Centerline goodness : 0.119117 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99460219e-01 1.72814348e-03 -3.28067575e-02 4.79493623e+00] [-1.55281294e-03 9.99984381e-01 5.36906844e-03 5.11822144e-01] [ 3.28155237e-02 -5.31522757e-03 9.99447292e-01 1.56685606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04255784400004 meters Centerline goodness : 0.123326 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99447298e-01 1.88290530e-03 -3.31896574e-02 4.79580213e+00] [-1.69402492e-03 9.99982216e-01 5.71814228e-03 5.09684705e-01] [ 3.31998338e-02 -5.65875774e-03 9.99432714e-01 1.56717545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0725578440001 meters Centerline goodness : 0.125170 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99436805e-01 1.93434748e-03 -3.35012207e-02 4.79667594e+00] [-1.74302012e-03 9.99982011e-01 5.73932002e-03 5.09552485e-01] [ 3.35117199e-02 -5.67769436e-03 9.99422197e-01 1.56715653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10255784400005 meters Centerline goodness : 0.121491 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99437960e-01 2.01653736e-03 -3.34618733e-02 4.79667815e+00] [-1.82482043e-03 9.99981752e-01 5.75896506e-03 5.09822026e-01] [ 3.34728759e-02 -5.69466638e-03 9.99423402e-01 1.56699096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1325578440001 meters Centerline goodness : 0.122770 Centerline is valid? [False, False] Translation: X:4.80, Y:0.51, Z:1.57 [[ 9.99447204e-01 2.17701998e-03 -3.31745000e-02 4.79596251e+00] [-1.98464865e-03 9.99981032e-01 5.83059727e-03 5.10089065e-01] [ 3.31865640e-02 -5.76153441e-03 9.99432567e-01 1.56697126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16255784400005 meters Centerline goodness : 0.135684 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99479396e-01 2.74064895e-03 -3.21469362e-02 4.79326683e+00] [-2.54536231e-03 9.99978069e-01 6.11416461e-03 5.10314208e-01] [ 3.21629879e-02 -6.02915596e-03 9.99464452e-01 1.56719436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1925578440001 meters Centerline goodness : 0.124471 Centerline is valid? [False, False] Translation: X:4.79, Y:0.51, Z:1.57 [[ 9.99482504e-01 2.75480990e-03 -3.20489477e-02 4.79289844e+00] [-2.56259896e-03 9.99978494e-01 6.03694791e-03 5.10759455e-01] [ 3.20648891e-02 -5.95169522e-03 9.99468069e-01 1.56736877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22255784400005 meters Centerline goodness : 0.161078 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99438919e-01 1.14959324e-02 -3.14593420e-02 4.81342092e+00] [-1.13478960e-02 9.99923702e-01 4.88015185e-03 5.08353775e-01] [ 3.15130436e-02 -4.52041635e-03 9.99493118e-01 1.56877877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2525578440001 meters Centerline goodness : 0.120153 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99435274e-01 1.14974272e-02 -3.15743990e-02 4.81394047e+00] [-1.13523673e-02 9.99924184e-01 4.76966199e-03 5.09167562e-01] [ 3.16268440e-02 -4.40852426e-03 9.99490024e-01 1.56843640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28255784400005 meters Centerline goodness : 0.118443 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99434733e-01 1.15162261e-02 -3.15846577e-02 4.81413809e+00] [-1.13772849e-02 9.99924810e-01 4.57521139e-03 5.10597519e-01] [ 3.16349720e-02 -4.21327753e-03 9.99490609e-01 1.56814546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3125578440001 meters Centerline goodness : 0.126599 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99442651e-01 1.14049039e-02 -3.13738065e-02 4.81324672e+00] [-1.12736424e-02 9.99926956e-01 4.35751310e-03 5.11438447e-01] [ 3.14212119e-02 -4.00138737e-03 9.99498222e-01 1.56868044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34255784400005 meters Centerline goodness : 0.122768 Centerline is valid? [False, False] Translation: X:4.81, Y:0.51, Z:1.57 [[ 9.99450708e-01 1.13296911e-02 -3.11435528e-02 4.81225040e+00] [-1.12042949e-02 9.99928418e-01 4.19796804e-03 5.12129158e-01] [ 3.11888852e-02 -3.84672058e-03 9.99506106e-01 1.56930880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.372557844 meters Centerline goodness : 0.138449 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99510232e-01 3.01795397e-03 -3.11478542e-02 4.79382899e+00] [-2.85687558e-03 9.99982323e-01 5.21462079e-03 5.18888013e-01] [ 3.11630411e-02 -5.12308129e-03 9.99501185e-01 1.56730597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40255784400006 meters Centerline goodness : 0.151875 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99503240e-01 2.94930072e-03 -3.13779392e-02 4.79462007e+00] [-2.79169508e-03 9.99983274e-01 5.06544140e-03 5.19518909e-01] [ 3.13923538e-02 -4.97532745e-03 9.99494755e-01 1.56689107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43255784400003 meters Centerline goodness : 0.124226 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99499474e-01 2.88524021e-03 -3.15036122e-02 4.79508860e+00] [-2.73109731e-03 9.99984094e-01 4.93479898e-03 5.20012694e-01] [ 3.15173492e-02 -4.84628955e-03 9.99491456e-01 1.56665247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46255784400006 meters Centerline goodness : 0.147622 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99500474e-01 2.85751227e-03 -3.14743828e-02 4.79493820e+00] [-2.70657583e-03 9.99984638e-01 4.83709410e-03 5.20532296e-01] [ 3.14877214e-02 -4.74949004e-03 9.99492854e-01 1.56675814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49255784400003 meters Centerline goodness : 0.122206 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99504185e-01 2.83492945e-03 -3.13583592e-02 4.79465700e+00] [-2.68654933e-03 9.99985001e-01 4.77287843e-03 5.20849900e-01] [ 3.13714196e-02 -4.68626618e-03 9.99496810e-01 1.56671431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52255784400006 meters Centerline goodness : 0.120188 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99505375e-01 2.81267905e-03 -3.13224291e-02 4.79476994e+00] [-2.66507887e-03 9.99985153e-01 4.75303602e-03 5.20714007e-01] [ 3.13353329e-02 -4.66720830e-03 9.99498031e-01 1.56639319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55255784400003 meters Centerline goodness : 0.144971 Centerline is valid? [False, False] Translation: X:4.80, Y:0.52, Z:1.57 [[ 9.99500737e-01 2.81019356e-03 -3.14702978e-02 4.79538507e+00] [-2.66141161e-03 9.99985089e-01 4.76858500e-03 5.20506368e-01] [ 3.14832292e-02 -4.68244881e-03 9.99493312e-01 1.56599296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58255784400006 meters Centerline goodness : 0.120164 Centerline is valid? [False, False] Translation: X:4.82, Y:0.52, Z:1.57 [[ 9.99455248e-01 1.13639759e-02 -3.09849392e-02 4.81591433e+00] [-1.12587817e-02 9.99930254e-01 3.56737368e-03 5.17502137e-01] [ 3.10233177e-02 -3.21657768e-03 9.99513485e-01 1.56725059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61255784400004 meters Centerline goodness : 0.145981 Centerline is valid? [False, False] Translation: X:4.82, Y:0.52, Z:1.57 [[ 9.99457051e-01 1.13406253e-02 -3.09353105e-02 4.81558946e+00] [-1.12397460e-02 9.99930939e-01 3.43292789e-03 5.18143145e-01] [ 3.09721056e-02 -3.08335895e-03 9.99515493e-01 1.56760497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64255784400007 meters Centerline goodness : 0.139387 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99504090e-01 4.70225527e-03 -3.11361972e-02 4.83165600e+00] [-4.54172253e-03 9.99976038e-01 5.22454118e-03 5.24672600e-01] [ 3.11600183e-02 -5.08053831e-03 9.99501496e-01 1.57071828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67255784400004 meters Centerline goodness : 0.120034 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99511052e-01 4.76931633e-03 -3.09016133e-02 4.83098471e+00] [-4.61067292e-03 9.99975835e-01 5.20304675e-03 5.25250407e-01] [ 3.09256815e-02 -5.05802550e-03 9.99508889e-01 1.57081597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70255784400007 meters Centerline goodness : 0.123312 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99511321e-01 4.75600188e-03 -3.08949817e-02 4.83101605e+00] [-4.60117491e-03 9.99976508e-01 5.08055766e-03 5.26095327e-01] [ 3.09184191e-02 -4.93592168e-03 9.99509724e-01 1.57068216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73255784400004 meters Centerline goodness : 0.134326 Centerline is valid? [False, False] Translation: X:4.79, Y:0.52, Z:1.57 [[ 9.99384946e-01 3.82027202e-03 -3.48587966e-02 4.79050089e+00] [-3.64461931e-03 9.99980347e-01 5.10113049e-03 5.24030571e-01] [ 3.48775993e-02 -4.97094597e-03 9.99379229e-01 1.56860672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76255784400007 meters Centerline goodness : 0.129356 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99390093e-01 4.59708236e-03 -3.46165970e-02 4.83622457e+00] [-4.45411369e-03 9.99981235e-01 4.20604620e-03 5.27985669e-01] [ 3.46352829e-02 -4.04929465e-03 9.99391815e-01 1.56918393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79255784400004 meters Centerline goodness : 0.132917 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99380722e-01 4.57433879e-03 -3.48890915e-02 4.83702420e+00] [-4.43177133e-03 9.99981516e-01 4.16254486e-03 5.28134653e-01] [ 3.49074875e-02 -4.00534661e-03 9.99382522e-01 1.56898357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8225578440001 meters Centerline goodness : 0.153122 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99388092e-01 4.65436237e-03 -3.46666712e-02 4.83591518e+00] [-4.50328507e-03 9.99980026e-01 4.43480506e-03 5.26940138e-01] [ 3.46866199e-02 -4.27597746e-03 9.99389091e-01 1.56986972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85255784400005 meters Centerline goodness : 0.137421 Centerline is valid? [False, False] Translation: X:4.84, Y:0.53, Z:1.57 [[ 9.99396094e-01 4.67975097e-03 -3.44317814e-02 4.83500232e+00] [-4.52420952e-03 9.99979214e-01 4.59390620e-03 5.25946719e-01] [ 3.44525640e-02 -4.43535532e-03 9.99396492e-01 1.57043919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8825578440001 meters Centerline goodness : 0.134224 Centerline is valid? [False, False] Translation: X:4.83, Y:0.53, Z:1.57 [[ 9.99438484e-01 1.34646660e-03 -3.34799065e-02 4.83230949e+00] [-1.30345222e-03 9.99998297e-01 1.30657482e-03 5.25830550e-01] [ 3.34816088e-02 -1.26220170e-03 9.99438537e-01 1.57077420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91255784400005 meters Centerline goodness : 0.128589 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99436241e-01 1.37746132e-03 -3.35455327e-02 4.83244133e+00] [-1.32668356e-03 9.99997940e-01 1.53590795e-03 5.24464538e-01] [ 3.35475793e-02 -1.49053776e-03 9.99436010e-01 1.57084623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9425578440001 meters Centerline goodness : 0.121198 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99435026e-01 1.54728770e-03 -3.35743059e-02 4.83251399e+00] [-1.48001859e-03 9.99996848e-01 2.02834901e-03 5.22261665e-01] [ 3.35773385e-02 -1.97751245e-03 9.99434166e-01 1.57091991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97255784400005 meters Centerline goodness : 0.118978 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99437052e-01 1.60365089e-03 -3.35112960e-02 4.83226021e+00] [-1.53089180e-03 9.99996415e-01 2.19672649e-03 5.21355954e-01] [ 3.35146986e-02 -2.14418768e-03 9.99435925e-01 1.57110754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0025578440001 meters Centerline goodness : 0.133867 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99438782e-01 1.59172753e-03 -3.34602294e-02 4.83189674e+00] [-1.51773689e-03 9.99996347e-01 2.23658388e-03 5.20703002e-01] [ 3.34636672e-02 -2.18454485e-03 9.99437547e-01 1.57151425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03255784400005 meters Centerline goodness : 0.119100 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99437819e-01 1.56823538e-03 -3.34900875e-02 4.83203697e+00] [-1.49779331e-03 9.99996613e-01 2.12835465e-03 5.21231493e-01] [ 3.34933119e-02 -2.07699690e-03 9.99436783e-01 1.57137081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0625578440001 meters Centerline goodness : 0.153821 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99435241e-01 1.58785532e-03 -3.35660131e-02 4.83219855e+00] [-1.51968893e-03 9.99996731e-01 2.05623044e-03 5.21825633e-01] [ 3.35691684e-02 -2.00405927e-03 9.99434387e-01 1.57137223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09255784400005 meters Centerline goodness : 0.119103 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99440352e-01 1.67481057e-03 -3.34092566e-02 4.83192063e+00] [-1.60709146e-03 9.99996600e-01 2.05370694e-03 5.22250841e-01] [ 3.34125826e-02 -1.99886586e-03 9.99439645e-01 1.57112518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters Centerline goodness : 0.133684 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99443782e-01 1.68846194e-03 -3.33057834e-02 4.83160927e+00] [-1.61978817e-03 9.99996507e-01 2.08879118e-03 5.21948040e-01] [ 3.33091939e-02 -2.03368104e-03 9.99443026e-01 1.57119567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15255784400006 meters Centerline goodness : 0.130241 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99446889e-01 1.68835227e-03 -3.32124195e-02 4.83130037e+00] [-1.61792653e-03 9.99996386e-01 2.14722472e-03 5.21441255e-01] [ 3.32159247e-02 -2.09230181e-03 9.99446009e-01 1.57132116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters Centerline goodness : 0.138149 Centerline is valid? [False, False] Translation: X:4.81, Y:0.52, Z:1.57 [[ 9.99432302e-01 8.84790081e-03 -3.25082723e-02 4.81252109e+00] [-8.81941512e-03 9.99960588e-01 1.01954785e-03 5.15104612e-01] [ 3.25160119e-02 -7.32265105e-04 9.99470946e-01 1.56892430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21255784400006 meters Centerline goodness : 0.117642 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99483687e-01 9.27410544e-04 -3.21169533e-02 4.83329725e+00] [-8.68036929e-04 9.99997889e-01 1.86256256e-03 5.17726796e-01] [ 3.21186129e-02 -1.83372220e-03 9.99482382e-01 1.57024976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters Centerline goodness : 0.134520 Centerline is valid? [False, False] Translation: X:4.83, Y:0.52, Z:1.57 [[ 9.99479463e-01 1.03234876e-03 -3.22449595e-02 4.83362573e+00] [-9.62460891e-04 9.99997154e-01 2.18285047e-03 5.16034001e-01] [ 3.22471212e-02 -2.15067970e-03 9.99477612e-01 1.57028450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27255784400006 meters Centerline goodness : 0.154487 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99480109e-01 1.13310426e-03 -3.22215269e-02 4.83346323e+00] [-1.05053445e-03 9.99996122e-01 2.57938054e-03 5.13803368e-01] [ 3.22243246e-02 -2.54418972e-03 9.99477423e-01 1.57052689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters Centerline goodness : 0.119226 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99483396e-01 1.24963896e-03 -3.21151077e-02 4.83307022e+00] [-1.15191309e-03 9.99994651e-01 3.06130916e-03 5.11099774e-01] [ 3.21187614e-02 -3.02273386e-03 9.99479489e-01 1.57081724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33255784400006 meters Centerline goodness : 0.038587 Centerline is valid? [False, False] Translation: X:4.83, Y:0.51, Z:1.57 [[ 9.99478682e-01 1.37509006e-03 -3.22563793e-02 4.83336266e+00] [-1.26039776e-03 9.99992813e-01 3.57571060e-03 5.08219499e-01] [ 3.22610644e-02 -3.53319064e-03 9.99473231e-01 1.57098173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36255784400004 meters Centerline goodness : 0.128875 Centerline is valid? [False, False] Translation: X:4.83, Y:0.50, Z:1.57 [[ 9.99473195e-01 -2.34446452e-03 -3.23702817e-02 4.83420780e+00] [ 2.36192010e-03 9.99997085e-01 5.01019305e-04 5.04490026e-01] [ 3.23690128e-02 -5.77211385e-04 9.99475820e-01 1.57026232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39255784400007 meters Centerline goodness : 0.129415 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.57 [[ 9.99464404e-01 3.81726792e-03 -3.25012953e-02 4.85741639e+00] [-3.89701748e-03 9.99989549e-01 -2.39074222e-03 5.00349064e-01] [ 3.24918295e-02 2.51611986e-03 9.99468834e-01 1.57050346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42255784400004 meters Centerline goodness : 0.160303 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.57 [[ 9.99447557e-01 3.98231163e-03 -3.29957831e-02 4.85850779e+00] [-4.04326843e-03 9.99990240e-01 -1.78089401e-03 4.97053948e-01] [ 3.29883690e-02 1.91332098e-03 9.99453904e-01 1.57080240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45255784400007 meters Centerline goodness : 0.133621 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99438532e-01 4.21993448e-03 -3.32387158e-02 4.85903476e+00] [-4.26085978e-03 9.99990249e-01 -1.16051780e-03 4.94030590e-01] [ 3.32334944e-02 1.30149172e-03 9.99446767e-01 1.57097232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48255784400004 meters Centerline goodness : 0.139705 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432105e-01 4.59072631e-03 -3.33825171e-02 4.85923944e+00] [-4.60253978e-03 9.99989370e-01 -2.77046633e-04 4.89932188e-01] [ 3.33808904e-02 4.30533663e-04 9.99442610e-01 1.57128551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51255784400007 meters Centerline goodness : 0.160559 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432073e-01 4.70205574e-03 -3.33679819e-02 4.85912510e+00] [-4.70567112e-03 9.99988928e-01 -2.98179579e-05 4.88665580e-01] [ 3.33674723e-02 1.86819772e-04 9.99443133e-01 1.57144425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54255784400004 meters Centerline goodness : 0.126497 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432554e-01 4.76378055e-03 -3.33448242e-02 4.85913771e+00] [-4.76330804e-03 9.99988651e-01 9.36087177e-05 4.87982607e-01] [ 3.33448917e-02 6.52760695e-05 9.99443902e-01 1.57134381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5725578440001 meters Centerline goodness : 0.160924 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99432538e-01 4.84148471e-03 -3.33340987e-02 4.85926573e+00] [-4.83839717e-03 9.99988280e-01 1.73288050e-04 4.87750470e-01] [ 3.33345470e-02 -1.19061069e-05 9.99444249e-01 1.57111616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60255784400005 meters Centerline goodness : 0.159980 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99437131e-01 5.34038039e-03 -3.31195112e-02 4.85893492e+00] [-5.32624654e-03 9.99985683e-01 5.14964229e-04 4.87631869e-01] [ 3.31217871e-02 -3.38271690e-04 9.99451266e-01 1.57071864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6325578440001 meters Centerline goodness : 0.129295 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99467342e-01 -1.39136422e-03 -3.26051702e-02 4.87686738e+00] [ 1.45360365e-03 9.99997166e-01 1.88525628e-03 4.93286630e-01] [ 3.26024547e-02 -1.93164708e-03 9.99466532e-01 1.57280596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66255784400005 meters Centerline goodness : 0.151953 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99476805e-01 -1.34319999e-03 -3.23158285e-02 4.87604689e+00] [ 1.40366490e-03 9.99997306e-01 1.84844831e-03 4.93708552e-01] [ 3.23132586e-02 -1.89284181e-03 9.99475998e-01 1.57295524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6925578440001 meters Centerline goodness : 0.139696 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99480832e-01 -1.38739512e-03 -3.21891389e-02 4.87568870e+00] [ 1.44215725e-03 9.99997552e-01 1.67810663e-03 4.94470926e-01] [ 3.21867319e-02 -1.72365722e-03 9.99480387e-01 1.57299737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72255784400005 meters Centerline goodness : 0.139696 Centerline is valid? [False, False] Translation: X:4.88, Y:0.49, Z:1.57 [[ 9.99480832e-01 -1.38739512e-03 -3.21891389e-02 4.87568870e+00] [ 1.44215725e-03 9.99997552e-01 1.67810663e-03 4.94470926e-01] [ 3.21867319e-02 -1.72365722e-03 9.99480387e-01 1.57299737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7525578440001 meters Centerline goodness : 0.125140 Centerline is valid? [False, False] Translation: X:4.88, Y:0.50, Z:1.57 [[ 9.99484796e-01 -1.46337182e-03 -3.20624467e-02 4.87546932e+00] [ 1.51122485e-03 9.99997780e-01 1.46831235e-03 4.95431744e-01] [ 3.20602269e-02 -1.51600944e-03 9.99484789e-01 1.57282041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78255784400005 meters Centerline goodness : 0.126574 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99504175e-01 -1.30934734e-03 -3.14593369e-02 4.87404328e+00] [ 1.34600432e-03 9.99998440e-01 1.14406843e-03 4.98188446e-01] [ 3.14577899e-02 -1.18584557e-03 9.99504378e-01 1.57253205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8125578440001 meters Centerline goodness : 0.148435 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99513569e-01 -1.30125302e-03 -3.11597892e-02 4.87330639e+00] [ 1.32872712e-03 9.99998747e-01 8.61026216e-04 5.00243698e-01] [ 3.11586298e-02 -9.02010243e-04 9.99514045e-01 1.57241434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84255784400005 meters Centerline goodness : 0.108925 Centerline is valid? [False, False] Translation: X:4.87, Y:0.50, Z:1.57 [[ 9.99524268e-01 -1.39165606e-03 -3.08107165e-02 4.87237331e+00] [ 1.40660095e-03 9.99998903e-01 4.63385783e-04 5.02494899e-01] [ 3.08100378e-02 -5.06503719e-04 9.99525130e-01 1.57245192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.872557844 meters Centerline goodness : 0.138779 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99547457e-01 7.05284289e-03 -2.92427520e-02 4.89213274e+00] [-7.09594751e-03 9.99973884e-01 -1.37051359e-03 5.03117837e-01] [ 2.92323223e-02 1.57739841e-03 9.99571400e-01 1.57377223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90255784400006 meters Centerline goodness : 0.150037 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99546203e-01 6.77302317e-03 -2.93515590e-02 4.89281974e+00] [-6.83947969e-03 9.99974268e-01 -2.16435059e-03 5.07031168e-01] [ 2.93361446e-02 2.36411781e-03 9.99566807e-01 1.57298905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93255784400003 meters Centerline goodness : 0.149952 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99546575e-01 6.63680420e-03 -2.93700200e-02 4.89317330e+00] [-6.71294135e-03 9.99974357e-01 -2.49450006e-03 5.08663816e-01] [ 2.93527113e-02 2.69052821e-03 9.99565495e-01 1.57247312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96255784400006 meters Centerline goodness : 0.101669 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99547448e-01 6.51411365e-03 -2.93677666e-02 4.89320832e+00] [-6.59860901e-03 9.99974361e-01 -2.78114989e-03 5.10035288e-01] [ 2.93488970e-02 2.97367769e-03 9.99564805e-01 1.57237151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99255784400003 meters Centerline goodness : 0.125229 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99548522e-01 6.34925126e-03 -2.93673308e-02 4.89315698e+00] [-6.44349485e-03 9.99974387e-01 -3.11560891e-03 5.11523917e-01] [ 2.93467968e-02 3.30343053e-03 9.99563831e-01 1.57242161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02255784400006 meters Centerline goodness : 0.152330 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99555888e-01 6.05008619e-03 -2.91791521e-02 4.89263638e+00] [-6.16309866e-03 9.99973846e-01 -3.78467476e-03 5.14738743e-01] [ 2.91554913e-02 3.96282793e-03 9.99567033e-01 1.57241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05255784400003 meters Centerline goodness : 0.149554 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99536252e-01 -2.80518113e-03 -3.03218126e-02 4.87266459e+00] [ 2.72553149e-03 9.99992727e-01 -2.66782200e-03 5.19668264e-01] [ 3.03290758e-02 2.58394175e-03 9.99536628e-01 1.57076478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08255784400006 meters Centerline goodness : 0.148368 Centerline is valid? [False, False] Translation: X:4.89, Y:0.52, Z:1.57 [[ 9.99548949e-01 5.68460895e-03 -2.94886997e-02 4.89345547e+00] [-5.80911498e-03 9.99974564e-01 -4.13820946e-03 5.20090220e-01] [ 2.94644255e-02 4.30764616e-03 9.99556548e-01 1.57143550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11255784400004 meters Centerline goodness : 0.138399 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99524058e-01 -3.06443709e-03 -3.06963495e-02 4.87471445e+00] [ 2.97676051e-03 9.99991360e-01 -2.90154594e-03 5.25138209e-01] [ 3.07049759e-02 2.80878929e-03 9.99524545e-01 1.56914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14255784400007 meters Centerline goodness : 0.144669 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99519257e-01 -3.19445041e-03 -3.08390917e-02 4.87543219e+00] [ 3.09616386e-03 9.99989976e-01 -3.23430355e-03 5.26825464e-01] [ 3.08491144e-02 3.13726580e-03 9.99519129e-01 1.56851071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17255784400004 meters Centerline goodness : 0.146172 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99512061e-01 -3.37913627e-03 -3.10519165e-02 4.87626794e+00] [ 3.26520899e-03 9.99987754e-01 -3.71890488e-03 5.29421155e-01] [ 3.10641029e-02 3.61569928e-03 9.99510854e-01 1.56798225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20255784400007 meters Centerline goodness : 0.149859 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99515471e-01 -3.41326357e-03 -3.09381974e-02 4.87579259e+00] [ 3.29713828e-03 9.99987330e-01 -3.80369942e-03 5.29912314e-01] [ 3.09507885e-02 3.69984890e-03 9.99514062e-01 1.56827503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23255784400004 meters Centerline goodness : 0.142715 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99519811e-01 -3.43787834e-03 -3.07949480e-02 4.87518479e+00] [ 3.32198344e-03 9.99987210e-01 -3.81381103e-03 5.29899426e-01] [ 3.08076655e-02 3.70967937e-03 9.99518447e-01 1.56865676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26255784400007 meters Centerline goodness : 0.112628 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99523165e-01 -3.49287628e-03 -3.06796752e-02 4.87484502e+00] [ 3.37448748e-03 9.99986663e-01 -3.90979659e-03 5.30355170e-01] [ 3.06929224e-02 3.80440408e-03 9.99521621e-01 1.56873011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29255784400004 meters Centerline goodness : 0.116071 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99531369e-01 -3.63927183e-03 -3.03940598e-02 4.87448720e+00] [ 3.50809514e-03 9.99984306e-01 -4.36807650e-03 5.32924946e-01] [ 3.04094794e-02 4.25940423e-03 9.99528449e-01 1.56812089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3225578440001 meters Centerline goodness : 0.118074 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99534146e-01 -3.77127092e-03 -3.02864469e-02 4.87439355e+00] [ 3.62869655e-03 9.99982082e-01 -4.76111434e-03 5.34908277e-01] [ 3.03038596e-02 4.64899603e-03 9.99529921e-01 1.56774334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35255784400005 meters Centerline goodness : 0.131153 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99533949e-01 -3.90006656e-03 -3.02766347e-02 4.87463556e+00] [ 3.74543119e-03 9.99979660e-01 -5.16244996e-03 5.36946084e-01] [ 3.02961528e-02 5.04664494e-03 9.99528226e-01 1.56724364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3825578440001 meters Centerline goodness : 0.113962 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99532402e-01 -4.01338288e-03 -3.03128586e-02 4.87489250e+00] [ 3.84618173e-03 9.99977079e-01 -5.57214436e-03 5.39096643e-01] [ 3.03345269e-02 5.45295008e-03 9.99524928e-01 1.56687046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41255784400005 meters Centerline goodness : 0.132471 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99532388e-01 -4.15939445e-03 -3.02936536e-02 4.87482785e+00] [ 3.97690698e-03 9.99973598e-01 -6.08171290e-03 5.41864245e-01] [ 3.03181500e-02 5.95839397e-03 9.99522540e-01 1.56677797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4425578440001 meters Centerline goodness : 0.146323 Centerline is valid? [False, False] Translation: X:4.89, Y:0.54, Z:1.57 [[ 9.99567310e-01 4.16778172e-03 -2.91173946e-02 4.89410016e+00] [-4.39135355e-03 9.99961336e-01 -7.61856897e-03 5.40594070e-01] [ 2.90845162e-02 7.74313727e-03 9.99546965e-01 1.56838560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47255784400005 meters Centerline goodness : 0.121774 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562627e-01 -4.66008822e-03 -2.92034100e-02 4.87377025e+00] [ 4.47273735e-03 9.99969018e-01 -6.47741976e-03 5.44255993e-01] [ 2.92326906e-02 6.34396753e-03 9.99552502e-01 1.56658011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5025578440001 meters Centerline goodness : 0.118681 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99565147e-01 -4.65026051e-03 -2.91185740e-02 4.87351228e+00] [ 4.46401772e-03 9.99969184e-01 -6.45775729e-03 5.44252758e-01] [ 2.91477070e-02 6.32496328e-03 9.99555104e-01 1.56662680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53255784400005 meters Centerline goodness : 0.152295 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99566821e-01 -4.62491650e-03 -2.90651030e-02 4.87336586e+00] [ 4.44183248e-03 9.99969907e-01 -6.36051227e-03 5.43733004e-01] [ 2.90936452e-02 6.22865471e-03 9.99557284e-01 1.56665852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5625578440001 meters Centerline goodness : 0.149950 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562600e-01 -4.66008361e-03 -2.92043048e-02 4.87377774e+00] [ 4.48591330e-03 9.99971778e-01 -6.02654089e-03 5.41285364e-01] [ 2.92315648e-02 5.89289691e-03 9.99555296e-01 1.56664513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59255784400005 meters Centerline goodness : 0.131770 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99562254e-01 -4.56606194e-03 -2.92309983e-02 4.87366506e+00] [ 4.40036092e-03 9.99973899e-01 -5.73049483e-03 5.39736943e-01] [ 2.92564012e-02 5.59935939e-03 9.99556257e-01 1.56695345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters Centerline goodness : 0.143255 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99565794e-01 -4.47467555e-03 -2.91238820e-02 4.87319451e+00] [ 4.31755768e-03 9.99975798e-01 -5.45546395e-03 5.38401786e-01] [ 2.91475886e-02 5.32735111e-03 9.99560922e-01 1.56730058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65255784400006 meters Centerline goodness : 0.113684 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99567777e-01 -4.34774678e-03 -2.90750075e-02 4.87294438e+00] [ 4.20302439e-03 9.99978482e-01 -5.03681671e-03 5.36183531e-01] [ 2.90962807e-02 4.91243672e-03 9.99564542e-01 1.56755775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters Centerline goodness : 0.116514 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99567397e-01 -4.25810537e-03 -2.91013389e-02 4.87312166e+00] [ 4.11958582e-03 9.99979907e-01 -4.81820217e-03 5.35117242e-01] [ 2.91212706e-02 4.69623234e-03 9.99564854e-01 1.56739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71255784400006 meters Centerline goodness : 0.145566 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99567006e-01 -4.16809780e-03 -2.91277776e-02 4.87326818e+00] [ 4.03472060e-03 9.99981113e-01 -4.63631265e-03 5.34328185e-01] [ 2.91465521e-02 4.51678271e-03 9.99564944e-01 1.56725198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters Centerline goodness : 0.154343 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99571065e-01 -4.07352417e-03 -2.90015903e-02 4.87293887e+00] [ 3.94558199e-03 9.99982237e-01 -4.46741795e-03 5.33699328e-01] [ 2.90192732e-02 4.35107357e-03 9.99569382e-01 1.56724911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77255784400006 meters Centerline goodness : 0.131720 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99578801e-01 -3.89164733e-03 -2.87589377e-02 4.87206249e+00] [ 3.77535537e-03 9.99984481e-01 -4.09687412e-03 5.32097103e-01] [ 2.87744350e-02 3.98657331e-03 9.99577981e-01 1.56766546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters Centerline goodness : 0.129931 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99581241e-01 -3.79656439e-03 -2.86867213e-02 4.87182609e+00] [ 3.68848349e-03 9.99985903e-01 -3.81960562e-03 5.30645441e-01] [ 2.87008183e-02 3.71219563e-03 9.99581154e-01 1.56778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83255784400006 meters Centerline goodness : 0.127459 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99583140e-01 -3.71600589e-03 -2.86310687e-02 4.87173227e+00] [ 3.61847071e-03 9.99987475e-01 -3.45767844e-03 5.28542392e-01] [ 2.86435588e-02 3.35263639e-03 9.99584067e-01 1.56775283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86255784400004 meters Centerline goodness : 0.130903 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99586365e-01 -3.60930174e-03 -2.85319531e-02 4.87140070e+00] [ 3.52503811e-03 9.99989278e-01 -3.00305450e-03 5.26037488e-01] [ 2.85424861e-02 2.90123611e-03 9.99588370e-01 1.56792933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89255784400007 meters Centerline goodness : 0.119023 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99590275e-01 -3.46426198e-03 -2.84126835e-02 4.87103516e+00] [ 3.39607107e-03 9.99991237e-01 -2.44792094e-03 5.23258251e-01] [ 2.84209147e-02 2.35042647e-03 9.99593281e-01 1.56808323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92255784400004 meters Centerline goodness : 0.144746 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99591592e-01 -3.32846327e-03 -2.83825735e-02 4.87086972e+00] [ 3.27552653e-03 9.99992809e-01 -1.91140366e-03 5.20559839e-01] [ 2.83887314e-02 1.81765515e-03 9.99595306e-01 1.56825797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95255784400007 meters Centerline goodness : 0.121827 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99568217e-01 -3.62099917e-03 -2.91593486e-02 4.87313624e+00] [ 3.57649596e-03 9.99992359e-01 -1.57821828e-03 5.16976769e-01] [ 2.91648405e-02 1.47324854e-03 9.99573530e-01 1.56787856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98255784400004 meters Centerline goodness : 0.121620 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99561861e-01 -3.53314259e-03 -2.93871177e-02 4.87385804e+00] [ 3.49671829e-03 9.99993053e-01 -1.29076315e-03 5.15394797e-01] [ 2.93914740e-02 1.18743915e-03 9.99567272e-01 1.56763964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01255784400007 meters Centerline goodness : 0.124834 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99557405e-01 -3.42032986e-03 -2.95515893e-02 4.87457469e+00] [ 3.39028488e-03 9.99993684e-01 -1.06674133e-03 5.14493143e-01] [ 2.95550513e-02 9.66080891e-04 9.99562687e-01 1.56712272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04255784400004 meters Centerline goodness : 0.147138 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99548619e-01 -3.33273208e-03 -2.98571651e-02 4.87618173e+00] [ 3.31069294e-03 9.99994210e-01 -7.87557133e-04 5.12847185e-01] [ 2.98596170e-02 6.88353739e-04 9.99553865e-01 1.56578612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0725578440001 meters Centerline goodness : 0.136827 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99547695e-01 -3.30718637e-03 -2.98909427e-02 4.87645629e+00] [ 3.29020054e-03 9.99994397e-01 -6.17426897e-04 5.11589046e-01] [ 2.98928172e-02 5.18800435e-04 9.99552975e-01 1.56550582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10255784400005 meters Centerline goodness : 0.145498 Centerline is valid? [False, False] Translation: X:4.88, Y:0.51, Z:1.57 [[ 9.99549010e-01 -3.23332586e-03 -2.98550089e-02 4.87630685e+00] [ 3.22413303e-03 9.99994739e-01 -3.56049964e-04 5.10031882e-01] [ 2.98560030e-02 2.59632869e-04 9.99554176e-01 1.56561334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1325578440001 meters Centerline goodness : 0.126699 Centerline is valid? [False, False] Translation: X:4.90, Y:0.51, Z:1.57 [[ 9.99583461e-01 5.22056214e-03 -2.83839665e-02 4.89541813e+00] [-5.26608913e-03 9.99984964e-01 -1.52945347e-03 5.05332993e-01] [ 2.83755551e-02 1.67828889e-03 9.99595924e-01 1.56692889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16255784400005 meters Centerline goodness : 0.135113 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99587858e-01 5.57161491e-03 -2.81615320e-02 4.89479294e+00] [-5.58793906e-03 9.99984262e-01 -5.00995803e-04 5.00350492e-01] [ 2.81582974e-02 6.58154246e-04 9.99603260e-01 1.56705672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1925578440001 meters Centerline goodness : 0.157151 Centerline is valid? [False, False] Translation: X:4.89, Y:0.50, Z:1.57 [[ 9.99610513e-01 2.23053589e-03 -2.78181174e-02 4.89441774e+00] [-2.32904099e-03 9.99991131e-01 -3.50914298e-03 4.97820693e-01] [ 2.78100434e-02 3.57256575e-03 9.99606842e-01 1.56646850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22255784400005 meters Centerline goodness : 0.127615 Centerline is valid? [False, False] Translation: X:4.90, Y:0.49, Z:1.57 [[ 9.99600985e-01 2.35185378e-03 -2.81485320e-02 4.89522113e+00] [-2.43567730e-03 9.99992700e-01 -2.94398383e-03 4.94397259e-01] [ 2.81414027e-02 3.01136988e-03 9.99599416e-01 1.56651005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2525578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 404.28255784400005 meters Centerline goodness : 0.133632 Centerline is valid? [False, False] Translation: X:4.89, Y:0.49, Z:1.57 [[ 9.99606413e-01 2.68366215e-03 -2.79251926e-02 4.89440163e+00] [-2.73396716e-03 9.99994708e-01 -1.76339552e-03 4.87236399e-01] [ 2.79203125e-02 1.83904803e-03 9.99608460e-01 1.56699809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3125578440001 meters Centerline goodness : 0.164420 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99621201e-01 3.09879997e-03 -2.73468689e-02 4.89272820e+00] [-3.11249249e-03 9.99995051e-01 -4.58145476e-04 4.81194333e-01] [ 2.73453138e-02 5.43088855e-04 9.99625899e-01 1.56742423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34255784400005 meters Centerline goodness : 0.128258 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99619921e-01 3.33633476e-03 -2.73657164e-02 4.89278751e+00] [-3.33404436e-03 9.99994434e-01 1.29323580e-04 4.78343531e-01] [ 2.73659956e-02 -3.80359146e-05 9.99625480e-01 1.56749546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.372557844 meters Centerline goodness : 0.130043 Centerline is valid? [False, False] Translation: X:4.89, Y:0.48, Z:1.57 [[ 9.99608641e-01 3.57664747e-03 -2.77447833e-02 4.89388913e+00] [-3.55878512e-03 9.99993427e-01 6.93161077e-04 4.75603302e-01] [ 2.77470802e-02 -5.94152080e-04 9.99614799e-01 1.56739802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40255784400006 meters Centerline goodness : 0.183042 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99595776e-01 3.90315483e-03 -2.81611427e-02 4.89518208e+00] [-3.86681324e-03 9.99991620e-01 1.34482971e-03 4.72710198e-01] [ 2.81661557e-02 -1.23539222e-03 9.99602492e-01 1.56711965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43255784400003 meters Centerline goodness : 0.125856 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99574620e-01 4.45445203e-03 -2.88225144e-02 4.89685147e+00] [-4.38492395e-03 9.99987323e-01 2.47504003e-03 4.67444175e-01] [ 2.88331740e-02 -2.34760266e-03 9.99581481e-01 1.56735811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46255784400006 meters Centerline goodness : 0.131640 Centerline is valid? [False, False] Translation: X:4.90, Y:0.47, Z:1.57 [[ 9.99572984e-01 4.62837903e-03 -2.88518141e-02 4.89664110e+00] [-4.54599035e-03 9.99985402e-01 2.92052116e-03 4.65055812e-01] [ 2.88649102e-02 -2.78811399e-03 9.99579433e-01 1.56788906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49255784400003 meters Centerline goodness : 0.153860 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99577056e-01 4.82460392e-03 -2.86780755e-02 4.89602770e+00] [-4.72860552e-03 9.99982991e-01 3.41432532e-03 4.62601327e-01] [ 2.86940605e-02 -3.27727394e-03 9.99582868e-01 1.56818018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52255784400006 meters Centerline goodness : 0.131438 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99578980e-01 5.01575451e-03 -2.85780360e-02 4.89571576e+00] [-4.90759200e-03 9.99980532e-01 3.85369602e-03 4.60603525e-01] [ 2.85968089e-02 -3.71182420e-03 9.99584136e-01 1.56828263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55255784400003 meters Centerline goodness : 0.104807 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99572305e-01 5.46307421e-03 -2.87291252e-02 4.89666721e+00] [-5.33295131e-03 9.99975181e-01 4.60397542e-03 4.58213563e-01] [ 2.87535641e-02 -4.44879530e-03 9.99576631e-01 1.56746263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58255784400006 meters Centerline goodness : 0.129059 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99558801e-01 5.53413648e-03 -2.91818036e-02 4.89819959e+00] [-5.40312551e-03 9.99974977e-01 4.56641919e-03 4.58234058e-01] [ 2.92063445e-02 -4.40673154e-03 9.99563690e-01 1.56702089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61255784400004 meters Centerline goodness : 0.147402 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99549172e-01 5.55266916e-03 -2.95062819e-02 4.89921658e+00] [-5.42413076e-03 9.99975456e-01 4.43456315e-03 4.58625119e-01] [ 2.95301814e-02 -4.27251799e-03 9.99554758e-01 1.56685595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64255784400007 meters Centerline goodness : 0.147402 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99549172e-01 5.55266916e-03 -2.95062819e-02 4.89921658e+00] [-5.42413076e-03 9.99975456e-01 4.43456315e-03 4.58625119e-01] [ 2.95301814e-02 -4.27251799e-03 9.99554758e-01 1.56685595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67255784400004 meters Centerline goodness : 0.154300 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99548636e-01 5.49260836e-03 -2.95356521e-02 4.89913298e+00] [-5.36857855e-03 9.99976443e-01 4.27698709e-03 4.59178268e-01] [ 2.95584481e-02 -4.11649214e-03 9.99554577e-01 1.56714021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70255784400007 meters Centerline goodness : 0.161187 Centerline is valid? [False, False] Translation: X:4.88, Y:0.47, Z:1.57 [[ 9.99593944e-01 -2.95352942e-03 -2.83412120e-02 4.87930309e+00] [ 3.08075087e-03 9.99985370e-01 4.44630622e-03 4.65840532e-01] [ 2.83276651e-02 -4.53181298e-03 9.99588418e-01 1.56655984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73255784400004 meters Centerline goodness : 0.154435 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99658756e-01 5.48621228e-03 -2.55396171e-02 4.89798769e+00] [-5.41079630e-03 9.99980798e-01 3.02107244e-03 4.63287879e-01] [ 2.55557009e-02 -2.88185185e-03 9.99669246e-01 1.56770644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76255784400007 meters Centerline goodness : 0.108211 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99703400e-01 2.83210259e-03 -2.41886441e-02 4.89416888e+00] [-2.80659662e-03 9.99995469e-01 1.08834445e-03 4.58824535e-01] [ 2.41916168e-02 -1.02013388e-03 9.99706820e-01 1.56781464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79255784400004 meters Centerline goodness : 0.152108 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99700143e-01 2.89312449e-03 -2.43157192e-02 4.89479097e+00] [-2.86080111e-03 9.99994978e-01 1.36400191e-03 4.57647163e-01] [ 2.43195433e-02 -1.29403046e-03 9.99703399e-01 1.56719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8225578440001 meters Centerline goodness : 0.158966 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99696932e-01 3.03073550e-03 -2.44307054e-02 4.89545397e+00] [-2.98887616e-03 9.99994003e-01 1.74972423e-03 4.56393229e-01] [ 2.44358618e-02 -1.67617359e-03 9.99699995e-01 1.56645612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85255784400005 meters Centerline goodness : 0.158303 Centerline is valid? [False, False] Translation: X:4.90, Y:0.46, Z:1.57 [[ 9.99699021e-01 3.09178367e-03 -2.43374025e-02 4.89518926e+00] [-3.04227554e-03 9.99993228e-01 2.07100387e-03 4.55034242e-01] [ 2.43436408e-02 -1.99633945e-03 9.99701656e-01 1.56640660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8825578440001 meters Centerline goodness : 0.159262 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99700782e-01 2.98550114e-03 -2.42782335e-02 4.89457041e+00] [-2.93921655e-03 9.99993795e-01 1.94188476e-03 4.55005139e-01] [ 2.42838803e-02 -1.86994472e-03 9.99703354e-01 1.56716012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91255784400005 meters Centerline goodness : 0.106124 Centerline is valid? [False, False] Translation: X:4.89, Y:0.46, Z:1.57 [[ 9.99699904e-01 2.88491707e-03 -2.43265201e-02 4.89436002e+00] [-2.84461159e-03 9.99994524e-01 1.69129582e-03 4.55648575e-01] [ 2.43312662e-02 -1.62158877e-03 9.99702636e-01 1.56780874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9425578440001 meters Centerline goodness : 0.177747 Centerline is valid? [False, False] Translation: X:4.85, Y:0.45, Z:1.57 [[ 9.99636884e-01 2.64400008e-03 -2.68162253e-02 4.84955929e+00] [-2.58518336e-03 9.99994177e-01 2.22775743e-03 4.54331544e-01] [ 2.68219593e-02 -2.15762363e-03 9.99637898e-01 1.56852774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97255784400005 meters Centerline goodness : 0.174586 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.57 [[ 9.99634343e-01 2.85146094e-03 -2.68895625e-02 4.84997840e+00] [-2.79594154e-03 9.99993882e-01 2.10209107e-03 4.55746047e-01] [ 2.68953921e-02 -2.02614078e-03 9.99636200e-01 1.56833916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0025578440001 meters Centerline goodness : 0.155130 Centerline is valid? [False, False] Translation: X:4.85, Y:0.46, Z:1.57 [[ 0.99960822 0.00644399 -0.02723758 4.85099619] [-0.00630545 0.99996676 0.00516928 0.45840664] [ 0.02726999 -0.0049955 0.99961562 1.56843614] [ 0. 0. 0. 1. ]] SLAMing on 405.03255784400005 meters Centerline goodness : 0.119356 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99432598e-01 1.69764937e-02 -2.90909211e-02 4.83265437e+00] [-1.68288856e-02 9.99844277e-01 5.31139052e-03 4.57937057e-01] [ 2.91765597e-02 -4.81880904e-03 9.99562658e-01 1.56752324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0625578440001 meters Centerline goodness : 0.112165 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99420769e-01 1.69055861e-02 -2.95351772e-02 4.83394425e+00] [-1.67761918e-02 9.99848581e-01 4.62335845e-03 4.61157623e-01] [ 2.96088656e-02 -4.12519266e-03 9.99553049e-01 1.56736208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09255784400005 meters Centerline goodness : 0.151673 Centerline is valid? [False, False] Translation: X:4.83, Y:0.46, Z:1.57 [[ 9.99410974e-01 1.69364874e-02 -2.98472945e-02 4.83488373e+00] [-1.68214362e-02 9.99850097e-01 4.10156570e-03 4.64074872e-01] [ 2.99122864e-02 -3.59707541e-03 9.99546055e-01 1.56717099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters Centerline goodness : 0.124932 Centerline is valid? [False, False] Translation: X:4.82, Y:0.47, Z:1.57 [[ 9.99496751e-01 8.44303845e-03 -3.05771246e-02 4.81662008e+00] [-8.29175625e-03 9.99952765e-01 5.07098732e-03 4.72674669e-01] [ 3.06184949e-02 -4.81489728e-03 9.99519547e-01 1.56542536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15255784400006 meters Centerline goodness : 0.152863 Centerline is valid? [False, False] Translation: X:4.82, Y:0.48, Z:1.56 [[ 9.99488775e-01 8.26595215e-03 -3.08846682e-02 4.81799167e+00] [-8.14034347e-03 9.99958086e-01 4.19055056e-03 4.77466044e-01] [ 3.09180126e-02 -3.93699644e-03 9.99514170e-01 1.56421623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters Centerline goodness : 0.138935 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99493700e-01 9.44347622e-04 -3.18033375e-02 4.83672627e+00] [-7.96527571e-04 9.99988824e-01 4.66029008e-03 4.87588304e-01] [ 3.18073829e-02 -4.63259834e-03 9.99483281e-01 1.56535795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21255784400006 meters Centerline goodness : 0.109733 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99498159e-01 8.24962398e-04 -3.16662302e-02 4.83648906e+00] [-6.88469683e-04 9.99990427e-01 4.32101702e-03 4.89334392e-01] [ 3.16694917e-02 -4.29704732e-03 9.99489159e-01 1.56511496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters Centerline goodness : 0.130223 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99503983e-01 6.88977779e-04 -3.14851123e-02 4.83594624e+00] [-5.64490495e-04 9.99991990e-01 3.96256364e-03 4.91139291e-01] [ 3.14875902e-02 -3.94282509e-03 9.99496366e-01 1.56520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27255784400006 meters Centerline goodness : 0.111600 Centerline is valid? [False, False] Translation: X:4.84, Y:0.49, Z:1.57 [[ 9.99505050e-01 6.01618355e-04 -3.14530183e-02 4.83567994e+00] [-4.83871920e-04 9.99992848e-01 3.75104301e-03 4.92207291e-01] [ 3.14550500e-02 -3.73396720e-03 9.99498193e-01 1.56545726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters Centerline goodness : 0.153703 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99519555e-01 7.45208298e-03 -3.00852939e-02 4.85735029e+00] [-7.43361005e-03 9.99972107e-01 7.25819884e-04 4.93545926e-01] [ 3.00898636e-02 -5.01828824e-04 9.99547072e-01 1.56563524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33255784400006 meters Centerline goodness : 0.127281 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99517546e-01 7.39976852e-03 -3.01648476e-02 4.85754282e+00] [-7.38279953e-03 9.99972520e-01 6.73880298e-04 4.93650083e-01] [ 3.01690052e-02 -4.50854159e-04 9.99544710e-01 1.56565802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36255784400004 meters Centerline goodness : 0.085363 Centerline is valid? [False, False] Translation: X:4.86, Y:0.49, Z:1.57 [[ 9.99514288e-01 7.30839498e-03 -3.02948123e-02 4.85804301e+00] [-7.29607640e-03 9.99973250e-01 5.17146952e-04 4.94243312e-01] [ 3.02977814e-02 -2.95862502e-04 9.99540873e-01 1.56536753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39255784400007 meters Centerline goodness : 0.155987 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99509816e-01 7.15521747e-03 -3.04783630e-02 4.85878895e+00] [-7.15119371e-03 9.99974401e-01 2.41023478e-04 4.95216530e-01] [ 3.04793073e-02 -2.29486550e-05 9.99535398e-01 1.56490738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42255784400004 meters Centerline goodness : 0.150255 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99506216e-01 6.84418314e-03 -3.06672627e-02 4.85952686e+00] [-6.86492281e-03 9.99976273e-01 -5.71041122e-04 4.99009101e-01] [ 3.06626268e-02 7.81287543e-04 9.99529486e-01 1.56442927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45255784400007 meters Centerline goodness : 0.146320 Centerline is valid? [False, False] Translation: X:4.86, Y:0.50, Z:1.56 [[ 9.99515628e-01 6.73504486e-03 -3.03833598e-02 4.85881817e+00] [-6.77027958e-03 9.99976523e-01 -1.05694398e-03 5.01845963e-01] [ 3.03755279e-02 1.26213586e-03 9.99537760e-01 1.56433500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48255784400004 meters Centerline goodness : 0.125260 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99535221e-01 6.42567400e-04 -3.04783327e-02 4.87477272e+00] [-6.38383741e-04 9.99999785e-01 1.46997133e-04 5.11121270e-01] [ 3.04784206e-02 -1.27471940e-04 9.99535417e-01 1.56705426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51255784400007 meters Centerline goodness : 0.186485 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99546078e-01 4.96229209e-04 -3.01229303e-02 4.87388510e+00] [-5.09436482e-04 9.99999777e-01 -4.30772805e-04 5.14370609e-01] [ 3.01227098e-02 4.45922988e-04 9.99546109e-01 1.56694743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54255784400004 meters Centerline goodness : 0.137764 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99550450e-01 2.46570164e-04 -2.99806153e-02 4.87355533e+00] [-2.79124537e-04 9.99999376e-01 -1.08166717e-03 5.17482902e-01] [ 2.99803298e-02 1.08954923e-03 9.99549895e-01 1.56682498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5725578440001 meters Centerline goodness : 0.194165 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99549035e-01 -3.77889711e-05 -3.00287505e-02 4.87368430e+00] [-1.40987019e-05 9.99998507e-01 -1.72771953e-03 5.20340215e-01] [ 3.00287710e-02 1.72736375e-03 9.99547542e-01 1.56672789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60255784400005 meters Centerline goodness : 0.224416 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99543793e-01 -5.60363534e-04 -3.01975613e-02 4.87442997e+00] [ 4.74611137e-04 9.99995835e-01 -2.84680552e-03 5.25746352e-01] [ 3.01990308e-02 2.83117469e-03 9.99539896e-01 1.56604396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6325578440001 meters Centerline goodness : 0.141015 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99544802e-01 -7.94564174e-04 -3.01588784e-02 4.87454229e+00] [ 6.92651376e-04 9.99994016e-01 -3.38949398e-03 5.28476705e-01] [ 3.01613911e-02 3.36706150e-03 9.99539371e-01 1.56564377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66255784400005 meters Centerline goodness : 0.137386 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99548376e-01 -1.01893788e-03 -3.00334097e-02 4.87412153e+00] [ 9.01578491e-04 9.99991907e-01 -3.92091072e-03 5.31171629e-01] [ 3.00371618e-02 3.89206247e-03 9.99541205e-01 1.56572529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6925578440001 meters Centerline goodness : 0.131823 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99554574e-01 -1.18710623e-03 -2.98202149e-02 4.87326751e+00] [ 1.05968736e-03 9.99990244e-01 -4.28834260e-03 5.33040799e-01] [ 2.98250146e-02 4.25483235e-03 9.99546079e-01 1.56618919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72255784400005 meters Centerline goodness : 0.130185 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99555971e-01 -1.33293861e-03 -2.97671679e-02 4.87290820e+00] [ 1.19764132e-03 9.99988874e-01 -4.56255165e-03 5.34317239e-01] [ 2.97729183e-02 4.52487536e-03 9.99546447e-01 1.56650413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7525578440001 meters Centerline goodness : 0.233383 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99548395e-01 -1.49478171e-03 -3.00128523e-02 4.87342289e+00] [ 1.35418269e-03 9.99988017e-01 -4.70440672e-03 5.34701750e-01] [ 3.00195248e-02 4.66163931e-03 9.99538442e-01 1.56666538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78255784400005 meters Centerline goodness : 0.048762 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99522676e-01 -2.26284367e-03 -3.08106920e-02 4.87588936e+00] [ 2.10441053e-03 9.99984403e-01 -5.17360437e-03 5.34693085e-01] [ 3.08219185e-02 5.10629654e-03 9.99511848e-01 1.56604365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8125578440001 meters Centerline goodness : 0.130850 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99513414e-01 -2.34247286e-03 -3.11038427e-02 4.87678459e+00] [ 2.18529419e-03 9.99984676e-01 -5.08638475e-03 5.33847446e-01] [ 3.11152808e-02 5.01593874e-03 9.99503216e-01 1.56579853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 405.872557844 meters Centerline goodness : 0.131002 Centerline is valid? [False, False] Translation: X:4.88, Y:0.53, Z:1.57 [[ 9.99516157e-01 -2.31396621e-03 -3.10176828e-02 4.87644433e+00] [ 2.15926733e-03 9.99985068e-01 -5.02000992e-03 5.33749278e-01] [ 3.10288358e-02 4.95060555e-03 9.99506230e-01 1.56598279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90255784400006 meters Centerline goodness : 0.131135 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99557190e-01 -1.67994079e-03 -2.97086154e-02 4.87241580e+00] [ 1.53850172e-03 9.99987377e-01 -4.78309486e-03 5.35416566e-01] [ 2.97162758e-02 4.73527010e-03 9.99547158e-01 1.56708689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93255784400003 meters Centerline goodness : 0.139978 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99558306e-01 -1.71975478e-03 -2.96687629e-02 4.87216471e+00] [ 1.56628668e-03 9.99985278e-01 -5.19518157e-03 5.37712195e-01] [ 2.96772606e-02 5.14641710e-03 9.99546284e-01 1.56730136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96255784400006 meters Centerline goodness : 0.126475 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99557782e-01 -1.79102485e-03 -2.96822043e-02 4.87227226e+00] [ 1.62507022e-03 9.99982920e-01 -5.61422831e-03 5.39863222e-01] [ 2.96917525e-02 5.56350993e-03 9.99543619e-01 1.56710428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99255784400003 meters Centerline goodness : 0.154217 Centerline is valid? [False, False] Translation: X:4.85, Y:0.54, Z:1.57 [[ 0.99951173 0.00630495 -0.03060313 4.85133557] [-0.00650856 0.99995731 -0.00655843 0.53671558] [ 0.03056047 0.00675441 0.9995101 1.56562905] [ 0. 0. 0. 1. ]] SLAMing on 406.02255784400006 meters Centerline goodness : 0.153804 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99484059e-01 9.64889696e-05 -3.21186195e-02 4.86885487e+00] [-2.73990212e-04 9.99984716e-01 -5.52207278e-03 5.43579566e-01] [ 3.21175958e-02 5.52802390e-03 9.99468809e-01 1.56820199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05255784400003 meters Centerline goodness : 0.242660 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99477493e-01 -5.39895697e-05 -3.23224134e-02 4.86958429e+00] [-1.32277366e-04 9.99983399e-01 -5.76061326e-03 5.44302587e-01] [ 3.23221878e-02 5.76187882e-03 9.99460893e-01 1.56781857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08255784400006 meters Centerline goodness : 0.129607 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99471716e-01 -7.13361079e-05 -3.25005293e-02 4.86988114e+00] [-1.12381303e-04 9.99984027e-01 -5.65088958e-03 5.43517778e-01] [ 3.25004132e-02 5.65155675e-03 9.99455743e-01 1.56804902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11255784400004 meters Centerline goodness : 0.119322 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99469044e-01 -7.98250627e-05 -3.25825656e-02 4.86988223e+00] [-9.89248161e-05 9.99984956e-01 -5.48441014e-03 5.42530019e-01] [ 3.25825132e-02 5.48472138e-03 9.99454000e-01 1.56841316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14255784400007 meters Centerline goodness : 0.233851 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99467652e-01 -8.11566626e-05 -3.26252326e-02 4.86979532e+00] [-9.11467545e-05 9.99986058e-01 -5.27977121e-03 5.41361909e-01] [ 3.26252062e-02 5.27993422e-03 9.99453710e-01 1.56874198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17255784400004 meters Centerline goodness : 0.131705 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99464977e-01 -6.87238626e-05 -3.27070954e-02 4.86997141e+00] [-9.70973762e-05 9.99987152e-01 -5.06827049e-03 5.40192698e-01] [ 3.27070235e-02 5.06873463e-03 9.99452129e-01 1.56882832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20255784400007 meters Centerline goodness : 0.133289 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99464844e-01 -6.13988430e-05 -3.27112035e-02 4.86981276e+00] [-9.73542187e-05 9.99988226e-01 -4.85155610e-03 5.38950921e-01] [ 3.27111163e-02 4.85214433e-03 9.99453070e-01 1.56912678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23255784400004 meters Centerline goodness : 0.102871 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99495970e-01 -4.97427050e-04 -3.17420654e-02 4.86690130e+00] [ 3.43786443e-04 9.99988201e-01 -4.84555793e-03 5.37457989e-01] [ 3.17441012e-02 4.83220313e-03 9.99484348e-01 1.57014603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26255784400007 meters Centerline goodness : 0.141643 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99501016e-01 -4.67691713e-04 -3.15832394e-02 4.86627734e+00] [ 3.21312586e-04 9.99989185e-01 -4.63962538e-03 5.36305106e-01] [ 3.15850677e-02 4.62716219e-03 9.99490357e-01 1.57051125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29255784400004 meters Centerline goodness : 0.129235 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99500656e-01 -4.36022903e-04 -3.15950632e-02 4.86630027e+00] [ 2.95137411e-04 9.99989994e-01 -4.46362471e-03 5.35295617e-01] [ 3.15966933e-02 4.45207094e-03 9.99490784e-01 1.57053532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3225578440001 meters Centerline goodness : 0.147490 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99472584e-01 -5.82277875e-04 -3.24686725e-02 4.86906156e+00] [ 4.43224082e-04 9.99990701e-01 -4.28973936e-03 5.33413385e-01] [ 3.24708684e-02 4.27308598e-03 9.99463548e-01 1.56971830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35255784400005 meters Centerline goodness : 0.157958 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99462012e-01 -5.68471378e-04 -3.27927201e-02 4.87002248e+00] [ 4.31558124e-04 9.99991162e-01 -4.18203801e-03 5.32583611e-01] [ 3.27948077e-02 4.16563616e-03 9.99453425e-01 1.56952032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3825578440001 meters Centerline goodness : 0.212759 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99460087e-01 -5.30187951e-04 -3.28519949e-02 4.87000094e+00] [ 3.94364599e-04 9.99991349e-01 -4.14074361e-03 5.32474384e-01] [ 3.28539061e-02 4.12555231e-03 9.99451650e-01 1.56979143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41255784400005 meters Centerline goodness : 0.144096 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99466186e-01 -4.68729455e-04 -3.26668617e-02 4.86928752e+00] [ 3.31557585e-04 9.99991106e-01 -4.20440423e-03 5.33314693e-01] [ 3.26685419e-02 4.19132892e-03 9.99457452e-01 1.57013370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4425578440001 meters Centerline goodness : 0.126066 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99479727e-01 -3.25146003e-04 -3.22516661e-02 4.86793705e+00] [ 1.88376759e-04 9.99990978e-01 -4.24363558e-03 5.34375291e-01] [ 3.22527549e-02 4.23535227e-03 9.99470771e-01 1.57055460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47255784400005 meters Centerline goodness : 0.122704 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99491644e-01 -3.07287341e-04 -3.18803935e-02 4.86688893e+00] [ 1.67557969e-04 9.99990370e-01 -4.38550394e-03 5.35480310e-01] [ 3.18814341e-02 4.37793273e-03 9.99482070e-01 1.57070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5025578440001 meters Centerline goodness : 0.220922 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99493282e-01 -3.78033794e-04 -3.18282411e-02 4.86713882e+00] [ 2.33354584e-04 9.99989625e-01 -4.54921569e-03 5.36019884e-01] [ 3.18296306e-02 4.53948326e-03 9.99483000e-01 1.57007754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53255784400005 meters Centerline goodness : 0.220922 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99493282e-01 -3.78033794e-04 -3.18282411e-02 4.86713882e+00] [ 2.33354584e-04 9.99989625e-01 -4.54921569e-03 5.36019884e-01] [ 3.18296306e-02 4.53948326e-03 9.99483000e-01 1.57007754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5625578440001 meters Centerline goodness : 0.123335 Centerline is valid? [False, False] Translation: X:4.87, Y:0.54, Z:1.57 [[ 9.99492178e-01 -3.36834477e-04 -3.18633325e-02 4.86731473e+00] [ 1.96340698e-04 9.99990247e-01 -4.41228799e-03 5.35270216e-01] [ 3.18645080e-02 4.40379127e-03 9.99482496e-01 1.56991659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59255784400005 meters Centerline goodness : 0.162416 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99495523e-01 -2.38235214e-04 -3.17591389e-02 4.86693392e+00] [ 1.06411844e-04 9.99991373e-01 -4.15234799e-03 5.34076650e-01] [ 3.17598541e-02 4.14687368e-03 9.99486926e-01 1.57006869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters Centerline goodness : 0.132483 Centerline is valid? [False, False] Translation: X:4.89, Y:0.54, Z:1.57 [[ 9.99483735e-01 -7.97661538e-03 -3.11229315e-02 4.88706057e+00] [ 7.88570665e-03 9.99964278e-01 -3.04260878e-03 5.37530263e-01] [ 3.11460895e-02 2.79561168e-03 9.99510933e-01 1.57184881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65255784400006 meters Centerline goodness : 0.165137 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99524597e-01 -3.41524197e-03 -3.06417287e-02 4.86599718e+00] [ 3.22865611e-03 9.99975958e-01 -6.13668582e-03 5.30041620e-01] [ 3.06619502e-02 6.03483682e-03 9.99511594e-01 1.57035464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters Centerline goodness : 0.066935 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99512513e-01 -3.43392423e-03 -3.10313418e-02 4.86700900e+00] [ 3.25408881e-03 9.99977629e-01 -5.84392825e-03 5.28163428e-01] [ 3.10507152e-02 5.74010067e-03 9.99501328e-01 1.57028743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71255784400006 meters Centerline goodness : 0.124379 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99507073e-01 -3.32083948e-03 -3.12183249e-02 4.86746729e+00] [ 3.15092457e-03 9.99979963e-01 -5.49041454e-03 5.26508993e-01] [ 3.12359322e-02 5.38934158e-03 9.99497510e-01 1.57031623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters Centerline goodness : 0.107600 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99509807e-01 -3.14362021e-03 -3.11490580e-02 4.86734486e+00] [ 2.98787511e-03 9.99982809e-01 -5.04527927e-03 5.24899808e-01] [ 3.11643829e-02 4.94973661e-03 9.99502017e-01 1.57009827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77255784400006 meters Centerline goodness : 0.108704 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99512292e-01 -3.11595576e-03 -3.10719853e-02 4.86711070e+00] [ 2.96528088e-03 9.99983627e-01 -4.89412069e-03 5.24277173e-01] [ 3.10867265e-02 4.79959662e-03 9.99505167e-01 1.57009379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters Centerline goodness : 0.130584 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99514340e-01 -3.09986193e-03 -3.10076552e-02 4.86673203e+00] [ 2.95280065e-03 9.99984181e-01 -4.78740820e-03 5.23557488e-01] [ 3.10220049e-02 4.69352372e-03 9.99507682e-01 1.57044289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83255784400006 meters Centerline goodness : 0.131747 Centerline is valid? [False, False] Translation: X:4.86, Y:0.52, Z:1.57 [[ 9.99538777e-01 -3.43625229e-03 -3.01732665e-02 4.86414485e+00] [ 3.29214039e-03 9.99982943e-01 -4.82452549e-03 5.23157987e-01] [ 3.01893301e-02 4.72296567e-03 9.99533040e-01 1.57083988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86255784400004 meters Centerline goodness : 0.168510 Centerline is valid? [False, False] Translation: X:4.86, Y:0.52, Z:1.57 [[ 9.99542840e-01 -3.36008338e-03 -3.00469756e-02 4.86403548e+00] [ 3.22571541e-03 9.99984585e-01 -4.51928523e-03 5.22132549e-01] [ 3.00616976e-02 4.42029620e-03 9.99538271e-01 1.57030795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89255784400007 meters Centerline goodness : 0.133716 Centerline is valid? [False, False] Translation: X:4.85, Y:0.51, Z:1.57 [[ 0.99953516 0.00484797 -0.03009906 4.84646738] [-0.00502186 0.99997112 -0.00570452 0.51383456] [ 0.03007053 0.00585302 0.99953064 1.56803738] [ 0. 0. 0. 1. ]] SLAMing on 406.92255784400004 meters Centerline goodness : 0.155269 Centerline is valid? [False, False] Translation: X:4.87, Y:0.52, Z:1.57 [[ 9.99502176e-01 -3.61513667e-03 -3.13421485e-02 4.86869908e+00] [ 3.44998752e-03 9.99979888e-01 -5.32171345e-03 5.15644842e-01] [ 3.13607569e-02 5.21093415e-03 9.99494547e-01 1.56947228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95255784400007 meters Centerline goodness : 0.162755 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99503940e-01 -3.65969828e-03 -3.12806681e-02 4.86860120e+00] [ 3.50259650e-03 9.99980985e-01 -5.07564882e-03 5.14455115e-01] [ 3.12986486e-02 4.96356744e-03 9.99497753e-01 1.56911320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 407.01255784400007 meters Centerline goodness : 0.194904 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99500205e-01 -3.91893778e-03 -3.13684925e-02 4.86887763e+00] [ 3.76418864e-03 9.99980461e-01 -4.99080074e-03 5.13175534e-01] [ 3.13874383e-02 4.87022943e-03 9.99495427e-01 1.56899837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04255784400004 meters Centerline goodness : 0.127396 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99502440e-01 -3.93751452e-03 -3.12948774e-02 4.86863792e+00] [ 3.78381103e-03 9.99980495e-01 -4.96916364e-03 5.13072665e-01] [ 3.13138331e-02 4.84827728e-03 9.99497843e-01 1.56906015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0725578440001 meters Centerline goodness : 0.119769 Centerline is valid? [False, False] Translation: X:4.87, Y:0.51, Z:1.57 [[ 9.99502178e-01 -4.03079415e-03 -3.12913688e-02 4.86896322e+00] [ 3.87286610e-03 9.99979465e-01 -5.10598530e-03 5.13822097e-01] [ 3.13113074e-02 4.98225614e-03 9.99497263e-01 1.56849151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10255784400005 meters Centerline goodness : 0.167563 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99530719e-01 4.27921498e-03 -3.03319954e-02 4.88877179e+00] [-4.47764961e-03 9.99968998e-01 -6.47718716e-03 5.10804500e-01] [ 3.03033377e-02 6.60996359e-03 9.99518892e-01 1.56938818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1325578440001 meters Centerline goodness : 0.162208 Centerline is valid? [False, False] Translation: X:4.89, Y:0.51, Z:1.57 [[ 9.99527914e-01 4.19442187e-03 -3.04361036e-02 4.88906259e+00] [-4.39657917e-03 9.99968699e-01 -6.57814234e-03 5.11016509e-01] [ 3.04075594e-02 6.70885163e-03 9.99515068e-01 1.56932984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16255784400005 meters Centerline goodness : 0.153714 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99486995e-01 -3.11498881e-03 -3.18754374e-02 4.90834900e+00] [ 2.93421092e-03 9.99979355e-01 -5.71659151e-03 5.14949372e-01] [ 3.18925865e-02 5.62012961e-03 9.99475501e-01 1.57212655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1925578440001 meters Centerline goodness : 0.173504 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99479541e-01 -3.34591432e-03 -3.20850773e-02 4.90884878e+00] [ 3.16416941e-03 9.99978671e-01 -5.71357104e-03 5.14409710e-01] [ 3.21035101e-02 5.60907474e-03 9.99468810e-01 1.57202686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22255784400005 meters Centerline goodness : 0.200844 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99486600e-01 -3.30287633e-03 -3.18689080e-02 4.90826028e+00] [ 3.12797291e-03 9.99979781e-01 -5.53651040e-03 5.13740361e-01] [ 3.18865501e-02 5.43398287e-03 9.99476723e-01 1.57202689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2525578440001 meters Centerline goodness : 0.148266 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99469097e-01 -1.11469297e-02 -3.06148537e-02 4.92822438e+00] [ 1.10177497e-02 9.99929688e-01 -4.38498228e-03 5.16887207e-01] [ 3.06615802e-02 4.04534748e-03 9.99521637e-01 1.57359546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28255784400005 meters Centerline goodness : 0.122159 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99559746e-01 -2.12617068e-03 -2.95938218e-02 4.91029507e+00] [ 1.95997511e-03 9.99982153e-01 -5.64376295e-03 5.11891469e-01] [ 2.96052933e-02 5.58327510e-03 9.99546074e-01 1.57143238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3125578440001 meters Centerline goodness : 0.156169 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99550047e-01 -2.28758085e-03 -2.99077136e-02 4.91131606e+00] [ 2.11995677e-03 9.99981875e-01 -5.63521817e-03 5.11242617e-01] [ 2.99200625e-02 5.56927953e-03 9.99536779e-01 1.57101113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34255784400005 meters Centerline goodness : 0.150435 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99545922e-01 -2.26493666e-03 -3.00469661e-02 4.91186651e+00] [ 2.09724189e-03 9.99982057e-01 -5.61142974e-03 5.11348284e-01] [ 3.00591365e-02 5.54586595e-03 9.99532737e-01 1.57065846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.372557844 meters Centerline goodness : 0.158020 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99541316e-01 -2.20998733e-03 -3.02038556e-02 4.91257491e+00] [ 2.04385217e-03 9.99982619e-01 -5.53022861e-03 5.11280009e-01] [ 3.02155523e-02 5.46595977e-03 9.99528461e-01 1.57011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40255784400006 meters Centerline goodness : 0.161480 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99538278e-01 -2.21255663e-03 -3.03040597e-02 4.91307760e+00] [ 2.04592524e-03 9.99982624e-01 -5.52855281e-03 5.11316395e-01] [ 3.03157654e-02 5.46400032e-03 9.99525437e-01 1.56968814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43255784400003 meters Centerline goodness : 0.170899 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99542985e-01 -2.29979201e-03 -3.01418506e-02 4.91274121e+00] [ 2.12838958e-03 9.99981391e-01 -5.71737746e-03 5.12066004e-01] [ 3.01544384e-02 5.65061094e-03 9.99529279e-01 1.56959218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46255784400006 meters Centerline goodness : 0.157649 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99545101e-01 -2.34883970e-03 -3.00678206e-02 4.91244985e+00] [ 2.17298274e-03 9.99980352e-01 -5.88001700e-03 5.12986544e-01] [ 3.00810411e-02 5.81200533e-03 9.99530566e-01 1.56971251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49255784400003 meters Centerline goodness : 0.153283 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99544982e-01 3.24582942e-04 -3.01616122e-02 4.91210074e+00] [-4.22936463e-04 9.99994614e-01 -3.25456163e-03 5.14480369e-01] [ 3.01603933e-02 3.26583719e-03 9.99539737e-01 1.57033126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52255784400006 meters Centerline goodness : 0.173912 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99534011e-01 1.34153669e-04 -3.05244670e-02 4.91343491e+00] [-2.52361987e-04 9.99992484e-01 -3.86875644e-03 5.17777169e-01] [ 3.05237186e-02 3.87465686e-03 9.99526533e-01 1.56966721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55255784400003 meters Centerline goodness : 0.165815 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99532217e-01 -2.13066553e-06 -3.05834335e-02 4.91362077e+00] [-1.25551355e-04 9.99991285e-01 -4.17295433e-03 5.19195159e-01] [ 3.05831759e-02 4.17484208e-03 9.99523507e-01 1.56959538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58255784400006 meters Centerline goodness : 0.151939 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99533833e-01 -9.74731045e-05 -3.05304375e-02 4.91338812e+00] [-3.52006897e-05 9.99990560e-01 -4.34505613e-03 5.19986370e-01] [ 3.05305728e-02 4.34410530e-03 9.99524393e-01 1.56970845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61255784400004 meters Centerline goodness : 0.156128 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99527539e-01 -7.79900868e-03 -2.97300208e-02 4.93295425e+00] [ 7.70562377e-03 9.99965016e-01 -3.25437612e-03 5.24054997e-01] [ 2.97543617e-02 3.02375020e-03 9.99552667e-01 1.57152108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64255784400007 meters Centerline goodness : 0.390348 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99541641e-01 -7.95838246e-03 -2.92091220e-02 4.93137416e+00] [ 7.87059980e-03 9.99964162e-01 -3.11906005e-03 5.22867318e-01] [ 2.92328979e-02 2.88773709e-03 9.99568456e-01 1.57192241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67255784400004 meters Centerline goodness : 0.163010 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99540505e-01 -8.06000477e-03 -2.92201306e-02 4.93107632e+00] [ 7.97548423e-03 9.99963671e-01 -3.00794086e-03 5.21795753e-01] [ 2.92433131e-02 2.77351404e-03 9.99568475e-01 1.57235340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70255784400007 meters Centerline goodness : 0.117874 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99536647e-01 -8.12582701e-03 -2.93336411e-02 4.93124175e+00] [ 8.04580916e-03 9.99963585e-01 -2.84485638e-03 5.20578252e-01] [ 2.93556897e-02 2.60752533e-03 9.99565628e-01 1.57242064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73255784400004 meters Centerline goodness : 0.132015 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99525628e-01 -8.15423483e-03 -2.96989402e-02 4.93226826e+00] [ 8.08023406e-03 9.99963946e-01 -2.61086114e-03 5.19445693e-01] [ 2.97191590e-02 2.36964823e-03 9.99555479e-01 1.57210406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76255784400007 meters Centerline goodness : 0.155272 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99520740e-01 -8.09758844e-03 -2.98784152e-02 4.93301328e+00] [ 8.03052772e-03 9.99964961e-01 -2.36376996e-03 5.18314978e-01] [ 2.98965091e-02 2.12269766e-03 9.99550746e-01 1.57154137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79255784400004 meters Centerline goodness : 0.146234 Centerline is valid? [False, False] Translation: X:4.93, Y:0.52, Z:1.57 [[ 9.99518267e-01 -8.04832070e-03 -2.99742959e-02 4.93335002e+00] [ 7.98947394e-03 9.99965915e-01 -2.08249200e-03 5.16940902e-01] [ 2.99900348e-02 1.84200994e-03 9.99548500e-01 1.57129711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8225578440001 meters Centerline goodness : 0.129723 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99594323e-01 -3.16793393e-03 -2.83046546e-02 4.90905282e+00] [ 3.02456159e-03 9.99982387e-01 -5.10670541e-03 5.12524891e-01] [ 2.83203337e-02 5.01902457e-03 9.99586298e-01 1.57083840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85255784400005 meters Centerline goodness : 0.166544 Centerline is valid? [False, False] Translation: X:4.93, Y:0.51, Z:1.57 [[ 9.99591579e-01 -1.08232190e-02 -2.64486918e-02 4.92838432e+00] [ 1.07258076e-02 9.99935172e-01 -3.82213351e-03 5.14732660e-01] [ 2.64883450e-02 3.53688889e-03 9.99642865e-01 1.57266475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8825578440001 meters Centerline goodness : 0.106525 Centerline is valid? [False, False] Translation: X:4.93, Y:0.51, Z:1.57 [[ 9.99595178e-01 -1.07371499e-02 -2.63475409e-02 4.92798927e+00] [ 1.06440957e-02 9.99936617e-01 -3.66951188e-03 5.14326395e-01] [ 2.63852710e-02 3.38758064e-03 9.99646108e-01 1.57281937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 407.9425578440001 meters Centerline goodness : 0.141523 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99576020e-01 -3.22814691e-03 -2.89371665e-02 4.90985989e+00] [ 3.08510196e-03 9.99982808e-01 -4.98657909e-03 5.10286293e-01] [ 2.89527664e-02 4.89519077e-03 9.99568794e-01 1.56991631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97255784400005 meters Centerline goodness : 0.149984 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99577106e-01 -3.22408985e-03 -2.89000677e-02 4.90970184e+00] [ 3.07984179e-03 9.99982585e-01 -5.03439515e-03 5.10635347e-01] [ 2.89157958e-02 4.94325850e-03 9.99569628e-01 1.56999089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0025578440001 meters Centerline goodness : 0.164256 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99580114e-01 -3.22162899e-03 -2.87961205e-02 4.90930072e+00] [ 3.07374307e-03 9.99981868e-01 -5.17841029e-03 5.11713569e-01] [ 2.88122812e-02 5.08772408e-03 9.99571892e-01 1.57023796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03255784400005 meters Centerline goodness : 0.094671 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99580780e-01 -3.23370837e-03 -2.87716566e-02 4.90916882e+00] [ 3.08017843e-03 9.99980790e-01 -5.37887307e-03 5.13155075e-01] [ 2.87884976e-02 5.28799630e-03 9.99571538e-01 1.57036888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0625578440001 meters Centerline goodness : 0.128940 Centerline is valid? [False, False] Translation: X:4.91, Y:0.51, Z:1.57 [[ 9.99577634e-01 -3.27618226e-03 -2.88759408e-02 4.90952014e+00] [ 3.11559419e-03 9.99979441e-01 -5.60454946e-03 5.14470278e-01] [ 2.88937086e-02 5.51221658e-03 9.99567291e-01 1.57023960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09255784400005 meters Centerline goodness : 0.162382 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574349e-01 -3.46320179e-03 -2.89676852e-02 4.90991964e+00] [ 3.29304311e-03 9.99977056e-01 -5.91973097e-03 5.15499818e-01] [ 2.89875217e-02 5.82181939e-03 9.99562819e-01 1.56994726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.122557844 meters Centerline goodness : 0.156614 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99573744e-01 -3.49895741e-03 -2.89842740e-02 4.90996238e+00] [ 3.32779133e-03 9.99976752e-01 -5.95161440e-03 5.15581050e-01] [ 2.90044246e-02 5.85262387e-03 9.99562149e-01 1.56991512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15255784400006 meters Centerline goodness : 0.092543 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574667e-01 -3.50099482e-03 -2.89521698e-02 4.90996887e+00] [ 3.32932495e-03 9.99976604e-01 -5.97551169e-03 5.15831059e-01] [ 2.89724126e-02 5.87657893e-03 9.99562937e-01 1.56973894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters Centerline goodness : 0.161804 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99576268e-01 -5.18293358e-04 -2.91035273e-02 4.91049205e+00] [ 4.29843761e-04 9.99995271e-01 -3.04531074e-03 5.17230132e-01] [ 2.91049680e-02 3.03151037e-03 9.99571764e-01 1.56947036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21255784400006 meters Centerline goodness : 0.129237 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99574246e-01 -6.34042142e-04 -2.91706293e-02 4.91071521e+00] [ 5.35972834e-04 9.99994179e-01 -3.36961568e-03 5.18912011e-01] [ 2.91725960e-02 3.35254639e-03 9.99568767e-01 1.56940687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters Centerline goodness : 0.156126 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99573471e-01 -7.52561649e-04 -2.91943467e-02 4.91073323e+00] [ 6.44174627e-04 9.99992866e-01 -3.72183059e-03 5.20763010e-01] [ 2.91969394e-02 3.70143686e-03 9.99566825e-01 1.56945967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27255784400006 meters Centerline goodness : 0.155350 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99575153e-01 -8.77279050e-04 -2.91331951e-02 4.91049891e+00] [ 7.59255628e-04 9.99991462e-01 -4.06198148e-03 5.22578497e-01] [ 2.91365098e-02 4.03813622e-03 9.99567285e-01 1.56959115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters Centerline goodness : 0.096954 Centerline is valid? [False, False] Translation: X:4.91, Y:0.52, Z:1.57 [[ 9.99575934e-01 -1.01731630e-03 -2.91018587e-02 4.91050119e+00] [ 8.90225469e-04 9.99990013e-01 -4.37972679e-03 5.24207850e-01] [ 2.91060236e-02 4.35196228e-03 9.99566856e-01 1.56944373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33255784400006 meters Centerline goodness : 0.095473 Centerline is valid? [False, False] Translation: X:4.87, Y:0.53, Z:1.57 [[ 9.99487937e-01 -3.15659719e-03 -3.18418023e-02 4.86700062e+00] [ 2.98382585e-03 9.99980577e-01 -5.47198741e-03 5.28693625e-01] [ 3.18584567e-02 5.37417501e-03 9.99477942e-01 1.56800396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36255784400004 meters Centerline goodness : 0.144585 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99540539e-01 -3.15794245e-03 -3.01452715e-02 4.91137719e+00] [ 2.97967017e-03 9.99977818e-01 -5.95686386e-03 5.28204660e-01] [ 3.01634142e-02 5.86430395e-03 9.99527778e-01 1.56845424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39255784400007 meters Centerline goodness : 0.098246 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99538780e-01 -3.23138759e-03 -3.01957877e-02 4.91163924e+00] [ 3.04957064e-03 9.99976955e-01 -6.06538256e-03 5.28871212e-01] [ 3.02146914e-02 5.97050089e-03 9.99525600e-01 1.56814664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42255784400004 meters Centerline goodness : 0.037305 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535642e-01 -3.29960731e-03 -3.02921413e-02 4.91214902e+00] [ 3.11381793e-03 9.99976066e-01 -6.17837920e-03 5.29664755e-01] [ 3.03118025e-02 6.08118600e-03 9.99521993e-01 1.56765797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45255784400007 meters Centerline goodness : 0.037305 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535642e-01 -3.29960731e-03 -3.02921413e-02 4.91214902e+00] [ 3.11381793e-03 9.99976066e-01 -6.17837920e-03 5.29664755e-01] [ 3.03118025e-02 6.08118600e-03 9.99521993e-01 1.56765797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48255784400004 meters Centerline goodness : 0.103321 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99531368e-01 -3.40932594e-03 -3.04207319e-02 4.91264123e+00] [ 3.21984729e-03 9.99975126e-01 -6.27541674e-03 5.30071459e-01] [ 3.04413702e-02 6.17452577e-03 9.99517483e-01 1.56733145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51255784400007 meters Centerline goodness : 0.143146 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99533185e-01 -3.97527157e-03 -3.02920764e-02 4.91221733e+00] [ 3.77638837e-03 9.99970957e-01 -6.61990371e-03 5.30403045e-01] [ 3.03175125e-02 6.50241879e-03 9.99519168e-01 1.56737808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54255784400004 meters Centerline goodness : 0.085861 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99535055e-01 -4.02245215e-03 -3.02240739e-02 4.91201906e+00] [ 3.82520064e-03 9.99971027e-01 -6.58129264e-03 5.29989870e-01] [ 3.02496711e-02 6.46261955e-03 9.99521481e-01 1.56735201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5725578440001 meters Centerline goodness : 0.151554 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99532796e-01 -4.05788844e-03 -3.02939632e-02 4.91237884e+00] [ 3.86078092e-03 9.99971016e-01 -6.56215488e-03 5.29828349e-01] [ 3.03197137e-02 6.44213066e-03 9.99519492e-01 1.56699616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60255784400005 meters Centerline goodness : 0.091867 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530726e-01 -4.14164909e-03 -3.03508520e-02 4.91295757e+00] [ 3.93589075e-03 9.99968889e-01 -6.83593656e-03 5.31595195e-01] [ 3.03782198e-02 6.71327099e-03 9.99515931e-01 1.56636389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6325578440001 meters Centerline goodness : 0.101626 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530467e-01 -4.23642204e-03 -3.03462918e-02 4.91298749e+00] [ 4.02221074e-03 9.99966588e-01 -7.11646466e-03 5.32976107e-01] [ 3.03754262e-02 6.99106406e-03 9.99514111e-01 1.56636015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66255784400005 meters Centerline goodness : 0.096481 Centerline is valid? [False, False] Translation: X:4.91, Y:0.53, Z:1.57 [[ 9.99530225e-01 -4.32642212e-03 -3.03415660e-02 4.91276412e+00] [ 4.10367654e-03 9.99964201e-01 -7.39970058e-03 5.34328650e-01] [ 3.03724940e-02 7.27171241e-03 9.99512198e-01 1.56678399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6925578440001 meters Centerline goodness : 0.180458 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99532948e-01 -4.41881874e-03 -3.02383732e-02 4.91225413e+00] [ 4.18637382e-03 9.99961236e-01 -7.74608064e-03 5.36067328e-01] [ 3.02714295e-02 7.61587368e-03 9.99512701e-01 1.56725548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72255784400005 meters Centerline goodness : 0.096097 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99549944e-01 -7.17098258e-04 -2.99899352e-02 4.91101353e+00] [ 5.92129272e-04 9.99991106e-01 -4.17570425e-03 5.35909867e-01] [ 2.99926628e-02 4.15606702e-03 9.99541479e-01 1.56799665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7525578440001 meters Centerline goodness : 0.106426 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99549067e-01 3.09713655e-03 -2.98675541e-02 4.91068196e+00] [-3.12559887e-03 9.99994705e-01 -9.06310678e-04 5.38784430e-01] [ 2.98645890e-02 9.99255986e-04 9.99553454e-01 1.56815698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78255784400005 meters Centerline goodness : 0.127973 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99548761e-01 2.97491028e-03 -2.98902172e-02 4.91093602e+00] [-3.01747707e-03 9.99994496e-01 -1.37909870e-03 5.41176941e-01] [ 2.98859500e-02 1.46866944e-03 9.99552236e-01 1.56790807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8125578440001 meters Centerline goodness : 0.090817 Centerline is valid? [False, False] Translation: X:4.91, Y:0.54, Z:1.57 [[ 9.99547322e-01 2.84014076e-03 -2.99513611e-02 4.91116592e+00] [-2.89481026e-03 9.99994222e-01 -1.78207258e-03 5.43149552e-01] [ 2.99461267e-02 1.86796938e-03 9.99549769e-01 1.56783782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84255784400005 meters Centerline goodness : 0.093956 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99459861e-01 3.08606044e-03 -3.27179334e-02 4.86577977e+00] [-3.13046267e-03 9.99994247e-01 -1.30598417e-03 5.47703928e-01] [ 3.27137148e-02 1.40770103e-03 9.99463772e-01 1.56789593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.872557844 meters Centerline goodness : 0.158948 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99458121e-01 3.00089160e-03 -3.27789420e-02 4.86607017e+00] [-3.05459365e-03 9.99994073e-01 -1.58835568e-03 5.49383034e-01] [ 3.27739813e-02 1.68762133e-03 9.99461364e-01 1.56768164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90255784400006 meters Centerline goodness : 0.095693 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99454261e-01 2.79559650e-03 -3.29145076e-02 4.86658389e+00] [-2.86083756e-03 9.99994035e-01 -1.93520929e-03 5.50785577e-01] [ 3.29089012e-02 2.02831623e-03 9.99456297e-01 1.56740653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93255784400003 meters Centerline goodness : 0.123300 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99451881e-01 2.67289537e-03 -3.29968809e-02 4.86698531e+00] [-2.74083674e-03 9.99994216e-01 -2.01396385e-03 5.50731772e-01] [ 3.29913070e-02 2.10329902e-03 9.99453426e-01 1.56701939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96255784400006 meters Centerline goodness : 0.106737 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.57 [[ 9.99452244e-01 2.61950235e-03 -3.29901472e-02 4.86713018e+00] [-2.68694026e-03 9.99994390e-01 -2.00001570e-03 5.50492848e-01] [ 3.29847231e-02 2.08756274e-03 9.99453676e-01 1.56668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99255784400003 meters Centerline goodness : 0.103954 Centerline is valid? [False, False] Translation: X:4.85, Y:0.56, Z:1.57 [[ 9.99429969e-01 -5.91009877e-03 -3.32386641e-02 4.84662857e+00] [ 5.88841227e-03 9.99982382e-01 -7.50299728e-04 5.55980187e-01] [ 3.32425128e-02 5.54149076e-04 9.99447161e-01 1.56506943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 409.05255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 409.08255784400006 meters Centerline goodness : 0.088426 Centerline is valid? [False, False] Translation: X:4.85, Y:0.56, Z:1.56 [[ 9.99441526e-01 -6.61322165e-03 -3.27551678e-02 4.84589483e+00] [ 6.58670206e-03 9.99977887e-01 -9.17468824e-04 5.55400069e-01] [ 3.27605108e-02 7.01207910e-04 9.99462984e-01 1.56419134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11255784400004 meters Centerline goodness : 0.109599 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99474400e-01 4.94804521e-04 -3.24141780e-02 4.86725448e+00] [-5.83857995e-04 9.99996081e-01 -2.73795426e-03 5.50788308e-01] [ 3.24126963e-02 2.75544047e-03 9.99470772e-01 1.56431597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14255784400007 meters Centerline goodness : 0.128511 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99474530e-01 5.08323426e-04 -3.24099716e-02 4.86751583e+00] [-5.94063870e-04 9.99996349e-01 -2.63592136e-03 5.50245204e-01] [ 3.24085133e-02 2.65378985e-03 9.99471183e-01 1.56381050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17255784400004 meters Centerline goodness : 0.137154 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99470279e-01 4.57091345e-04 -3.25415431e-02 4.86800470e+00] [-5.38956490e-04 9.99996712e-01 -2.50698473e-03 5.49301629e-01] [ 3.25402901e-02 2.52319520e-03 9.99467240e-01 1.56344281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20255784400007 meters Centerline goodness : 0.165764 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99465551e-01 4.18577795e-04 -3.26869522e-02 4.86832048e+00] [-4.98643163e-04 9.99996896e-01 -2.44134623e-03 5.48666144e-01] [ 3.26858288e-02 2.45634058e-03 9.99462657e-01 1.56346194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23255784400004 meters Centerline goodness : 0.157026 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99463690e-01 4.26172176e-04 -3.27437118e-02 4.86840959e+00] [-5.04839085e-04 9.99997006e-01 -2.39427449e-03 5.48305193e-01] [ 3.27425934e-02 2.40952072e-03 9.99460913e-01 1.56350458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26255784400007 meters Centerline goodness : 0.165141 Centerline is valid? [False, False] Translation: X:4.87, Y:0.55, Z:1.56 [[ 9.99462366e-01 3.83670493e-04 -3.27846318e-02 4.86844451e+00] [-4.66355375e-04 9.99996730e-01 -2.51445275e-03 5.48840856e-01] [ 3.27835598e-02 2.52839019e-03 9.99459277e-01 1.56360380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29255784400004 meters Centerline goodness : 0.147538 Centerline is valid? [False, False] Translation: X:4.86, Y:0.55, Z:1.57 [[ 9.99497367e-01 2.17124581e-03 -3.16275124e-02 4.86359663e+00] [-2.20827998e-03 9.99996916e-01 -1.13606501e-03 5.51859641e-01] [ 3.16249482e-02 1.20533639e-03 9.99499079e-01 1.56571810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3225578440001 meters Centerline goodness : 0.160062 Centerline is valid? [False, False] Translation: X:4.86, Y:0.55, Z:1.57 [[ 9.99502303e-01 2.09633461e-03 -3.14762158e-02 4.86323852e+00] [-2.14644856e-03 9.99996482e-01 -1.55841600e-03 5.54352312e-01] [ 3.14728381e-02 1.62520246e-03 9.99503286e-01 1.56581463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35255784400005 meters Centerline goodness : 0.134192 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99503319e-01 1.95716851e-03 -3.14529034e-02 4.86309244e+00] [-2.02188251e-03 9.99995904e-01 -2.02581547e-03 5.56776158e-01] [ 3.14488097e-02 2.08840336e-03 9.99503182e-01 1.56604570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3825578440001 meters Centerline goodness : 0.166594 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99504819e-01 1.74233418e-03 -3.14178413e-02 4.86299463e+00] [-1.82475676e-03 9.99994968e-01 -2.59495102e-03 5.59417692e-01] [ 3.14131619e-02 2.65099597e-03 9.99502969e-01 1.56618651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41255784400005 meters Centerline goodness : 0.153705 Centerline is valid? [False, False] Translation: X:4.86, Y:0.56, Z:1.57 [[ 9.99507698e-01 1.49342296e-03 -3.13389722e-02 4.86264236e+00] [-1.59492618e-03 9.99993563e-01 -3.21413363e-03 5.62202435e-01] [ 3.13339704e-02 3.26253466e-03 9.99503646e-01 1.56653273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4425578440001 meters Centerline goodness : 0.176074 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99511600e-01 1.22246253e-03 -3.12260796e-02 4.86238812e+00] [-1.34433658e-03 9.99991560e-01 -3.88226095e-03 5.65378938e-01] [ 3.12210701e-02 3.92234321e-03 9.99504807e-01 1.56655463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47255784400005 meters Centerline goodness : 0.101603 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99513998e-01 8.05822634e-04 -3.11627887e-02 4.86269359e+00] [-9.60024314e-04 9.99987369e-01 -4.93361762e-03 5.71121139e-01] [ 3.11584195e-02 4.96113690e-03 9.99502146e-01 1.56596997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5025578440001 meters Centerline goodness : 0.160507 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.57 [[ 9.99511107e-01 6.08954641e-04 -3.12598234e-02 4.86329941e+00] [-7.76974272e-04 9.99985317e-01 -5.36307301e-03 5.73241827e-01] [ 3.12560986e-02 5.38473911e-03 9.99496904e-01 1.56539387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53255784400005 meters Centerline goodness : 0.146701 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99509081e-01 1.76271542e-04 -3.13299451e-02 4.86395736e+00] [-3.68854694e-04 9.99981074e-01 -6.14126228e-03 5.76759390e-01] [ 3.13282696e-02 6.14980362e-03 9.99490230e-01 1.56464225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5625578440001 meters Centerline goodness : 0.162763 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99513347e-01 -5.20826142e-06 -3.11940553e-02 4.86366005e+00] [-1.97853913e-04 9.99978813e-01 -6.50655314e-03 5.78514386e-01] [ 3.11934282e-02 6.50955857e-03 9.99492169e-01 1.56456776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59255784400005 meters Centerline goodness : 0.161778 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99521794e-01 -1.55108462e-04 -3.09218361e-02 4.86293308e+00] [-5.49371809e-05 9.99976934e-01 -6.79182806e-03 5.79896401e-01] [ 3.09221763e-02 6.79027892e-03 9.99498730e-01 1.56459989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters Centerline goodness : 0.087944 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99529599e-01 -3.14099001e-04 -3.06672900e-02 4.86233541e+00] [ 9.82204733e-05 9.99975210e-01 -7.04062681e-03 5.80986202e-01] [ 3.06687412e-02 7.03430274e-03 9.99504851e-01 1.56452373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65255784400006 meters Centerline goodness : 0.166280 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99532109e-01 -4.31650623e-04 -3.05839421e-02 4.86235583e+00] [ 2.12304004e-04 9.99974238e-01 -7.17483816e-03 5.81575145e-01] [ 3.05862512e-02 7.16498802e-03 9.99506450e-01 1.56408808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters Centerline goodness : 0.187251 Centerline is valid? [False, False] Translation: X:4.86, Y:0.58, Z:1.56 [[ 9.99520698e-01 -6.32627814e-04 -3.09511585e-02 4.86394189e+00] [ 4.01956946e-04 9.99972105e-01 -7.45839222e-03 5.83371515e-01] [ 3.09550135e-02 7.44237636e-03 9.99493071e-01 1.56303776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71255784400006 meters Centerline goodness : 0.160055 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99406804e-01 -3.37688376e-04 -3.44372751e-02 4.82073944e+00] [ 9.14371638e-05 9.99974420e-01 -7.15204130e-03 5.88814919e-01] [ 3.44388094e-02 7.14464989e-03 9.99381270e-01 1.56215403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters Centerline goodness : 0.155553 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99395662e-01 -4.92840109e-04 -3.47572642e-02 4.82190390e+00] [ 2.34398327e-04 9.99972301e-01 -7.43930204e-03 5.90139199e-01] [ 3.47599678e-02 7.42665914e-03 9.99368095e-01 1.56157281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77255784400006 meters Centerline goodness : 0.157756 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99388283e-01 -6.02482747e-04 -3.49670843e-02 4.82271438e+00] [ 3.33251729e-04 9.99970261e-01 -7.70487339e-03 5.91477360e-01] [ 3.49706864e-02 7.68850735e-03 9.99358763e-01 1.56115022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters Centerline goodness : 0.147406 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99379733e-01 -6.76820934e-04 -3.52092405e-02 4.82356361e+00] [ 3.96541232e-04 9.99968186e-01 -7.96677595e-03 5.93034267e-01] [ 3.52135125e-02 7.94787250e-03 9.99348208e-01 1.56082574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83255784400006 meters Centerline goodness : 0.165578 Centerline is valid? [False, False] Translation: X:4.82, Y:0.59, Z:1.56 [[ 9.99393269e-01 2.97458575e-03 -3.47022340e-02 4.82237294e+00] [-3.13431224e-03 9.99984740e-01 -4.54928040e-03 5.94791995e-01] [ 3.46881722e-02 4.65528785e-03 9.99387342e-01 1.56072687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86255784400004 meters Centerline goodness : 0.156786 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99396240e-01 2.86238555e-03 -3.46260396e-02 4.82197567e+00] [-3.03226758e-03 9.99983619e-01 -4.85467465e-03 5.96252498e-01] [ 3.46115764e-02 4.95673900e-03 9.99388548e-01 1.56108845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89255784400007 meters Centerline goodness : 0.155575 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99396652e-01 2.72791565e-03 -3.46249908e-02 4.82191531e+00] [-2.90775078e-03 9.99982539e-01 -5.14450304e-03 5.97438665e-01] [ 3.46103525e-02 5.24207996e-03 9.99387134e-01 1.56121090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92255784400004 meters Centerline goodness : 0.154085 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99393544e-01 2.62840277e-03 -3.47222591e-02 4.82208095e+00] [-2.81801061e-03 9.99981380e-01 -5.41289066e-03 5.98724370e-01] [ 3.47073853e-02 5.50745567e-03 9.99382342e-01 1.56137261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95255784400007 meters Centerline goodness : 0.166431 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99391764e-01 2.59058361e-03 -3.47763104e-02 4.82223454e+00] [-2.78970498e-03 9.99979986e-01 -5.67847529e-03 6.00568979e-01] [ 3.47609038e-02 5.77203708e-03 9.99378989e-01 1.56143298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98255784400004 meters Centerline goodness : 0.157168 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99393455e-01 2.54570153e-03 -3.47309950e-02 4.82210200e+00] [-2.74874347e-03 9.99979404e-01 -5.79963602e-03 6.01230745e-01] [ 3.47155155e-02 5.89158488e-03 9.99379869e-01 1.56148824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01255784400007 meters Centerline goodness : 0.156611 Centerline is valid? [False, False] Translation: X:4.82, Y:0.60, Z:1.56 [[ 9.99398977e-01 2.49736073e-03 -3.45752427e-02 4.82169860e+00] [-2.70326710e-03 9.99978883e-01 -5.90984692e-03 6.01657761e-01] [ 3.45597535e-02 5.99976109e-03 9.99384624e-01 1.56153399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04255784400004 meters Centerline goodness : 0.161576 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.56 [[ 9.99400029e-01 -5.47016441e-03 -3.42002949e-02 4.84059328e+00] [ 5.30925633e-03 9.99974415e-01 -4.79392134e-03 6.04567738e-01] [ 3.42256434e-02 4.60946699e-03 9.99403501e-01 1.56402180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0725578440001 meters Centerline goodness : 0.168957 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.56 [[ 9.99400596e-01 -5.52030017e-03 -3.41756599e-02 4.84036894e+00] [ 5.35418602e-03 9.99973414e-01 -4.95021060e-03 6.05435644e-01] [ 3.42020779e-02 4.76426058e-03 9.99403582e-01 1.56426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10255784400005 meters Centerline goodness : 0.158170 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99421525e-01 -3.40570417e-03 -3.38380827e-02 4.83742575e+00] [ 3.30116229e-03 9.99989606e-01 -3.14486258e-03 6.08480166e-01] [ 3.38484415e-02 3.03133835e-03 9.99422380e-01 1.56639975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1325578440001 meters Centerline goodness : 0.163369 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99420416e-01 -3.48306187e-03 -3.38629720e-02 4.83737451e+00] [ 3.37214134e-03 9.99988763e-01 -3.33213009e-03 6.09295911e-01] [ 3.38741975e-02 3.21600811e-03 9.99420930e-01 1.56661118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16255784400005 meters Centerline goodness : 0.165159 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99425242e-01 -3.53516600e-03 -3.37148002e-02 4.83680854e+00] [ 3.42087461e-03 9.99988208e-01 -3.44702840e-03 6.09705979e-01] [ 3.37265884e-02 3.32971309e-03 9.99425550e-01 1.56689985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1925578440001 meters Centerline goodness : 0.157123 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99434751e-01 -3.55139728e-03 -3.34300223e-02 4.83599957e+00] [ 3.43710379e-03 9.99988053e-01 -3.47573459e-03 6.09797718e-01] [ 3.34419667e-02 3.35886747e-03 9.99435017e-01 1.56700907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22255784400005 meters Centerline goodness : 0.166818 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99445178e-01 -3.57161773e-03 -3.31146354e-02 4.83505633e+00] [ 3.45891876e-03 9.99988032e-01 -3.45995976e-03 6.09592651e-01] [ 3.31265968e-02 3.34349927e-03 9.99445571e-01 1.56717939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2525578440001 meters Centerline goodness : 0.161867 Centerline is valid? [False, False] Translation: X:4.83, Y:0.61, Z:1.57 [[ 9.99457794e-01 -3.56015031e-03 -3.27328945e-02 4.83416932e+00] [ 3.45312026e-03 9.99988508e-01 -3.32575045e-03 6.08785142e-01] [ 3.27443584e-02 3.21091659e-03 9.99458602e-01 1.56697790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28255784400005 meters Centerline goodness : 0.158900 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99450441e-01 -3.52532505e-03 -3.29603888e-02 4.83500979e+00] [ 3.42272456e-03 9.99989122e-01 -3.16874694e-03 6.07895296e-01] [ 3.29712011e-02 3.05419120e-03 9.99451636e-01 1.56649071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3125578440001 meters Centerline goodness : 0.148925 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99441058e-01 -3.44091543e-03 -3.32525514e-02 4.83601772e+00] [ 3.34624596e-03 9.99990190e-01 -2.90221529e-03 6.06537287e-01] [ 3.32622115e-02 2.78932190e-03 9.99442767e-01 1.56596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34255784400005 meters Centerline goodness : 0.148925 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99441058e-01 -3.44091543e-03 -3.32525514e-02 4.83601772e+00] [ 3.34624596e-03 9.99990190e-01 -2.90221529e-03 6.06537287e-01] [ 3.32622115e-02 2.78932190e-03 9.99442767e-01 1.56596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.372557844 meters Centerline goodness : 0.161114 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99431555e-01 -3.35939871e-03 -3.35452267e-02 4.83699292e+00] [ 3.27270795e-03 9.99991163e-01 -2.63886795e-03 6.05241472e-01] [ 3.35537953e-02 2.52758417e-03 9.99433717e-01 1.56550118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40255784400006 meters Centerline goodness : 0.160242 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99427063e-01 -3.24630685e-03 -3.36898797e-02 4.83747567e+00] [ 3.16622981e-03 9.99992035e-01 -2.42996531e-03 6.04429975e-01] [ 3.36974998e-02 2.32190319e-03 9.99429381e-01 1.56528642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43255784400003 meters Centerline goodness : 0.145064 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99429315e-01 -3.12763900e-03 -3.36342482e-02 4.83722799e+00] [ 3.05283310e-03 9.99992752e-01 -2.27522347e-03 6.04006913e-01] [ 3.36411205e-02 2.17124528e-03 9.99431619e-01 1.56546666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46255784400006 meters Centerline goodness : 0.160497 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99428045e-01 -3.09368660e-03 -3.36751077e-02 4.83732454e+00] [ 3.01828721e-03 9.99992824e-01 -2.28962940e-03 6.04321958e-01] [ 3.36819494e-02 2.18667869e-03 9.99430210e-01 1.56551137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49255784400003 meters Centerline goodness : 0.152059 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99421248e-01 -3.04009773e-03 -3.38810569e-02 4.83786244e+00] [ 2.96336552e-03 9.99992930e-01 -2.31473823e-03 6.04714654e-01] [ 3.38878544e-02 2.21299661e-03 9.99423192e-01 1.56552331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52255784400006 meters Centerline goodness : 0.154761 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99404534e-01 -2.81016418e-03 -3.43901104e-02 4.83933434e+00] [ 2.72944833e-03 9.99993410e-01 -2.39378774e-03 6.05915526e-01] [ 3.43966107e-02 2.29849629e-03 9.99405618e-01 1.56531763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55255784400003 meters Centerline goodness : 0.195873 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99405834e-01 -2.81811717e-03 -3.43516735e-02 4.83925177e+00] [ 2.73070377e-03 9.99992914e-01 -2.59131257e-03 6.06959106e-01] [ 3.43587327e-02 2.49596866e-03 9.99406448e-01 1.56538629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58255784400006 meters Centerline goodness : 0.140833 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99412810e-01 -2.79853178e-03 -3.41497245e-02 4.83854150e+00] [ 2.70321490e-03 9.99992322e-01 -2.83699782e-03 6.08457427e-01] [ 3.41574017e-02 2.74301792e-03 9.99412701e-01 1.56581213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61255784400004 meters Centerline goodness : 0.154873 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99416699e-01 -2.78163535e-03 -3.40371122e-02 4.83803577e+00] [ 2.67657749e-03 9.99991514e-01 -3.13174374e-03 6.10438083e-01] [ 3.40455348e-02 3.03881402e-03 9.99415663e-01 1.56625755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64255784400007 meters Centerline goodness : 0.123542 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99410463e-01 -2.76533098e-03 -3.42210489e-02 4.83830099e+00] [ 2.64964182e-03 9.99990623e-01 -3.42553167e-03 6.12559008e-01] [ 3.42302007e-02 3.33283867e-03 9.99408418e-01 1.56664230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67255784400004 meters Centerline goodness : 0.159219 Centerline is valid? [False, False] Translation: X:4.84, Y:0.61, Z:1.57 [[ 9.99396635e-01 -2.78893019e-03 -3.46206377e-02 4.83945867e+00] [ 2.66096271e-03 9.99989459e-01 -3.74180319e-03 6.14647552e-01] [ 3.46307084e-02 3.64742128e-03 9.99393521e-01 1.56646937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70255784400007 meters Centerline goodness : 0.162975 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99370342e-01 -2.79710373e-03 -3.53708274e-02 4.84185191e+00] [ 2.65063071e-03 9.99987720e-01 -4.18728283e-03 6.17578727e-01] [ 3.53821054e-02 4.09089127e-03 9.99365484e-01 1.56570895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73255784400004 meters Centerline goodness : 0.161197 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99367452e-01 -2.89844843e-03 -3.54442443e-02 4.84211260e+00] [ 2.74050294e-03 9.99986102e-01 -4.50393898e-03 6.19209253e-01] [ 3.54568061e-02 4.40395497e-03 9.99361506e-01 1.56561883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76255784400007 meters Centerline goodness : 0.169149 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99368902e-01 -3.01183967e-03 -3.53938817e-02 4.84200398e+00] [ 2.84108021e-03 9.99984087e-01 -4.87385154e-03 6.21253970e-01] [ 3.54079977e-02 4.77021881e-03 9.99361556e-01 1.56563832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79255784400004 meters Centerline goodness : 0.171574 Centerline is valid? [False, False] Translation: X:4.84, Y:0.62, Z:1.57 [[ 9.99371753e-01 -3.12121134e-03 -3.53037737e-02 4.84168167e+00] [ 2.93941967e-03 9.99982159e-01 -5.20008594e-03 6.23053020e-01] [ 3.53193744e-02 5.09304639e-03 9.99363099e-01 1.56582523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8225578440001 meters Centerline goodness : 0.336079 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99370218e-01 -3.41446739e-03 -3.53200830e-02 4.84189870e+00] [ 3.21057530e-03 9.99977864e-01 -5.82780262e-03 6.25917279e-01] [ 3.53392000e-02 5.71073459e-03 9.99359059e-01 1.56559704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85255784400005 meters Centerline goodness : 0.170847 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99367397e-01 -3.53284089e-03 -3.53881905e-02 4.84239533e+00] [ 3.32039362e-03 9.99976124e-01 -6.06031009e-03 6.26964599e-01] [ 3.54087557e-02 5.93897360e-03 9.99355266e-01 1.56506908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8825578440001 meters Centerline goodness : 0.334790 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.56 [[ 9.99365375e-01 -3.61261005e-03 -3.54372270e-02 4.84267327e+00] [ 3.39372787e-03 9.99974804e-01 -6.23482497e-03 6.27921063e-01] [ 3.54588582e-02 6.11060389e-03 9.99352455e-01 1.56480251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91255784400005 meters Centerline goodness : 0.144691 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.56 [[ 9.99370165e-01 -3.70938282e-03 -3.52918341e-02 4.84222284e+00] [ 3.48278628e-03 9.99972940e-01 -6.47996191e-03 6.29554491e-01] [ 3.53149158e-02 6.35296669e-03 9.99356041e-01 1.56493965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9425578440001 meters Centerline goodness : 0.141872 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99374193e-01 -3.80554005e-03 -3.51673232e-02 4.84167627e+00] [ 3.57455498e-03 9.99971641e-01 -6.62871409e-03 6.30023504e-01] [ 3.51915517e-02 6.49885826e-03 9.99359455e-01 1.56529670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97255784400005 meters Centerline goodness : 0.166939 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99377216e-01 -3.92675965e-03 -3.50679571e-02 4.84124147e+00] [ 3.68969961e-03 9.99969922e-01 -6.82217729e-03 6.30578317e-01] [ 3.50936914e-02 6.68853831e-03 9.99361644e-01 1.56559470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0025578440001 meters Centerline goodness : 0.101326 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99378012e-01 -3.99547714e-03 -3.50374857e-02 4.84101361e+00] [ 3.75345838e-03 9.99968661e-01 -6.97048167e-03 6.31160784e-01] [ 3.50642381e-02 6.83463437e-03 9.99361690e-01 1.56581960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03255784400005 meters Centerline goodness : 0.166049 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99421200e-01 -1.20515443e-03 -3.39972561e-02 4.83740337e+00] [ 1.06089975e-03 9.99990360e-01 -4.26084701e-03 6.32883325e-01] [ 3.40020633e-02 4.22231315e-03 9.99412844e-01 1.56688289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0625578440001 meters Centerline goodness : 0.174530 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99426346e-01 -1.23981913e-03 -3.38443711e-02 4.83695876e+00] [ 1.09098318e-03 9.99989655e-01 -4.41577028e-03 6.33752749e-01] [ 3.38494958e-02 4.37631352e-03 9.99417360e-01 1.56704049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09255784400005 meters Centerline goodness : 0.319148 Centerline is valid? [False, False] Translation: X:4.84, Y:0.63, Z:1.57 [[ 9.99428219e-01 -1.33263430e-03 -3.37854890e-02 4.83668272e+00] [ 1.17729979e-03 9.99988648e-01 -4.61714631e-03 6.34464511e-01] [ 3.37912584e-02 4.57473066e-03 9.99418442e-01 1.56726276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters Centerline goodness : 0.120325 Centerline is valid? [False, False] Translation: X:4.84, Y:0.64, Z:1.57 [[ 9.99430447e-01 -1.39457951e-03 -3.37170104e-02 4.83638697e+00] [ 1.23410642e-03 9.99987815e-01 -4.77975296e-03 6.35164366e-01] [ 3.37232653e-02 4.73542026e-03 9.99419990e-01 1.56747399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15255784400006 meters Centerline goodness : 0.151768 Centerline is valid? [False, False] Translation: X:4.84, Y:0.64, Z:1.57 [[ 9.99429534e-01 -1.42262581e-03 -3.37428972e-02 4.83621745e+00] [ 1.25745630e-03 9.99987127e-01 -4.91565769e-03 6.35968460e-01] [ 3.37494559e-02 4.87042325e-03 9.99418458e-01 1.56787349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters Centerline goodness : 0.281672 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99430708e-01 -6.59487417e-03 -3.30872645e-02 4.85815100e+00] [ 6.56982180e-03 9.99978044e-01 -8.65823207e-04 6.36114787e-01] [ 3.30922480e-02 6.47952869e-04 9.99452092e-01 1.56920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21255784400006 meters Centerline goodness : 0.161892 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99425505e-01 -6.53487724e-03 -3.32558959e-02 4.85872654e+00] [ 6.51511680e-03 9.99978530e-01 -7.02523020e-04 6.35230226e-01] [ 3.32597728e-02 4.85453378e-04 9.99446623e-01 1.56896513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters Centerline goodness : 0.167918 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99426093e-01 -6.45143503e-03 -3.32545411e-02 4.85877192e+00] [ 6.44066759e-03 9.99979166e-01 -4.30899726e-04 6.33607982e-01] [ 3.32566282e-02 2.16470984e-04 9.99446822e-01 1.56884072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27255784400006 meters Centerline goodness : 0.155588 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99435007e-01 -6.36883665e-03 -3.30015896e-02 4.85796976e+00] [ 6.36920749e-03 9.99979712e-01 -9.38898047e-05 6.31626343e-01] [ 3.30015180e-02 -1.16357214e-04 9.99455295e-01 1.56900866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters Centerline goodness : 0.153060 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 9.99445943e-01 -6.24915182e-03 -3.26918109e-02 4.85692342e+00] [ 6.26398294e-03 9.99980319e-01 3.51265371e-04 6.29245102e-01] [ 3.26889724e-02 -5.55851696e-04 9.99465418e-01 1.56933563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33255784400006 meters Centerline goodness : 0.139913 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99441932e-01 -6.05919275e-03 -3.28498149e-02 4.85734118e+00] [ 6.10661768e-03 9.99980452e-01 1.34355329e-03 6.23986077e-01] [ 3.28410319e-02 -1.54340475e-03 9.99459396e-01 1.56908939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36255784400004 meters Centerline goodness : 0.140853 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99431385e-01 -5.86172791e-03 -3.32046242e-02 4.85856701e+00] [ 5.92930831e-03 9.99980545e-01 1.93716849e-03 6.21014949e-01] [ 3.31926230e-02 -2.13294744e-03 9.99446697e-01 1.56848097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39255784400007 meters Centerline goodness : 0.148976 Centerline is valid? [False, False] Translation: X:4.86, Y:0.62, Z:1.57 [[ 9.99435528e-01 -5.55480099e-03 -3.31326184e-02 4.85838703e+00] [ 5.65231927e-03 9.99979963e-01 2.85033305e-03 6.15981102e-01] [ 3.31161215e-02 -3.03600025e-03 9.99446900e-01 1.56835933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42255784400004 meters Centerline goodness : 0.143788 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99444363e-01 -5.35736550e-03 -3.28977680e-02 4.85723193e+00] [ 5.46786903e-03 9.99979705e-01 3.26995163e-03 6.14008671e-01] [ 3.28795820e-02 -3.44801541e-03 9.99453373e-01 1.56922805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45255784400007 meters Centerline goodness : 0.153460 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99451112e-01 -5.21897495e-03 -3.27144780e-02 4.85619616e+00] [ 5.33856973e-03 9.99979379e-01 3.56943233e-03 6.12548039e-01] [ 3.26951746e-02 -3.74212164e-03 9.99458364e-01 1.57012405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48255784400004 meters Centerline goodness : 0.283974 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99451349e-01 -5.07031301e-03 -3.27306048e-02 4.85618930e+00] [ 5.20131075e-03 9.99978796e-01 3.91839826e-03 6.10796671e-01] [ 3.27100432e-02 -4.08649048e-03 9.99456529e-01 1.57016417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51255784400007 meters Centerline goodness : 0.176219 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99390116e-01 2.78582903e-03 -3.48085601e-02 4.83819656e+00] [-2.69796154e-03 9.99993055e-01 2.57102243e-03 6.03759687e-01] [ 3.48154808e-02 -2.47554225e-03 9.99390691e-01 1.56713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54255784400004 meters Centerline goodness : 0.172099 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99383122e-01 2.94566033e-03 -3.49957053e-02 4.83894289e+00] [-2.84388916e-03 9.99991583e-01 2.95752590e-03 6.01967442e-01] [ 3.50041226e-02 -2.85617755e-03 9.99383087e-01 1.56659907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5725578440001 meters Centerline goodness : 0.106929 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99380082e-01 3.07755481e-03 -3.50710876e-02 4.83924383e+00] [-2.96471342e-03 9.99990262e-01 3.26905463e-03 6.00527997e-01] [ 3.50808067e-02 -3.16305236e-03 9.99379474e-01 1.56634984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60255784400005 meters Centerline goodness : 0.093688 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99379643e-01 3.17075108e-03 -3.50752787e-02 4.83914416e+00] [-3.04701524e-03 9.99988947e-01 3.58061403e-03 5.98898524e-01] [ 3.50862442e-02 -3.47151787e-03 9.99378259e-01 1.56644700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6325578440001 meters Centerline goodness : 0.149722 Centerline is valid? [False, False] Translation: X:4.84, Y:0.60, Z:1.57 [[ 9.99382672e-01 3.24040388e-03 -3.49824851e-02 4.83862274e+00] [-3.10613377e-03 9.99987603e-01 3.89187438e-03 5.97074961e-01] [ 3.49946627e-02 -3.78081154e-03 9.99380348e-01 1.56682094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66255784400005 meters Centerline goodness : 0.146278 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99418928e-01 1.19387247e-03 -3.40643691e-02 4.83378063e+00] [-1.11619525e-03 9.99996734e-01 2.29923288e-03 5.93174081e-01] [ 3.40670028e-02 -2.25987437e-03 9.99416996e-01 1.56949669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6925578440001 meters Centerline goodness : 0.173840 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99422650e-01 1.36388435e-03 -3.39485726e-02 4.83346608e+00] [-1.27012642e-03 9.99995320e-01 2.78317599e-03 5.90728774e-01] [ 3.39522097e-02 -2.73845014e-03 9.99419706e-01 1.56945694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72255784400005 meters Centerline goodness : 0.337225 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99426879e-01 1.45520667e-03 -3.38200560e-02 4.83314502e+00] [-1.35006701e-03 9.99994186e-01 3.13142442e-03 5.88762227e-01] [ 3.38244162e-02 -3.08397040e-03 9.99423033e-01 1.56936192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7525578440001 meters Centerline goodness : 0.274067 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99432491e-01 1.54555042e-03 -3.36497859e-02 4.83262152e+00] [-1.43065227e-03 9.99993066e-01 3.43833823e-03 5.86961178e-01] [ 3.36548667e-02 -3.38824580e-03 9.99427771e-01 1.56943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78255784400005 meters Centerline goodness : 0.143498 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99440682e-01 1.59017177e-03 -3.34035050e-02 4.83176303e+00] [-1.47121235e-03 9.99992490e-01 3.58556241e-03 5.86123961e-01] [ 3.34089558e-02 -3.53441329e-03 9.99435515e-01 1.56978732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8125578440001 meters Centerline goodness : 0.303571 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99453786e-01 1.81378492e-03 -3.29975743e-02 4.83026989e+00] [-1.69180430e-03 9.99991634e-01 3.72419911e-03 5.86125328e-01] [ 3.30040531e-02 -3.66633947e-03 9.99448493e-01 1.57061275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84255784400005 meters Centerline goodness : 0.174733 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99444857e-01 1.82882188e-03 -3.32660927e-02 4.83099795e+00] [-1.71009101e-03 9.99992068e-01 3.59722739e-03 5.87051196e-01] [ 3.32724075e-02 -3.53834237e-03 9.99440057e-01 1.57061600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.872557844 meters Centerline goodness : 0.155341 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99430646e-01 1.84604018e-03 -3.36894139e-02 4.83235139e+00] [-1.73081198e-03 9.99992554e-01 3.44915171e-03 5.88145492e-01] [ 3.36955303e-02 -3.38887788e-03 9.99426399e-01 1.57021104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90255784400006 meters Centerline goodness : 0.174058 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99424047e-01 1.85572441e-03 -3.38840690e-02 4.83319544e+00] [-1.74402807e-03 9.99992949e-01 3.32568475e-03 5.89064500e-01] [ 3.38900016e-02 -3.26467454e-03 9.99420237e-01 1.56970496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93255784400003 meters Centerline goodness : 0.330930 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99418447e-01 1.87896567e-03 -3.40475796e-02 4.83390915e+00] [-1.76920579e-03 9.99993142e-01 3.25356113e-03 5.89599022e-01] [ 3.40534594e-02 -3.19143184e-03 9.99414917e-01 1.56928256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96255784400006 meters Centerline goodness : 0.125509 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99419200e-01 1.89181460e-03 -3.40247548e-02 4.83378701e+00] [-1.77910978e-03 9.99992832e-01 3.34240659e-03 5.88920893e-01] [ 3.40308341e-02 -3.27993154e-03 9.99415401e-01 1.56935953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99255784400003 meters Centerline goodness : 0.129666 Centerline is valid? [False, False] Translation: X:4.83, Y:0.59, Z:1.57 [[ 9.99415351e-01 1.95721338e-03 -3.41339227e-02 4.83417775e+00] [-1.83772846e-03 9.99992076e-01 3.53149663e-03 5.87911108e-01] [ 3.41405641e-02 -3.46670307e-03 9.99411028e-01 1.56909135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02255784400006 meters Centerline goodness : 0.131185 Centerline is valid? [False, False] Translation: X:4.86, Y:0.59, Z:1.57 [[ 9.99387509e-01 -6.06868383e-03 -3.44641592e-02 4.85558005e+00] [ 6.22970069e-03 9.99970168e-01 4.56654871e-03 5.89715301e-01] [ 3.44354182e-02 -4.77845314e-03 9.99395501e-01 1.57045935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05255784400003 meters Centerline goodness : 0.181576 Centerline is valid? [False, False] Translation: X:4.86, Y:0.59, Z:1.57 [[ 9.99383521e-01 -5.99721859e-03 -3.45920579e-02 4.85621740e+00] [ 6.16435227e-03 9.99969828e-01 4.72693585e-03 5.89032244e-01] [ 3.45626657e-02 -4.93725943e-03 9.99390337e-01 1.56994603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08255784400006 meters Centerline goodness : 0.155764 Centerline is valid? [False, False] Translation: X:4.88, Y:0.58, Z:1.57 [[ 9.99386436e-01 1.64358774e-03 -3.49864356e-02 4.87541666e+00] [-1.52906468e-03 9.99993386e-01 3.29986072e-03 5.83505339e-01] [ 3.49916278e-02 -3.24433952e-03 9.99382339e-01 1.57168519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11255784400004 meters Centerline goodness : 0.178325 Centerline is valid? [False, False] Translation: X:4.88, Y:0.58, Z:1.57 [[ 9.99380638e-01 1.55847924e-03 -3.51555334e-02 4.87588341e+00] [-1.45288651e-03 9.99994357e-01 3.02893428e-03 5.84926883e-01] [ 3.51600555e-02 -2.97598127e-03 9.99377263e-01 1.57168372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14255784400007 meters Centerline goodness : 0.182007 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99372061e-01 1.54027329e-03 -3.53993012e-02 4.87660986e+00] [-1.44376425e-03 9.99995172e-01 2.75169844e-03 5.86715561e-01] [ 3.54033686e-02 -2.69886230e-03 9.99369460e-01 1.57160311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17255784400004 meters Centerline goodness : 0.170502 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99351683e-01 1.98133802e-03 -3.59484041e-02 4.87843114e+00] [-1.89237398e-03 9.99995063e-01 2.50862647e-03 5.90291229e-01] [ 3.59531970e-02 -2.43897226e-03 9.99350499e-01 1.57112847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20255784400007 meters Centerline goodness : 0.168372 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99349900e-01 1.88056643e-03 -3.60033383e-02 4.87871938e+00] [-1.80410196e-03 9.99996048e-01 2.15618585e-03 5.92068676e-01] [ 3.60072509e-02 -2.08983042e-03 9.99349344e-01 1.57095897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23255784400004 meters Centerline goodness : 0.184047 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346789e-01 1.76169597e-03 -3.60955859e-02 4.87901489e+00] [-1.69605370e-03 9.99996852e-01 1.84910687e-03 5.93396603e-01] [ 3.60987298e-02 -1.78667897e-03 9.99346631e-01 1.57089952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26255784400007 meters Centerline goodness : 0.184047 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346789e-01 1.76169597e-03 -3.60955859e-02 4.87901489e+00] [-1.69605370e-03 9.99996852e-01 1.84910687e-03 5.93396603e-01] [ 3.60987298e-02 -1.78667897e-03 9.99346631e-01 1.57089952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29255784400004 meters Centerline goodness : 0.114886 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.57 [[ 9.99346777e-01 1.63926025e-03 -3.61016995e-02 4.87902368e+00] [-1.58432097e-03 9.99997543e-01 1.55034723e-03 5.94670352e-01] [ 3.61041523e-02 -1.49213783e-03 9.99346919e-01 1.57093318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3225578440001 meters Centerline goodness : 0.121571 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99354300e-01 1.48895022e-03 -3.58993866e-02 4.87828313e+00] [-1.45026279e-03 9.99998339e-01 1.10367882e-03 5.97111197e-01] [ 3.59009703e-02 -1.05090263e-03 9.99354800e-01 1.57134536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35255784400005 meters Centerline goodness : 0.183077 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99361404e-01 1.43707620e-03 -3.57032091e-02 4.87753270e+00] [-1.40339360e-03 9.99998546e-01 9.68448138e-04 5.97859409e-01] [ 3.57045489e-02 -9.17724035e-04 9.99361968e-01 1.57172913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3825578440001 meters Centerline goodness : 0.118775 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99368158e-01 1.35466318e-03 -3.55168835e-02 4.87681704e+00] [-1.32435323e-03 9.99998739e-01 8.76907438e-04 5.98062006e-01] [ 3.55180266e-02 -8.29316472e-04 9.99368692e-01 1.57208854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41255784400005 meters Centerline goodness : 0.129606 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99372048e-01 1.31906832e-03 -3.54086190e-02 4.87632063e+00] [-1.28752721e-03 9.99998754e-01 9.13562033e-04 5.97657477e-01] [ 3.54097800e-02 -8.67398800e-04 9.99372501e-01 1.57238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4425578440001 meters Centerline goodness : 0.136091 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99372724e-01 1.34599938e-03 -3.53885244e-02 4.87611571e+00] [-1.31038456e-03 9.99998611e-01 1.02956881e-03 5.97078927e-01] [ 3.53898611e-02 -9.82550408e-04 9.99373100e-01 1.57258004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47255784400005 meters Centerline goodness : 0.119795 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99380938e-01 1.36547783e-03 -3.51550265e-02 4.87528243e+00] [-1.32910532e-03 9.99998557e-01 1.05798070e-03 5.97235806e-01] [ 3.51564204e-02 -1.01060101e-03 9.99381311e-01 1.57294613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5025578440001 meters Centerline goodness : 0.151196 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99392570e-01 1.30194084e-03 -3.48252333e-02 4.87415032e+00] [-1.27078791e-03 9.99998772e-01 9.16670149e-04 5.97925185e-01] [ 3.48263840e-02 -8.71857850e-04 9.99392997e-01 1.57346135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53255784400005 meters Centerline goodness : 0.153338 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99408645e-01 1.21518224e-03 -3.43639914e-02 4.87246824e+00] [-1.19137257e-03 9.99999036e-01 7.13334594e-04 5.98811262e-01] [ 3.43648251e-02 -6.71972443e-04 9.99409129e-01 1.57426309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5625578440001 meters Centerline goodness : 0.159690 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99416936e-01 1.12784590e-03 -3.41250050e-02 4.87154689e+00] [-1.11179550e-03 9.99999262e-01 4.89313176e-04 5.99867367e-01] [ 3.41255317e-02 -4.51087848e-04 9.99417453e-01 1.57480674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59255784400005 meters Centerline goodness : 0.120889 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99414165e-01 1.05863955e-03 -3.42082694e-02 4.87176354e+00] [-1.05035186e-03 9.99999415e-01 2.60241100e-04 6.01263375e-01] [ 3.42085248e-02 -2.24157922e-04 9.99414692e-01 1.57480883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters Centerline goodness : 0.110544 Centerline is valid? [False, False] Translation: X:4.87, Y:0.60, Z:1.57 [[ 9.99396603e-01 1.27606784e-03 -3.47102555e-02 4.87331087e+00] [-1.27632765e-03 9.99999185e-01 1.46723760e-05 6.04359340e-01] [ 3.47102460e-02 2.96381363e-05 9.99397417e-01 1.57452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65255784400006 meters Centerline goodness : 0.108193 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99392324e-01 1.16993574e-03 -3.48369590e-02 4.87371380e+00] [-1.18102964e-03 9.99999258e-01 -2.97875670e-04 6.05843016e-01] [ 3.48365846e-02 3.38838139e-04 9.99392965e-01 1.57445298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters Centerline goodness : 0.164104 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99387487e-01 9.90504315e-04 -3.49809923e-02 4.87428396e+00] [-1.01478562e-03 9.99999256e-01 -6.76380854e-04 6.07335082e-01] [ 3.49802964e-02 7.11464770e-04 9.99387749e-01 1.57418150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71255784400006 meters Centerline goodness : 0.117221 Centerline is valid? [False, False] Translation: X:4.87, Y:0.61, Z:1.57 [[ 9.99382710e-01 7.85118762e-04 -3.51223835e-02 4.87485123e+00] [-8.30985457e-04 9.99998821e-01 -1.29133210e-03 6.10394199e-01] [ 3.51213283e-02 1.31972117e-03 9.99382184e-01 1.57388888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters Centerline goodness : 0.167404 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99378228e-01 7.14776709e-04 -3.52511966e-02 4.87536323e+00] [-7.71322138e-04 9.99998438e-01 -1.59049805e-03 6.12319006e-01] [ 3.52500046e-02 1.61669915e-03 9.99377218e-01 1.57364374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77255784400006 meters Centerline goodness : 0.170454 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99376207e-01 6.79836355e-04 -3.53091268e-02 4.87575249e+00] [-7.44980821e-04 9.99998045e-01 -1.83185164e-03 6.13950433e-01] [ 3.53078124e-02 1.85701357e-03 9.99374759e-01 1.57334100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters Centerline goodness : 0.176502 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99369986e-01 5.35857203e-04 -3.54872442e-02 4.87648743e+00] [-6.14908975e-04 9.99997354e-01 -2.21673421e-03 6.15808612e-01] [ 3.54859625e-02 2.23715906e-03 9.99367671e-01 1.57298522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83255784400006 meters Centerline goodness : 0.174450 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99351972e-01 3.55792895e-04 -3.59931865e-02 4.87821641e+00] [-4.56566671e-04 9.99995999e-01 -2.79162088e-03 6.18543007e-01] [ 3.59920492e-02 2.80624512e-03 9.99348136e-01 1.57235899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86255784400004 meters Centerline goodness : 0.171869 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99347804e-01 3.12062339e-04 -3.61091431e-02 4.87878454e+00] [-4.23092920e-04 9.99995206e-01 -3.06726019e-03 6.20326186e-01] [ 3.61080128e-02 3.08053726e-03 9.99343145e-01 1.57197630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89255784400007 meters Centerline goodness : 0.169717 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99342846e-01 2.67391111e-04 -3.62464310e-02 4.87938453e+00] [-3.89296227e-04 9.99994292e-01 -3.35621497e-03 6.22221234e-01] [ 3.62453267e-02 3.36812002e-03 9.99337246e-01 1.57162322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92255784400004 meters Centerline goodness : 0.100872 Centerline is valid? [False, False] Translation: X:4.88, Y:0.62, Z:1.57 [[ 9.99333676e-01 2.45655648e-04 -3.64985403e-02 4.88030704e+00] [-3.76332121e-04 9.99993544e-01 -3.57349360e-03 6.23599397e-01] [ 3.64974268e-02 3.58484807e-03 9.99327317e-01 1.57122695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95255784400007 meters Centerline goodness : 0.177103 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99324484e-01 1.25933230e-04 -3.67499519e-02 4.88115687e+00] [-2.70366819e-04 9.99992260e-01 -3.92522764e-03 6.25286664e-01] [ 3.67491731e-02 3.93251206e-03 9.99316783e-01 1.57093357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98255784400004 meters Centerline goodness : 0.101914 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99289796e-01 4.02627240e-04 -3.76794571e-02 4.88360312e+00] [-5.65525319e-04 9.99990540e-01 -4.31270145e-03 6.28778116e-01] [ 3.76773642e-02 4.33094723e-03 9.99280571e-01 1.57081874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01255784400007 meters Centerline goodness : 0.109532 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99320543e-01 2.38656155e-03 -3.67798278e-02 4.87930631e+00] [-2.48594754e-03 9.99993381e-01 -2.65669242e-03 6.30870881e-01] [ 3.67732440e-02 2.74632003e-03 9.99319862e-01 1.57289515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04255784400004 meters Centerline goodness : 0.190628 Centerline is valid? [False, False] Translation: X:4.88, Y:0.63, Z:1.57 [[ 9.99328477e-01 2.45581835e-03 -3.65590600e-02 4.87853278e+00] [-2.56614664e-03 9.99992293e-01 -2.97119213e-03 6.33058827e-01] [ 3.65514816e-02 3.06301281e-03 9.99327077e-01 1.57334255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0725578440001 meters Centerline goodness : 0.098789 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99336598e-01 2.39050125e-03 -3.63407507e-02 4.87786891e+00] [-2.51565420e-03 9.99991061e-01 -3.39853819e-03 6.35366824e-01] [ 3.63323017e-02 3.48770436e-03 9.99333678e-01 1.57359061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10255784400005 meters Centerline goodness : 0.097214 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99340298e-01 2.78655827e-03 -3.62105442e-02 4.87745906e+00] [-2.92101934e-03 9.99989033e-01 -3.66093993e-03 6.38327195e-01] [ 3.61999457e-02 3.76429650e-03 9.99337478e-01 1.57378766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1325578440001 meters Centerline goodness : 0.098868 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99338268e-01 2.84417786e-03 -3.62620473e-02 4.87772311e+00] [-2.98678029e-03 9.99988016e-01 -3.87898869e-03 6.40056826e-01] [ 3.62505802e-02 3.98472860e-03 9.99334787e-01 1.57361156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 413.1925578440001 meters Centerline goodness : 0.096698 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99359357e-01 3.08268897e-03 -3.56563147e-02 4.87602114e+00] [-3.23124270e-03 9.99986336e-01 -4.10939212e-03 6.42146465e-01] [ 3.56431595e-02 4.22197367e-03 9.99355662e-01 1.57400962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22255784400005 meters Centerline goodness : 0.099313 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99435018e-01 -3.08232032e-03 -3.34685617e-02 4.85694834e+00] [ 2.98540932e-03 9.99991207e-01 -2.94516969e-03 6.48524561e-01] [ 3.34773453e-02 2.84358836e-03 9.99435431e-01 1.57203069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2525578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 413.28255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 413.3125578440001 meters Centerline goodness : 0.261132 Centerline is valid? [False, False] Translation: X:4.86, Y:0.65, Z:1.57 [[ 9.99454008e-01 1.19397109e-03 -3.30190785e-02 4.85516659e+00] [-1.15519502e-03 9.99998621e-01 1.19340553e-03 6.48116945e-01] [ 3.30204579e-02 -1.15461046e-03 9.99454009e-01 1.57307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34255784400005 meters Centerline goodness : 0.090232 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99466960e-01 1.16931019e-03 -3.26255793e-02 4.85400244e+00] [-1.13605829e-03 9.99998816e-01 1.03771583e-03 6.48517343e-01] [ 3.26267541e-02 -1.00009812e-03 9.99467105e-01 1.57340572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.372557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 413.40255784400006 meters Centerline goodness : 0.098068 Centerline is valid? [False, False] Translation: X:4.85, Y:0.65, Z:1.57 [[ 9.99475116e-01 1.23487870e-03 -3.23723224e-02 4.85313396e+00] [-1.20108060e-03 9.99998713e-01 1.06346853e-03 6.48587124e-01] [ 3.23735940e-02 -1.02402856e-03 9.99475313e-01 1.57379785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43255784400003 meters Centerline goodness : 0.097856 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.57 [[ 9.99497351e-01 -4.94265118e-03 -3.13147914e-02 4.87556027e+00] [ 5.06811823e-03 9.99979440e-01 3.92853258e-03 6.49790040e-01] [ 3.12947302e-02 -4.08526497e-03 9.99501851e-01 1.57377940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46255784400006 meters Centerline goodness : 0.091309 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.57 [[ 9.99495481e-01 -4.84543196e-03 -3.13895757e-02 4.87572445e+00] [ 4.97750218e-03 9.99979081e-01 4.13068159e-03 6.48914854e-01] [ 3.13689041e-02 -4.28483927e-03 9.99498690e-01 1.57382479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49255784400003 meters Centerline goodness : 0.280470 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99486832e-01 2.64484961e-03 -3.19229860e-02 4.85702770e+00] [-2.56478167e-03 9.99993463e-01 2.54884719e-03 6.40916215e-01] [ 3.19295187e-02 -2.46566371e-03 9.99487082e-01 1.57112968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52255784400006 meters Centerline goodness : 0.136397 Centerline is valid? [False, False] Translation: X:4.86, Y:0.64, Z:1.57 [[ 9.99483076e-01 2.73784034e-03 -3.20325629e-02 4.85745033e+00] [-2.64908173e-03 9.99992535e-01 2.81299840e-03 6.39399842e-01] [ 3.20400254e-02 -2.72668742e-03 9.99482867e-01 1.57089300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 413.58255784400006 meters Centerline goodness : 0.038471 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.57 [[ 9.99496795e-01 -2.10671176e-03 -3.16499486e-02 4.87909121e+00] [ 2.32459595e-03 9.99973844e-01 6.84896978e-03 6.39126651e-01] [ 3.16346919e-02 -6.91909669e-03 9.99475549e-01 1.57148666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61255784400004 meters Centerline goodness : 0.108160 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99947009 0.00679562 -0.03183333 4.85786126] [-0.00659583 0.99995791 0.00637682 0.63366966] [ 0.03187532 -0.00616347 0.99947285 1.56957063] [ 0. 0. 0. 1. ]] SLAMing on 413.64255784400007 meters Centerline goodness : 0.102574 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99946541 0.00687766 -0.03196223 4.85837104] [-0.00667236 0.99995645 0.00652544 0.63284839] [ 0.03200572 -0.00630869 0.99946778 1.56925551] [ 0. 0. 0. 1. ]] SLAMing on 413.67255784400004 meters Centerline goodness : 0.037512 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99945701 0.00698016 -0.03220185 4.85913647] [-0.00676618 0.99995433 0.00674907 0.63168463] [ 0.03224749 -0.00652752 0.9994586 1.56899867] [ 0. 0. 0. 1. ]] SLAMing on 413.70255784400007 meters Centerline goodness : 0.157330 Centerline is valid? [False, False] Translation: X:4.82, Y:0.63, Z:1.57 [[ 0.99933289 0.0071918 -0.03580568 4.81683627] [-0.00693245 0.99994887 0.00736207 0.62749818] [ 0.03585679 -0.00710894 0.99933165 1.56787146] [ 0. 0. 0. 1. ]] SLAMing on 413.73255784400004 meters Centerline goodness : 0.154679 Centerline is valid? [False, False] Translation: X:4.86, Y:0.63, Z:1.57 [[ 0.99940396 0.00700171 -0.03380389 4.86267139] [-0.00677266 0.99995336 0.00688561 0.6265661 ] [ 0.03385052 -0.00665256 0.99940477 1.5680114 ] [ 0. 0. 0. 1. ]] SLAMing on 413.76255784400007 meters Centerline goodness : 0.163771 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930731 0.00653798 -0.03663535 4.81714401] [-0.00629489 0.99995743 0.00674688 0.6237269 ] [ 0.0366779 -0.0065116 0.99930592 1.5680226 ] [ 0. 0. 0. 1. ]] SLAMing on 413.79255784400004 meters Centerline goodness : 0.129908 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930524 0.00672631 -0.03665775 4.81727942] [-0.00646806 0.99995345 0.00715907 0.62175072] [ 0.03670419 -0.00691699 0.99930224 1.56792665] [ 0. 0. 0. 1. ]] SLAMing on 413.8225578440001 meters Centerline goodness : 0.272438 Centerline is valid? [False, False] Translation: X:4.82, Y:0.62, Z:1.57 [[ 0.99930489 0.00714495 -0.03658798 4.81708564] [-0.00685133 0.99994336 0.00814413 0.61670167] [ 0.0366441 -0.00788779 0.99929725 1.568062 ] [ 0. 0. 0. 1. ]] SLAMing on 413.85255784400005 meters Centerline goodness : 0.142214 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.9993915 0.00716234 -0.03413699 4.86080859] [-0.00689517 0.99994472 0.0079376 0.61454402] [ 0.03419195 -0.00769739 0.99938564 1.56925292] [ 0. 0. 0. 1. ]] SLAMing on 413.8825578440001 meters Centerline goodness : 0.156155 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939374 0.00734775 -0.03403167 4.86019382] [-0.00706498 0.99993958 0.00842202 0.6118778 ] [ 0.0340915 -0.00817649 0.99938527 1.56983084] [ 0. 0. 0. 1. ]] SLAMing on 413.91255784400005 meters Centerline goodness : 0.142863 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939107 0.00751401 -0.03407387 4.86012451] [-0.00721797 0.9999352 0.008803 0.60986547] [ 0.03413781 -0.0085517 0.99938055 1.57013062] [ 0. 0. 0. 1. ]] SLAMing on 413.9425578440001 meters Centerline goodness : 0.167672 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99938595 0.00769636 -0.03418315 4.86047185] [-0.00738721 0.99993075 0.00916118 0.60829323] [ 0.03425129 -0.00890304 0.9993736 1.5700288 ] [ 0. 0. 0. 1. ]] SLAMing on 413.97255784400005 meters Centerline goodness : 0.133880 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 0.99939 0.00800251 -0.03399402 4.85980162] [-0.00767379 0.99992264 0.00978962 0.60530813] [ 0.03406974 -0.00952278 0.99937409 1.57039426] [ 0. 0. 0. 1. ]] SLAMing on 414.0025578440001 meters Centerline goodness : 0.286550 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 0.99939902 0.0081324 -0.03369651 4.85868551] [-0.0077952 0.99991834 0.01012645 0.60348549] [ 0.03377611 -0.0098577 0.99938081 1.57099179] [ 0. 0. 0. 1. ]] SLAMing on 414.03255784400005 meters Centerline goodness : 0.135267 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99496582e-01 2.97461127e-04 -3.17252949e-02 4.87801314e+00] [ 6.27884681e-05 9.99935543e-01 1.13536790e-02 6.06482784e-01] [ 3.17266272e-02 -1.13499553e-02 9.99432139e-01 1.57220918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0625578440001 meters Centerline goodness : 0.132703 Centerline is valid? [False, False] Translation: X:4.88, Y:0.61, Z:1.57 [[ 9.99497804e-01 3.97950908e-04 -3.16856532e-02 4.87772722e+00] [-3.07307664e-05 9.99932843e-01 1.15891204e-02 6.05394757e-01] [ 3.16881372e-02 -1.15823266e-02 9.99430694e-01 1.57251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09255784400005 meters Centerline goodness : 0.125506 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99481321e-01 4.39855578e-04 -3.22008497e-02 4.87941372e+00] [-6.13423364e-05 9.99930908e-01 1.17548037e-02 6.04450194e-01] [ 3.22037953e-02 -1.17467315e-02 9.99412292e-01 1.57186483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters Centerline goodness : 0.133111 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472263e-01 3.99516177e-04 -3.24813266e-02 4.88028263e+00] [-1.75411281e-05 9.99930857e-01 1.17592698e-02 6.04240709e-01] [ 3.24837788e-02 -1.17524942e-02 9.99403163e-01 1.57156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15255784400006 meters Centerline goodness : 0.133111 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472263e-01 3.99516177e-04 -3.24813266e-02 4.88028263e+00] [-1.75411281e-05 9.99930857e-01 1.17592698e-02 6.04240709e-01] [ 3.24837788e-02 -1.17524942e-02 9.99403163e-01 1.57156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters Centerline goodness : 0.246167 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99472290e-01 3.85512173e-04 -3.24806393e-02 4.88020551e+00] [-1.89488650e-06 9.99930261e-01 1.18098476e-02 6.03852470e-01] [ 3.24829270e-02 -1.18035539e-02 9.99402589e-01 1.57165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21255784400006 meters Centerline goodness : 0.132382 Centerline is valid? [False, False] Translation: X:4.90, Y:0.61, Z:1.57 [[ 9.99618227e-01 3.43135734e-03 -2.74158134e-02 4.90319932e+00] [-3.21815663e-03 9.99964269e-01 7.81690131e-03 6.07954992e-01] [ 2.74416564e-02 -7.72568865e-03 9.99593552e-01 1.57015791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters Centerline goodness : 0.159619 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99568132e-01 2.68628935e-03 -2.92631688e-02 4.85562027e+00] [-2.46258915e-03 9.99967493e-01 7.67778715e-03 6.07342307e-01] [ 2.92828423e-02 -7.60240820e-03 9.99542255e-01 1.57092256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27255784400006 meters Centerline goodness : 0.126487 Centerline is valid? [False, False] Translation: X:4.85, Y:0.61, Z:1.57 [[ 9.99591307e-01 -4.66365158e-04 -2.85832471e-02 4.85387117e+00] [ 5.94156416e-04 9.99989866e-01 4.46251455e-03 6.08448339e-01] [ 2.85808763e-02 -4.47767367e-03 9.99581454e-01 1.57093673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters Centerline goodness : 0.132262 Centerline is valid? [False, False] Translation: X:4.85, Y:0.61, Z:1.57 [[ 9.99588816e-01 -6.20251398e-04 -2.86673048e-02 4.85415307e+00] [ 7.45015838e-04 9.99990297e-01 4.34167497e-03 6.08636372e-01] [ 2.86643337e-02 -4.36124734e-03 9.99579579e-01 1.57070942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33255784400006 meters Centerline goodness : 0.279376 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99565668e-01 -1.14653374e-03 -2.94475902e-02 4.85647258e+00] [ 1.26207935e-03 9.99991577e-01 3.90548443e-03 6.09705868e-01] [ 2.94428644e-02 -3.94095335e-03 9.99558696e-01 1.56982843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36255784400004 meters Centerline goodness : 0.172255 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99560492e-01 -1.27620333e-03 -2.96174764e-02 4.85699068e+00] [ 1.39015598e-03 9.99991710e-01 3.82720795e-03 6.09876744e-01] [ 2.96123466e-02 -3.86669877e-03 9.99553979e-01 1.56962133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39255784400007 meters Centerline goodness : 0.170613 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99560831e-01 -1.39810626e-03 -2.96005135e-02 4.85684395e+00] [ 1.51256712e-03 9.99991465e-01 3.84481589e-03 6.09553036e-01] [ 2.95948854e-02 -3.88790013e-03 9.99554414e-01 1.56977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42255784400004 meters Centerline goodness : 0.153257 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99554423e-01 -1.55408654e-03 -2.98084054e-02 4.85733282e+00] [ 1.67091961e-03 9.99991019e-01 3.89495864e-03 6.09043939e-01] [ 2.98020846e-02 -3.94303058e-03 9.99548042e-01 1.56982117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45255784400007 meters Centerline goodness : 0.197543 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99524724e-01 -2.30776556e-03 -3.07408540e-02 4.86045530e+00] [ 2.41969777e-03 9.99990576e-01 3.60445190e-03 6.08089119e-01] [ 3.07322461e-02 -3.67712236e-03 9.99520889e-01 1.56856215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48255784400004 meters Centerline goodness : 0.105773 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99508928e-01 -2.45041215e-03 -3.12393711e-02 4.86194752e+00] [ 2.56824382e-03 9.99989737e-01 3.73232974e-03 6.06780466e-01] [ 3.12299047e-02 -3.81072721e-03 9.99504963e-01 1.56808818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51255784400007 meters Centerline goodness : 0.151876 Centerline is valid? [False, False] Translation: X:4.86, Y:0.61, Z:1.57 [[ 9.99505035e-01 -2.45373354e-03 -3.13634150e-02 4.86222800e+00] [ 2.57895935e-03 9.99988862e-01 3.95290670e-03 6.05373112e-01] [ 3.13533663e-02 -4.03183513e-03 9.99500230e-01 1.56808431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54255784400004 meters Centerline goodness : 0.103319 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99507672e-01 -2.39821805e-03 -3.12835754e-02 4.86194248e+00] [ 2.53079529e-03 9.99987982e-01 4.19901085e-03 6.04196498e-01] [ 3.12731293e-02 -4.27611588e-03 9.99501729e-01 1.56818430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5725578440001 meters Centerline goodness : 0.242324 Centerline is valid? [False, False] Translation: X:4.88, Y:0.60, Z:1.57 [[ 9.99518912e-01 5.42706959e-03 -3.05367125e-02 4.88081464e+00] [-5.33519078e-03 9.99980995e-01 3.08947358e-03 5.98691327e-01] [ 3.05528990e-02 -2.92506809e-03 9.99528871e-01 1.56992169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60255784400005 meters Centerline goodness : 0.103763 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99480358e-01 -3.06197263e-03 -3.20879930e-02 4.86090705e+00] [ 3.20294991e-03 9.99985440e-01 4.34297895e-03 6.01258441e-01] [ 3.20742277e-02 -4.44349838e-03 9.99475612e-01 1.56819643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6325578440001 meters Centerline goodness : 0.150452 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99475964e-01 -3.02182281e-03 -3.22283524e-02 4.86160455e+00] [ 3.16672541e-03 9.99985102e-01 4.44602761e-03 6.00724553e-01] [ 3.22144371e-02 -4.54575607e-03 9.99470643e-01 1.56762172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66255784400005 meters Centerline goodness : 0.165709 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99475625e-01 -2.98610622e-03 -3.22421883e-02 4.86167358e+00] [ 3.13258157e-03 9.99984998e-01 4.49341391e-03 6.00516238e-01] [ 3.22282868e-02 -4.59205896e-03 9.99469985e-01 1.56757679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6925578440001 meters Centerline goodness : 0.091862 Centerline is valid? [False, False] Translation: X:4.86, Y:0.60, Z:1.57 [[ 9.99480613e-01 -2.92425206e-03 -3.20928767e-02 4.86096091e+00] [ 3.07174742e-03 9.99984942e-01 4.54755020e-03 6.00460849e-01] [ 3.20790953e-02 -4.64376948e-03 9.99474545e-01 1.56807715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72255784400005 meters Centerline goodness : 0.401040 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448978e-01 -2.60855155e-03 -3.30898110e-02 4.81141931e+00] [ 2.78247017e-03 9.99982552e-01 5.21099774e-03 6.00424006e-01] [ 3.30756405e-02 -5.30019777e-03 9.99438797e-01 1.56965571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7525578440001 meters Centerline goodness : 0.108646 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448857e-01 -2.61336281e-03 -3.30930998e-02 4.81134225e+00] [ 2.78721439e-03 9.99982552e-01 5.20836750e-03 6.00344079e-01] [ 3.30789111e-02 -5.29773451e-03 9.99438702e-01 1.56977129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78255784400005 meters Centerline goodness : 0.205319 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99448068e-01 -2.63231327e-03 -3.31154103e-02 4.81138898e+00] [ 2.80642316e-03 9.99982478e-01 5.21228821e-03 6.00176218e-01] [ 3.31011097e-02 -5.30234723e-03 9.99437943e-01 1.56979755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8125578440001 meters Centerline goodness : 0.149548 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99445099e-01 -2.63089559e-03 -3.32049968e-02 4.81149858e+00] [ 2.80623586e-03 9.99982360e-01 5.23504050e-03 6.00040068e-01] [ 3.31906383e-02 -5.32531662e-03 9.99434852e-01 1.56993204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84255784400005 meters Centerline goodness : 0.160457 Centerline is valid? [False, False] Translation: X:4.83, Y:0.60, Z:1.57 [[ 9.99490521e-01 5.57761016e-03 -3.14259297e-02 4.83081019e+00] [-5.44513646e-03 9.99975932e-01 4.29943205e-03 5.97305843e-01] [ 3.14491539e-02 -4.12612310e-03 9.99496836e-01 1.57146596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.872557844 meters Centerline goodness : 0.097756 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99521377e-01 -2.51516206e-03 -3.08332844e-02 4.81099534e+00] [ 2.68359457e-03 9.99981697e-01 5.42252064e-03 6.02960197e-01] [ 3.08190815e-02 -5.50266933e-03 9.99509832e-01 1.56966521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90255784400006 meters Centerline goodness : 0.169336 Centerline is valid? [False, False] Translation: X:4.81, Y:0.60, Z:1.57 [[ 9.99519465e-01 -2.58773882e-03 -3.08891843e-02 4.81112088e+00] [ 2.75449689e-03 9.99981856e-01 5.35726000e-03 6.03182502e-01] [ 3.08747606e-02 -5.43976981e-03 9.99508458e-01 1.56967734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93255784400003 meters Centerline goodness : 0.132272 Centerline is valid? [False, False] Translation: X:4.77, Y:0.60, Z:1.57 [[ 9.99420315e-01 -3.20748973e-03 -3.38931618e-02 4.76539877e+00] [ 3.38325429e-03 9.99981119e-01 5.12976332e-03 6.04092112e-01] [ 3.38760682e-02 -5.24145885e-03 9.99412297e-01 1.56986976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96255784400006 meters Centerline goodness : 0.110217 Centerline is valid? [False, False] Translation: X:4.79, Y:0.60, Z:1.57 [[ 9.99436178e-01 2.79698823e-03 -3.34589859e-02 4.78790202e+00] [-2.72677174e-03 9.99993984e-01 2.14403011e-03 6.02132155e-01] [ 3.34647814e-02 -2.05158625e-03 9.99437792e-01 1.56991844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 415.02255784400006 meters Centerline goodness : 0.182649 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99429341e-01 -6.29813552e-03 -3.31862175e-02 4.76536083e+00] [ 6.38621963e-03 9.99976359e-01 2.54890904e-03 6.08247753e-01] [ 3.31693796e-02 -2.75938896e-03 9.99445936e-01 1.56902615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05255784400003 meters Centerline goodness : 0.120147 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99431261e-01 -6.37998181e-03 -3.31126856e-02 4.76505310e+00] [ 6.46571730e-03 9.99976015e-01 2.48277063e-03 6.08293487e-01] [ 3.30960513e-02 -2.69545585e-03 9.99448541e-01 1.56918238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08255784400006 meters Centerline goodness : 0.104899 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99433222e-01 -6.47509146e-03 -3.30349423e-02 4.76478681e+00] [ 6.55957988e-03 9.99975485e-01 2.44981010e-03 6.08100589e-01] [ 3.30182697e-02 -2.66511694e-03 9.99451195e-01 1.56924091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11255784400004 meters Centerline goodness : 0.348229 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99452308e-01 -6.82033806e-03 -3.23815917e-02 4.76310466e+00] [ 6.89891734e-03 9.99973521e-01 2.31555614e-03 6.08011754e-01] [ 3.23649414e-02 -2.53768585e-03 9.99472896e-01 1.56929224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14255784400007 meters Centerline goodness : 0.131321 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99459279e-01 -6.82129717e-03 -3.21654955e-02 4.76260819e+00] [ 6.90138719e-03 9.99973354e-01 2.37957033e-03 6.07824456e-01] [ 3.21484067e-02 -2.60027019e-03 9.99479724e-01 1.56918102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17255784400004 meters Centerline goodness : 0.135969 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99462631e-01 -6.82233607e-03 -3.20609455e-02 4.76242564e+00] [ 6.90537106e-03 9.99973083e-01 2.47989868e-03 6.07267755e-01] [ 3.20431638e-02 -2.69995878e-03 9.99482839e-01 1.56900802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20255784400007 meters Centerline goodness : 0.126698 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99447335e-01 -7.04204109e-03 -3.24874321e-02 4.76370335e+00] [ 7.12586761e-03 9.99971572e-01 2.46521491e-03 6.06598868e-01] [ 3.24691484e-02 -2.69535361e-03 9.99469104e-01 1.56859259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23255784400004 meters Centerline goodness : 0.091067 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99437286e-01 -7.06137130e-03 -3.27909914e-02 4.76482154e+00] [ 7.14593745e-03 9.99971436e-01 2.46246684e-03 6.06625523e-01] [ 3.27726663e-02 -2.69540355e-03 9.99459197e-01 1.56803375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 415.29255784400004 meters Centerline goodness : 0.091973 Centerline is valid? [False, False] Translation: X:4.77, Y:0.61, Z:1.57 [[ 9.99434521e-01 -7.11513318e-03 -3.28635582e-02 4.76542387e+00] [ 7.19312620e-03 9.99971585e-01 2.25561809e-03 6.08055629e-01] [ 3.28465754e-02 -2.49073430e-03 9.99457302e-01 1.56736912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3225578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 415.35255784400005 meters Centerline goodness : 0.088958 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.57 [[ 9.99478999e-01 -4.74511874e-03 -3.19251411e-02 4.76122436e+00] [ 4.86905062e-03 9.99980906e-01 3.80533040e-03 6.14599843e-01] [ 3.19064748e-02 -3.95879294e-03 9.99483019e-01 1.56936700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3825578440001 meters Centerline goodness : 0.168725 Centerline is valid? [False, False] Translation: X:4.76, Y:0.62, Z:1.57 [[ 9.99469153e-01 -4.83372119e-03 -3.22187426e-02 4.76225704e+00] [ 4.94341504e-03 9.99982250e-01 3.32587314e-03 6.17538579e-01] [ 3.22020944e-02 -3.48337822e-03 9.99475308e-01 1.56892611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41255784400005 meters Centerline goodness : 0.110139 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99427838e-01 3.95464580e-03 -3.35910203e-02 4.74158515e+00] [-3.87608041e-03 9.99989599e-01 2.40367819e-03 6.18236827e-01] [ 3.36001767e-02 -2.27210140e-03 9.99432772e-01 1.56737708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4425578440001 meters Centerline goodness : 0.115405 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99416689e-01 3.80610425e-03 -3.39381030e-02 4.74273434e+00] [-3.75409269e-03 9.99991680e-01 1.59613209e-03 6.22991467e-01] [ 3.39438957e-02 -1.46779427e-03 9.99422662e-01 1.56697620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47255784400005 meters Centerline goodness : 0.343460 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.57 [[ 9.99421170e-01 3.58909717e-03 -3.38296144e-02 4.74229783e+00] [-3.55229089e-03 9.99993032e-01 1.14803068e-03 6.24934698e-01] [ 3.38334991e-02 -1.02719353e-03 9.99426955e-01 1.56722349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5025578440001 meters Centerline goodness : 0.167209 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99337703e-01 3.25074009e-03 -3.62434545e-02 4.69599166e+00] [-3.22469414e-03 9.99994499e-01 7.77071924e-04 6.28771043e-01] [ 3.62457811e-02 -6.59683216e-04 9.99342688e-01 1.56724698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53255784400005 meters Centerline goodness : 0.167068 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99319505e-01 2.89002239e-03 -3.67719393e-02 4.69774873e+00] [-2.88139889e-03 9.99995807e-01 2.87506189e-04 6.30857394e-01] [ 3.67726160e-02 -1.81355917e-04 9.99323642e-01 1.56644007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5625578440001 meters Centerline goodness : 0.167365 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99310942e-01 2.69860566e-03 -3.70183476e-02 4.69882047e+00] [-2.69867164e-03 9.99996357e-01 4.81849244e-05 6.31724905e-01] [ 3.70183428e-02 5.17486427e-05 9.99314585e-01 1.56573716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59255784400005 meters Centerline goodness : 0.171671 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99311425e-01 2.58488129e-03 -3.70134326e-02 4.69899766e+00] [-2.59056069e-03 9.99996639e-01 -1.05483149e-04 6.32291984e-01] [ 3.70130356e-02 2.01296059e-04 9.99314763e-01 1.56538181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters Centerline goodness : 0.169055 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.57 [[ 9.99317775e-01 2.46547751e-03 -3.68497685e-02 4.69847162e+00] [-2.47806335e-03 9.99996886e-01 -2.95874822e-04 6.33077396e-01] [ 3.68489242e-02 3.86989029e-04 9.99320773e-01 1.56554706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65255784400006 meters Centerline goodness : 0.172909 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.57 [[ 9.99353282e-01 -5.56014743e-03 -3.55260883e-02 4.71688830e+00] [ 5.59993835e-03 9.99983799e-01 1.02064179e-03 6.38184567e-01] [ 3.55198379e-02 -1.21892562e-03 9.99368228e-01 1.56823474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters Centerline goodness : 0.169036 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99384032e-01 2.65457147e-03 -3.49929829e-02 4.69571668e+00] [-2.65434563e-03 9.99996476e-01 5.29098829e-05 6.35196806e-01] [ 3.49930001e-02 4.00061793e-05 9.99387557e-01 1.56632030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71255784400006 meters Centerline goodness : 0.119765 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99389496e-01 2.61089191e-03 -3.48398896e-02 4.69535024e+00] [-2.61269263e-03 9.99996587e-01 -6.15873792e-06 6.35374758e-01] [ 3.48397546e-02 9.71809007e-05 9.99392907e-01 1.56628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters Centerline goodness : 0.162187 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.57 [[ 9.99388974e-01 2.53062139e-03 -3.48607989e-02 4.69549357e+00] [-2.53559714e-03 9.99996781e-01 -9.85226800e-05 6.35635982e-01] [ 3.48604374e-02 1.86855422e-04 9.99392173e-01 1.56613314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77255784400006 meters Centerline goodness : 0.132250 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.56 [[ 9.99376669e-01 2.43863595e-03 -3.52182774e-02 4.69716998e+00] [-2.44329919e-03 9.99997011e-01 -8.93723903e-05 6.35073173e-01] [ 3.52179542e-02 1.75365470e-04 9.99379640e-01 1.56485329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters Centerline goodness : 0.135128 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99370427e-01 2.47266247e-03 -3.53925966e-02 4.69791177e+00] [-2.47251655e-03 9.99996942e-01 4.78911916e-05 6.34301545e-01] [ 3.53926068e-02 3.96477401e-05 9.99373485e-01 1.56430227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83255784400006 meters Centerline goodness : 0.165014 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99365024e-01 2.52615127e-03 -3.55410753e-02 4.69852457e+00] [-2.52095806e-03 9.99996804e-01 1.90930634e-04 6.33708709e-01] [ 3.55414440e-02 -1.01211837e-04 9.99368198e-01 1.56384226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86255784400004 meters Centerline goodness : 0.115798 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99364577e-01 2.60723437e-03 -3.55477904e-02 4.69856329e+00] [-2.59566824e-03 9.99996562e-01 3.71514472e-04 6.32981356e-01] [ 3.55486368e-02 -2.79008133e-04 9.99367909e-01 1.56377929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89255784400007 meters Centerline goodness : 0.171638 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99365675e-01 2.66619980e-03 -3.55125054e-02 4.69841665e+00] [-2.64917704e-03 9.99996352e-01 5.26391170e-04 6.32208420e-01] [ 3.55137794e-02 -4.31978353e-04 9.99369093e-01 1.56384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92255784400004 meters Centerline goodness : 0.159927 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99374826e-01 2.68437505e-03 -3.52526791e-02 4.69761212e+00] [-2.66534042e-03 9.99996276e-01 5.86932420e-04 6.31577828e-01] [ 3.52541234e-02 -4.92605095e-04 9.99378259e-01 1.56407811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95255784400007 meters Centerline goodness : 0.166006 Centerline is valid? [False, False] Translation: X:4.68, Y:0.64, Z:1.56 [[ 9.99346342e-01 -5.56685857e-03 -3.57197193e-02 4.67742670e+00] [ 5.62296461e-03 9.99983110e-01 1.47046450e-03 6.37153018e-01] [ 3.57109301e-02 -1.67035404e-03 9.99360765e-01 1.56288428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98255784400004 meters Centerline goodness : 0.175442 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376244e-01 2.56485841e-03 -3.52213581e-02 4.69744274e+00] [-2.54821026e-03 9.99996619e-01 5.17553595e-04 6.32447078e-01] [ 3.52225665e-02 -4.27479342e-04 9.99379401e-01 1.56424860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01255784400007 meters Centerline goodness : 0.112629 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99372305e-01 2.67610562e-03 -3.53247059e-02 4.69798349e+00] [-2.66310526e-03 9.99996368e-01 4.15070818e-04 6.33965635e-01] [ 3.53256884e-02 -3.20736870e-04 9.99375802e-01 1.56383628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04255784400004 meters Centerline goodness : 0.170709 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376359e-01 2.65575137e-03 -3.52113753e-02 4.69766180e+00] [-2.64602167e-03 9.99996447e-01 3.22919530e-04 6.34487564e-01] [ 3.52121078e-02 -2.29548082e-04 9.99379835e-01 1.56389361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0725578440001 meters Centerline goodness : 0.170709 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99376359e-01 2.65575137e-03 -3.52113753e-02 4.69766180e+00] [-2.64602167e-03 9.99996447e-01 3.22919530e-04 6.34487564e-01] [ 3.52121078e-02 -2.29548082e-04 9.99379835e-01 1.56389361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10255784400005 meters Centerline goodness : 0.113638 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99382110e-01 2.61031138e-03 -3.50511698e-02 4.69722131e+00] [-2.60391952e-03 9.99996584e-01 2.28006098e-04 6.34849953e-01] [ 3.50516452e-02 -1.36594790e-04 9.99385493e-01 1.56394522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1325578440001 meters Centerline goodness : 0.116815 Centerline is valid? [False, False] Translation: X:4.70, Y:0.64, Z:1.56 [[ 9.99380244e-01 2.55993644e-03 -3.51080367e-02 4.69725674e+00] [-2.55621092e-03 9.99996721e-01 1.51001197e-04 6.35119513e-01] [ 3.51083081e-02 -6.11640668e-05 9.99383511e-01 1.56406496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16255784400005 meters Centerline goodness : 0.170721 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99369204e-01 2.60406822e-03 -3.54177006e-02 4.69824876e+00] [-2.59416056e-03 9.99996582e-01 3.25688721e-04 6.34534144e-01] [ 3.54184276e-02 -2.33604076e-04 9.99372543e-01 1.56361986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1925578440001 meters Centerline goodness : 0.166329 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99362525e-01 2.62459393e-03 -3.56041312e-02 4.69893859e+00] [-2.60944399e-03 9.99996484e-01 4.71972616e-04 6.33798390e-01] [ 3.56052448e-02 -3.78764760e-04 9.99365860e-01 1.56322312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22255784400005 meters Centerline goodness : 0.102878 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99361983e-01 2.59942664e-03 -3.56212008e-02 4.69910037e+00] [-2.58145220e-03 9.99996516e-01 5.50581974e-04 6.33184541e-01] [ 3.56225079e-02 -4.58276266e-04 9.99365212e-01 1.56296956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2525578440001 meters Centerline goodness : 0.165798 Centerline is valid? [False, False] Translation: X:4.70, Y:0.63, Z:1.56 [[ 9.99367203e-01 2.52976780e-03 -3.54794981e-02 4.69847604e+00] [-2.51343005e-03 9.99996714e-01 5.05078428e-04 6.33096070e-01] [ 3.54806592e-02 -4.15583579e-04 9.99370277e-01 1.56334327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28255784400005 meters Centerline goodness : 0.111186 Centerline is valid? [False, False] Translation: X:4.72, Y:0.63, Z:1.56 [[ 9.99517578e-01 -2.78566733e-03 -3.09329993e-02 4.72019287e+00] [ 2.87445753e-03 9.99991875e-01 2.82630631e-03 6.34429434e-01] [ 3.09248748e-02 -2.91385843e-03 9.99517464e-01 1.56319622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3125578440001 meters Centerline goodness : 0.173002 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99518287e-01 -2.97142641e-03 -3.08928068e-02 4.72000909e+00] [ 3.04245327e-03 9.99992835e-01 2.25238720e-03 6.37432827e-01] [ 3.08858926e-02 -2.34529211e-03 9.99520166e-01 1.56342774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34255784400005 meters Centerline goodness : 0.166681 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99514840e-01 -3.15801682e-03 -3.09856794e-02 4.72037527e+00] [ 3.21041232e-03 9.99993500e-01 1.64135388e-03 6.40796055e-01] [ 3.09802946e-02 -1.74003436e-03 9.99518481e-01 1.56324799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.372557844 meters Centerline goodness : 0.170444 Centerline is valid? [False, False] Translation: X:4.72, Y:0.64, Z:1.56 [[ 9.99512722e-01 -3.32157405e-03 -3.10368329e-02 4.72074147e+00] [ 3.35662211e-03 9.99993786e-01 1.07720670e-03 6.43892385e-01] [ 3.10330621e-02 -1.18086072e-03 9.99517661e-01 1.56292829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40255784400006 meters Centerline goodness : 0.110902 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99517169e-01 -3.52386534e-03 -3.08708700e-02 4.72033625e+00] [ 3.54291926e-03 9.99993566e-01 5.62535554e-04 6.46399901e-01] [ 3.08686891e-02 -6.71636945e-04 9.99523223e-01 1.56294397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43255784400003 meters Centerline goodness : 0.140466 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99577068e-01 3.82940669e-03 -2.88274403e-02 4.73866330e+00] [-3.86959285e-03 9.99991617e-01 -1.33836670e-03 6.45232068e-01] [ 2.88220735e-02 1.44935111e-03 9.99583507e-01 1.56450276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46255784400006 meters Centerline goodness : 0.171382 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99576842e-01 3.73786311e-03 -2.88472795e-02 4.73873386e+00] [-3.78149703e-03 9.99991787e-01 -1.45817712e-03 6.45736957e-01] [ 2.88415921e-02 1.56664599e-03 9.99582767e-01 1.56443119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49255784400003 meters Centerline goodness : 0.169967 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99569892e-01 3.65830685e-03 -2.90972072e-02 4.73951545e+00] [-3.70361693e-03 9.99992011e-01 -1.50345546e-03 6.45719542e-01] [ 2.90914747e-02 1.61057372e-03 9.99575456e-01 1.56415218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52255784400006 meters Centerline goodness : 0.167684 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99522157e-01 -4.81161898e-03 -3.05336815e-02 4.72026916e+00] [ 4.79534176e-03 9.99988318e-01 -6.06295359e-04 6.50842598e-01] [ 3.05362421e-02 4.59586208e-04 9.99533555e-01 1.56241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55255784400003 meters Centerline goodness : 0.122088 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99501558e-01 -4.90881648e-03 -3.11855638e-02 4.72251911e+00] [ 4.88822510e-03 9.99987781e-01 -7.36491561e-04 6.51539013e-01] [ 3.11887980e-02 5.83682407e-04 9.99513341e-01 1.56130694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58255784400006 meters Centerline goodness : 0.121716 Centerline is valid? [False, False] Translation: X:4.72, Y:0.65, Z:1.56 [[ 9.99496991e-01 -4.99175949e-03 -3.13184671e-02 4.72282171e+00] [ 4.96263266e-03 9.99987178e-01 -1.00768247e-03 6.53115208e-01] [ 3.13230957e-02 8.51753552e-04 9.99508949e-01 1.56141152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61255784400004 meters Centerline goodness : 0.327414 Centerline is valid? [False, False] Translation: X:4.74, Y:0.65, Z:1.56 [[ 9.99556705e-01 3.20198091e-03 -2.95996667e-02 4.74294557e+00] [-3.26471606e-03 9.99992526e-01 -2.07136957e-03 6.51368820e-01] [ 2.95928130e-02 2.16708585e-03 9.99559688e-01 1.56252469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64255784400007 meters Centerline goodness : 0.265831 Centerline is valid? [False, False] Translation: X:4.74, Y:0.66, Z:1.57 [[ 9.99564114e-01 5.84617837e-03 -2.89379305e-02 4.73891225e+00] [-5.86185500e-03 9.99982715e-01 -4.56929089e-04 6.58811314e-01] [ 2.89347591e-02 6.26359873e-04 9.99581106e-01 1.56557930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67255784400004 meters Centerline goodness : 0.111328 Centerline is valid? [False, False] Translation: X:4.74, Y:0.66, Z:1.57 [[ 9.99560060e-01 5.76879846e-03 -2.90930842e-02 4.73929688e+00] [-5.80360225e-03 9.99982541e-01 -1.11199205e-03 6.62855361e-01] [ 2.90861614e-02 1.28034753e-03 9.99576088e-01 1.56573311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70255784400007 meters Centerline goodness : 0.167375 Centerline is valid? [False, False] Translation: X:4.74, Y:0.67, Z:1.57 [[ 9.99559056e-01 5.62264547e-03 -2.91561244e-02 4.73961533e+00] [-5.67715299e-03 9.99982288e-01 -1.78706189e-03 6.66799735e-01] [ 2.91455599e-02 1.95179767e-03 9.99573272e-01 1.56560784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73255784400004 meters Centerline goodness : 0.123338 Centerline is valid? [False, False] Translation: X:4.74, Y:0.67, Z:1.57 [[ 9.99564269e-01 5.37966952e-03 -2.90229486e-02 4.73931820e+00] [-5.45224024e-03 9.99982204e-01 -2.42190210e-03 6.69847185e-01] [ 2.90094030e-02 2.57908689e-03 9.99575811e-01 1.56559192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76255784400007 meters Centerline goodness : 0.156382 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99604048e-01 -2.64600748e-03 -2.80133323e-02 4.71933515e+00] [ 2.58953493e-03 9.99994542e-01 -2.05200287e-03 6.79256352e-01] [ 2.80186090e-02 1.97864887e-03 9.99605443e-01 1.56344269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79255784400004 meters Centerline goodness : 0.147710 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99592479e-01 -2.77513105e-03 -2.84108286e-02 4.72039998e+00] [ 2.71504389e-03 9.99993996e-01 -2.15329632e-03 6.79789026e-01] [ 2.84166337e-02 2.07528216e-03 9.99594012e-01 1.56328548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8225578440001 meters Centerline goodness : 0.126409 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99578841e-01 -2.80931706e-03 -2.88833663e-02 4.72192577e+00] [ 2.74869165e-03 9.99993936e-01 -2.13846304e-03 6.79896014e-01] [ 2.88891987e-02 2.05817093e-03 9.99580501e-01 1.56273066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85255784400005 meters Centerline goodness : 0.132106 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99471421e-01 -2.95114545e-03 -3.23754407e-02 4.67882397e+00] [ 2.86808219e-03 9.99992476e-01 -2.61176571e-03 6.83188176e-01] [ 3.23829048e-02 2.51752976e-03 9.99472366e-01 1.56197481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8825578440001 meters Centerline goodness : 0.131217 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99461591e-01 -3.21967303e-03 -3.26521393e-02 4.67969808e+00] [ 3.13306758e-03 9.99991438e-01 -2.70318464e-03 6.82818846e-01] [ 3.26605631e-02 2.59942787e-03 9.99463121e-01 1.56156593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91255784400005 meters Centerline goodness : 0.135088 Centerline is valid? [False, False] Translation: X:4.68, Y:0.68, Z:1.56 [[ 9.99469764e-01 -3.25781766e-03 -3.23971787e-02 4.67889721e+00] [ 3.17264827e-03 9.99991376e-01 -2.67997242e-03 6.82472200e-01] [ 3.24056301e-02 2.57576655e-03 9.99471481e-01 1.56180170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9425578440001 meters Centerline goodness : 0.148353 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99556221e-01 -3.98590158e-03 -2.95207435e-02 4.72041149e+00] [ 3.90858508e-03 9.99988780e-01 -2.67629873e-03 6.79324867e-01] [ 2.95310797e-02 2.55972671e-03 9.99560585e-01 1.56334374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97255784400005 meters Centerline goodness : 0.129217 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567159e-01 -4.03778471e-03 -2.91408981e-02 4.71885636e+00] [ 3.96161137e-03 9.99988585e-01 -2.67122855e-03 6.78874150e-01] [ 2.91513513e-02 2.55462742e-03 9.99571745e-01 1.56428002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0025578440001 meters Centerline goodness : 0.185449 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567232e-01 -4.03058917e-03 -2.91393896e-02 4.71874918e+00] [ 3.95495509e-03 9.99988661e-01 -2.65276501e-03 6.78690043e-01] [ 2.91497514e-02 2.53637200e-03 9.99571838e-01 1.56441632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03255784400005 meters Centerline goodness : 0.135298 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567943e-01 -4.02383134e-03 -2.91158956e-02 4.71873721e+00] [ 3.94826829e-03 9.99988688e-01 -2.65227648e-03 6.78618971e-01] [ 2.91262385e-02 2.53617318e-03 9.99572524e-01 1.56431696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0625578440001 meters Centerline goodness : 0.105785 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99567672e-01 -3.99696511e-03 -2.91289098e-02 4.71872743e+00] [ 3.92097388e-03 9.99988761e-01 -2.66544311e-03 6.78823253e-01] [ 2.91392361e-02 2.55007707e-03 9.99572109e-01 1.56438550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09255784400005 meters Centerline goodness : 0.134957 Centerline is valid? [False, False] Translation: X:4.72, Y:0.68, Z:1.56 [[ 9.99568440e-01 -3.96864880e-03 -2.91064240e-02 4.71869157e+00] [ 3.89201538e-03 9.99988811e-01 -2.68905104e-03 6.79190890e-01] [ 2.91167702e-02 2.57460790e-03 9.99572701e-01 1.56437844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters Centerline goodness : 0.149461 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99594870e-01 4.54824568e-03 -2.80964381e-02 4.73829395e+00] [-4.65188844e-03 9.99982611e-01 -3.62455992e-03 6.75766540e-01] [ 2.80794642e-02 3.75379300e-03 9.99598646e-01 1.56597537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15255784400006 meters Centerline goodness : 0.102037 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99596371e-01 4.48070438e-03 -2.80538505e-02 4.73792452e+00] [-4.59260918e-03 9.99981748e-01 -3.92576657e-03 6.77258225e-01] [ 2.80357482e-02 4.05302239e-03 9.99598704e-01 1.56645251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters Centerline goodness : 0.136509 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99595437e-01 4.41669977e-03 -2.80972556e-02 4.73791322e+00] [-4.53649364e-03 9.99980885e-01 -4.20122877e-03 6.78693666e-01] [ 2.80781630e-02 4.32699213e-03 9.99596365e-01 1.56667522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21255784400006 meters Centerline goodness : 0.142885 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99591784e-01 4.34688136e-03 -2.82377363e-02 4.73833925e+00] [-4.47676536e-03 9.99979682e-01 -4.53807009e-03 6.80578133e-01] [ 2.82174361e-02 4.66263130e-03 9.99590934e-01 1.56661609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters Centerline goodness : 0.149024 Centerline is valid? [False, False] Translation: X:4.74, Y:0.68, Z:1.57 [[ 9.99587058e-01 4.24912060e-03 -2.84193273e-02 4.73909840e+00] [-4.39083772e-03 9.99978227e-01 -4.92610095e-03 6.82735346e-01] [ 2.83977769e-02 5.04885141e-03 9.99583951e-01 1.56618419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27255784400006 meters Centerline goodness : 0.128012 Centerline is valid? [False, False] Translation: X:4.74, Y:0.69, Z:1.57 [[ 9.99556288e-01 4.39027629e-03 -2.94610420e-02 4.74228924e+00] [-4.55291756e-03 9.99974753e-01 -5.45574472e-03 6.87390418e-01] [ 2.94363459e-02 5.58745764e-03 9.99551040e-01 1.56538023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters Centerline goodness : 0.141916 Centerline is valid? [False, False] Translation: X:4.74, Y:0.69, Z:1.57 [[ 9.99554371e-01 4.21154495e-03 -2.95520272e-02 4.74263572e+00] [-4.38998864e-03 9.99972507e-01 -5.97600879e-03 6.90109014e-01] [ 2.95260465e-02 6.10307877e-03 9.99545379e-01 1.56525018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33255784400006 meters Centerline goodness : 0.135882 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99535149e-01 -3.82456469e-03 -3.02466135e-02 4.72306116e+00] [ 3.66930587e-03 9.99979816e-01 -5.18693778e-03 6.98248996e-01] [ 3.02658408e-02 5.07354255e-03 9.99529008e-01 1.56367923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36255784400004 meters Centerline goodness : 0.131068 Centerline is valid? [False, False] Translation: X:4.74, Y:0.71, Z:1.57 [[ 9.99475290e-01 -1.24514467e-02 -2.99016025e-02 4.74354203e+00] [ 1.23207277e-02 9.99913736e-01 -4.55191849e-03 7.05176320e-01] [ 2.99557010e-02 4.18112055e-03 9.99542482e-01 1.56519926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39255784400007 meters Centerline goodness : 0.131738 Centerline is valid? [False, False] Translation: X:4.74, Y:0.71, Z:1.57 [[ 9.99478741e-01 -1.25317479e-02 -2.97523291e-02 4.74303330e+00] [ 1.23965941e-02 9.99912006e-01 -4.72275424e-03 7.06123762e-01] [ 2.98088955e-02 4.35146492e-03 9.99546144e-01 1.56538771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42255784400004 meters Centerline goodness : 0.124043 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99577167e-01 -4.03478881e-03 -2.87959805e-02 4.72241630e+00] [ 3.87495558e-03 9.99976789e-01 -5.60418603e-03 7.03602754e-01] [ 2.88179238e-02 5.49023325e-03 9.99569600e-01 1.56353100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45255784400007 meters Centerline goodness : 0.126386 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99581517e-01 -4.17059750e-03 -2.86251177e-02 4.72169982e+00] [ 4.00684951e-03 9.99975295e-01 -5.77540867e-03 7.04356456e-01] [ 2.86484974e-02 5.65829522e-03 9.99573533e-01 1.56396991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48255784400004 meters Centerline goodness : 0.126969 Centerline is valid? [False, False] Translation: X:4.72, Y:0.71, Z:1.56 [[ 9.99576654e-01 -4.56710693e-03 -2.87342176e-02 4.72186333e+00] [ 4.39401031e-03 9.99971836e-01 -6.08432039e-03 7.05059578e-01] [ 2.87611961e-02 5.95548616e-03 9.99568570e-01 1.56409495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51255784400007 meters Centerline goodness : 0.124848 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99565701e-01 -4.60787148e-03 -2.91063116e-02 4.72313803e+00] [ 4.43494282e-03 9.99972147e-01 -6.00304195e-03 7.04496588e-01] [ 2.91331621e-02 5.87135001e-03 9.99558296e-01 1.56348923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54255784400004 meters Centerline goodness : 0.164420 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99554112e-01 -4.60233198e-03 -2.95024745e-02 4.72445711e+00] [ 4.43202616e-03 9.99973152e-01 -5.83539002e-03 7.03582826e-01] [ 2.95285388e-02 5.70203235e-03 9.99547674e-01 1.56290859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5725578440001 meters Centerline goodness : 0.169769 Centerline is valid? [False, False] Translation: X:4.72, Y:0.70, Z:1.56 [[ 9.99552017e-01 -4.56036137e-03 -2.95798597e-02 4.72484593e+00] [ 4.39325755e-03 9.99974037e-01 -5.71177561e-03 7.03009210e-01] [ 2.96051395e-02 5.57926489e-03 9.99546101e-01 1.56255671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60255784400005 meters Centerline goodness : 0.167558 Centerline is valid? [False, False] Translation: X:4.74, Y:0.70, Z:1.56 [[ 9.99616614e-01 3.66491775e-03 -2.74443822e-02 4.74373867e+00] [-3.84329776e-03 9.99971814e-01 -6.44976612e-03 6.99553556e-01] [ 2.74199708e-02 6.55277030e-03 9.99602524e-01 1.56411875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6325578440001 meters Centerline goodness : 0.159241 Centerline is valid? [False, False] Translation: X:4.74, Y:0.70, Z:1.57 [[ 9.99625599e-01 3.65291607e-03 -2.71167320e-02 4.74241355e+00] [-3.83751201e-03 9.99969797e-01 -6.75853945e-03 7.01440574e-01] [ 2.70912246e-02 6.86006983e-03 9.99609426e-01 1.56506291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66255784400005 meters Centerline goodness : 0.145332 Centerline is valid? [False, False] Translation: X:4.69, Y:0.71, Z:1.57 [[ 0.99956705 0.00531457 -0.0289392 4.69468841] [-0.00550875 0.99996282 -0.00663438 0.70788132] [ 0.02890287 0.00679092 0.99955916 1.56627775] [ 0. 0. 0. 1. ]] SLAMing on 417.6925578440001 meters Centerline goodness : 0.119048 Centerline is valid? [False, False] Translation: X:4.70, Y:0.71, Z:1.57 [[ 0.99956186 0.00525955 -0.02912766 4.69502436] [-0.00546961 0.99995957 -0.00713668 0.71070275] [ 0.02908895 0.00729287 0.99955022 1.56664053] [ 0. 0. 0. 1. ]] SLAMing on 417.72255784400005 meters Centerline goodness : 0.123474 Centerline is valid? [False, False] Translation: X:4.70, Y:0.71, Z:1.57 [[ 0.9995499 0.00521739 -0.02954272 4.69615959] [-0.00544511 0.99995604 -0.00763308 0.71356911] [ 0.0295016 0.00779051 0.99953437 1.56656899] [ 0. 0. 0. 1. ]] SLAMing on 417.7525578440001 meters Centerline goodness : 0.123394 Centerline is valid? [False, False] Translation: X:4.70, Y:0.72, Z:1.57 [[ 0.99952188 0.00591461 -0.03034852 4.69916365] [-0.00615082 0.99995147 -0.00769582 0.7200815 ] [ 0.03030153 0.00787881 0.99950975 1.56553501] [ 0. 0. 0. 1. ]] SLAMing on 417.78255784400005 meters Centerline goodness : 0.124758 Centerline is valid? [False, False] Translation: X:4.70, Y:0.72, Z:1.57 [[ 0.99952395 0.00567252 -0.03032663 4.69915537] [-0.0059269 0.99994795 -0.00830473 0.722866 ] [ 0.03027794 0.00848052 0.99950554 1.56550487] [ 0. 0. 0. 1. ]] SLAMing on 417.8125578440001 meters Centerline goodness : 0.128864 Centerline is valid? [False, False] Translation: X:4.70, Y:0.73, Z:1.57 [[ 0.99952875 0.00547721 -0.03020393 4.69876239] [-0.00574597 0.99994461 -0.0088185 0.72529417] [ 0.03015396 0.0089879 0.99950486 1.56573457] [ 0. 0. 0. 1. ]] SLAMing on 417.84255784400005 meters Centerline goodness : 0.121612 Centerline is valid? [False, False] Translation: X:4.70, Y:0.73, Z:1.57 [[ 0.99953259 0.0053364 -0.03010197 4.69826181] [-0.00561734 0.99994138 -0.00925623 0.72768211] [ 0.03005081 0.009421 0.99950397 1.56616024] [ 0. 0. 0. 1. ]] SLAMing on 417.872557844 meters Centerline goodness : 0.127850 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99560435e-01 -2.28677857e-03 -2.95585307e-02 4.71657162e+00] [ 2.07124278e-03 9.99971060e-01 -7.32039275e-03 7.34900751e-01] [ 2.95744154e-02 7.25595207e-03 9.99536245e-01 1.56892947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90255784400006 meters Centerline goodness : 0.126750 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99560434e-01 -2.33761058e-03 -2.95545876e-02 4.71686238e+00] [ 2.12266389e-03 9.99971086e-01 -7.30215422e-03 7.34643280e-01] [ 2.95708027e-02 7.23620999e-03 9.99536495e-01 1.56841743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93255784400003 meters Centerline goodness : 0.151097 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99551699e-01 -2.50139052e-03 -2.98352777e-02 4.71790605e+00] [ 2.28793113e-03 9.99971559e-01 -7.18659070e-03 7.33277777e-01] [ 2.98524056e-02 7.11510788e-03 9.99528994e-01 1.56772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96255784400006 meters Centerline goodness : 0.151097 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.57 [[ 9.99551699e-01 -2.50139052e-03 -2.98352777e-02 4.71790605e+00] [ 2.28793113e-03 9.99971559e-01 -7.18659070e-03 7.33277777e-01] [ 2.98524056e-02 7.11510788e-03 9.99528994e-01 1.56772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99255784400003 meters Centerline goodness : 0.124166 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.56 [[ 0.99952092 -0.00578099 -0.03040579 4.72145148] [ 0.00548652 0.99993733 -0.00975907 0.72922008] [ 0.0304603 0.00958757 0.99948999 1.56491735] [ 0. 0. 0. 1. ]] SLAMing on 418.02255784400006 meters Centerline goodness : 0.120582 Centerline is valid? [False, False] Translation: X:4.72, Y:0.73, Z:1.56 [[ 0.99951485 -0.0056575 -0.03062788 4.7222333 ] [ 0.00537822 0.99994328 -0.00919333 0.72644093] [ 0.03067815 0.00902414 0.99948858 1.56433797] [ 0. 0. 0. 1. ]] SLAMing on 418.05255784400003 meters Centerline goodness : 0.123038 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.9995142 -0.00548324 -0.0306807 4.72241677] [ 0.00522108 0.99994923 -0.00861843 0.72369331] [ 0.03072639 0.00845406 0.99949208 1.56418249] [ 0. 0. 0. 1. ]] SLAMing on 418.08255784400006 meters Centerline goodness : 0.126805 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99951547 -0.00532173 -0.03066771 4.72242427] [ 0.00507438 0.99995401 -0.00813787 0.72129127] [ 0.0307096 0.0079783 0.99949651 1.56404119] [ 0. 0. 0. 1. ]] SLAMing on 418.11255784400004 meters Centerline goodness : 0.172068 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99952012 -0.00507354 -0.03055811 4.72226388] [ 0.00484611 0.99996004 -0.00751214 0.71805317] [ 0.030595 0.00736045 0.99950476 1.56379071] [ 0. 0. 0. 1. ]] SLAMing on 418.14255784400007 meters Centerline goodness : 0.171307 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 0.99952124 -0.00497726 -0.03053729 4.72202306] [ 0.00475223 0.99996105 -0.0074373 0.71789503] [ 0.03057311 0.00728862 0.99950596 1.56412771] [ 0. 0. 0. 1. ]] SLAMing on 418.17255784400004 meters Centerline goodness : 0.118506 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99518672e-01 -4.88528420e-03 -3.06359008e-02 4.72208646e+00] [ 4.65832236e-03 9.99961209e-01 -7.47536409e-03 7.18463029e-01] [ 3.06712317e-02 7.32905408e-03 9.99502657e-01 1.56447194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20255784400007 meters Centerline goodness : 0.138627 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99514279e-01 -4.80313698e-03 -3.07918184e-02 4.72250520e+00] [ 4.57288926e-03 9.99961090e-01 -7.54362678e-03 7.19024194e-01] [ 3.08268534e-02 7.39915511e-03 9.99497352e-01 1.56447008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23255784400004 meters Centerline goodness : 0.131823 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99511438e-01 -4.51674239e-03 -3.09270934e-02 4.72283758e+00] [ 4.28287094e-03 9.99961764e-01 -7.62409834e-03 7.19916422e-01] [ 3.09603469e-02 7.48791674e-03 9.99492565e-01 1.56450803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26255784400007 meters Centerline goodness : 0.125256 Centerline is valid? [False, False] Translation: X:4.72, Y:0.72, Z:1.56 [[ 9.99515675e-01 -4.54146221e-03 -3.07861917e-02 4.72221268e+00] [ 4.30270301e-03 9.99960188e-01 -7.81721555e-03 7.20899496e-01] [ 3.08204676e-02 7.68096564e-03 9.99495423e-01 1.56498847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29255784400004 meters Centerline goodness : 0.138387 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99598376e-01 -3.53362012e-03 -2.81176262e-02 4.76384537e+00] [ 3.35845318e-03 9.99974675e-01 -6.27457997e-03 7.20164602e-01] [ 2.81390861e-02 6.17762821e-03 9.99584928e-01 1.56693468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3225578440001 meters Centerline goodness : 0.145167 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99596458e-01 -3.57636149e-03 -2.81803114e-02 4.76406511e+00] [ 3.39617618e-03 9.99973500e-01 -6.43928425e-03 7.21135089e-01] [ 2.82025938e-02 6.34098043e-03 9.99582116e-01 1.56682287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35255784400005 meters Centerline goodness : 0.158833 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99592081e-01 -3.66467745e-03 -2.83238842e-02 4.76455128e+00] [ 3.47669847e-03 9.99971624e-01 -6.68316512e-03 7.22344978e-01] [ 2.83475721e-02 6.58196533e-03 9.99576457e-01 1.56663730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3825578440001 meters Centerline goodness : 0.135287 Centerline is valid? [False, False] Translation: X:4.77, Y:0.72, Z:1.57 [[ 9.99586540e-01 -3.77559753e-03 -2.85042705e-02 4.76506588e+00] [ 3.57722314e-03 9.99969050e-01 -7.00725098e-03 7.23983391e-01] [ 2.85298448e-02 6.90238763e-03 9.99569110e-01 1.56658171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41255784400005 meters Centerline goodness : 0.168636 Centerline is valid? [False, False] Translation: X:4.77, Y:0.73, Z:1.57 [[ 9.99585762e-01 -3.89136547e-03 -2.85159731e-02 4.76500258e+00] [ 3.68338043e-03 9.99966259e-01 -7.34253505e-03 7.25696956e-01] [ 2.85435834e-02 7.23445832e-03 9.99566369e-01 1.56677245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4425578440001 meters Centerline goodness : 0.145055 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99620757e-01 -1.66668007e-03 -2.74875159e-02 4.76049800e+00] [ 1.51281615e-03 9.99983078e-01 -5.61743879e-03 7.30179839e-01] [ 2.74964132e-02 5.57372486e-03 9.99606363e-01 1.56893462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47255784400005 meters Centerline goodness : 0.141000 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99622534e-01 -1.75924738e-03 -2.74170564e-02 4.76028153e+00] [ 1.59794880e-03 9.99981295e-01 -5.90394680e-03 7.31733636e-01] [ 2.74269301e-02 5.85790721e-03 9.99606647e-01 1.56902517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5025578440001 meters Centerline goodness : 0.144467 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99623729e-01 -1.81222783e-03 -2.73699768e-02 4.76027061e+00] [ 1.64839862e-03 9.99980599e-01 -6.00710363e-03 7.32234167e-01] [ 2.73803320e-02 5.95972671e-03 9.99607322e-01 1.56884638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53255784400005 meters Centerline goodness : 0.125477 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99624519e-01 -1.85998020e-03 -2.73379056e-02 4.76032752e+00] [ 1.69635514e-03 9.99980517e-01 -6.00725521e-03 7.32035903e-01] [ 2.73485464e-02 5.95862480e-03 9.99608199e-01 1.56858128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5625578440001 meters Centerline goodness : 0.122314 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99643094e-01 -2.27337515e-03 -2.66179683e-02 4.75829162e+00] [ 2.11530007e-03 9.99979970e-01 -5.96531282e-03 7.30159018e-01] [ 2.66309965e-02 5.90687878e-03 9.99627880e-01 1.56887765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59255784400005 meters Centerline goodness : 0.140106 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.57 [[ 9.99611702e-01 -1.11406115e-02 -2.55407807e-02 4.77896995e+00] [ 1.10213398e-02 9.99927714e-01 -4.80588097e-03 7.30756846e-01] [ 2.55924749e-02 4.52252123e-03 9.99662229e-01 1.57023411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters Centerline goodness : 0.172061 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99692279e-01 -2.99766422e-03 -2.46244129e-02 4.75980240e+00] [ 2.85633970e-03 9.99979260e-01 -5.77237337e-03 7.25119864e-01] [ 2.46412059e-02 5.70026140e-03 9.99680108e-01 1.56783847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65255784400006 meters Centerline goodness : 0.120222 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99690196e-01 -2.90018732e-03 -2.47204697e-02 4.76021589e+00] [ 2.76562190e-03 9.99981183e-01 -5.47593353e-03 7.23715955e-01] [ 2.47358858e-02 5.40586959e-03 9.99679405e-01 1.56753295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters Centerline goodness : 0.136764 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99684590e-01 -2.80748401e-03 -2.49567433e-02 4.76110666e+00] [ 2.67767793e-03 9.99982722e-01 -5.23314040e-03 7.22591320e-01] [ 2.49710041e-02 5.16466369e-03 9.99674835e-01 1.56700941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71255784400006 meters Centerline goodness : 0.141302 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99673597e-01 -2.61605713e-03 -2.54137016e-02 4.76278826e+00] [ 2.49419542e-03 9.99985246e-01 -4.82563437e-03 7.20709115e-01] [ 2.54259508e-02 4.76067252e-03 9.99665373e-01 1.56611242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters Centerline goodness : 0.140793 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99673127e-01 -2.51105066e-03 -2.54427482e-02 4.76295011e+00] [ 2.39316163e-03 9.99986265e-01 -4.66289262e-03 7.20153832e-01] [ 2.54541075e-02 4.60047984e-03 9.99665406e-01 1.56595494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77255784400006 meters Centerline goodness : 0.167035 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99676168e-01 -2.48186897e-03 -2.53258754e-02 4.76254128e+00] [ 2.36461229e-03 9.99986352e-01 -4.65881399e-03 7.20204754e-01] [ 2.53370923e-02 4.59741944e-03 9.99668393e-01 1.56615086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters Centerline goodness : 0.119173 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99680169e-01 -2.43448493e-03 -2.51720630e-02 4.76190594e+00] [ 2.31414116e-03 9.99985760e-01 -4.80887200e-03 7.20951745e-01] [ 2.51834117e-02 4.74908227e-03 9.99671567e-01 1.56659439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83255784400006 meters Centerline goodness : 0.117778 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99675995e-01 -2.38066827e-03 -2.53424211e-02 4.76225614e+00] [ 2.25763310e-03 9.99985532e-01 -4.88241497e-03 7.21638435e-01] [ 2.53536779e-02 4.82361915e-03 9.99666906e-01 1.56674181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86255784400004 meters Centerline goodness : 0.161291 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99665970e-01 -2.25488399e-03 -2.57461522e-02 4.76328303e+00] [ 2.12943274e-03 9.99985733e-01 -4.89899872e-03 7.22331041e-01] [ 2.57568316e-02 4.84253760e-03 9.99656509e-01 1.56670766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89255784400007 meters Centerline goodness : 0.139146 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99660825e-01 -2.19572995e-03 -2.59502183e-02 4.76395371e+00] [ 2.06785788e-03 9.99985594e-01 -4.95339964e-03 7.22879513e-01] [ 2.59607208e-02 4.89805821e-03 9.99650964e-01 1.56648758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92255784400004 meters Centerline goodness : 0.160526 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99669470e-01 -2.04422556e-03 -2.56275462e-02 4.76303759e+00] [ 1.91863798e-03 9.99986036e-01 -4.92412324e-03 7.22667095e-01] [ 2.56372544e-02 4.87332569e-03 9.99659433e-01 1.56668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95255784400007 meters Centerline goodness : 0.143868 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99969242 0.00592199 -0.02408304 4.78245909] [-0.00606784 0.99996366 -0.00598752 0.7175142 ] [ 0.0240467 0.00613181 0.99969203 1.56805714] [ 0. 0. 0. 1. ]] SLAMing on 418.98255784400004 meters Centerline goodness : 0.131274 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970029 0.00602166 -0.02372927 4.78119358] [-0.00616476 0.99996323 -0.00596179 0.71756876] [ 0.0236925 0.00610629 0.99970064 1.56864557] [ 0. 0. 0. 1. ]] SLAMing on 419.01255784400007 meters Centerline goodness : 0.130408 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970587 0.00616772 -0.02345483 4.78029101] [-0.00630729 0.99996281 -0.00588127 0.71763265] [ 0.02341769 0.00602747 0.9997076 1.56900097] [ 0. 0. 0. 1. ]] SLAMing on 419.04255784400004 meters Centerline goodness : 0.141880 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970638 0.00659084 -0.02331757 4.77973917] [-0.00672388 0.99996153 -0.00563215 0.71724989] [ 0.02327955 0.00578728 0.99971224 1.56937181] [ 0. 0. 0. 1. ]] SLAMing on 419.0725578440001 meters Centerline goodness : 0.124650 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.9997073 0.00662419 -0.02326876 4.77962654] [-0.00675767 0.99996113 -0.00566242 0.71726545] [ 0.02323034 0.005818 0.99971321 1.56933129] [ 0. 0. 0. 1. ]] SLAMing on 419.10255784400005 meters Centerline goodness : 0.170508 Centerline is valid? [False, False] Translation: X:4.78, Y:0.72, Z:1.57 [[ 0.99970804 0.00668006 -0.02322085 4.77940977] [-0.00681342 0.99996072 -0.00566894 0.71744012] [ 0.02318207 0.0058255 0.99971429 1.56946018] [ 0. 0. 0. 1. ]] SLAMing on 419.1325578440001 meters Centerline goodness : 0.133498 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99747542e-01 1.09068066e-03 -2.24424486e-02 4.75616319e+00] [-1.15082690e-03 9.99995781e-01 -2.66728018e-03 7.20910788e-01] [ 2.24394447e-02 2.69243418e-03 9.99744578e-01 1.56882191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16255784400005 meters Centerline goodness : 0.136342 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99758681e-01 1.39452539e-03 -2.19233918e-02 4.75476861e+00] [-1.44855147e-03 9.99995953e-01 -2.44862481e-03 7.20846184e-01] [ 2.19198884e-02 2.47979107e-03 9.99756655e-01 1.56903249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1925578440001 meters Centerline goodness : 0.133528 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99760729e-01 1.42204871e-03 -2.18280189e-02 4.75457601e+00] [-1.47565970e-03 9.99995934e-01 -2.44015212e-03 7.20813955e-01] [ 2.18244601e-02 2.47177899e-03 9.99758763e-01 1.56892865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22255784400005 meters Centerline goodness : 0.135154 Centerline is valid? [False, False] Translation: X:4.75, Y:0.72, Z:1.57 [[ 9.99760480e-01 1.43252473e-03 -2.18387577e-02 4.75469314e+00] [-1.48753398e-03 9.99995761e-01 -2.50284498e-03 7.21053565e-01] [ 2.18350797e-02 2.53473140e-03 9.99758373e-01 1.56873262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2525578440001 meters Centerline goodness : 0.155424 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99757872e-01 1.40221960e-03 -2.19597400e-02 4.75516387e+00] [-1.46094319e-03 9.99995399e-01 -2.65833317e-03 7.21779637e-01] [ 2.19559114e-02 2.68977145e-03 9.99755322e-01 1.56840941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28255784400005 meters Centerline goodness : 0.137738 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99724823e-01 3.59060320e-03 -2.31815917e-02 4.76062602e+00] [-3.60530432e-03 9.99993325e-01 -5.92408947e-04 7.22845553e-01] [ 2.31793099e-02 6.75822622e-04 9.99731095e-01 1.56563035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3125578440001 meters Centerline goodness : 0.127402 Centerline is valid? [False, False] Translation: X:4.76, Y:0.72, Z:1.57 [[ 9.99725000e-01 3.56261612e-03 -2.31782679e-02 4.76078557e+00] [-3.58207575e-03 9.99993266e-01 -7.98098760e-04 7.23932867e-01] [ 2.31752685e-02 8.80905594e-04 9.99731029e-01 1.56532086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34255784400005 meters Centerline goodness : 0.126212 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.57 [[ 9.99724998e-01 3.47857309e-03 -2.31911117e-02 4.76089660e+00] [-3.50558490e-03 9.99993224e-01 -1.12419547e-03 7.25525964e-01] [ 2.31870439e-02 1.20518472e-03 9.99730418e-01 1.56511618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3725578440001 meters Centerline goodness : 0.155399 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.56 [[ 9.99724696e-01 3.45345584e-03 -2.32078656e-02 4.76105424e+00] [-3.48709907e-03 9.99992927e-01 -1.40933438e-03 7.26956308e-01] [ 2.32028344e-02 1.48987451e-03 9.99729668e-01 1.56477827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40255784400006 meters Centerline goodness : 0.151158 Centerline is valid? [False, False] Translation: X:4.76, Y:0.73, Z:1.56 [[ 9.99722421e-01 3.55226126e-03 -2.32908356e-02 4.76120646e+00] [-3.58862047e-03 9.99992406e-01 -1.51948438e-03 7.28015167e-01] [ 2.32852612e-02 1.60264457e-03 9.99727577e-01 1.56473399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43255784400003 meters Centerline goodness : 0.196865 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99752895e-01 -1.47196896e-03 -2.21806801e-02 4.78254767e+00] [ 1.51830816e-03 9.99996700e-01 2.07247386e-03 7.30658536e-01] [ 2.21775563e-02 -2.10563885e-03 9.99751830e-01 1.56431984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46255784400006 meters Centerline goodness : 0.168694 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99756934e-01 -1.48902130e-03 -2.19967225e-02 4.78199704e+00] [ 1.53345495e-03 9.99996818e-01 2.00328304e-03 7.30717115e-01] [ 2.19936696e-02 -2.03652709e-03 9.99756036e-01 1.56441658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49255784400003 meters Centerline goodness : 0.168200 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99761860e-01 -1.47783496e-03 -2.17724254e-02 4.78125388e+00] [ 1.52119070e-03 9.99996893e-01 1.97488706e-03 7.30474047e-01] [ 2.17694392e-02 -2.00753677e-03 9.99761002e-01 1.56465785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52255784400006 meters Centerline goodness : 0.203250 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99776954e-01 -1.03315941e-03 -2.10944331e-02 4.77940447e+00] [ 1.07706901e-03 9.99997277e-01 2.07031751e-03 7.31301961e-01] [ 2.10922367e-02 -2.09257589e-03 9.99775344e-01 1.56493834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55255784400003 meters Centerline goodness : 0.109435 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:1.56 [[ 9.99776666e-01 -9.52591697e-04 -2.11118761e-02 4.77962503e+00] [ 9.91434669e-04 9.99997835e-01 1.82947327e-03 7.33025088e-01] [ 2.11100877e-02 -1.84999573e-03 9.99775446e-01 1.56461043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58255784400006 meters Centerline goodness : 0.244753 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99773471e-01 -9.45434576e-04 -2.12629296e-02 4.78014983e+00] [ 9.76321732e-04 9.99998483e-01 1.44229535e-03 7.35271312e-01] [ 2.12615338e-02 -1.46272809e-03 9.99772878e-01 1.56424150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61255784400004 meters Centerline goodness : 0.100028 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99772369e-01 -5.07358746e-04 -2.13296037e-02 4.78035515e+00] [ 5.28897627e-04 9.99999356e-01 1.00418248e-03 7.39373017e-01] [ 2.13290805e-02 -1.01523508e-03 9.99771994e-01 1.56403931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64255784400007 meters Centerline goodness : 0.184953 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99767943e-01 -6.13363281e-04 -2.15333426e-02 4.78085308e+00] [ 6.24624728e-04 9.99999672e-01 5.16255176e-04 7.41964399e-01] [ 2.15330188e-02 -5.29585634e-04 9.99767997e-01 1.56390925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67255784400004 meters Centerline goodness : 0.098376 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:1.56 [[ 9.99764369e-01 -7.02539562e-04 -2.16959054e-02 4.78136626e+00] [ 7.05966003e-04 9.99999740e-01 1.50271530e-04 7.43956051e-01] [ 2.16957942e-02 -1.65552693e-04 9.99764605e-01 1.56361228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 419.73255784400004 meters Centerline goodness : 0.146178 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99702847e-01 -5.86069980e-04 -2.43695324e-02 4.73648167e+00] [ 5.78918707e-04 9.99999787e-01 -3.00505396e-04 7.44966268e-01] [ 2.43697033e-02 2.86308122e-04 9.99702974e-01 1.56356765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76255784400007 meters Centerline goodness : 0.146623 Centerline is valid? [False, False] Translation: X:4.76, Y:0.74, Z:1.56 [[ 9.99722990e-01 4.40631214e-03 -2.31198731e-02 4.75883150e+00] [-4.49851312e-03 9.99982130e-01 -3.93746039e-03 7.43660560e-01] [ 2.31021102e-02 4.04037473e-03 9.99724946e-01 1.56356494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79255784400004 meters Centerline goodness : 0.165038 Centerline is valid? [False, False] Translation: X:4.76, Y:0.74, Z:1.56 [[ 9.99724052e-01 4.38095265e-03 -2.30787200e-02 4.75857440e+00] [-4.46832363e-03 9.99983040e-01 -3.73557372e-03 7.42155322e-01] [ 2.30619632e-02 3.83766609e-03 9.99726672e-01 1.56381072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8225578440001 meters Centerline goodness : 0.131146 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99705167e-01 -4.17533962e-03 -2.39195479e-02 4.73658794e+00] [ 4.10614555e-03 9.99987244e-01 -2.94116910e-03 7.44659536e-01] [ 2.39315231e-02 2.84208480e-03 9.99709560e-01 1.56321788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85255784400005 meters Centerline goodness : 0.175119 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99708197e-01 -3.98505917e-03 -2.38252169e-02 4.73627502e+00] [ 3.93064748e-03 9.99989560e-01 -2.33018057e-03 7.42049148e-01] [ 2.38342541e-02 2.23585209e-03 9.99713424e-01 1.56343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8825578440001 meters Centerline goodness : 0.175119 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99708197e-01 -3.98505917e-03 -2.38252169e-02 4.73627502e+00] [ 3.93064748e-03 9.99989560e-01 -2.33018057e-03 7.42049148e-01] [ 2.38342541e-02 2.23585209e-03 9.99713424e-01 1.56343041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91255784400005 meters Centerline goodness : 0.180685 Centerline is valid? [False, False] Translation: X:4.74, Y:0.74, Z:1.56 [[ 9.99713112e-01 -3.90404968e-03 -2.36315992e-02 4.73566277e+00] [ 3.85648478e-03 9.99990446e-01 -2.05800656e-03 7.40450614e-01] [ 2.36394080e-02 1.96628124e-03 9.99718616e-01 1.56363367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9425578440001 meters Centerline goodness : 0.167954 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99748182e-01 2.31198674e-03 -2.23209969e-02 4.71347099e+00] [-2.42048617e-03 9.99985382e-01 -4.83507553e-03 7.34944849e-01] [ 2.23094920e-02 4.88788564e-03 9.99739164e-01 1.56244691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97255784400005 meters Centerline goodness : 0.181353 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99750162e-01 2.57023112e-03 -2.22037723e-02 4.71302685e+00] [-2.66265769e-03 9.99987910e-01 -4.13409080e-03 7.31253492e-01] [ 2.21928783e-02 4.19217899e-03 9.99744918e-01 1.56270012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0025578440001 meters Centerline goodness : 0.196774 Centerline is valid? [False, False] Translation: X:4.71, Y:0.73, Z:1.56 [[ 9.99749323e-01 2.75069158e-03 -2.22199305e-02 4.71314014e+00] [-2.83453578e-03 9.99988979e-01 -3.74276420e-03 7.29427925e-01] [ 2.22093904e-02 3.80480916e-03 9.99746101e-01 1.56258352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03255784400005 meters Centerline goodness : 0.164931 Centerline is valid? [False, False] Translation: X:4.67, Y:0.73, Z:1.56 [[ 9.99682006e-01 3.20049971e-03 -2.50128521e-02 4.66797083e+00] [-3.29163055e-03 9.99988092e-01 -3.60303710e-03 7.25894851e-01] [ 2.50010227e-02 3.68422443e-03 9.99680637e-01 1.56266906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0625578440001 meters Centerline goodness : 0.159900 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99678780e-01 3.39672499e-03 -2.51157101e-02 4.66834553e+00] [-3.47568703e-03 9.99989152e-01 -3.10094476e-03 7.23239034e-01] [ 2.51049045e-02 3.18724303e-03 9.99679741e-01 1.56246142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09255784400005 meters Centerline goodness : 0.097048 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99674115e-01 3.77644744e-03 -2.52468257e-02 4.66871434e+00] [-3.83529180e-03 9.99990040e-01 -2.28274683e-03 7.18701069e-01] [ 2.52379535e-02 2.37883186e-03 9.99678642e-01 1.56232211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1225578440001 meters Centerline goodness : 0.131706 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99675351e-01 3.98149629e-03 -2.51662706e-02 4.66851967e+00] [-4.03048594e-03 9.99990080e-01 -1.89621468e-03 7.16966941e-01] [ 2.51584712e-02 1.99703137e-03 9.99681481e-01 1.56228386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15255784400006 meters Centerline goodness : 0.091378 Centerline is valid? [False, False] Translation: X:4.67, Y:0.72, Z:1.56 [[ 9.99678575e-01 4.17999705e-03 -2.50054870e-02 4.66812280e+00] [-4.22024712e-03 9.99989882e-01 -1.55709296e-03 7.15546011e-01] [ 2.49987254e-02 1.66212181e-03 9.99686101e-01 1.56226928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters Centerline goodness : 0.038082 Centerline is valid? [False, False] Translation: X:4.67, Y:0.71, Z:1.56 [[ 9.99681705e-01 4.36108871e-03 -2.48489237e-02 4.66771381e+00] [-4.39249335e-03 9.99989622e-01 -1.20937998e-03 7.13993864e-01] [ 2.48433916e-02 1.31814377e-03 9.99690486e-01 1.56227476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21255784400006 meters Centerline goodness : 0.181709 Centerline is valid? [False, False] Translation: X:4.62, Y:0.71, Z:1.56 [[ 9.99614068e-01 4.42995561e-03 -2.74242581e-02 4.62238521e+00] [-4.47157399e-03 9.99988942e-01 -1.45643508e-03 7.09848012e-01] [ 2.74175029e-02 1.57850260e-03 9.99622823e-01 1.56211797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 420.27255784400006 meters Centerline goodness : 0.173880 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99593444e-01 3.06183438e-03 -2.83473317e-02 4.62722786e+00] [-3.13054928e-03 9.99992268e-01 -2.37997148e-03 7.03318391e-01] [ 2.83398255e-02 2.46774661e-03 9.99595300e-01 1.55902338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30255784400003 meters Centerline goodness : 0.089858 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99586199e-01 3.28890666e-03 -2.85764716e-02 4.62818916e+00] [-3.34324000e-03 9.99992693e-01 -1.85376048e-03 7.00844674e-01] [ 2.85701659e-02 1.94853139e-03 9.99589890e-01 1.55842526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33255784400006 meters Centerline goodness : 0.096888 Centerline is valid? [False, False] Translation: X:4.63, Y:0.70, Z:1.56 [[ 9.99581674e-01 3.50850919e-03 -2.87083305e-02 4.62870361e+00] [-3.54832777e-03 9.99992812e-01 -1.33617795e-03 6.98365070e-01] [ 2.87034361e-02 1.43748556e-03 9.99586938e-01 1.55812508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36255784400004 meters Centerline goodness : 0.105844 Centerline is valid? [False, False] Translation: X:4.62, Y:0.69, Z:1.56 [[ 9.99609217e-01 1.25101163e-03 -2.79257520e-02 4.62458890e+00] [-1.33037927e-03 9.99995128e-01 -2.82369628e-03 6.91869880e-01] [ 2.79220834e-02 2.85974467e-03 9.99606012e-01 1.56049826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39255784400007 meters Centerline goodness : 0.186537 Centerline is valid? [False, False] Translation: X:4.62, Y:0.69, Z:1.56 [[ 9.99610841e-01 1.44560475e-03 -2.78581528e-02 4.62416026e+00] [-1.50572081e-03 9.99996583e-01 -2.13707749e-03 6.88226174e-01] [ 2.78549683e-02 2.17819243e-03 9.99609602e-01 1.56094974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42255784400004 meters Centerline goodness : 0.094657 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.56 [[ 9.99610899e-01 1.68027945e-03 -2.78429169e-02 4.62410102e+00] [-1.72029023e-03 9.99997522e-01 -1.41312715e-03 6.84480862e-01] [ 2.78404734e-02 1.46047519e-03 9.99611312e-01 1.56103775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45255784400007 meters Centerline goodness : 0.117638 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.56 [[ 9.99606809e-01 1.93594986e-03 -2.79728464e-02 4.62480636e+00] [-1.94747456e-03 9.99998030e-01 -3.84758575e-04 6.76515848e-01] [ 2.79720464e-02 4.39083698e-04 9.99608609e-01 1.56058533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48255784400004 meters Centerline goodness : 0.126593 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.56 [[ 9.99605196e-01 2.18441627e-03 -2.80121377e-02 4.62502122e+00] [-2.17757211e-03 9.99997591e-01 2.74831083e-04 6.73151054e-01] [ 2.80126706e-02 -2.13724129e-04 9.99607545e-01 1.56045569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51255784400007 meters Centerline goodness : 0.187212 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.56 [[ 9.99524331e-01 2.11901178e-03 -3.07672003e-02 4.57957862e+00] [-2.09982178e-03 9.99997580e-01 6.56013420e-04 6.68248950e-01] [ 3.07685159e-02 -5.91095738e-04 9.99526362e-01 1.56052981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54255784400004 meters Centerline goodness : 0.184666 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.56 [[ 9.99522702e-01 2.33225014e-03 -3.08047040e-02 4.57988125e+00] [-2.29869503e-03 9.99996726e-01 1.12465408e-03 6.66119271e-01] [ 3.08072261e-02 -1.05330666e-03 9.99524790e-01 1.56020314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5725578440001 meters Centerline goodness : 0.174107 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99523889e-01 2.65823713e-03 -3.07396887e-02 4.57982165e+00] [-2.60245100e-03 9.99994894e-01 1.85465810e-03 6.62485954e-01] [ 3.07444619e-02 -1.77377655e-03 9.99525703e-01 1.56009779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60255784400005 meters Centerline goodness : 0.166211 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99520900e-01 2.75055182e-03 -3.08286275e-02 4.58009905e+00] [-2.68765957e-03 9.99994222e-01 2.08131270e-03 6.61103100e-01] [ 3.08341742e-02 -1.99745869e-03 9.99522518e-01 1.56002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6325578440001 meters Centerline goodness : 0.144147 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99520500e-01 2.89592767e-03 -3.08283014e-02 4.58003146e+00] [-2.82603132e-03 9.99993337e-01 2.31060849e-03 6.60081352e-01] [ 3.08347873e-02 -2.22237881e-03 9.99522024e-01 1.56011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66255784400005 meters Centerline goodness : 0.161263 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99541336e-01 3.61893170e-03 -3.00669273e-02 4.57810634e+00] [-3.52851230e-03 9.99989094e-01 3.05978493e-03 6.58169466e-01] [ 3.00776726e-02 -2.95228999e-03 9.99543204e-01 1.56011547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6925578440001 meters Centerline goodness : 0.175745 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99551368e-01 3.78092899e-03 -2.97114065e-02 4.57704616e+00] [-3.68441299e-03 9.99987759e-01 3.30252515e-03 6.57250516e-01] [ 2.97235294e-02 -3.19157444e-03 9.99553063e-01 1.56040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72255784400005 meters Centerline goodness : 0.179618 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99558434e-01 3.84956304e-03 -2.94638486e-02 4.57641232e+00] [-3.75043050e-03 9.99987122e-01 3.41907233e-03 6.56535805e-01] [ 2.94766311e-02 -3.30706047e-03 9.99559999e-01 1.56041368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7525578440001 meters Centerline goodness : 0.168451 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.56 [[ 9.99518495e-01 1.21610599e-02 -2.85462212e-02 4.59657143e+00] [-1.21043468e-02 9.99924410e-01 2.15867801e-03 6.53007852e-01] [ 2.85703152e-02 -1.81210523e-03 9.99590143e-01 1.56213703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78255784400005 meters Centerline goodness : 0.171719 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99580106e-01 4.98285360e-03 -2.85443914e-02 4.57727255e+00] [-4.88134007e-03 9.99981516e-01 3.62491774e-03 6.57078568e-01] [ 2.85619262e-02 -3.48406078e-03 9.99585953e-01 1.56036213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8125578440001 meters Centerline goodness : 0.114410 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99574789e-01 4.98156917e-03 -2.87302232e-02 4.57779594e+00] [-4.88648073e-03 9.99982352e-01 3.37896155e-03 6.58536882e-01] [ 2.87465487e-02 -3.23713510e-03 9.99581491e-01 1.56018693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84255784400005 meters Centerline goodness : 0.168029 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99571188e-01 4.93869290e-03 -2.88625904e-02 4.57834447e+00] [-4.85016223e-03 9.99983319e-01 3.13652023e-03 6.59791285e-01] [ 2.88775993e-02 -2.99518700e-03 9.99578468e-01 1.55972342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8725578440001 meters Centerline goodness : 0.147670 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99568399e-01 4.87671715e-03 -2.89695081e-02 4.57882077e+00] [-4.79458950e-03 9.99984290e-01 2.90375605e-03 6.60908472e-01] [ 2.89832138e-02 -2.76360588e-03 9.99576078e-01 1.55930542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90255784400006 meters Centerline goodness : 0.160228 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99574039e-01 4.86281707e-03 -2.87766144e-02 4.57820765e+00] [-4.78238439e-03 9.99984465e-01 2.86323626e-03 6.61060438e-01] [ 2.87900907e-02 -2.72439580e-03 9.99581767e-01 1.55942884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93255784400003 meters Centerline goodness : 0.163449 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99575702e-01 4.92664322e-03 -2.87078944e-02 4.57789378e+00] [-4.84030061e-03 9.99983554e-01 3.07634245e-03 6.60083024e-01] [ 2.87225783e-02 -2.93608233e-03 9.99583110e-01 1.55969970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96255784400006 meters Centerline goodness : 0.167381 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99575040e-01 4.98360012e-03 -2.87211245e-02 4.57776963e+00] [-4.88931445e-03 9.99982429e-01 3.35209226e-03 6.58635094e-01] [ 2.87373253e-02 -3.21024114e-03 9.99581843e-01 1.55997876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99255784400003 meters Centerline goodness : 0.171493 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99586674e-01 1.06534778e-03 -2.87288558e-02 4.57767675e+00] [-1.07145531e-03 9.99999407e-01 -1.97199053e-04 6.57209777e-01] [ 2.87286287e-02 2.27899230e-04 9.99587222e-01 1.56012031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02255784400006 meters Centerline goodness : 0.169799 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99582240e-01 1.10521311e-03 -2.88811919e-02 4.57827484e+00] [-1.10462813e-03 9.99999389e-01 3.62093610e-05 6.55863865e-01] [ 2.88812142e-02 -4.29125722e-06 9.99582851e-01 1.55981683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05255784400003 meters Centerline goodness : 0.144462 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99580791e-01 1.14960169e-03 -2.89295920e-02 4.57849360e+00] [-1.14253244e-03 9.99999313e-01 2.60889380e-04 6.54635791e-01] [ 2.89298721e-02 -2.27727015e-04 9.99581418e-01 1.55970208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08255784400006 meters Centerline goodness : 0.168781 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99579085e-01 1.21022745e-03 -2.89860076e-02 4.57871414e+00] [-1.19902490e-03 9.99999200e-01 4.03859238e-04 6.54068262e-01] [ 2.89864731e-02 -3.68934303e-04 9.99579736e-01 1.55958226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11255784400004 meters Centerline goodness : 0.171264 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99573686e-01 1.24467239e-03 -2.91701399e-02 4.57956073e+00] [-1.23428180e-03 9.99999168e-01 3.74209796e-04 6.54657121e-01] [ 2.91705814e-02 -3.38046093e-04 9.99574391e-01 1.55898366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14255784400007 meters Centerline goodness : 0.164811 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99568040e-01 1.17062319e-03 -2.93660248e-02 4.58040128e+00] [-1.16467550e-03 9.99999298e-01 2.19640533e-04 6.55189723e-01] [ 2.93662613e-02 -1.85343768e-04 9.99568701e-01 1.55840026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17255784400004 meters Centerline goodness : 0.140055 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99561744e-01 1.09482392e-03 -2.95824511e-02 4.58109762e+00] [-1.09329290e-03 9.99999400e-01 6.79288747e-05 6.55724218e-01] [ 2.95825078e-02 -3.55568205e-05 9.99562341e-01 1.55812367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20255784400007 meters Centerline goodness : 0.166645 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99561452e-01 1.06852390e-03 -2.95932628e-02 4.58101086e+00] [-1.06903673e-03 9.99999429e-01 -1.50763753e-06 6.56129653e-01] [ 2.95932443e-02 3.31432612e-05 9.99562023e-01 1.55828028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23255784400004 meters Centerline goodness : 0.164545 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99565978e-01 1.05431563e-03 -2.94405248e-02 4.58034096e+00] [-1.05747029e-03 9.99999437e-01 -9.15842542e-05 6.56807907e-01] [ 2.94404117e-02 1.22676985e-04 9.99566530e-01 1.55872831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26255784400007 meters Centerline goodness : 0.154993 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99564121e-01 9.73400625e-04 -2.95062741e-02 4.58069409e+00] [-9.80263764e-04 9.99999496e-01 -2.18135069e-04 6.57100064e-01] [ 2.95060469e-02 2.46963920e-04 9.99564571e-01 1.55842515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29255784400004 meters Centerline goodness : 0.168008 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99559934e-01 9.00126330e-04 -2.96501054e-02 4.58126062e+00] [-9.09215928e-04 9.99999544e-01 -2.93081337e-04 6.57046989e-01] [ 2.96498281e-02 3.19910710e-04 9.99560296e-01 1.55807504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3225578440001 meters Centerline goodness : 0.159827 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99556606e-01 8.30733354e-04 -2.97640794e-02 4.58174548e+00] [-8.42553307e-04 9.99999571e-01 -3.84581895e-04 6.57247324e-01] [ 2.97637471e-02 4.09489197e-04 9.99556878e-01 1.55773309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35255784400005 meters Centerline goodness : 0.161283 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.56 [[ 9.99549802e-01 8.40237058e-04 -2.99914603e-02 4.58258895e+00] [-8.53179569e-04 9.99999548e-01 -4.18745547e-04 6.57765570e-01] [ 2.99910949e-02 4.44145130e-04 9.99550067e-01 1.55726420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3825578440001 meters Centerline goodness : 0.163860 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99612552e-01 1.13177047e-03 -2.78112436e-02 4.62657441e+00] [-1.14527566e-03 9.99999234e-01 -4.69677989e-04 6.60401190e-01] [ 2.78106907e-02 5.01347553e-04 9.99613082e-01 1.55780438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41255784400005 meters Centerline goodness : 0.157013 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99618643e-01 1.12353554e-03 -2.75917660e-02 4.62584882e+00] [-1.13438513e-03 9.99999285e-01 -3.77568633e-04 6.59744382e-01] [ 2.75913221e-02 4.08724333e-04 9.99619203e-01 1.55811554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4425578440001 meters Centerline goodness : 0.114646 Centerline is valid? [False, False] Translation: X:4.63, Y:0.66, Z:1.56 [[ 9.99620649e-01 1.11631469e-03 -2.75193063e-02 4.62537631e+00] [-1.12359744e-03 9.99999338e-01 -2.49179549e-04 6.58733567e-01] [ 2.75190099e-02 2.80005645e-04 9.99621241e-01 1.55859390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47255784400005 meters Centerline goodness : 0.153899 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.56 [[ 9.99529175e-01 -1.56281008e-04 -3.06823022e-02 4.58069076e+00] [ 1.38351518e-04 9.99999818e-01 -5.86481450e-04 6.54066629e-01] [ 3.06823882e-02 5.81960377e-04 9.99529015e-01 1.55878831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5025578440001 meters Centerline goodness : 0.161381 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.56 [[ 9.99498069e-01 -7.97601421e-03 -3.06593139e-02 4.60068119e+00] [ 8.00145484e-03 9.99967738e-01 7.07184090e-04 6.58362066e-01] [ 3.06526843e-02 -9.52148248e-04 9.99529643e-01 1.56049786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53255784400005 meters Centerline goodness : 0.169838 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.56 [[ 9.99552147e-01 -2.31438094e-05 -2.99249894e-02 4.61931653e+00] [ 1.05789551e-05 9.99999912e-01 -4.20036574e-04 6.54117362e-01] [ 2.99249965e-02 4.19531884e-04 9.99552059e-01 1.56254491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5625578440001 meters Centerline goodness : 0.176173 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.56 [[ 9.99560614e-01 8.31802517e-05 -2.96407212e-02 4.61820858e+00] [-8.72593818e-05 9.99999987e-01 -1.36325653e-04 6.52798873e-01] [ 2.96407094e-02 1.38852184e-04 9.99560608e-01 1.56324855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59255784400005 meters Centerline goodness : 0.164299 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99664653e-01 -3.05176113e-04 -2.58937872e-02 4.65405954e+00] [ 2.90053853e-04 9.99999785e-01 -5.87765025e-04 6.52367122e-01] [ 2.58939610e-02 5.80057327e-04 9.99664527e-01 1.56754549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6225578440001 meters Centerline goodness : 0.169850 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99670389e-01 -2.26518752e-04 -2.56722154e-02 4.65296313e+00] [ 2.16593147e-04 9.99999901e-01 -3.89408320e-04 6.51476868e-01] [ 2.56723010e-02 3.83719541e-04 9.99670339e-01 1.56843434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65255784400006 meters Centerline goodness : 0.168464 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99676606e-01 -1.27716591e-04 -2.54296535e-02 4.65212028e+00] [ 1.22745729e-04 9.99999973e-01 -1.97035890e-04 6.50654431e-01] [ 2.54296780e-02 1.93850789e-04 9.99676595e-01 1.56882094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68255784400003 meters Centerline goodness : 0.168258 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99680990e-01 -6.06296892e-05 -2.52569716e-02 4.65155093e+00] [ 5.96606193e-05 9.99999997e-01 -3.91219537e-05 6.49847952e-01] [ 2.52569739e-02 3.76026269e-05 9.99680991e-01 1.56901110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71255784400006 meters Centerline goodness : 0.162454 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99628560e-01 6.53941404e-03 -2.64571167e-02 4.62932251e+00] [-6.60632246e-03 9.99975195e-01 -2.44232091e-03 6.44649570e-01] [ 2.64404891e-02 2.61619798e-03 9.99646966e-01 1.56918685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74255784400003 meters Centerline goodness : 0.168421 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99636932e-01 -6.04622546e-04 -2.69376829e-02 4.64765165e+00] [ 5.81666857e-04 9.99999461e-01 -8.60005205e-04 6.48868822e-01] [ 2.69381883e-02 8.44024207e-04 9.99636745e-01 1.57150682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77255784400006 meters Centerline goodness : 0.168421 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99636932e-01 -6.04622546e-04 -2.69376829e-02 4.64765165e+00] [ 5.81666857e-04 9.99999461e-01 -8.60005205e-04 6.48868822e-01] [ 2.69381883e-02 8.44024207e-04 9.99636745e-01 1.57150682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters Centerline goodness : 0.157500 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99635386e-01 -5.04719597e-04 -2.69970299e-02 4.64788596e+00] [ 4.85326005e-04 9.99999619e-01 -7.24907746e-04 6.48427846e-01] [ 2.69973855e-02 7.11541074e-04 9.99635251e-01 1.57134298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83255784400006 meters Centerline goodness : 0.168232 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99634204e-01 -4.43402804e-04 -2.70418495e-02 4.64810912e+00] [ 4.28558758e-04 9.99999754e-01 -5.54721742e-04 6.47498862e-01] [ 2.70420889e-02 5.42929805e-04 9.99634148e-01 1.57117826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86255784400004 meters Centerline goodness : 0.170248 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636299e-01 -2.95210190e-04 -2.69663225e-02 4.64778465e+00] [ 2.93787728e-04 9.99999955e-01 -5.67114415e-05 6.44483807e-01] [ 2.69663381e-02 4.87684409e-05 9.99636341e-01 1.57142398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89255784400007 meters Centerline goodness : 0.156767 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99637244e-01 -1.50120133e-04 -2.69324633e-02 4.64763277e+00] [ 1.58588586e-04 9.99999939e-01 3.12297235e-04 6.42646229e-01] [ 2.69324148e-02 -3.16455129e-04 9.99637207e-01 1.57152984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92255784400004 meters Centerline goodness : 0.167799 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636721e-01 6.66437851e-06 -2.69522781e-02 4.64781581e+00] [ 1.14197916e-05 9.99999775e-01 6.70816025e-04 6.40965685e-01] [ 2.69522765e-02 -6.70880121e-04 9.99636496e-01 1.57134939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95255784400007 meters Centerline goodness : 0.130658 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99631983e-01 2.07540977e-04 -2.71266742e-02 4.64867991e+00] [-1.78252688e-04 9.99999399e-01 1.08209964e-03 6.38781097e-01] [ 2.71268825e-02 -1.07686601e-03 9.99631418e-01 1.57074319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98255784400004 meters Centerline goodness : 0.132507 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99633738e-01 3.00060157e-04 -2.70610475e-02 4.64845341e+00] [-2.66595612e-04 9.99999195e-01 1.24023091e-03 6.38039325e-01] [ 2.70613978e-02 -1.23256230e-03 9.99633013e-01 1.57079972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01255784400007 meters Centerline goodness : 0.142989 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99636847e-01 3.80487370e-04 -2.69449320e-02 4.64819691e+00] [-3.46428683e-04 9.99999135e-01 1.26866767e-03 6.38055397e-01] [ 2.69453914e-02 -1.25887245e-03 9.99636114e-01 1.57071003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04255784400004 meters Centerline goodness : 0.139463 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99626884e-01 7.30198598e-04 -2.73049487e-02 4.64953678e+00] [-6.92078247e-04 9.99998773e-01 1.40552107e-03 6.38328318e-01] [ 2.73059415e-02 -1.38609948e-03 9.99626162e-01 1.56987629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0725578440001 meters Centerline goodness : 0.126101 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99521953e-01 6.69559546e-04 -3.09098310e-02 4.60624117e+00] [-6.11247422e-04 9.99998016e-01 1.89593402e-03 6.35076211e-01] [ 3.09110391e-02 -1.87613412e-03 9.99520379e-01 1.56911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10255784400005 meters Centerline goodness : 0.166884 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99518363e-01 6.45120530e-04 -3.10262260e-02 4.60694121e+00] [-5.88990227e-04 9.99998174e-01 1.81822968e-03 6.35346777e-01] [ 3.10273423e-02 -1.79907981e-03 9.99516917e-01 1.56841418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1325578440001 meters Centerline goodness : 0.131453 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99513783e-01 6.17396695e-04 -3.11739551e-02 4.60767934e+00] [-5.62373163e-04 9.99998269e-01 1.77378513e-03 6.35429177e-01] [ 3.11749962e-02 -1.75539129e-03 9.99512400e-01 1.56779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16255784400005 meters Centerline goodness : 0.132954 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99508778e-01 5.80389048e-04 -3.13347267e-02 4.60814102e+00] [-5.24413373e-04 9.99998252e-01 1.79456693e-03 6.34904302e-01] [ 3.13357135e-02 -1.77725305e-03 9.99507336e-01 1.56769968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1925578440001 meters Centerline goodness : 0.133278 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99508906e-01 5.71948823e-04 -3.13308033e-02 4.60806962e+00] [-5.13268822e-04 9.99998099e-01 1.88092777e-03 6.34354726e-01] [ 3.13318195e-02 -1.86392293e-03 9.99507300e-01 1.56778992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22255784400005 meters Centerline goodness : 0.285963 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99509071e-01 6.13117330e-04 -3.13247587e-02 4.60787708e+00] [-5.48590619e-04 9.99997710e-01 2.06847966e-03 6.33489969e-01] [ 3.13259552e-02 -2.05027972e-03 9.99507119e-01 1.56810764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2525578440001 meters Centerline goodness : 0.163445 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99510627e-01 6.36533244e-04 -3.12746214e-02 4.60775545e+00] [-5.66666676e-04 9.99997324e-01 2.24278259e-03 6.32693119e-01] [ 3.12759653e-02 -2.22396274e-03 9.99508313e-01 1.56815131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28255784400005 meters Centerline goodness : 0.132168 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99509086e-01 4.99237900e-04 -3.13263269e-02 4.60780593e+00] [-4.23905729e-04 9.99997003e-01 2.41135120e-03 6.31087070e-01] [ 3.13274369e-02 -2.39688803e-03 9.99506301e-01 1.56837354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3125578440001 meters Centerline goodness : 0.132122 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99502163e-01 5.30948601e-04 -3.15459193e-02 4.60834990e+00] [-4.50017663e-04 9.99996590e-01 2.57254075e-03 6.30126672e-01] [ 3.15471776e-02 -2.55706382e-03 9.99498993e-01 1.56839122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34255784400005 meters Centerline goodness : 0.256615 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99493928e-01 5.56423597e-04 -3.18053259e-02 4.60909504e+00] [-4.71128088e-04 9.99996273e-01 2.68923076e-03 6.29470378e-01] [ 3.18067037e-02 -2.67288544e-03 9.99490465e-01 1.56825114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3725578440001 meters Centerline goodness : 0.134809 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99489307e-01 5.79029415e-04 -3.19497915e-02 4.60957368e+00] [-4.90512929e-04 9.99996020e-01 2.77825546e-03 6.28980569e-01] [ 3.19512731e-02 -2.76116484e-03 9.99485614e-01 1.56806670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40255784400006 meters Centerline goodness : 0.130878 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99487332e-01 5.20906755e-04 -3.20125173e-02 4.60969596e+00] [-4.33880849e-04 9.99996192e-01 2.72538265e-03 6.28927311e-01] [ 3.20138151e-02 -2.71009582e-03 9.99483752e-01 1.56811162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43255784400003 meters Centerline goodness : 0.131938 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99489128e-01 5.04668728e-04 -3.19566624e-02 4.60947537e+00] [-4.21119387e-04 9.99996476e-01 2.62113420e-03 6.29503065e-01] [ 3.19578726e-02 -2.60633756e-03 9.99485818e-01 1.56818600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46255784400006 meters Centerline goodness : 0.127494 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99493176e-01 4.62441250e-04 -3.18304366e-02 4.60905215e+00] [-3.86196214e-04 9.99997042e-01 2.40145628e-03 6.30885252e-01] [ 3.18314530e-02 -2.38794638e-03 9.99490398e-01 1.56831611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49255784400003 meters Centerline goodness : 0.132872 Centerline is valid? [False, False] Translation: X:4.61, Y:0.63, Z:1.57 [[ 9.99503393e-01 4.27089871e-04 -3.15084785e-02 4.60813579e+00] [-3.59597279e-04 9.99997629e-01 2.14768093e-03 6.32505273e-01] [ 3.15093211e-02 -2.13528402e-03 9.99501177e-01 1.56844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52255784400006 meters Centerline goodness : 0.124758 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.57 [[ 9.99546795e-01 8.86806373e-03 -2.87673645e-02 4.62807685e+00] [-8.84701984e-03 9.99960496e-01 8.58718508e-04 6.34249328e-01] [ 2.87738433e-02 -6.03823888e-04 9.99585765e-01 1.56954768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55255784400003 meters Centerline goodness : 0.260438 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99605115e-01 2.66926221e-04 -2.80987982e-02 4.60695978e+00] [-2.25102543e-04 9.99998862e-01 1.49160345e-03 6.39296288e-01] [ 2.80991644e-02 -1.48468933e-03 9.99604038e-01 1.56792642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58255784400006 meters Centerline goodness : 0.165969 Centerline is valid? [False, False] Translation: X:4.61, Y:0.64, Z:1.57 [[ 9.99607037e-01 2.07600786e-04 -2.80308643e-02 4.60678803e+00] [-1.69148865e-04 9.99999042e-01 1.37413500e-03 6.39780332e-01] [ 2.80311227e-02 -1.36885362e-03 9.99606114e-01 1.56788871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61255784400004 meters Centerline goodness : 0.161056 Centerline is valid? [False, False] Translation: X:4.65, Y:0.64, Z:1.57 [[ 9.99655069e-01 6.05381049e-04 -2.62559624e-02 4.65161624e+00] [-5.79653875e-04 9.99999344e-01 9.87460199e-04 6.43215215e-01] [ 2.62565430e-02 -9.71900223e-04 9.99654765e-01 1.56803751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64255784400007 meters Centerline goodness : 0.165040 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99589097e-01 8.57169013e-03 -2.73525567e-02 4.63254502e+00] [-8.58440785e-03 9.99963093e-01 -3.47562728e-04 6.39342772e-01] [ 2.73485680e-02 5.82225416e-04 9.99625788e-01 1.56596438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67255784400004 meters Centerline goodness : 0.282886 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99588532e-01 8.52206801e-03 -2.73886886e-02 4.63257846e+00] [-8.53948395e-03 9.99963403e-01 -5.18977109e-04 6.40238463e-01] [ 2.73832635e-02 7.52648833e-04 9.99624725e-01 1.56601268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70255784400007 meters Centerline goodness : 0.296660 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99590024e-01 8.46124789e-03 -2.73530745e-02 4.63232515e+00] [-8.48494777e-03 9.99963721e-01 -7.50490781e-04 6.41497483e-01] [ 2.73457320e-02 9.82272506e-04 9.99625553e-01 1.56621985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73255784400004 meters Centerline goodness : 0.123867 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.57 [[ 9.99592773e-01 8.42975426e-03 -2.72621999e-02 4.63207375e+00] [-8.45855554e-03 9.99963783e-01 -9.41304294e-04 6.42690859e-01] [ 2.72532776e-02 1.17151980e-03 9.99627874e-01 1.56620203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76255784400007 meters Centerline goodness : 0.156129 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99651045e-01 6.18848055e-04 -2.64084408e-02 4.61192478e+00] [-6.11856621e-04 9.99999776e-01 2.72822052e-04 6.48515142e-01] [ 2.64086037e-02 -2.56568670e-04 9.99651199e-01 1.56382757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79255784400004 meters Centerline goodness : 0.111197 Centerline is valid? [False, False] Translation: X:4.63, Y:0.65, Z:1.57 [[ 9.99647480e-01 8.72440014e-03 -2.50759120e-02 4.63135327e+00] [-8.75702888e-03 9.99960946e-01 -1.19167834e-03 6.46145997e-01] [ 2.50645360e-02 1.41084874e-03 9.99684840e-01 1.56528047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8225578440001 meters Centerline goodness : 0.288791 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99702566e-01 -1.41495923e-04 -2.43876876e-02 4.60937351e+00] [ 1.25827756e-04 9.99999785e-01 -6.43995546e-04 6.49465209e-01] [ 2.43877735e-02 6.40735352e-04 9.99702369e-01 1.56398358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85255784400005 meters Centerline goodness : 0.142195 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99702083e-01 -6.02857347e-05 -2.44078265e-02 4.60945094e+00] [ 4.98279818e-05 9.99999907e-01 -4.29066960e-04 6.48525872e-01] [ 2.44078501e-02 4.27722941e-04 9.99701993e-01 1.56394821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8825578440001 meters Centerline goodness : 0.161515 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99699574e-01 -4.95198926e-05 -2.45103799e-02 4.60987519e+00] [ 3.99599906e-05 9.99999923e-01 -3.90524472e-04 6.48235024e-01] [ 2.45103973e-02 3.89427714e-04 9.99699499e-01 1.56367021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91255784400005 meters Centerline goodness : 0.331650 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99697799e-01 -5.29103288e-05 -2.45826709e-02 4.61014597e+00] [ 4.35483749e-05 9.99999926e-01 -3.81370699e-04 6.48019924e-01] [ 2.45826892e-02 3.80184913e-04 9.99697728e-01 1.56355445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9425578440001 meters Centerline goodness : 0.144711 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99696430e-01 -7.40444593e-05 -2.46382138e-02 4.61023915e+00] [ 6.32753306e-05 9.99999902e-01 -4.37869807e-04 6.48152912e-01] [ 2.46382438e-02 4.36177892e-04 9.99696337e-01 1.56362069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97255784400005 meters Centerline goodness : 0.163893 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99695359e-01 -1.24398253e-04 -2.46814460e-02 4.61030183e+00] [ 1.09537852e-04 9.99999812e-01 -6.03439021e-04 6.48918077e-01] [ 2.46815165e-02 6.00551636e-04 9.99695185e-01 1.56363832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0025578440001 meters Centerline goodness : 0.322773 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99690801e-01 2.51729460e-04 -2.48644110e-02 4.61097399e+00] [-2.71352945e-04 9.99999654e-01 -7.85848930e-04 6.51368361e-01] [ 2.48642046e-02 7.92352977e-04 9.99690524e-01 1.56307379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03255784400005 meters Centerline goodness : 0.135542 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.56 [[ 9.99692101e-01 2.10450766e-04 -2.48124892e-02 4.61101322e+00] [-2.37985492e-04 9.99999359e-01 -1.10676462e-03 6.53235216e-01] [ 2.48122404e-02 1.11232886e-03 9.99691510e-01 1.56266548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0625578440001 meters Centerline goodness : 0.158376 Centerline is valid? [False, False] Translation: X:4.63, Y:0.65, Z:1.56 [[ 9.99688770e-01 9.07332382e-03 -2.32387151e-02 4.63200735e+00] [-9.12761085e-03 9.99955854e-01 -2.23105285e-03 6.54811277e-01] [ 2.32174461e-02 2.44247243e-03 9.99727455e-01 1.56341240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09255784400005 meters Centerline goodness : 0.136311 Centerline is valid? [False, False] Translation: X:4.65, Y:0.66, Z:1.57 [[ 9.99716002e-01 2.02650556e-03 -2.37446481e-02 4.64879192e+00] [-2.04990890e-03 9.99997437e-01 -9.61326573e-04 6.61156334e-01] [ 2.37426392e-02 1.00972792e-03 9.99717594e-01 1.56658409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1225578440001 meters Centerline goodness : 0.159615 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99651833e-01 1.34123075e-03 -2.63517498e-02 4.60206853e+00] [-1.36839181e-03 9.99998551e-01 -1.01270605e-03 6.57788792e-01] [ 2.63503533e-02 1.04841298e-03 9.99652219e-01 1.56757957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15255784400006 meters Centerline goodness : 0.138539 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99651451e-01 1.30096293e-03 -2.63682331e-02 4.60201226e+00] [-1.32903296e-03 9.99998569e-01 -1.04704221e-03 6.57879949e-01] [ 2.63668332e-02 1.08172152e-03 9.99651749e-01 1.56773223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters Centerline goodness : 0.113581 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99649082e-01 1.28906217e-03 -2.64584694e-02 4.60217555e+00] [-1.31506514e-03 9.99998669e-01 -9.65407888e-04 6.57379221e-01] [ 2.64571898e-02 9.99863720e-04 9.99649447e-01 1.56787931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21255784400006 meters Centerline goodness : 0.141165 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.57 [[ 9.99634914e-01 1.08104008e-03 -2.69975964e-02 4.60369720e+00] [-1.10516069e-03 9.99999003e-01 -8.78530265e-04 6.56242955e-01] [ 2.69966198e-02 9.08046208e-04 9.99635112e-01 1.56769416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters Centerline goodness : 0.144361 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.57 [[ 9.99631420e-01 1.14191177e-03 -2.71241468e-02 4.60400266e+00] [-1.15923815e-03 9.99999134e-01 -6.23064702e-04 6.54884313e-01] [ 2.71234118e-02 6.54278399e-04 9.99631878e-01 1.56775243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27255784400006 meters Centerline goodness : 0.167067 Centerline is valid? [False, False] Translation: X:4.60, Y:0.65, Z:1.57 [[ 9.99633379e-01 1.21675795e-03 -2.70485978e-02 4.60363249e+00] [-1.22522614e-03 9.99999205e-01 -2.96501927e-04 6.53166361e-01] [ 2.70482156e-02 3.29533872e-04 9.99634076e-01 1.56816005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters Centerline goodness : 0.141637 Centerline is valid? [False, False] Translation: X:4.62, Y:0.66, Z:1.57 [[ 9.99631796e-01 -6.84644194e-03 -2.62563957e-02 4.62366829e+00] [ 6.86722637e-03 9.99976174e-01 7.01505564e-04 6.56633404e-01] [ 2.62509673e-02 -8.81555880e-04 9.99654995e-01 1.56974681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33255784400006 meters Centerline goodness : 0.145497 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99626754e-01 -6.69108974e-03 -2.64874113e-02 4.62422831e+00] [ 6.72536011e-03 9.99976659e-01 1.20496241e-03 6.53993861e-01] [ 2.64787305e-02 -1.38265004e-03 9.99648421e-01 1.56986008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36255784400004 meters Centerline goodness : 0.242067 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99624984e-01 -6.60630417e-03 -2.65753194e-02 4.62459158e+00] [ 6.64626079e-03 9.99976912e-01 1.41547486e-03 6.52987383e-01] [ 2.65653548e-02 -1.59157053e-03 9.99645812e-01 1.56964467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39255784400007 meters Centerline goodness : 0.137414 Centerline is valid? [False, False] Translation: X:4.62, Y:0.65, Z:1.57 [[ 9.99627573e-01 -6.51010106e-03 -2.65015734e-02 4.62457642e+00] [ 6.55584298e-03 9.99977166e-01 1.63948747e-03 6.51927878e-01] [ 2.64902951e-02 -1.81261703e-03 9.99647427e-01 1.56941678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42255784400004 meters Centerline goodness : 0.273283 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99664763e-01 1.66355852e-03 -2.58378571e-02 4.64356396e+00] [-1.65519415e-03 9.99998571e-01 3.45108889e-04 6.47951165e-01] [ 2.58383943e-02 -3.02226526e-04 9.99666087e-01 1.57137211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45255784400007 meters Centerline goodness : 0.125975 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99668664e-01 1.74475156e-03 -2.56810718e-02 4.64303850e+00] [-1.73054061e-03 9.99998337e-01 5.75577302e-04 6.46785670e-01] [ 2.56820334e-02 -5.30944455e-04 9.99670021e-01 1.57160989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48255784400004 meters Centerline goodness : 0.140575 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99670520e-01 1.89290446e-03 -2.55982169e-02 4.64275979e+00] [-1.87519788e-03 9.99997986e-01 7.15698396e-04 6.46461622e-01] [ 2.55995201e-02 -6.67460866e-04 9.99672056e-01 1.57170609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51255784400007 meters Centerline goodness : 0.143710 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99664929e-01 1.89808183e-03 -2.58152485e-02 4.64363122e+00] [-1.88463435e-03 9.99998075e-01 5.45232419e-04 6.47492784e-01] [ 2.58162337e-02 -4.96397423e-04 9.99666582e-01 1.57109099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54255784400004 meters Centerline goodness : 0.142603 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99658243e-01 1.84348604e-03 -2.60767829e-02 4.64465708e+00] [-1.83792109e-03 9.99998283e-01 2.37372523e-04 6.49048324e-01] [ 2.60771758e-02 -1.89364330e-04 9.99659915e-01 1.57036962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5725578440001 meters Centerline goodness : 0.115992 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99648076e-01 2.04324695e-03 -2.64489817e-02 4.64593680e+00] [-2.05238718e-03 9.99997843e-01 -3.18437658e-04 6.52914172e-01] [ 2.64482740e-02 3.72609143e-04 9.99650114e-01 1.56942133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60255784400005 meters Centerline goodness : 0.150710 Centerline is valid? [False, False] Translation: X:4.65, Y:0.65, Z:1.57 [[ 9.99651407e-01 1.94600779e-03 -2.63301661e-02 4.64571737e+00] [-1.96513177e-03 9.99997824e-01 -7.00458418e-04 6.54998993e-01] [ 2.63287457e-02 7.51956489e-04 9.99653056e-01 1.56923206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6325578440001 meters Centerline goodness : 0.150539 Centerline is valid? [False, False] Translation: X:4.65, Y:0.66, Z:1.57 [[ 9.99655145e-01 1.82890068e-03 -2.61962984e-02 4.64538047e+00] [-1.85632570e-03 9.99997754e-01 -1.02262388e-03 6.56627431e-01] [ 2.61943693e-02 1.07090008e-03 9.99656295e-01 1.56915747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66255784400005 meters Centerline goodness : 0.152177 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99660007e-01 1.53278375e-03 -2.60292483e-02 4.64435791e+00] [-1.56700682e-03 9.99997934e-01 -1.29444626e-03 6.57100250e-01] [ 2.60272105e-02 1.33479417e-03 9.99660344e-01 1.57010762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6925578440001 meters Centerline goodness : 0.152177 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99660007e-01 1.53278375e-03 -2.60292483e-02 4.64435791e+00] [-1.56700682e-03 9.99997934e-01 -1.29444626e-03 6.57100250e-01] [ 2.60272105e-02 1.33479417e-03 9.99660344e-01 1.57010762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72255784400005 meters Centerline goodness : 0.141168 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99662312e-01 1.42368255e-03 -2.59467665e-02 4.64366313e+00] [-1.45573646e-03 9.99998200e-01 -1.21652471e-03 6.56342823e-01] [ 2.59449878e-02 1.25388556e-03 9.99662586e-01 1.57095590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7525578440001 meters Centerline goodness : 0.325697 Centerline is valid? [False, False] Translation: X:4.64, Y:0.66, Z:1.57 [[ 9.99662820e-01 1.34968416e-03 -2.59311436e-02 4.64326056e+00] [-1.37661929e-03 9.99998531e-01 -1.02089348e-03 6.55164488e-01] [ 2.59297276e-02 1.05624657e-03 9.99663210e-01 1.57161367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78255784400005 meters Centerline goodness : 0.166067 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99661091e-01 1.32090035e-03 -2.59991913e-02 4.64332742e+00] [-1.34075029e-03 9.99998823e-01 -7.46065559e-04 6.53733448e-01] [ 2.59981752e-02 7.80671134e-04 9.99661685e-01 1.57187333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8125578440001 meters Centerline goodness : 0.159685 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99653317e-01 7.69390083e-04 -2.63183198e-02 4.64420250e+00] [-7.86143488e-04 9.99999495e-01 -6.26227311e-04 6.51388200e-01] [ 2.63178246e-02 6.46700184e-04 9.99653417e-01 1.57195406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84255784400005 meters Centerline goodness : 0.160263 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99645660e-01 7.35745223e-04 -2.66085065e-02 4.64488546e+00] [-7.45549254e-04 9.99999658e-01 -3.58535919e-04 6.49570788e-01] [ 2.66082336e-02 3.78246827e-04 9.99645867e-01 1.57211431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8725578440001 meters Centerline goodness : 0.167779 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99642338e-01 8.08926749e-04 -2.67309234e-02 4.64488917e+00] [-8.08141553e-04 9.99999673e-01 4.01771732e-05 6.47281906e-01] [ 2.67309472e-02 -1.85604334e-05 9.99642664e-01 1.57266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90255784400006 meters Centerline goodness : 0.306772 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99642626e-01 9.04953765e-04 -2.67170739e-02 4.64454853e+00] [-8.94004871e-04 9.99999511e-01 4.21750767e-04 6.45241308e-01] [ 2.67174426e-02 -3.97714850e-04 9.99642946e-01 1.57323243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93255784400003 meters Centerline goodness : 0.262700 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99645012e-01 1.21660726e-03 -2.66152250e-02 4.64390326e+00] [-1.18540548e-03 9.99998592e-01 1.18807487e-03 6.41649425e-01] [ 2.66166329e-02 -1.15610328e-03 9.99645046e-01 1.57393858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96255784400006 meters Centerline goodness : 0.163354 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99645708e-01 1.32596077e-03 -2.65838201e-02 4.64384386e+00] [-1.28908160e-03 9.99998183e-01 1.40436811e-03 6.40687948e-01] [ 2.65856340e-02 -1.36960184e-03 9.99645601e-01 1.57390846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99255784400003 meters Centerline goodness : 0.288414 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99644248e-01 1.37264442e-03 -2.66363245e-02 4.64403632e+00] [-1.33318072e-03 9.99997987e-01 1.49927640e-03 6.40081398e-01] [ 2.66383288e-02 -1.46323200e-03 9.99644066e-01 1.57378578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02255784400006 meters Centerline goodness : 0.130057 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99637542e-01 1.49059899e-03 -2.68805222e-02 4.64488273e+00] [-1.44632140e-03 9.99997565e-01 1.66656711e-03 6.39096271e-01] [ 2.68829409e-02 -1.62708517e-03 9.99637264e-01 1.57336738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05255784400003 meters Centerline goodness : 0.135250 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99638387e-01 1.57985217e-03 -2.68439664e-02 4.64485615e+00] [-1.53169006e-03 9.99997181e-01 1.81461771e-03 6.38514109e-01] [ 2.68467575e-02 -1.77284488e-03 9.99637989e-01 1.57320582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08255784400006 meters Centerline goodness : 0.136930 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99639911e-01 1.68851048e-03 -2.67805357e-02 4.64455817e+00] [-1.63584052e-03 9.99996685e-01 1.98851179e-03 6.37843650e-01] [ 2.67838045e-02 -1.94398707e-03 9.99639359e-01 1.57342649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11255784400004 meters Centerline goodness : 0.129155 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99644737e-01 1.78855939e-03 -2.65932393e-02 4.64382965e+00] [-1.73117222e-03 9.99996124e-01 2.18082708e-03 6.36999459e-01] [ 2.65970367e-02 -2.13401484e-03 9.99643958e-01 1.57381542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14255784400007 meters Centerline goodness : 0.129593 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99653773e-01 2.01272245e-03 -2.62351632e-02 4.64235986e+00] [-1.94571189e-03 9.99994780e-01 2.57950401e-03 6.35433314e-01] [ 2.62402181e-02 -2.52756484e-03 9.99652471e-01 1.57473506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17255784400004 meters Centerline goodness : 0.164311 Centerline is valid? [False, False] Translation: X:4.64, Y:0.64, Z:1.57 [[ 9.99653607e-01 2.02513954e-03 -2.62405161e-02 4.64239504e+00] [-1.95687381e-03 9.99994635e-01 2.62695682e-03 6.35104722e-01] [ 2.62456953e-02 -2.57469748e-03 9.99652207e-01 1.57470536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20255784400007 meters Centerline goodness : 0.131106 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99651047e-01 2.06113221e-03 -2.63350649e-02 4.64278778e+00] [-1.98976372e-03 9.99994278e-01 2.73593503e-03 6.34443219e-01] [ 2.63405533e-02 -2.68257976e-03 9.99649428e-01 1.57445958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23255784400004 meters Centerline goodness : 0.131458 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99649152e-01 2.14534801e-03 -2.64002142e-02 4.64324447e+00] [-2.06779893e-03 9.99993468e-01 2.96439062e-03 6.33273242e-01] [ 2.64064015e-02 -2.90876024e-03 9.99647058e-01 1.57398121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26255784400007 meters Centerline goodness : 0.129643 Centerline is valid? [False, False] Translation: X:4.64, Y:0.63, Z:1.57 [[ 9.99641290e-01 2.35224142e-03 -2.66787801e-02 4.64446296e+00] [-2.25523333e-03 9.99990738e-01 3.66565782e-03 6.29465561e-01] [ 2.66871556e-02 -3.60417604e-03 9.99637337e-01 1.57322581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29255784400004 meters Centerline goodness : 0.129934 Centerline is valid? [False, False] Translation: X:4.65, Y:0.63, Z:1.57 [[ 9.99632746e-01 2.41816871e-03 -2.69911998e-02 4.64559407e+00] [-2.31067258e-03 9.99989278e-01 4.01311557e-03 6.27243210e-01] [ 2.70006148e-02 -3.94927391e-03 9.99627616e-01 1.57273665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3225578440001 meters Centerline goodness : 0.144753 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99620679e-01 2.58861414e-03 -2.74189026e-02 4.64697426e+00] [-2.46352564e-03 9.99986409e-01 4.59492433e-03 6.23811229e-01] [ 2.74304244e-02 -4.52563421e-03 9.99613471e-01 1.57232835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35255784400005 meters Centerline goodness : 0.143265 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99620623e-01 2.66450906e-03 -2.74137058e-02 4.64700403e+00] [-2.53466194e-03 9.99985410e-01 4.77023570e-03 6.22927558e-01] [ 2.74260162e-02 -4.69894151e-03 9.99612792e-01 1.57228121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3825578440001 meters Centerline goodness : 0.127885 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99622378e-01 2.70454220e-03 -2.73456745e-02 4.64692255e+00] [-2.57205811e-03 9.99984791e-01 4.87880530e-03 6.22300892e-01] [ 2.73584536e-02 -4.80662830e-03 9.99614131e-01 1.57214258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41255784400005 meters Centerline goodness : 0.131681 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99624046e-01 2.74904240e-03 -2.72802179e-02 4.64692752e+00] [-2.61415899e-03 9.99984189e-01 4.97880008e-03 6.21757327e-01] [ 2.72934735e-02 -4.90561345e-03 9.99615427e-01 1.57186232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4425578440001 meters Centerline goodness : 0.148665 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99630037e-01 2.80157611e-03 -2.70543930e-02 4.64640385e+00] [-2.66573462e-03 9.99983666e-01 5.05581311e-03 6.21424928e-01] [ 2.70681153e-02 -4.98182281e-03 9.99621178e-01 1.57177038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47255784400005 meters Centerline goodness : 0.127470 Centerline is valid? [False, False] Translation: X:4.64, Y:0.62, Z:1.57 [[ 9.99643040e-01 2.92793216e-03 -2.65559571e-02 4.64471460e+00] [-2.79036032e-03 9.99982503e-01 5.21602949e-03 6.20909261e-01] [ 2.65707646e-02 -5.14006689e-03 9.99633720e-01 1.57246251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5025578440001 meters Centerline goodness : 0.126904 Centerline is valid? [False, False] Translation: X:4.64, Y:0.62, Z:1.57 [[ 9.99642174e-01 2.93384268e-03 -2.65879001e-02 4.64467343e+00] [-2.79514847e-03 9.99982301e-01 5.25210568e-03 6.20645615e-01] [ 2.66028384e-02 -5.17590921e-03 9.99632682e-01 1.57262766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53255784400005 meters Centerline goodness : 0.127255 Centerline is valid? [False, False] Translation: X:4.65, Y:0.62, Z:1.57 [[ 9.99637965e-01 2.91714322e-03 -2.67474959e-02 4.64521541e+00] [-2.77833096e-03 9.99982488e-01 5.22542458e-03 6.20643710e-01] [ 2.67622708e-02 -5.14921940e-03 9.99628564e-01 1.57240885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5625578440001 meters Centerline goodness : 0.122290 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99559158e-01 2.32735355e-03 -2.95985199e-02 4.60017026e+00] [-2.16219960e-03 9.99981923e-01 5.61058686e-03 6.17331088e-01] [ 2.96110427e-02 -5.54411557e-03 9.99546121e-01 1.57237641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59255784400005 meters Centerline goodness : 0.128168 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99562550e-01 2.33835491e-03 -2.94828796e-02 4.59986429e+00] [-2.17573750e-03 9.99982251e-01 5.54652998e-03 6.17903069e-01] [ 2.94953260e-02 -5.47995665e-03 9.99549897e-01 1.57238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6225578440001 meters Centerline goodness : 0.125816 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99575129e-01 2.19386139e-03 -2.90645584e-02 4.59853369e+00] [-2.04623239e-03 9.99984860e-01 5.10811691e-03 6.20063945e-01] [ 2.90753249e-02 -5.04647378e-03 9.99564484e-01 1.57275701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65255784400006 meters Centerline goodness : 0.126279 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99574984e-01 2.05045890e-03 -2.90799971e-02 4.59850721e+00] [-1.91341264e-03 9.99986937e-01 4.73977697e-03 6.21778971e-01] [ 2.90893359e-02 -4.68212045e-03 9.99565850e-01 1.57280268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters Centerline goodness : 0.121095 Centerline is valid? [False, False] Translation: X:4.60, Y:0.62, Z:1.57 [[ 9.99569433e-01 1.87021649e-03 -2.92822789e-02 4.59908165e+00] [-1.74533816e-03 9.99989276e-01 4.28961700e-03 6.23918355e-01] [ 2.92899874e-02 -4.23666255e-03 9.99561978e-01 1.57261423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71255784400006 meters Centerline goodness : 0.125623 Centerline is valid? [False, False] Translation: X:4.60, Y:0.63, Z:1.57 [[ 9.99555663e-01 1.78351906e-03 -2.97539019e-02 4.60050576e+00] [-1.67486625e-03 9.99991840e-01 3.67623925e-03 6.27845868e-01] [ 2.97602158e-02 -3.62477196e-03 9.99550494e-01 1.57196749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters Centerline goodness : 0.129904 Centerline is valid? [False, False] Translation: X:4.60, Y:0.63, Z:1.57 [[ 9.99557676e-01 1.68288088e-03 -2.96920942e-02 4.60025576e+00] [-1.58343092e-03 9.99993059e-01 3.37257000e-03 6.29511747e-01] [ 2.96975637e-02 -3.32406285e-03 9.99553403e-01 1.57207204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77255784400006 meters Centerline goodness : 0.127453 Centerline is valid? [False, False] Translation: X:4.62, Y:0.63, Z:1.57 [[ 9.99567326e-01 1.00931122e-02 -2.76277000e-02 4.62016778e+00] [-1.00390404e-02 9.99947413e-01 2.09516777e-03 6.29499710e-01] [ 2.76473938e-02 -1.81690565e-03 9.99616087e-01 1.57288372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters Centerline goodness : 0.123273 Centerline is valid? [False, False] Translation: X:4.62, Y:0.63, Z:1.57 [[ 9.99574563e-01 9.96672296e-03 -2.74108958e-02 4.61944069e+00] [-9.92239862e-03 9.99949236e-01 1.75257848e-03 6.31290550e-01] [ 2.74269718e-02 -1.47985103e-03 9.99622714e-01 1.57313025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83255784400006 meters Centerline goodness : 0.125209 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99586150e-01 9.69325799e-03 -2.70844955e-02 4.61831387e+00] [-9.66968120e-03 9.99952746e-01 1.00133089e-03 6.35257890e-01] [ 2.70929218e-02 -7.39018057e-04 9.99632646e-01 1.57352928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86255784400004 meters Centerline goodness : 0.271730 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99588466e-01 9.54740793e-03 -2.70507956e-02 4.61828180e+00] [-9.53343044e-03 9.99954347e-01 6.45635661e-04 6.36991131e-01] [ 2.70557248e-02 -3.87483082e-04 9.99633852e-01 1.57338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89255784400007 meters Centerline goodness : 0.127605 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.57 [[ 9.99586521e-01 9.39929986e-03 -2.71742508e-02 4.61863338e+00] [-9.39404384e-03 9.99955823e-01 3.21077120e-04 6.38450342e-01] [ 2.71760683e-02 -6.56682581e-05 9.99630660e-01 1.57328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92255784400004 meters Centerline goodness : 0.127296 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99624715e-01 1.67290241e-03 -2.73428190e-02 4.63775105e+00] [-1.64583971e-03 9.99998133e-01 1.01223044e-03 6.45330093e-01] [ 2.73444613e-02 -9.66848673e-04 9.99625603e-01 1.57503225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95255784400007 meters Centerline goodness : 0.111646 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99625983e-01 1.49699898e-03 -2.73066388e-02 4.63759144e+00] [-1.48089902e-03 9.99998718e-01 6.09812173e-04 6.47257617e-01] [ 2.73075167e-02 -5.69145718e-04 9.99626918e-01 1.57506309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98255784400004 meters Centerline goodness : 0.140670 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.58 [[ 9.99626077e-01 1.36140278e-03 -2.73102896e-02 4.63759908e+00] [-1.35294475e-03 9.99999031e-01 3.28177098e-04 6.48476810e-01] [ 2.73107100e-02 -2.91105072e-04 9.99626951e-01 1.57500827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01255784400007 meters Centerline goodness : 0.303416 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623285e-01 1.28490888e-03 -2.74160094e-02 4.63792938e+00] [-1.28147899e-03 9.99999169e-01 1.42674904e-04 6.49386893e-01] [ 2.74161699e-02 -1.07488117e-04 9.99624100e-01 1.57486203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04255784400004 meters Centerline goodness : 0.114641 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622180e-01 1.17525812e-03 -2.74611564e-02 4.63839512e+00] [-1.18134584e-03 9.99999281e-01 -2.05462394e-04 6.51363986e-01] [ 2.74608952e-02 2.37825890e-04 9.99622850e-01 1.57421882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0725578440001 meters Centerline goodness : 0.223713 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99621475e-01 1.11918772e-03 -2.74891563e-02 4.63857376e+00] [-1.12991366e-03 9.99999291e-01 -3.74658230e-04 6.52268073e-01] [ 2.74887175e-02 4.05576786e-04 9.99622032e-01 1.57400754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10255784400005 meters Centerline goodness : 0.144126 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623193e-01 1.03716555e-03 -2.74298550e-02 4.63856742e+00] [-1.05298430e-03 9.99999288e-01 -5.62260188e-04 6.53064155e-01] [ 2.74292523e-02 5.90931531e-04 9.99623573e-01 1.57373359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1325578440001 meters Centerline goodness : 0.110046 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622555e-01 9.42545233e-04 -2.74564781e-02 4.63858310e+00] [-9.63573084e-04 9.99999253e-01 -7.52640612e-04 6.53795579e-01] [ 2.74557481e-02 7.78812855e-04 9.99622717e-01 1.57380720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16255784400005 meters Centerline goodness : 0.269622 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99623393e-01 8.63092684e-04 -2.74285985e-02 4.63821099e+00] [-8.89424344e-04 9.99999155e-01 -9.47821856e-04 6.54698901e-01] [ 2.74277572e-02 9.71860562e-04 9.99623316e-01 1.57420409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1925578440001 meters Centerline goodness : 0.291626 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99622751e-01 8.77412194e-04 -2.74515090e-02 4.63811441e+00] [-9.03023384e-04 9.99999169e-01 -9.20577999e-04 6.54633129e-01] [ 2.74506785e-02 9.45020067e-04 9.99622712e-01 1.57441302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22255784400005 meters Centerline goodness : 0.246230 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99619984e-01 9.03344578e-04 -2.75512415e-02 4.63844954e+00] [-9.26382361e-04 9.99999232e-01 -8.23427025e-04 6.54156578e-01] [ 2.75504765e-02 8.48637094e-04 9.99620053e-01 1.57429419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2525578440001 meters Centerline goodness : 0.157139 Centerline is valid? [False, False] Translation: X:4.64, Y:0.65, Z:1.57 [[ 9.99611260e-01 8.33023371e-04 -2.78681536e-02 4.63956355e+00] [-8.56052703e-04 9.99999302e-01 -8.14446925e-04 6.53729407e-01] [ 2.78674557e-02 8.37986925e-04 9.99611276e-01 1.57378441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28255784400005 meters Centerline goodness : 0.264821 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99597080e-01 -6.85160350e-03 -2.75451269e-02 4.65883559e+00] [ 6.86039608e-03 9.99976442e-01 2.24714693e-04 6.59749080e-01] [ 2.75429383e-02 -4.13594632e-04 9.99620536e-01 1.57531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3125578440001 meters Centerline goodness : 0.111791 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99600154e-01 -6.81698499e-03 -2.74419517e-02 4.65848150e+00] [ 6.82625235e-03 9.99976671e-01 2.44040316e-04 6.59914056e-01] [ 2.74396479e-02 -4.31268424e-04 9.99623369e-01 1.57543093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34255784400005 meters Centerline goodness : 0.146263 Centerline is valid? [False, False] Translation: X:4.66, Y:0.66, Z:1.58 [[ 9.99602769e-01 -6.81513940e-03 -2.73470076e-02 4.65802237e+00] [ 6.82358163e-03 9.99976696e-01 2.15398701e-04 6.60192779e-01] [ 2.73449024e-02 -4.01917677e-04 9.99625977e-01 1.57577058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3725578440001 meters Centerline goodness : 0.139837 Centerline is valid? [False, False] Translation: X:4.68, Y:0.66, Z:1.58 [[ 9.99698249e-01 1.10787641e-03 -2.45394452e-02 4.67680461e+00] [-1.14621856e-03 9.99998144e-01 -1.54845928e-03 6.60716223e-01] [ 2.45376841e-02 1.57611960e-03 9.99697663e-01 1.57740703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40255784400006 meters Centerline goodness : 0.140178 Centerline is valid? [False, False] Translation: X:4.68, Y:0.66, Z:1.58 [[ 9.99708495e-01 1.05307917e-03 -2.41208771e-02 4.67543309e+00] [-1.09688151e-03 9.99997773e-01 -1.80279276e-03 6.62213129e-01] [ 2.41189249e-02 1.82872498e-03 9.99707424e-01 1.57783017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43255784400003 meters Centerline goodness : 0.141637 Centerline is valid? [False, False] Translation: X:4.67, Y:0.66, Z:1.58 [[ 9.99717292e-01 1.02787767e-03 -2.37545491e-02 4.67431154e+00] [-1.07578987e-03 9.99997413e-01 -2.00427808e-03 6.63548752e-01] [ 2.37524275e-02 2.02926636e-03 9.99715812e-01 1.57808591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46255784400006 meters Centerline goodness : 0.117926 Centerline is valid? [False, False] Translation: X:4.67, Y:0.67, Z:1.58 [[ 9.99721141e-01 8.93736996e-04 -2.35974710e-02 4.67440768e+00] [-9.54422705e-04 9.99996266e-01 -2.56056661e-03 6.66400596e-01] [ 2.35950944e-02 2.58237454e-03 9.99718262e-01 1.57714805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49255784400003 meters Centerline goodness : 0.141698 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99717305e-01 7.86431551e-04 -2.37632237e-02 4.67518878e+00] [-8.53733387e-04 9.99995653e-01 -2.82217215e-03 6.67488487e-01] [ 2.37609010e-02 2.84166180e-03 9.99713631e-01 1.57648496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52255784400006 meters Centerline goodness : 0.104619 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99712026e-01 7.34243915e-04 -2.39859722e-02 4.67592578e+00] [-8.05971854e-04 9.99995232e-01 -2.98088146e-03 6.68332774e-01] [ 2.39836692e-02 2.99935506e-03 9.99707851e-01 1.57614424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55255784400003 meters Centerline goodness : 0.147618 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99707265e-01 6.95587754e-04 -2.41847031e-02 4.67660134e+00] [-7.70552175e-04 9.99994928e-01 -3.09048173e-03 6.68959399e-01] [ 2.41824307e-02 3.10821261e-03 9.99702730e-01 1.57583256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58255784400006 meters Centerline goodness : 0.147618 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99707265e-01 6.95587754e-04 -2.41847031e-02 4.67660134e+00] [-7.70552175e-04 9.99994928e-01 -3.09048173e-03 6.68959399e-01] [ 2.41824307e-02 3.10821261e-03 9.99702730e-01 1.57583256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61255784400004 meters Centerline goodness : 0.153044 Centerline is valid? [False, False] Translation: X:4.68, Y:0.67, Z:1.58 [[ 9.99702311e-01 6.73556147e-04 -2.43892720e-02 4.67722262e+00] [-7.51068186e-04 9.99994696e-01 -3.16909934e-03 6.69442670e-01] [ 2.43870081e-02 3.18647393e-03 9.99697514e-01 1.57564233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64255784400007 meters Centerline goodness : 0.141665 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99640072e-01 -1.16262239e-04 -2.68274501e-02 4.63032780e+00] [ 2.26392167e-05 9.99993909e-01 -3.49009924e-03 6.67012208e-01] [ 2.68276924e-02 3.48823570e-03 9.99633987e-01 1.57624166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67255784400004 meters Centerline goodness : 0.110552 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99641953e-01 -1.95050867e-04 -2.67568435e-02 4.63006615e+00] [ 9.54187659e-05 9.99993058e-01 -3.72483815e-03 6.68243389e-01] [ 2.67573843e-02 3.72095138e-03 9.99635032e-01 1.57627975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70255784400007 meters Centerline goodness : 0.118385 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99645921e-01 -2.98034814e-04 -2.66072157e-02 4.62975778e+00] [ 1.90621118e-04 9.99991823e-01 -4.03945889e-03 6.69932551e-01] [ 2.66082020e-02 4.03295671e-03 9.99637804e-01 1.57611830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73255784400004 meters Centerline goodness : 0.147871 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99648130e-01 -4.17702969e-04 -2.65224840e-02 4.62959916e+00] [ 3.01063829e-04 9.99990268e-01 -4.40158658e-03 6.71816130e-01] [ 2.65240644e-02 4.39205284e-03 9.99638527e-01 1.57596627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76255784400007 meters Centerline goodness : 0.141235 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.58 [[ 9.99650733e-01 -5.72568750e-04 -2.64212733e-02 4.62936775e+00] [ 4.46132612e-04 9.99988423e-01 -4.79103816e-03 6.73722475e-01] [ 2.64237106e-02 4.77757742e-03 9.99639416e-01 1.57585677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79255784400004 meters Centerline goodness : 0.146231 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.58 [[ 9.99649135e-01 -8.42739415e-04 -2.64744467e-02 4.62970677e+00] [ 6.94163242e-04 9.99983963e-01 -5.62074879e-03 6.77959593e-01] [ 2.64787589e-02 5.60039908e-03 9.99633688e-01 1.57533100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8225578440001 meters Centerline goodness : 0.310927 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99645544e-01 -9.67434676e-04 -2.66054734e-02 4.63029819e+00] [ 8.07678299e-04 9.99981585e-01 -6.01473408e-03 6.80042930e-01] [ 2.66108024e-02 5.99111346e-03 9.99627917e-01 1.57480838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85255784400005 meters Centerline goodness : 0.147242 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99641659e-01 -1.07152114e-03 -2.67470754e-02 4.63081893e+00] [ 9.02300881e-04 9.99979508e-01 -6.33795030e-03 6.81834705e-01] [ 2.67533185e-02 6.31154524e-03 9.99622141e-01 1.57446141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8825578440001 meters Centerline goodness : 0.151172 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99639829e-01 -1.16583615e-03 -2.68114243e-02 4.63096133e+00] [ 9.90511165e-04 9.99978048e-01 -6.55154082e-03 6.82902560e-01] [ 2.68184738e-02 6.52262414e-03 9.99619040e-01 1.57445835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91255784400005 meters Centerline goodness : 0.148473 Centerline is valid? [False, False] Translation: X:4.65, Y:0.69, Z:1.58 [[ 0.99961685 -0.00986682 -0.02586101 4.65100565] [ 0.00971356 0.99993455 -0.00604504 0.68857409] [ 0.02591896 0.00579152 0.99964727 1.5762331 ] [ 0. 0. 0. 1. ]] SLAMing on 425.9425578440001 meters Centerline goodness : 0.148267 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.57 [[ 9.99706480e-01 -2.58910591e-03 -2.40883674e-02 4.63004344e+00] [ 2.42567469e-03 9.99973860e-01 -6.81140083e-03 6.81620036e-01] [ 2.41053732e-02 6.75097101e-03 9.99686629e-01 1.57480326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97255784400005 meters Centerline goodness : 0.153734 Centerline is valid? [False, False] Translation: X:4.63, Y:0.68, Z:1.58 [[ 9.99716996e-01 -2.80524229e-03 -2.36232707e-02 4.62859675e+00] [ 2.64883135e-03 9.99974382e-01 -6.64974417e-03 6.80119782e-01] [ 2.36413197e-02 6.58528821e-03 9.99698816e-01 1.57540837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0025578440001 meters Centerline goodness : 0.111423 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.58 [[ 9.99640104e-01 -3.79042022e-03 -2.65573860e-02 4.58374342e+00] [ 3.60078714e-03 9.99967707e-01 -7.18468979e-03 6.76807705e-01] [ 2.65837614e-02 7.08647656e-03 9.99621471e-01 1.57518561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03255784400005 meters Centerline goodness : 0.151289 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99634797e-01 -3.80715517e-03 -2.67540290e-02 4.58448647e+00] [ 3.61540228e-03 9.99967458e-01 -7.21197354e-03 6.76815715e-01] [ 2.67806155e-02 7.11261313e-03 9.99616031e-01 1.57474834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0625578440001 meters Centerline goodness : 0.151718 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.57 [[ 9.99630105e-01 -3.81207638e-03 -2.69280802e-02 4.58504169e+00] [ 3.61814354e-03 9.99967195e-01 -7.24693783e-03 6.77049246e-01] [ 2.69548227e-02 7.14682757e-03 9.99611105e-01 1.57454924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09255784400005 meters Centerline goodness : 0.147731 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.57 [[ 9.99629915e-01 -3.86055138e-03 -2.69282268e-02 4.58513116e+00] [ 3.66231991e-03 9.99965862e-01 -7.40691358e-03 6.77964827e-01] [ 2.69559023e-02 7.30555261e-03 9.99609928e-01 1.57436431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1225578440001 meters Centerline goodness : 0.145972 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99633326e-01 -3.89556872e-03 -2.67962501e-02 4.58465574e+00] [ 3.68784515e-03 9.99962802e-01 -7.79702013e-03 6.80296921e-01] [ 2.68256271e-02 7.69534074e-03 9.99610508e-01 1.57448036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15255784400006 meters Centerline goodness : 0.148756 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99632782e-01 -3.97783883e-03 -2.68044567e-02 4.58473308e+00] [ 3.76269450e-03 9.99960341e-01 -8.07210215e-03 6.81717760e-01] [ 2.68355031e-02 7.96828094e-03 9.99608104e-01 1.57434619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters Centerline goodness : 0.147311 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99631531e-01 -4.01168478e-03 -2.68460039e-02 4.58493561e+00] [ 3.79019632e-03 9.99958403e-01 -8.29613804e-03 6.83100270e-01] [ 2.68781687e-02 8.19132954e-03 9.99605155e-01 1.57408029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21255784400006 meters Centerline goodness : 0.144162 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99632885e-01 -4.06636125e-03 -2.67872925e-02 4.58475089e+00] [ 3.83963824e-03 9.99956419e-01 -8.50983292e-03 6.84218568e-01] [ 2.68207292e-02 8.40385533e-03 9.99604934e-01 1.57407876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters Centerline goodness : 0.098270 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99635164e-01 -4.05686008e-03 -2.67035585e-02 4.58433830e+00] [ 3.83392874e-03 9.99957418e-01 -8.39428734e-03 6.83345000e-01] [ 2.67364759e-02 8.28884527e-03 9.99608151e-01 1.57440577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27255784400006 meters Centerline goodness : 0.150365 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99637824e-01 -4.01881490e-03 -2.66095805e-02 4.58394685e+00] [ 3.80349068e-03 9.99959655e-01 -8.13765586e-03 6.81856455e-01] [ 2.66412106e-02 8.03349930e-03 9.99612779e-01 1.57471899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters Centerline goodness : 0.148208 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99642678e-01 -3.85944109e-03 -2.64503327e-02 4.58353332e+00] [ 3.66485309e-03 9.99965894e-01 -7.40126445e-03 6.78456157e-01] [ 2.64779953e-02 7.30168323e-03 9.99622729e-01 1.57486002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33255784400006 meters Centerline goodness : 0.101637 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99642234e-01 -3.70906860e-03 -2.64885996e-02 4.58378215e+00] [ 3.52439119e-03 9.99969182e-01 -7.01524478e-03 6.76745397e-01] [ 2.65138033e-02 6.91937878e-03 9.99624500e-01 1.57467847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36255784400004 meters Centerline goodness : 0.153440 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.57 [[ 9.99643866e-01 -3.60848040e-03 -2.64408759e-02 4.58364614e+00] [ 3.43281666e-03 9.99971756e-01 -6.68602522e-03 6.75005364e-01] [ 2.64642555e-02 6.59287742e-03 9.99628019e-01 1.57477166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39255784400007 meters Centerline goodness : 0.150961 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99646171e-01 -3.54383111e-03 -2.63623774e-02 4.58331987e+00] [ 3.37635553e-03 9.99973854e-01 -6.39462727e-03 6.73226787e-01] [ 2.63843496e-02 6.30335591e-03 9.99631999e-01 1.57505296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42255784400004 meters Centerline goodness : 0.133963 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99650221e-01 -3.35710668e-03 -2.62328907e-02 4.58279499e+00] [ 3.20739812e-03 9.99978343e-01 -5.74689775e-03 6.69635134e-01] [ 2.62516155e-02 5.66074829e-03 9.99639339e-01 1.57543209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45255784400007 meters Centerline goodness : 0.148037 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.58 [[ 9.99649010e-01 -3.19668771e-03 -2.62990225e-02 4.58313519e+00] [ 3.05527802e-03 9.99980669e-01 -5.41542048e-03 6.68262617e-01] [ 2.63158255e-02 5.33316889e-03 9.99639452e-01 1.57514524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48255784400004 meters Centerline goodness : 0.101370 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99648266e-01 -3.05871416e-03 -2.63436532e-02 4.58342081e+00] [ 2.92285068e-03 9.99982238e-01 -5.19431442e-03 6.67457756e-01] [ 2.63590732e-02 5.11548884e-03 9.99639451e-01 1.57486413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51255784400007 meters Centerline goodness : 0.116858 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99650216e-01 -2.97947230e-03 -2.62786751e-02 4.58331969e+00] [ 2.84722421e-03 9.99983102e-01 -5.06850740e-03 6.66887239e-01] [ 2.62933325e-02 4.99191324e-03 9.99641807e-01 1.57475570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54255784400004 meters Centerline goodness : 0.259494 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99657469e-01 -2.85495502e-03 -2.60152741e-02 4.58264445e+00] [ 2.72742947e-03 9.99984098e-01 -4.93611471e-03 6.66055653e-01] [ 2.60289528e-02 4.86346911e-03 9.99649359e-01 1.57474037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5725578440001 meters Centerline goodness : 0.131384 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99661368e-01 -2.76787802e-03 -2.58744537e-02 4.58227820e+00] [ 2.64366482e-03 9.99984824e-01 -4.83358713e-03 6.65724999e-01] [ 2.58874398e-02 4.76354694e-03 9.99653515e-01 1.57473565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60255784400005 meters Centerline goodness : 0.142804 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.57 [[ 9.99664154e-01 -2.66279450e-03 -2.57776793e-02 4.58197970e+00] [ 2.54269270e-03 9.99985765e-01 -4.69079650e-03 6.65281482e-01] [ 2.57898030e-02 4.62367640e-03 9.99656695e-01 1.57475733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6325578440001 meters Centerline goodness : 0.097199 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.57 [[ 9.99664282e-01 -2.52726606e-03 -2.57863503e-02 4.58198018e+00] [ 2.41302715e-03 9.99987141e-01 -4.46036425e-03 6.64327802e-01] [ 2.57972912e-02 4.39664366e-03 9.99657526e-01 1.57477096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66255784400005 meters Centerline goodness : 0.098701 Centerline is valid? [False, False] Translation: X:4.56, Y:0.66, Z:1.57 [[ 9.99639064e-01 3.27745162e-03 -2.66645847e-02 4.56036405e+00] [-3.47842775e-03 9.99965867e-01 -7.49430419e-03 6.57043344e-01] [ 2.66391123e-02 7.58435005e-03 9.99616344e-01 1.57438980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6925578440001 meters Centerline goodness : 0.113675 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99632817e-01 3.37446138e-03 -2.68857484e-02 4.56102134e+00] [-3.56713960e-03 9.99968277e-01 -7.12182040e-03 6.54893620e-01] [ 2.68608631e-02 7.21511061e-03 9.99613143e-01 1.57424318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72255784400005 meters Centerline goodness : 0.133008 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99625726e-01 3.51443868e-03 -2.71303500e-02 4.56189737e+00] [-3.69725493e-03 9.99970779e-01 -6.69122061e-03 6.52684237e-01] [ 2.71060414e-02 6.78902409e-03 9.99609510e-01 1.57382600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7525578440001 meters Centerline goodness : 0.141206 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99618657e-01 3.68607470e-03 -2.73670225e-02 4.56251916e+00] [-3.85577748e-03 9.99973650e-01 -6.15081652e-03 6.49990862e-01] [ 2.73436290e-02 6.25399210e-03 9.99606529e-01 1.57383735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78255784400005 meters Centerline goodness : 0.134132 Centerline is valid? [False, False] Translation: X:4.56, Y:0.65, Z:1.57 [[ 9.99616442e-01 3.85908914e-03 -2.74239969e-02 4.56263831e+00] [-4.01336762e-03 9.99976418e-01 -5.57286127e-03 6.46944036e-01] [ 2.74018440e-02 5.68078634e-03 9.99608357e-01 1.57395500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8125578440001 meters Centerline goodness : 0.133518 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99621508e-01 4.02221889e-03 -2.72151263e-02 4.56194963e+00] [-4.15209846e-03 9.99980252e-01 -4.71750380e-03 6.41734933e-01] [ 2.71956140e-02 4.82871815e-03 9.99618468e-01 1.57434624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84255784400005 meters Centerline goodness : 0.134069 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99617813e-01 4.13693316e-03 -2.73333903e-02 4.56249575e+00] [-4.25884385e-03 9.99981236e-01 -4.40342898e-03 6.40079867e-01] [ 2.73146607e-02 4.51815469e-03 9.99616674e-01 1.57398463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8725578440001 meters Centerline goodness : 0.133582 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99612055e-01 4.21268360e-03 -2.75316556e-02 4.56322294e+00] [-4.33033748e-03 9.99981740e-01 -4.21517950e-03 6.39036791e-01] [ 2.75133957e-02 4.33276560e-03 9.99612045e-01 1.57360169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90255784400006 meters Centerline goodness : 0.141369 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99606229e-01 4.23339250e-03 -2.77392339e-02 4.56407260e+00] [-4.35150070e-03 9.99981717e-01 -4.19882210e-03 6.38866134e-01] [ 2.77209515e-02 4.31787602e-03 9.99606375e-01 1.57302722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93255784400003 meters Centerline goodness : 0.136829 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99600406e-01 4.36393057e-03 -2.79282110e-02 4.56480774e+00] [-4.48296812e-03 9.99981127e-01 -4.20107631e-03 6.39275818e-01] [ 2.79093507e-02 4.32459886e-03 9.99601103e-01 1.57250398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96255784400006 meters Centerline goodness : 0.132308 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99604650e-01 4.38299185e-03 -2.77728938e-02 4.56435047e+00] [-4.50364928e-03 9.99980685e-01 -4.28336960e-03 6.40015134e-01] [ 2.77535833e-02 4.40675554e-03 9.99605082e-01 1.57255078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99255784400003 meters Centerline goodness : 0.133073 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99610318e-01 4.36612579e-03 -2.75707922e-02 4.56373485e+00] [-4.48949259e-03 9.99980179e-01 -4.41423170e-03 6.40891837e-01] [ 2.75509726e-02 4.53629042e-03 9.99610107e-01 1.57266259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02255784400006 meters Centerline goodness : 0.136799 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99622867e-01 4.28596369e-03 -2.71247775e-02 4.56228582e+00] [-4.41363358e-03 9.99979455e-01 -4.64864360e-03 6.42127724e-01] [ 2.71042963e-02 4.76660927e-03 9.99621247e-01 1.57316701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05255784400003 meters Centerline goodness : 0.138495 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99623572e-01 4.24184030e-03 -2.71057235e-02 4.56205328e+00] [-4.37189389e-03 9.99979207e-01 -4.74055204e-03 6.42534250e-01] [ 2.70850512e-02 4.85727091e-03 9.99621332e-01 1.57344042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08255784400006 meters Centerline goodness : 0.262042 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.58 [[ 9.99624902e-01 -3.39069291e-03 -2.71764370e-02 4.58125184e+00] [ 3.28849112e-03 9.99987356e-01 -3.80448791e-03 6.48944494e-01] [ 2.71889932e-02 3.71369138e-03 9.99623413e-01 1.57540128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11255784400004 meters Centerline goodness : 0.120975 Centerline is valid? [False, False] Translation: X:4.53, Y:0.65, Z:1.58 [[ 9.99549431e-01 -4.07031460e-03 -2.97383219e-02 4.53480809e+00] [ 3.96201994e-03 9.99985308e-01 -3.69960423e-03 6.45188405e-01] [ 2.97529435e-02 3.58011347e-03 9.99550872e-01 1.57609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14255784400007 meters Centerline goodness : 0.144909 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.58 [[ 9.99637738e-01 -3.56609694e-03 -2.66772585e-02 4.57502094e+00] [ 3.47799020e-03 9.99988346e-01 -3.34836230e-03 6.49152809e-01] [ 2.66888882e-02 3.25436608e-03 9.99638491e-01 1.57825641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17255784400004 meters Centerline goodness : 0.139040 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99709869e-01 2.28949896e-03 -2.39778332e-02 4.55806239e+00] [-2.39397259e-03 9.99987763e-01 -4.32929341e-03 6.43290021e-01] [ 2.39676279e-02 4.38543962e-03 9.99703116e-01 1.57526974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20255784400007 meters Centerline goodness : 0.118660 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99710106e-01 2.24386800e-03 -2.39722488e-02 4.55792934e+00] [-2.34598302e-03 9.99988291e-01 -4.23244462e-03 6.42455443e-01] [ 2.39624710e-02 4.28745615e-03 9.99703665e-01 1.57548768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23255784400004 meters Centerline goodness : 0.142151 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99704490e-01 2.21413410e-03 -2.42080451e-02 4.55843341e+00] [-2.31365453e-03 9.99988985e-01 -4.08381253e-03 6.41366589e-01] [ 2.41987363e-02 4.13861478e-03 9.99698601e-01 1.57567573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26255784400007 meters Centerline goodness : 0.104498 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99694835e-01 2.19834894e-03 -2.46049738e-02 4.55948376e+00] [-2.29472297e-03 9.99989804e-01 -3.88930206e-03 6.40059874e-01] [ 2.45961729e-02 3.94457678e-03 9.99689686e-01 1.57563791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29255784400004 meters Centerline goodness : 0.124258 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99681195e-01 2.11525786e-03 -2.51601625e-02 4.56104965e+00] [-2.20571605e-03 9.99991202e-01 -3.56808508e-03 6.37814710e-01] [ 2.51523937e-02 3.62244373e-03 9.99677065e-01 1.57542300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3225578440001 meters Centerline goodness : 0.143376 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.58 [[ 9.99680365e-01 2.21622621e-03 -2.51844318e-02 4.56118140e+00] [-2.30045940e-03 9.99991855e-01 -3.31617289e-03 6.36643698e-01] [ 2.51768773e-02 3.37304869e-03 9.99677322e-01 1.57532530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35255784400005 meters Centerline goodness : 0.129696 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.58 [[ 9.99670873e-01 -5.21213360e-03 -2.51192837e-02 4.58052872e+00] [ 5.16316247e-03 9.99984643e-01 -2.01400733e-03 6.41664663e-01] [ 2.51293952e-02 1.88364952e-03 9.99682432e-01 1.57700210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3825578440001 meters Centerline goodness : 0.145915 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.58 [[ 9.99668092e-01 -5.18655022e-03 -2.52349987e-02 4.58100435e+00] [ 5.13799463e-03 9.99984823e-01 -1.98859599e-03 6.41570180e-01] [ 2.52449297e-02 1.85827867e-03 9.99679569e-01 1.57668665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41255784400005 meters Centerline goodness : 0.139953 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99653795e-01 2.55060525e-03 -2.61874744e-02 4.56217437e+00] [-2.64220164e-03 9.99990511e-01 -3.46371120e-03 6.35516392e-01] [ 2.61783913e-02 3.53170464e-03 9.99651049e-01 1.57443539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4425578440001 meters Centerline goodness : 0.134336 Centerline is valid? [False, False] Translation: X:4.56, Y:0.64, Z:1.57 [[ 9.99653944e-01 2.56221284e-03 -2.61806490e-02 4.56203155e+00] [-2.65243409e-03 9.99990662e-01 -3.41195853e-03 6.35128960e-01] [ 2.61716624e-02 3.48022025e-03 9.99651405e-01 1.57461901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47255784400005 meters Centerline goodness : 0.136030 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.57 [[ 9.99654791e-01 2.65533568e-03 -2.61390148e-02 4.56171990e+00] [-2.73945685e-03 9.99991182e-01 -3.18293924e-03 6.34104031e-01] [ 2.61303325e-02 3.25344716e-03 9.99653250e-01 1.57494145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5025578440001 meters Centerline goodness : 0.136030 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.57 [[ 9.99654791e-01 2.65533568e-03 -2.61390148e-02 4.56171990e+00] [-2.73945685e-03 9.99991182e-01 -3.18293924e-03 6.34104031e-01] [ 2.61303325e-02 3.25344716e-03 9.99653250e-01 1.57494145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53255784400005 meters Centerline goodness : 0.141776 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99658831e-01 2.75761599e-03 -2.59733870e-02 4.56118026e+00] [-2.83407651e-03 9.99991757e-01 -2.90745134e-03 6.32876286e-01] [ 2.59651553e-02 2.98006998e-03 9.99658407e-01 1.57515745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5625578440001 meters Centerline goodness : 0.137963 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99674758e-01 -1.13563551e-03 -2.54772325e-02 4.55973392e+00] [ 9.71649761e-04 9.99978739e-01 -6.44801692e-03 6.30970749e-01] [ 2.54840135e-02 6.42116480e-03 9.99654607e-01 1.57554268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59255784400005 meters Centerline goodness : 0.117643 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99671327e-01 -1.08959632e-03 -2.56134925e-02 4.56003192e+00] [ 9.35406920e-04 9.99981375e-01 -6.03106161e-03 6.28299264e-01] [ 2.56195868e-02 6.00512033e-03 9.99653728e-01 1.57563458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6225578440001 meters Centerline goodness : 0.118898 Centerline is valid? [False, False] Translation: X:4.56, Y:0.63, Z:1.58 [[ 9.99666112e-01 -9.24509087e-04 -2.58226557e-02 4.56064757e+00] [ 7.82608373e-04 9.99984542e-01 -5.50476791e-03 6.25609227e-01] [ 2.58273458e-02 5.48272090e-03 9.99651383e-01 1.57551007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65255784400006 meters Centerline goodness : 0.135098 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99662594e-01 -5.26576822e-04 -2.59696219e-02 4.56114100e+00] [ 4.12125397e-04 9.99990181e-01 -4.41228249e-03 6.20560373e-01] [ 2.59716903e-02 4.40009102e-03 9.99652995e-01 1.57539792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters Centerline goodness : 0.118838 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99664959e-01 -3.06142336e-04 -2.58819663e-02 4.56091644e+00] [ 2.06869864e-04 9.99992613e-01 -3.83817518e-03 6.17705905e-01] [ 2.58829502e-02 3.83153503e-03 9.99657638e-01 1.57546689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71255784400006 meters Centerline goodness : 0.134404 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.58 [[ 9.99663925e-01 -1.38479686e-04 -2.59232899e-02 4.56085161e+00] [ 5.17452475e-05 9.99994399e-01 -3.34645228e-03 6.15018191e-01] [ 2.59236082e-02 3.34398622e-03 9.99658334e-01 1.57577938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters Centerline goodness : 0.137789 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99662033e-01 6.98112332e-05 -2.59964250e-02 4.56099075e+00] [-1.42151933e-04 9.99996123e-01 -2.78087958e-03 6.12104435e-01] [ 2.59961301e-02 2.78363518e-03 9.99658168e-01 1.57585432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77255784400006 meters Centerline goodness : 0.137178 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99655298e-01 5.46130347e-04 -2.62485539e-02 4.56158091e+00] [-5.93123231e-04 9.99998235e-01 -1.78255140e-03 6.07707192e-01] [ 2.62475341e-02 1.79750558e-03 9.99653858e-01 1.57596004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters Centerline goodness : 0.131628 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99656338e-01 7.61323988e-04 -2.62035635e-02 4.56150093e+00] [-7.99023855e-04 9.99998661e-01 -1.42829018e-03 6.06305889e-01] [ 2.62024410e-02 1.44873660e-03 9.99655607e-01 1.57592029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83255784400006 meters Centerline goodness : 0.133958 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.58 [[ 9.99660120e-01 9.61840671e-04 -2.60522482e-02 4.56123267e+00] [-9.93046034e-04 9.99998805e-01 -1.18488795e-03 6.05392676e-01] [ 2.60510774e-02 1.21035631e-03 9.99659880e-01 1.57571415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86255784400004 meters Centerline goodness : 0.134300 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.58 [[ 9.99667814e-01 1.17341120e-03 -2.57465522e-02 4.56046437e+00] [-1.19824919e-03 9.99998832e-01 -9.49304579e-04 6.04515041e-01] [ 2.57454082e-02 9.79840018e-04 9.99668052e-01 1.57569836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89255784400007 meters Centerline goodness : 0.135179 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.58 [[ 9.99681368e-01 1.98282742e-03 -2.51640661e-02 4.55923051e+00] [-1.99395913e-03 9.99997925e-01 -4.17280898e-04 6.03765734e-01] [ 2.51631865e-02 4.67324058e-04 9.99683248e-01 1.57521973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92255784400004 meters Centerline goodness : 0.130258 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99674524e-01 2.08004870e-03 -2.54267322e-02 4.56029144e+00] [-2.09567647e-03 9.99997631e-01 -5.87987678e-04 6.04881989e-01] [ 2.54254489e-02 6.41082507e-04 9.99676515e-01 1.57444763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95255784400007 meters Centerline goodness : 0.135942 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99656976e-01 2.66216890e-03 -2.60546034e-02 4.56255170e+00] [-2.68149032e-03 9.99996155e-01 -7.06663765e-04 6.07286255e-01] [ 2.60526219e-02 7.76286529e-04 9.99660271e-01 1.57301080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98255784400004 meters Centerline goodness : 0.134314 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99659600e-01 2.65088360e-03 -2.59548869e-02 4.56247287e+00] [-2.67835751e-03 9.99995889e-01 -1.02381862e-03 6.09191050e-01] [ 2.59520662e-02 1.09298657e-03 9.99662591e-01 1.57259656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01255784400007 meters Centerline goodness : 0.125798 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99664116e-01 2.61588928e-03 -2.57839704e-02 4.56220862e+00] [-2.64990620e-03 9.99995663e-01 -1.28522520e-03 6.10801538e-01] [ 2.57804966e-02 1.35311861e-03 9.99666712e-01 1.57222111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04255784400004 meters Centerline goodness : 0.132432 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99669114e-01 2.54290234e-03 -2.55968012e-02 4.56171587e+00] [-2.58255260e-03 9.99995516e-01 -1.51609310e-03 6.12074852e-01] [ 2.55928312e-02 1.58169653e-03 9.99671199e-01 1.57215545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0725578440001 meters Centerline goodness : 0.131317 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99673086e-01 2.49203202e-03 -2.54462394e-02 4.56114442e+00] [-2.53334995e-03 9.99995524e-01 -1.59162589e-03 6.12411434e-01] [ 2.54421591e-02 1.65556979e-03 9.99674925e-01 1.57242592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10255784400005 meters Centerline goodness : 0.133757 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677691e-01 2.09271242e-03 -2.53008663e-02 4.56035820e+00] [-2.13269137e-03 9.99996519e-01 -1.55326088e-03 6.11379229e-01] [ 2.52975277e-02 1.60671919e-03 9.99678675e-01 1.57320676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1325578440001 meters Centerline goodness : 0.156764 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677755e-01 1.98354774e-03 -2.53071494e-02 4.56018581e+00] [-2.01651989e-03 9.99997151e-01 -1.27742510e-03 6.09576223e-01] [ 2.53045435e-02 1.32804582e-03 9.99678907e-01 1.57362006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16255784400005 meters Centerline goodness : 0.247080 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99680754e-01 1.78043081e-03 -2.52035737e-02 4.55985513e+00] [-1.80750866e-03 9.99997813e-01 -1.05162499e-03 6.07583313e-01] [ 2.52016463e-02 1.09684494e-03 9.99681786e-01 1.57391142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1925578440001 meters Centerline goodness : 0.136557 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.57 [[ 9.99677261e-01 1.51780941e-03 -2.53588388e-02 4.56023808e+00] [-1.54113365e-03 9.99998407e-01 -9.00248931e-04 6.05670805e-01] [ 2.53574320e-02 9.39039745e-04 9.99678008e-01 1.57405888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22255784400005 meters Centerline goodness : 0.136890 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99669655e-01 1.43852440e-03 -2.56614730e-02 4.56115998e+00] [-1.45454501e-03 9.99998759e-01 -6.05650969e-04 6.03507125e-01] [ 2.56605699e-02 6.42776663e-04 9.99670507e-01 1.57389447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2525578440001 meters Centerline goodness : 0.132662 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99651581e-01 1.25863321e-03 -2.63653467e-02 4.56346513e+00] [-1.26526893e-03 9.99999172e-01 -2.35002529e-04 6.00349907e-01] [ 2.63650291e-02 2.68279903e-04 9.99652346e-01 1.57309157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28255784400005 meters Centerline goodness : 0.131520 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99648516e-01 1.32218878e-03 -2.64782122e-02 4.56406904e+00] [-1.32351352e-03 9.99999124e-01 -3.25061468e-05 5.99265164e-01] [ 2.64781460e-02 6.75389930e-05 9.99649390e-01 1.57259210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3125578440001 meters Centerline goodness : 0.132810 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99647554e-01 1.39342933e-03 -2.65108857e-02 4.56430854e+00] [-1.39074563e-03 9.99999026e-01 1.19668203e-04 5.98600877e-01] [ 2.65110266e-02 -8.27561282e-05 9.99648518e-01 1.57233743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34255784400005 meters Centerline goodness : 0.131930 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99650359e-01 1.47142223e-03 -2.64006517e-02 4.56389949e+00] [-1.46672011e-03 9.99998905e-01 1.97470019e-04 5.98418124e-01] [ 2.64009134e-02 -1.58678608e-04 9.99651423e-01 1.57253839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3725578440001 meters Centerline goodness : 0.135604 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99664517e-01 1.79130010e-03 -2.58388381e-02 4.56228031e+00] [-1.77886569e-03 9.99998291e-01 5.04207300e-04 5.97793787e-01] [ 2.58396971e-02 -4.58074324e-04 9.99665994e-01 1.57282437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40255784400006 meters Centerline goodness : 0.131717 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99665210e-01 1.84236895e-03 -2.58083948e-02 4.56232390e+00] [-1.82897011e-03 9.99998180e-01 5.42761683e-04 5.97693900e-01] [ 2.58093478e-02 -4.95377189e-04 9.99666761e-01 1.57262947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43255784400003 meters Centerline goodness : 0.145828 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99663196e-01 1.85427956e-03 -2.58854254e-02 4.56281380e+00] [-1.84004024e-03 9.99998142e-01 5.73898633e-04 5.97319854e-01] [ 2.58864415e-02 -5.26075118e-04 9.99664752e-01 1.57212737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46255784400006 meters Centerline goodness : 0.137418 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.57 [[ 9.99660678e-01 1.86105393e-03 -2.59820109e-02 4.56329199e+00] [-1.84501885e-03 9.99998092e-01 6.41120177e-04 5.96666727e-01] [ 2.59831545e-02 -5.92965332e-04 9.99662205e-01 1.57174490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49255784400003 meters Centerline goodness : 0.133375 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.57 [[ 9.99670125e-01 -5.87877552e-03 -2.50016416e-02 4.58323519e+00] [ 5.92766522e-03 9.99980661e-01 1.88179622e-03 5.98735173e-01] [ 2.49900955e-02 -2.02937682e-03 9.99685639e-01 1.57327451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52255784400006 meters Centerline goodness : 0.118829 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.57 [[ 9.99673098e-01 -5.70947630e-03 -2.49218735e-02 4.58272970e+00] [ 5.76924219e-03 9.99980651e-01 2.32688713e-03 5.96691981e-01] [ 2.49081060e-02 -2.46990678e-03 9.99686694e-01 1.57379479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55255784400003 meters Centerline goodness : 0.136575 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.57 [[ 9.99676358e-01 -5.64942744e-03 -2.48044981e-02 4.58218188e+00] [ 5.72538949e-03 9.99979132e-01 2.99248006e-03 5.92861018e-01] [ 2.47870747e-02 -3.13352698e-03 9.99687842e-01 1.57440855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58255784400006 meters Centerline goodness : 0.132162 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.57 [[ 9.99672107e-01 -5.56311312e-03 -2.49946149e-02 4.58273254e+00] [ 5.64855118e-03 9.99978439e-01 3.34895691e-03 5.90822688e-01] [ 2.49754454e-02 -3.48904217e-03 9.99681976e-01 1.57434086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61255784400004 meters Centerline goodness : 0.122558 Centerline is valid? [False, False] Translation: X:4.60, Y:0.59, Z:1.58 [[ 9.99678474e-01 2.28706697e-03 -2.52530696e-02 4.60253504e+00] [-2.24057194e-03 9.99995743e-01 1.86930532e-03 5.86059248e-01] [ 2.52572373e-02 -1.81212297e-03 9.99679343e-01 1.57610217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64255784400007 meters Centerline goodness : 0.139410 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99674895e-01 2.33858379e-03 -2.53896845e-02 4.60307467e+00] [-2.28673197e-03 9.99995241e-01 2.07108190e-03 5.84917747e-01] [ 2.53944071e-02 -2.01234918e-03 9.99675485e-01 1.57583009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67255784400004 meters Centerline goodness : 0.141241 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99670098e-01 2.41186878e-03 -2.55710464e-02 4.60356909e+00] [-2.35065709e-03 9.99994300e-01 2.42357807e-03 5.82965227e-01] [ 2.55767460e-02 -2.36266977e-03 9.99670070e-01 1.57580848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70255784400007 meters Centerline goodness : 0.139414 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99668846e-01 2.46169041e-03 -2.56152093e-02 4.60357273e+00] [-2.39536269e-03 9.99993700e-01 2.61974985e-03 5.81893979e-01] [ 2.56214969e-02 -2.55752460e-03 9.99668444e-01 1.57597720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73255784400004 meters Centerline goodness : 0.143880 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99669083e-01 2.51357585e-03 -2.56009214e-02 4.60338632e+00] [-2.44223094e-03 9.99993048e-01 2.81769626e-03 5.80847323e-01] [ 2.56078259e-02 -2.75424047e-03 9.99668272e-01 1.57624659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76255784400007 meters Centerline goodness : 0.163425 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99669133e-01 2.57071870e-03 -2.55932686e-02 4.60326697e+00] [-2.49353493e-03 9.99992248e-01 3.04724145e-03 5.79715507e-01] [ 2.56009038e-02 -2.98241551e-03 9.99667794e-01 1.57642600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79255784400004 meters Centerline goodness : 0.171097 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.58 [[ 9.99668960e-01 2.62569613e-03 -2.55944707e-02 4.60317335e+00] [-2.54322785e-03 9.99991471e-01 3.25413233e-03 5.78716213e-01] [ 2.56027968e-02 -3.18796251e-03 9.99667111e-01 1.57660747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8225578440001 meters Centerline goodness : 0.117084 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.58 [[ 9.99664094e-01 -4.87025245e-03 -2.54554332e-02 4.62265731e+00] [ 4.98632725e-03 9.99977450e-01 4.49843791e-03 5.81991156e-01] [ 2.54329506e-02 -4.62385598e-03 9.99665837e-01 1.57844257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85255784400005 meters Centerline goodness : 0.143130 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.58 [[ 9.99667779e-01 -4.80559141e-03 -2.53226676e-02 4.62222479e+00] [ 4.92409448e-03 9.99977207e-01 4.61944683e-03 5.81483023e-01] [ 2.52998912e-02 -4.74260336e-03 9.99668657e-01 1.57856898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8825578440001 meters Centerline goodness : 0.117070 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99696200e-01 3.72474290e-03 -2.43646043e-02 4.64140872e+00] [-3.64587657e-03 9.99987973e-01 3.28054377e-03 5.78236076e-01] [ 2.43765304e-02 -3.19071680e-03 9.99697756e-01 1.58040693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91255784400005 meters Centerline goodness : 0.154801 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99696206e-01 3.74467778e-03 -2.43613028e-02 4.64141447e+00] [-3.66476384e-03 9.99987760e-01 3.32418337e-03 5.77995574e-01] [ 2.43734526e-02 -3.23389508e-03 9.99697693e-01 1.58038158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9425578440001 meters Centerline goodness : 0.127772 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99693971e-01 3.76064180e-03 -2.44504107e-02 4.64170737e+00] [-3.67824586e-03 9.99987407e-01 3.41402185e-03 5.77357774e-01] [ 2.44629418e-02 -3.32304243e-03 9.99695214e-01 1.58026098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97255784400005 meters Centerline goodness : 0.142289 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99686303e-01 3.80275890e-03 -2.47554792e-02 4.64260462e+00] [-3.71652786e-03 9.99986869e-01 3.52838932e-03 5.76659666e-01] [ 2.47685717e-02 -3.43527805e-03 9.99687309e-01 1.58002921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0025578440001 meters Centerline goodness : 0.139189 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99687086e-01 3.81383090e-03 -2.47221416e-02 4.64253343e+00] [-3.72918038e-03 9.99987029e-01 3.46927737e-03 5.77124963e-01] [ 2.47350521e-02 -3.37599846e-03 9.99688341e-01 1.57997812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03255784400005 meters Centerline goodness : 0.173320 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99689377e-01 3.78198668e-03 -2.46342539e-02 4.64236736e+00] [-3.70246916e-03 9.99987790e-01 3.27273658e-03 5.78244689e-01] [ 2.46463306e-02 -3.18051242e-03 9.99691174e-01 1.57985648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0625578440001 meters Centerline goodness : 0.138707 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.58 [[ 9.99699540e-01 3.68989653e-03 -2.42325019e-02 4.64104550e+00] [-3.62296172e-03 9.99989502e-01 2.80551412e-03 5.80687288e-01] [ 2.42425996e-02 -2.71687775e-03 9.99702413e-01 1.58028403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09255784400005 meters Centerline goodness : 0.143995 Centerline is valid? [False, False] Translation: X:4.59, Y:0.58, Z:1.58 [[ 9.99632246e-01 3.10119636e-03 -2.69398411e-02 4.59489723e+00] [-3.01547558e-03 9.99990263e-01 3.22197625e-03 5.78692544e-01] [ 2.69495708e-02 -3.13955492e-03 9.99631864e-01 1.58083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1225578440001 meters Centerline goodness : 0.130194 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99586395e-01 -3.05836285e-03 -2.85951936e-02 4.61317562e+00] [ 3.18642519e-03 9.99985093e-01 4.43396203e-03 5.85589239e-01] [ 2.85812067e-02 -4.52324457e-03 9.99581240e-01 1.58324070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15255784400006 meters Centerline goodness : 0.118754 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99585062e-01 -3.11951741e-03 -2.86351659e-02 4.61340220e+00] [ 3.24251793e-03 9.99985712e-01 4.25000670e-03 5.86585745e-01] [ 2.86214988e-02 -4.34109325e-03 9.99580895e-01 1.58297271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters Centerline goodness : 0.122389 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99587428e-01 -3.12953571e-03 -2.85513588e-02 4.61304326e+00] [ 3.25116842e-03 9.99985833e-01 4.21471020e-03 5.86898258e-01] [ 2.85377642e-02 -4.30579660e-03 9.99583441e-01 1.58319246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21255784400006 meters Centerline goodness : 0.129728 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99591820e-01 -3.15093644e-03 -2.83948131e-02 4.61205960e+00] [ 3.27606935e-03 9.99985122e-01 4.36144995e-03 5.85849987e-01] [ 2.83806480e-02 -4.45269307e-03 9.99587271e-01 1.58417311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters Centerline goodness : 0.137096 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99588147e-01 -3.15270586e-03 -2.85236337e-02 4.61214640e+00] [ 3.28019773e-03 9.99984834e-01 4.42400604e-03 5.85449464e-01] [ 2.85092536e-02 -4.51574715e-03 9.99583328e-01 1.58451859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27255784400006 meters Centerline goodness : 0.127676 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99585710e-01 -3.11361046e-03 -2.86131785e-02 4.61216350e+00] [ 3.24401440e-03 9.99984558e-01 4.51218857e-03 5.85068650e-01] [ 2.85986875e-02 -4.60314078e-03 9.99580375e-01 1.58488222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters Centerline goodness : 0.126628 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99587179e-01 -3.08402020e-03 -2.85650057e-02 4.61192287e+00] [ 3.21609350e-03 9.99984345e-01 4.57881625e-03 5.84749935e-01] [ 2.85504374e-02 -4.66879375e-03 9.99581450e-01 1.58505858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33255784400006 meters Centerline goodness : 0.126803 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586386e-01 -3.02370631e-03 -2.85992097e-02 4.61194366e+00] [ 3.16081051e-03 9.99983723e-01 4.74999356e-03 5.83789923e-01] [ 2.85843816e-02 -4.83842558e-03 9.99579673e-01 1.58516828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36255784400004 meters Centerline goodness : 0.127087 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586627e-01 -2.99777271e-03 -2.85935114e-02 4.61194632e+00] [ 3.13658855e-03 9.99983507e-01 4.81118618e-03 5.83442277e-01] [ 2.85786170e-02 -4.89888344e-03 9.99579543e-01 1.58514072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39255784400007 meters Centerline goodness : 0.127087 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99586627e-01 -2.99777271e-03 -2.85935114e-02 4.61194632e+00] [ 3.13658855e-03 9.99983507e-01 4.81118618e-03 5.83442277e-01] [ 2.85786170e-02 -4.89888344e-03 9.99579543e-01 1.58514072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42255784400004 meters Centerline goodness : 0.123045 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.59 [[ 9.99585240e-01 -2.96875133e-03 -2.86449730e-02 4.61210026e+00] [ 3.10856961e-03 9.99983466e-01 4.83777908e-03 5.83473029e-01] [ 2.86301372e-02 -4.92481746e-03 9.99577942e-01 1.58507203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45255784400007 meters Centerline goodness : 0.150276 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.58 [[ 9.99585600e-01 -2.96350287e-03 -2.86329403e-02 4.61229553e+00] [ 3.10276383e-03 9.99983568e-01 4.82045774e-03 5.83609251e-01] [ 2.86181844e-02 -4.90730139e-03 9.99578370e-01 1.58467732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48255784400004 meters Centerline goodness : 0.124976 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99578954e-01 -2.96081200e-03 -2.88642930e-02 4.61330331e+00] [ 3.09280715e-03 9.99984959e-01 4.52938420e-03 5.85406898e-01] [ 2.88504482e-02 -4.61674882e-03 9.99573078e-01 1.58389122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51255784400007 meters Centerline goodness : 0.137583 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99579159e-01 -3.05031651e-03 -2.88479013e-02 4.61349184e+00] [ 3.17114238e-03 9.99986387e-01 4.14355439e-03 5.87514572e-01] [ 2.88348695e-02 -4.23329142e-03 9.99575225e-01 1.58343448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54255784400004 meters Centerline goodness : 0.138100 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99579708e-01 -3.09693681e-03 -2.88238949e-02 4.61349996e+00] [ 3.20755697e-03 9.99987665e-01 3.79234846e-03 5.89564271e-01] [ 2.88117947e-02 -3.88320885e-03 9.99577311e-01 1.58321525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5725578440001 meters Centerline goodness : 0.148749 Centerline is valid? [False, False] Translation: X:4.61, Y:0.59, Z:1.58 [[ 9.99584455e-01 -3.23894668e-03 -2.86430748e-02 4.61305441e+00] [ 3.33575452e-03 9.99988883e-01 3.33266241e-03 5.91923588e-01] [ 2.86319621e-02 -3.42682380e-03 9.99584147e-01 1.58309151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60255784400005 meters Centerline goodness : 0.161580 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.58 [[ 9.99626765e-01 5.19375105e-03 -2.68208122e-02 4.63236027e+00] [-5.15336552e-03 9.99985482e-01 1.57465560e-03 5.94640783e-01] [ 2.68286011e-02 -1.43585043e-03 9.99639017e-01 1.58381558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6325578440001 meters Centerline goodness : 0.139259 Centerline is valid? [False, False] Translation: X:4.59, Y:0.59, Z:1.58 [[ 9.99554412e-01 4.07948244e-03 -2.95691587e-02 4.58697594e+00] [-4.03415202e-03 9.99990595e-01 1.59252477e-03 5.93155165e-01] [ 2.95753773e-02 -1.47252868e-03 9.99561468e-01 1.58375356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66255784400005 meters Centerline goodness : 0.161636 Centerline is valid? [False, False] Translation: X:4.59, Y:0.59, Z:1.58 [[ 9.99551279e-01 3.91783408e-03 -2.96966523e-02 4.58745079e+00] [-3.88066869e-03 9.99991613e-01 1.30903183e-03 5.94401907e-01] [ 2.97015318e-02 -1.19320157e-03 9.99558100e-01 1.58348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6925578440001 meters Centerline goodness : 0.120267 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99549307e-01 3.81344425e-03 -2.97765228e-02 4.58764645e+00] [-3.78148637e-03 9.99992212e-01 1.12949637e-03 5.95192194e-01] [ 2.97805982e-02 -1.01638780e-03 9.99555943e-01 1.58348692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72255784400005 meters Centerline goodness : 0.127429 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99541348e-01 3.66194457e-03 -3.00613186e-02 4.58810687e+00] [-3.63656385e-03 9.99992984e-01 8.98927261e-04 5.96390864e-01] [ 3.00643995e-02 -7.89195062e-04 9.99547652e-01 1.58384657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7525578440001 meters Centerline goodness : 0.127049 Centerline is valid? [False, False] Translation: X:4.59, Y:0.60, Z:1.58 [[ 9.99540892e-01 3.61309396e-03 -3.00824000e-02 4.58800854e+00] [-3.59132731e-03 9.99993249e-01 7.77566440e-04 5.97165386e-01] [ 3.00850063e-02 -6.69173709e-04 9.99547120e-01 1.58408974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78255784400005 meters Centerline goodness : 0.124671 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99541806e-01 -3.84195265e-03 -3.00236116e-02 4.60705070e+00] [ 3.89902203e-03 9.99990701e-01 1.84250290e-03 6.03589553e-01] [ 3.00162536e-02 -1.95872140e-03 9.99547492e-01 1.58641378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8125578440001 meters Centerline goodness : 0.127630 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99545094e-01 -3.92966517e-03 -2.99025420e-02 4.60652634e+00] [ 3.98151032e-03 9.99990672e-01 1.67445973e-03 6.04360073e-01] [ 2.98956830e-02 -1.79275529e-03 9.99551416e-01 1.58670739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84255784400005 meters Centerline goodness : 0.122022 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99547100e-01 -3.93232409e-03 -2.98350866e-02 4.60629458e+00] [ 3.98566264e-03 9.99990563e-01 1.72852008e-03 6.03948922e-01] [ 2.98280080e-02 -1.84664982e-03 9.99553340e-01 1.58682049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8725578440001 meters Centerline goodness : 0.122777 Centerline is valid? [False, False] Translation: X:4.61, Y:0.60, Z:1.59 [[ 9.99547210e-01 -3.93598735e-03 -2.98309062e-02 4.60604531e+00] [ 3.99278081e-03 9.99990328e-01 1.84451794e-03 6.03081875e-01] [ 2.98233577e-02 -1.96279104e-03 9.99553258e-01 1.58722217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90255784400006 meters Centerline goodness : 0.126558 Centerline is valid? [False, False] Translation: X:4.62, Y:0.60, Z:1.59 [[ 9.99587831e-01 2.71951528e-03 -2.85792412e-02 4.62448415e+00] [-2.73946820e-03 9.99996030e-01 -6.59030559e-04 5.97971925e-01] [ 2.85773355e-02 7.37050849e-04 9.99591313e-01 1.58941271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93255784400003 meters Centerline goodness : 0.121039 Centerline is valid? [False, False] Translation: X:4.62, Y:0.60, Z:1.59 [[ 9.99586374e-01 2.80854629e-03 -2.86215554e-02 4.62454295e+00] [-2.81987995e-03 9.99995961e-01 -3.55628090e-04 5.96443469e-01] [ 2.86204410e-02 4.36190343e-04 9.99590256e-01 1.58951378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96255784400006 meters Centerline goodness : 0.123072 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99583433e-01 2.87473681e-03 -2.87175163e-02 4.62483686e+00] [-2.87864379e-03 9.99995852e-01 -9.47072028e-05 5.94955669e-01] [ 2.87171249e-02 1.77335251e-04 9.99587563e-01 1.58947966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99255784400003 meters Centerline goodness : 0.123289 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.59 [[ 9.99582286e-01 2.92693568e-03 -2.87521623e-02 4.62512434e+00] [-2.92516785e-03 9.99995716e-01 1.03546194e-04 5.93770916e-01] [ 2.87523422e-02 -1.93980404e-05 9.99586566e-01 1.58921315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02255784400006 meters Centerline goodness : 0.120071 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.59 [[ 9.99582402e-01 2.97916716e-03 -2.87427496e-02 4.62517920e+00] [-2.97202952e-03 9.99995541e-01 2.91046096e-04 5.92526104e-01] [ 2.87434885e-02 -2.05500255e-04 9.99586799e-01 1.58912969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05255784400003 meters Centerline goodness : 0.130298 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99588790e-01 3.02331291e-03 -2.85150831e-02 4.62463969e+00] [-3.01567854e-03 9.99995405e-01 3.10732031e-04 5.92646816e-01] [ 2.85158915e-02 -2.24611931e-04 9.99593314e-01 1.58906863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08255784400006 meters Centerline goodness : 0.128101 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99590948e-01 3.04785969e-03 -2.84367148e-02 4.62455525e+00] [-3.04273610e-03 9.99995346e-01 2.23444864e-04 5.93373322e-01] [ 2.84372635e-02 -1.36828044e-04 9.99595570e-01 1.58888068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11255784400004 meters Centerline goodness : 0.128052 Centerline is valid? [False, False] Translation: X:4.62, Y:0.59, Z:1.59 [[ 9.99593141e-01 3.07921805e-03 -2.83561279e-02 4.62458616e+00] [-3.07715342e-03 9.99995259e-01 1.16447394e-04 5.94209658e-01] [ 2.83563520e-02 -2.91438603e-05 9.99597877e-01 1.58847624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14255784400007 meters Centerline goodness : 0.127387 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.59 [[ 9.99589361e-01 3.06135861e-03 -2.84910166e-02 4.62523714e+00] [-3.06500635e-03 9.99995299e-01 -8.43603038e-05 5.95388754e-01] [ 2.84906244e-02 1.71650809e-04 9.99594045e-01 1.58792929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17255784400004 meters Centerline goodness : 0.127328 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99492625e-01 2.73337712e-03 -3.17336085e-02 4.58039478e+00] [-2.72472571e-03 9.99996238e-01 3.15866664e-04 5.93092887e-01] [ 3.17343525e-02 -2.29241022e-04 9.99496312e-01 1.58795925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20255784400007 meters Centerline goodness : 0.126274 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99487766e-01 2.70987073e-03 -3.18882782e-02 4.58084902e+00] [-2.70972306e-03 9.99996328e-01 4.78461185e-05 5.94495196e-01] [ 3.18882908e-02 3.85867927e-05 9.99491438e-01 1.58775558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23255784400004 meters Centerline goodness : 0.127986 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99491032e-01 2.70266175e-03 -3.17863549e-02 4.58056027e+00] [-2.70444315e-03 9.99996343e-01 -1.30496870e-05 5.94905785e-01] [ 3.17862034e-02 9.90074347e-05 9.99494686e-01 1.58774966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26255784400007 meters Centerline goodness : 0.127180 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99495367e-01 2.72422004e-03 -3.16479193e-02 4.58010589e+00] [-2.72549075e-03 9.99996286e-01 2.98745693e-06 5.94946651e-01] [ 3.16478099e-02 8.32701619e-05 9.99499079e-01 1.58788703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29255784400004 meters Centerline goodness : 0.128273 Centerline is valid? [False, False] Translation: X:4.60, Y:0.60, Z:1.59 [[ 9.99500837e-01 -4.91771284e-03 -3.12072719e-02 4.59977611e+00] [ 4.94923696e-03 9.99987317e-01 9.32988270e-04 6.00015187e-01] [ 3.12022879e-02 -1.08697474e-03 9.99512499e-01 1.58932965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3225578440001 meters Centerline goodness : 0.127821 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99518618e-01 3.11420805e-04 -3.10231452e-02 4.57685883e+00] [-3.70353603e-04 9.99998138e-01 -1.89391165e-03 5.93992658e-01] [ 3.10224977e-02 1.90448948e-03 9.99516872e-01 1.58862099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35255784400005 meters Centerline goodness : 0.139403 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99513702e-01 3.85265600e-04 -3.11803051e-02 4.57722066e+00] [-4.36045881e-04 9.99998590e-01 -1.62181787e-03 5.92678883e-01] [ 3.11796363e-02 1.63462522e-03 9.99512460e-01 1.58869933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3825578440001 meters Centerline goodness : 0.126025 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99508637e-01 4.60931706e-04 -3.13412220e-02 4.57741997e+00] [-5.03069064e-04 9.99998980e-01 -1.33659875e-03 5.91266779e-01] [ 3.13405740e-02 1.35170879e-03 9.99507850e-01 1.58905242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41255784400005 meters Centerline goodness : 0.128541 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99505809e-01 5.45676889e-04 -3.14299142e-02 4.57742033e+00] [-5.78656472e-04 9.99999292e-01 -1.04021928e-03 5.89717967e-01] [ 3.14293243e-02 1.05789234e-03 9.99505417e-01 1.58946346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4425578440001 meters Centerline goodness : 0.126355 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99501794e-01 5.71315319e-04 -3.15569065e-02 4.57787863e+00] [-5.95381878e-04 9.99999539e-01 -7.53248684e-04 5.87597216e-01] [ 3.15564616e-02 7.71661821e-04 9.99501673e-01 1.58932672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47255784400005 meters Centerline goodness : 0.127047 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99500277e-01 5.74020814e-04 -3.16048385e-02 4.57816468e+00] [-5.98730660e-04 9.99999522e-01 -7.72379231e-04 5.87631292e-01] [ 3.16043801e-02 7.90916041e-04 9.99500144e-01 1.58905896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5025578440001 meters Centerline goodness : 0.126374 Centerline is valid? [False, False] Translation: X:4.60, Y:0.59, Z:1.59 [[ 9.99486456e-01 9.28075106e-03 -3.06707108e-02 4.59873857e+00] [-9.34290648e-03 9.99954580e-01 -1.88384788e-03 5.85726937e-01] [ 3.06518342e-02 2.16943402e-03 9.99527768e-01 1.59019463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53255784400005 meters Centerline goodness : 0.121755 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99534573e-01 8.69078452e-04 -3.04939645e-02 4.57891824e+00] [-8.97082245e-04 9.99999188e-01 -9.04669908e-04 5.91603437e-01] [ 3.04931535e-02 9.31604445e-04 9.99534542e-01 1.58880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5625578440001 meters Centerline goodness : 0.119373 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542788e-01 9.15938580e-04 -3.02221040e-02 4.57794169e+00] [-9.48037949e-04 9.99999002e-01 -1.04780359e-03 5.92654365e-01] [ 3.02211141e-02 1.07597623e-03 9.99542659e-01 1.58920528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59255784400005 meters Centerline goodness : 0.150080 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542060e-01 9.43370192e-04 -3.02453402e-02 4.57804655e+00] [-9.74369240e-04 9.99999015e-01 -1.01019776e-03 5.92434679e-01] [ 3.02443574e-02 1.03920528e-03 9.99541995e-01 1.58911138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6225578440001 meters Centerline goodness : 0.126524 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542246e-01 9.90855546e-04 -3.02376668e-02 4.57815681e+00] [-1.01843479e-03 9.99999079e-01 -8.96694798e-04 5.91779756e-01] [ 3.02367505e-02 9.27079424e-04 9.99542335e-01 1.58891290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65255784400006 meters Centerline goodness : 0.120144 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542205e-01 1.06601370e-03 -3.02364556e-02 4.57825149e+00] [-1.08740542e-03 9.99999170e-01 -6.91046520e-04 5.90680141e-01] [ 3.02356938e-02 7.23609448e-04 9.99542535e-01 1.58877085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters Centerline goodness : 0.126215 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99541843e-01 1.11729864e-03 -3.02465742e-02 4.57824002e+00] [-1.13353092e-03 9.99999223e-01 -5.19523649e-04 5.89704884e-01] [ 3.02459702e-02 5.53571052e-04 9.99542333e-01 1.58884623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71255784400006 meters Centerline goodness : 0.119881 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99539796e-01 1.19354690e-03 -3.03112579e-02 4.57823369e+00] [-1.20279555e-03 9.99999235e-01 -2.86891134e-04 5.88364458e-01] [ 3.03108923e-02 3.23217351e-04 9.99540467e-01 1.58915827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters Centerline goodness : 0.124539 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99539151e-01 1.17615421e-03 -3.03331750e-02 4.57828711e+00] [-1.18698809e-03 9.99999238e-01 -3.39158569e-04 5.88478916e-01] [ 3.03327530e-02 3.75007385e-04 9.99539786e-01 1.58917993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77255784400006 meters Centerline goodness : 0.137257 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99542014e-01 1.16779841e-03 -3.02390227e-02 4.57803822e+00] [-1.18148623e-03 9.99999208e-01 -4.34790753e-04 5.88993042e-01] [ 3.02384910e-02 4.70318614e-04 9.99542602e-01 1.58914966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters Centerline goodness : 0.121759 Centerline is valid? [False, False] Translation: X:4.58, Y:0.59, Z:1.59 [[ 9.99566502e-01 1.68167286e-03 -2.93935511e-02 4.57575404e+00] [-1.69155113e-03 9.99998521e-01 -3.11206897e-04 5.90458706e-01] [ 2.93929843e-02 3.60792684e-04 9.99567868e-01 1.58929283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83255784400006 meters Centerline goodness : 0.118510 Centerline is valid? [False, False] Translation: X:4.57, Y:0.59, Z:1.59 [[ 9.99576193e-01 1.73247019e-03 -2.90591422e-02 4.57487880e+00] [-1.74831750e-03 9.99998337e-01 -5.19947925e-04 5.92219893e-01] [ 2.90581931e-02 5.70532174e-04 9.99577559e-01 1.58926380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86255784400004 meters Centerline goodness : 0.121577 Centerline is valid? [False, False] Translation: X:4.57, Y:0.59, Z:1.59 [[ 9.99578719e-01 1.69461993e-03 -2.89743301e-02 4.57478187e+00] [-1.71905265e-03 9.99998188e-01 -8.18365226e-04 5.94005776e-01] [ 2.89728908e-02 8.67828864e-04 9.99579821e-01 1.58899994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89255784400007 meters Centerline goodness : 0.122627 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99557484e-01 1.53253942e-03 -2.97066746e-02 4.57721157e+00] [-1.57720315e-03 9.99997661e-01 -1.48011752e-03 5.97218080e-01] [ 2.97043367e-02 1.52631601e-03 9.99557563e-01 1.58786566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92255784400004 meters Centerline goodness : 0.122591 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99549591e-01 1.39402667e-03 -2.99778517e-02 4.57818456e+00] [-1.44815031e-03 9.99997360e-01 -1.78381901e-03 5.98614428e-01] [ 2.99752858e-02 1.82642799e-03 9.99548971e-01 1.58734174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95255784400007 meters Centerline goodness : 0.122469 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542457e-01 1.29342109e-03 -3.02192502e-02 4.57894318e+00] [-1.35421204e-03 9.99997100e-01 -1.99128363e-03 5.99682928e-01] [ 3.02165870e-02 2.03129580e-03 9.99541311e-01 1.58708126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98255784400004 meters Centerline goodness : 0.118975 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99539888e-01 1.22486987e-03 -3.03069554e-02 4.57907382e+00] [-1.28979418e-03 9.99996915e-01 -2.12276799e-03 6.00367267e-01] [ 3.03042618e-02 2.16088102e-03 9.99538385e-01 1.58717655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01255784400007 meters Centerline goodness : 0.155890 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99541322e-01 1.15869032e-03 -3.02622455e-02 4.57883565e+00] [-1.22398240e-03 9.99996963e-01 -2.13910688e-03 6.00279504e-01] [ 3.02596751e-02 2.17516617e-03 9.99539704e-01 1.58741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04255784400004 meters Centerline goodness : 0.125878 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99546162e-01 1.11453835e-03 -3.01036068e-02 4.57818086e+00] [-1.17925910e-03 9.99997031e-01 -2.13226519e-03 6.00116742e-01] [ 3.01011410e-02 2.16679744e-03 9.99544509e-01 1.58785214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0725578440001 meters Centerline goodness : 0.160965 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99552652e-01 9.67434812e-04 -2.98924875e-02 4.57755231e+00] [-1.03377126e-03 9.99997037e-01 -2.20379309e-03 6.00304042e-01] [ 2.98902669e-02 2.23370922e-03 9.99550690e-01 1.58805973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10255784400005 meters Centerline goodness : 0.119980 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548119e-01 9.08880724e-04 -3.00455056e-02 4.57800671e+00] [-9.77002892e-04 9.99996985e-01 -2.25269694e-03 6.00295490e-01] [ 3.00433676e-02 2.28103353e-03 9.99545993e-01 1.58796223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1325578440001 meters Centerline goodness : 0.119699 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542501e-01 8.08797292e-04 -3.02346428e-02 4.57852298e+00] [-8.80815251e-04 9.99996807e-01 -2.36872551e-03 6.00482768e-01] [ 3.02326305e-02 2.39427296e-03 9.99540022e-01 1.58789199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16255784400005 meters Centerline goodness : 0.120566 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99536704e-01 7.45806836e-04 -3.04273020e-02 4.57894453e+00] [-8.20431626e-04 9.99996686e-01 -2.44014928e-03 6.00641010e-01] [ 3.04253813e-02 2.46398229e-03 9.99534004e-01 1.58799310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1925578440001 meters Centerline goodness : 0.119118 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99532066e-01 6.90433628e-04 -3.05805948e-02 4.57952093e+00] [-7.69732079e-04 9.99996372e-01 -2.58140078e-03 6.01549621e-01] [ 3.05787016e-02 2.60373172e-03 9.99528971e-01 1.58764640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22255784400005 meters Centerline goodness : 0.137691 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99534942e-01 6.83490090e-04 -3.04866092e-02 4.57923690e+00] [-7.63295243e-04 9.99996313e-01 -2.60615065e-03 6.01784847e-01] [ 3.04847155e-02 2.62820892e-03 9.99531778e-01 1.58772324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2525578440001 meters Centerline goodness : 0.121591 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99542055e-01 7.10997074e-04 -3.02518568e-02 4.57848430e+00] [-7.88776406e-04 9.99996414e-01 -2.55920374e-03 6.01626871e-01] [ 3.02499287e-02 2.58189372e-03 9.99539032e-01 1.58797821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28255784400005 meters Centerline goodness : 0.121861 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548175e-01 6.93309499e-04 -3.00493680e-02 4.57767872e+00] [-7.70558858e-04 9.99996428e-01 -2.55924445e-03 6.01495134e-01] [ 3.00474863e-02 2.58124293e-03 9.99545139e-01 1.58846830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3125578440001 meters Centerline goodness : 0.121861 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99548175e-01 6.93309499e-04 -3.00493680e-02 4.57767872e+00] [-7.70558858e-04 9.99996428e-01 -2.55924445e-03 6.01495134e-01] [ 3.00474863e-02 2.58124293e-03 9.99545139e-01 1.58846830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34255784400005 meters Centerline goodness : 0.128043 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99546936e-01 6.61384325e-04 -3.00912941e-02 4.57780394e+00] [-7.40828461e-04 9.99996270e-01 -2.62903151e-03 6.01825185e-01] [ 3.00894430e-02 2.65013287e-03 9.99543697e-01 1.58844569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3725578440001 meters Centerline goodness : 0.124586 Centerline is valid? [False, False] Translation: X:4.58, Y:0.60, Z:1.59 [[ 9.99545762e-01 6.34899345e-04 -3.01308108e-02 4.57793600e+00] [-7.16137870e-04 9.99996138e-01 -2.68547969e-03 6.02087245e-01] [ 3.01289894e-02 2.70583766e-03 9.99542356e-01 1.58837173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40255784400006 meters Centerline goodness : 0.141343 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99458226e-01 -3.82632138e-05 -3.29128078e-02 4.53259794e+00] [-4.32888059e-05 9.99996931e-01 -2.47710405e-03 6.00053264e-01] [ 3.29128015e-02 2.47718678e-03 9.99455157e-01 1.58820820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43255784400003 meters Centerline goodness : 0.121784 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99455525e-01 -9.50327439e-05 -3.29946277e-02 4.53286786e+00] [ 8.17567172e-06 9.99996535e-01 -2.63258598e-03 6.00922390e-01] [ 3.29947635e-02 2.63088285e-03 9.99452062e-01 1.58804723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46255784400006 meters Centerline goodness : 0.125433 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99458011e-01 -2.21005826e-04 -3.29186144e-02 4.53243297e+00] [ 1.22005951e-04 9.99995464e-01 -3.00939148e-03 6.02945436e-01] [ 3.29191302e-02 3.00374416e-03 9.99453505e-01 1.58837954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49255784400003 meters Centerline goodness : 0.141998 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99464002e-01 -2.83638705e-04 -3.27357319e-02 4.53167908e+00] [ 1.80174608e-04 9.99994980e-01 -3.16349262e-03 6.03719136e-01] [ 3.27364649e-02 3.15589885e-03 9.99459036e-01 1.58881814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52255784400006 meters Centerline goodness : 0.120771 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470863e-01 -3.10585189e-04 -3.25253315e-02 4.53078419e+00] [ 2.04969887e-04 9.99994696e-01 -3.25045454e-03 6.04240957e-01] [ 3.25261685e-02 3.24206789e-03 9.99465626e-01 1.58938397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55255784400003 meters Centerline goodness : 0.120650 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477579e-01 -3.28414935e-04 -3.23181264e-02 4.52993559e+00] [ 2.21773172e-04 9.99994520e-01 -3.30328005e-03 6.04587912e-01] [ 3.23190342e-02 3.29438705e-03 9.99472174e-01 1.58985652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58255784400006 meters Centerline goodness : 0.154703 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479206e-01 -3.08483913e-04 -3.22679703e-02 4.52991282e+00] [ 2.04406893e-04 9.99994767e-01 -3.22864621e-03 6.04350537e-01] [ 3.22687974e-02 3.22036896e-03 9.99474039e-01 1.58968830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61255784400004 meters Centerline goodness : 0.124443 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99474405e-01 -3.29631527e-04 -3.24161389e-02 4.53043616e+00] [ 2.25656007e-04 9.99994819e-01 -3.21112937e-03 6.04081107e-01] [ 3.24170294e-02 3.20212672e-03 9.99469300e-01 1.58947772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64255784400007 meters Centerline goodness : 0.127459 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472632e-01 -3.31711116e-04 -3.24707346e-02 4.53056061e+00] [ 2.29599344e-04 9.99995017e-01 -3.14841051e-03 6.03608951e-01] [ 3.24716172e-02 3.13929487e-03 9.99467728e-01 1.58949439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67255784400004 meters Centerline goodness : 0.129003 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470578e-01 -2.92889128e-04 -3.25342492e-02 4.53064965e+00] [ 1.95502986e-04 9.99995491e-01 -2.99648300e-03 6.02782090e-01] [ 3.25349802e-02 2.98853605e-03 9.99466129e-01 1.58959877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70255784400007 meters Centerline goodness : 0.129402 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99460950e-01 -2.14803986e-04 -3.28293176e-02 4.53125533e+00] [ 1.27065271e-04 9.99996415e-01 -2.67463494e-03 6.00948455e-01] [ 3.28297745e-02 2.66902171e-03 9.99457394e-01 1.58984078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73255784400004 meters Centerline goodness : 0.139587 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99459239e-01 -1.58234341e-04 -3.28816605e-02 4.53125952e+00] [ 7.65980179e-05 9.99996912e-01 -2.48397599e-03 5.99842167e-01] [ 3.28819521e-02 2.48011409e-03 9.99456165e-01 1.59005551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76255784400007 meters Centerline goodness : 0.128845 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99459798e-01 -9.01200416e-05 -3.28649337e-02 4.53119839e+00] [ 1.37767890e-05 9.99997301e-01 -2.32315855e-03 5.99005235e-01] [ 3.28650544e-02 2.32145080e-03 9.99457102e-01 1.59008433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79255784400004 meters Centerline goodness : 0.129652 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99465429e-01 -1.67664399e-05 -3.26933514e-02 4.53069619e+00] [-5.47878008e-05 9.99997605e-01 -2.18775101e-03 5.98480561e-01] [ 3.26933098e-02 2.18837270e-03 9.99463035e-01 1.59017686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8225578440001 meters Centerline goodness : 0.120843 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470389e-01 4.13926665e-05 -3.25413446e-02 4.53026757e+00] [-1.09556333e-04 9.99997804e-01 -2.09289863e-03 5.98170094e-01] [ 3.25411865e-02 2.09535532e-03 9.99468199e-01 1.59027611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85255784400005 meters Centerline goodness : 0.118532 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99473831e-01 -3.04299786e-06 -3.24354973e-02 4.53005964e+00] [-7.08604889e-05 9.99997404e-01 -2.27732578e-03 5.98987272e-01] [ 3.24354200e-02 2.27842592e-03 9.99471236e-01 1.59014466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8825578440001 meters Centerline goodness : 0.128484 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99470774e-01 -5.61183979e-06 -3.25295670e-02 4.53037541e+00] [-6.96744345e-05 9.99997322e-01 -2.31326121e-03 5.99144824e-01] [ 3.25294929e-02 2.31430345e-03 9.99468097e-01 1.59000269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91255784400005 meters Centerline goodness : 0.121223 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472912e-01 -3.36237754e-06 -3.24637988e-02 4.53033517e+00] [-7.35159665e-05 9.99997196e-01 -2.36693142e-03 5.99486586e-01] [ 3.24637157e-02 2.36807044e-03 9.99470109e-01 1.58979725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9425578440001 meters Centerline goodness : 0.128169 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479766e-01 3.04227666e-05 -3.22520653e-02 4.52980898e+00] [-1.07398089e-04 9.99997150e-01 -2.38494920e-03 5.99825696e-01] [ 3.22519009e-02 2.38717228e-03 9.99476921e-01 1.58977451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97255784400005 meters Centerline goodness : 0.126518 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99483951e-01 3.24611838e-05 -3.21221332e-02 4.52935671e+00] [-1.09555258e-04 9.99997118e-01 -2.39827261e-03 5.99829455e-01] [ 3.21219628e-02 2.40055413e-03 9.99481074e-01 1.58992241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0025578440001 meters Centerline goodness : 0.155535 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477950e-01 -2.34328923e-05 -3.23082952e-02 4.52996298e+00] [-5.52996324e-05 9.99997031e-01 -2.43601792e-03 5.99592866e-01] [ 3.23082563e-02 2.43653283e-03 9.99474982e-01 1.58970810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03255784400005 meters Centerline goodness : 0.127563 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99471805e-01 5.10734099e-06 -3.24978634e-02 4.53061331e+00] [-8.34588227e-05 9.99997093e-01 -2.40961731e-03 5.99576071e-01] [ 3.24977566e-02 2.41105679e-03 9.99468900e-01 1.58941485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0625578440001 meters Centerline goodness : 0.125493 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99469611e-01 1.36054043e-04 -3.25649971e-02 4.53070794e+00] [-2.13036392e-04 9.99997191e-01 -2.36050195e-03 6.00088958e-01] [ 3.25645844e-02 2.36618750e-03 9.99466832e-01 1.58947622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09255784400005 meters Centerline goodness : 0.127954 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99472144e-01 1.58609806e-04 -3.24870567e-02 4.53033678e+00] [-2.35141360e-04 9.99997207e-01 -2.35194827e-03 6.00003488e-01] [ 3.24865929e-02 2.35834583e-03 9.99469389e-01 1.58973152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1225578440001 meters Centerline goodness : 0.156444 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475481e-01 1.41234631e-04 -3.23843051e-02 4.52997365e+00] [-2.19371551e-04 9.99997074e-01 -2.40926181e-03 6.00063992e-01] [ 3.23838701e-02 2.41510230e-03 9.99472587e-01 1.58988312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15255784400006 meters Centerline goodness : 0.142353 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99477470e-01 1.52374159e-04 -3.23228142e-02 4.52976292e+00] [-2.33171518e-04 9.99996858e-01 -2.49594597e-03 6.00567900e-01] [ 3.23223323e-02 2.50217853e-03 9.99474365e-01 1.58990956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters Centerline goodness : 0.123779 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99479611e-01 2.01257970e-04 -3.22562743e-02 4.52987141e+00] [-2.85782805e-04 9.99996538e-01 -2.61582640e-03 6.01563971e-01] [ 3.22556361e-02 2.62368344e-03 9.99476208e-01 1.58941501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21255784400006 meters Centerline goodness : 0.154653 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99474719e-01 4.72378872e-04 -3.24046800e-02 4.53071764e+00] [-5.62232798e-04 9.99996023e-01 -2.76381295e-03 6.03447149e-01] [ 3.24032456e-02 2.78058014e-03 9.99471009e-01 1.58852458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters Centerline goodness : 0.125197 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475163e-01 4.43018498e-04 -3.23913793e-02 4.53084247e+00] [-5.36049514e-04 9.99995757e-01 -2.86346429e-03 6.03870350e-01] [ 3.23899733e-02 2.87932483e-03 9.99471160e-01 1.58820896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27255784400006 meters Centerline goodness : 0.127620 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99475985e-01 4.56776284e-04 -3.23658322e-02 4.53087573e+00] [-5.47175819e-04 9.99995974e-01 -2.78425238e-03 6.03304758e-01] [ 3.23644301e-02 2.80050319e-03 9.99472211e-01 1.58802485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters Centerline goodness : 0.127955 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99473607e-01 5.21510743e-04 -3.24382140e-02 4.53104611e+00] [-6.04150334e-04 9.99996597e-01 -2.53785072e-03 6.01942727e-01] [ 3.24367801e-02 2.55611237e-03 9.99470521e-01 1.58806912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33255784400006 meters Centerline goodness : 0.131888 Centerline is valid? [False, False] Translation: X:4.53, Y:0.60, Z:1.59 [[ 9.99461634e-01 5.44886431e-04 -3.28046668e-02 4.53191145e+00] [-6.16957763e-04 9.99997418e-01 -2.18690195e-03 5.99835741e-01] [ 3.28033905e-02 2.20596369e-03 9.99459390e-01 1.58818713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36255784400004 meters Centerline goodness : 0.139312 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:1.59 [[ 9.99369546e-01 -2.97952016e-03 -3.53784135e-02 4.48682366e+00] [ 2.86961766e-03 9.99990900e-01 -3.15685571e-03 5.89763412e-01] [ 3.53874975e-02 3.05334294e-03 9.99369002e-01 1.58846213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39255784400007 meters Centerline goodness : 0.123542 Centerline is valid? [False, False] Translation: X:4.49, Y:0.59, Z:1.59 [[ 9.99374674e-01 -2.95765797e-03 -3.52351012e-02 4.48622833e+00] [ 2.86838992e-03 9.99992548e-01 -2.58377833e-03 5.86299557e-01] [ 3.52424805e-02 2.48109462e-03 9.99375711e-01 1.58896097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42255784400004 meters Centerline goodness : 0.154798 Centerline is valid? [False, False] Translation: X:4.49, Y:0.58, Z:1.59 [[ 9.99382547e-01 -2.90806424e-03 -3.50152463e-02 4.48538257e+00] [ 2.83988102e-03 9.99993974e-01 -1.99682121e-03 5.82821630e-01] [ 3.50208422e-02 1.89614914e-03 9.99384783e-01 1.58959453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45255784400007 meters Centerline goodness : 0.122725 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99445374e-01 2.32778416e-03 -3.32193568e-02 4.46157716e+00] [-2.47148133e-03 9.99987764e-01 -4.28529994e-03 5.75042844e-01] [ 3.32089750e-02 4.36502422e-03 9.99438898e-01 1.58899955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48255784400004 meters Centerline goodness : 0.123181 Centerline is valid? [False, False] Translation: X:4.50, Y:0.57, Z:1.59 [[ 9.99514606e-01 2.59314033e-03 -3.10455801e-02 4.50399343e+00] [-2.72910107e-03 9.99986868e-01 -4.33781882e-03 5.72715686e-01] [ 3.10339238e-02 4.42043979e-03 9.99508557e-01 1.59077988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51255784400007 meters Centerline goodness : 0.124157 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99429187e-01 1.79439066e-03 -3.37354463e-02 4.45877927e+00] [-1.92596692e-03 9.99990664e-01 -3.86814638e-03 5.68470471e-01] [ 3.37281904e-02 3.93091175e-03 9.99423312e-01 1.59043679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54255784400004 meters Centerline goodness : 0.141921 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99421877e-01 1.80158305e-03 -3.39509503e-02 4.45945965e+00] [-1.93247339e-03 9.99990826e-01 -3.82285814e-03 5.68009095e-01] [ 3.39437516e-02 3.88625737e-03 9.99416189e-01 1.59023072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5725578440001 meters Centerline goodness : 0.124774 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99412309e-01 1.78646117e-03 -3.42322364e-02 4.46011178e+00] [-1.92305624e-03 9.99990319e-01 -3.95773717e-03 5.68492800e-01] [ 3.42248347e-02 4.02124175e-03 9.99406069e-01 1.59025866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60255784400005 meters Centerline goodness : 0.139427 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99420285e-01 1.80633007e-03 -3.39975129e-02 4.45945452e+00] [-1.94612214e-03 9.99989786e-01 -4.07919023e-03 5.69483622e-01] [ 3.39897973e-02 4.14298878e-03 9.99413593e-01 1.59032249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6325578440001 meters Centerline goodness : 0.143800 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99430159e-01 1.81891011e-03 -3.37053172e-02 4.45860765e+00] [-1.96319210e-03 9.99989050e-01 -4.24808935e-03 5.70794243e-01] [ 3.36972212e-02 4.31183863e-03 9.99422786e-01 1.59047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66255784400005 meters Centerline goodness : 0.119381 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99437747e-01 1.75941043e-03 -3.34827445e-02 4.45816646e+00] [-1.91044397e-03 9.99988143e-01 -4.47932962e-03 5.72050370e-01] [ 3.34744665e-02 4.54077801e-03 9.99429258e-01 1.59025281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6925578440001 meters Centerline goodness : 0.135587 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99437356e-01 1.60036889e-03 -3.35023972e-02 4.45831623e+00] [-1.76359156e-03 9.99986718e-01 -4.84298643e-03 5.73578370e-01] [ 3.34942016e-02 4.89934610e-03 9.99426903e-01 1.59002929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72255784400005 meters Centerline goodness : 0.143549 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99428590e-01 1.38028467e-03 -3.37726044e-02 4.45952659e+00] [-1.56436975e-03 9.99984061e-01 -5.42490548e-03 5.76510718e-01] [ 3.37645782e-02 5.47463847e-03 9.99414820e-01 1.58906290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7525578440001 meters Centerline goodness : 0.147887 Centerline is valid? [False, False] Translation: X:4.46, Y:0.58, Z:1.59 [[ 9.99431533e-01 1.31959543e-03 -3.36878113e-02 4.45933032e+00] [-1.50951588e-03 9.99983108e-01 -5.61285004e-03 5.77783382e-01] [ 3.36798356e-02 5.66051161e-03 9.99416643e-01 1.58896923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78255784400005 meters Centerline goodness : 0.128813 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99449940e-01 -6.33606162e-03 -3.25525944e-02 4.47837046e+00] [ 6.19330080e-03 9.99970766e-01 -4.48450503e-03 5.83874399e-01] [ 3.25800568e-02 4.28043028e-03 9.99459963e-01 1.59101817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8125578440001 meters Centerline goodness : 0.123382 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99461351e-01 -6.41386956e-03 -3.21849375e-02 4.47705260e+00] [ 6.27480530e-03 9.99970545e-01 -4.41993267e-03 5.83345501e-01] [ 3.22123384e-02 4.21559766e-03 9.99472158e-01 1.59165592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84255784400005 meters Centerline goodness : 0.148047 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99468825e-01 -6.58053728e-03 -3.19180977e-02 4.47608923e+00] [ 6.44561971e-03 9.99969861e-01 -4.32804595e-03 5.82345309e-01] [ 3.19456165e-02 4.12001508e-03 9.99481117e-01 1.59221908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8725578440001 meters Centerline goodness : 0.143834 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99454109e-01 -7.20336316e-03 -3.22427689e-02 4.47701503e+00] [ 7.06693002e-03 9.99965596e-01 -4.34339524e-03 5.80469928e-01] [ 3.22729467e-02 4.11316683e-03 9.99470629e-01 1.59216726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90255784400006 meters Centerline goodness : 0.135585 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445834e-01 -7.19359693e-03 -3.25004205e-02 4.47779035e+00] [ 7.06295537e-03 9.99966517e-01 -4.13270793e-03 5.79290789e-01] [ 3.25290613e-02 3.90086870e-03 9.99463178e-01 1.59200881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93255784400003 meters Centerline goodness : 0.137930 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445608e-01 -7.16623341e-03 -3.25134106e-02 4.47789769e+00] [ 7.04126400e-03 9.99967383e-01 -3.95649925e-03 5.78297129e-01] [ 3.25407033e-02 3.72537029e-03 9.99463468e-01 1.59196961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96255784400006 meters Centerline goodness : 0.144164 Centerline is valid? [False, False] Translation: X:4.48, Y:0.58, Z:1.59 [[ 9.99445900e-01 -7.19038940e-03 -3.24990983e-02 4.47791715e+00] [ 7.06936640e-03 9.99967649e-01 -3.83726113e-03 5.77245442e-01] [ 3.25256384e-02 3.60538687e-03 9.99464399e-01 1.59189212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99255784400003 meters Centerline goodness : 0.144154 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99474381e-01 7.75720954e-04 -3.24092665e-02 4.45753489e+00] [-9.21316848e-04 9.99989551e-01 -4.47772363e-03 5.71227411e-01] [ 3.24054544e-02 4.50522925e-03 9.99464651e-01 1.59021485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02255784400006 meters Centerline goodness : 0.146838 Centerline is valid? [False, False] Translation: X:4.46, Y:0.57, Z:1.59 [[ 9.99472045e-01 8.31678276e-04 -3.24798327e-02 4.45788584e+00] [-9.75496224e-04 9.99989790e-01 -4.41232018e-03 5.71018505e-01] [ 3.24758314e-02 4.44167463e-03 9.99462652e-01 1.58994127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05255784400003 meters Centerline goodness : 0.115018 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99382757e-01 2.19623079e-04 -3.51291506e-02 4.41253725e+00] [-3.64181053e-04 9.99991493e-01 -4.10869754e-03 5.68619222e-01] [ 3.51279494e-02 4.11895485e-03 9.99374335e-01 1.58952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08255784400006 meters Centerline goodness : 0.144567 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99379954e-01 2.22296059e-04 -3.52087688e-02 4.41286607e+00] [-3.68590233e-04 9.99991327e-01 -4.14861309e-03 5.68751081e-01] [ 3.52075412e-02 4.15901837e-03 9.99371368e-01 1.58931869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11255784400004 meters Centerline goodness : 0.154723 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99385415e-01 2.65032347e-04 -3.50531417e-02 4.41279349e+00] [-4.19277742e-04 9.99990263e-01 -4.39305257e-03 5.70097587e-01] [ 3.50516361e-02 4.40504967e-03 9.99375794e-01 1.58882114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14255784400007 meters Centerline goodness : 0.120769 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99379340e-01 2.98310140e-04 -3.52256304e-02 4.41348744e+00] [-4.61194896e-04 9.99989240e-01 -4.61600598e-03 5.71559216e-01] [ 3.52238744e-02 4.62938689e-03 9.99368724e-01 1.58834741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17255784400004 meters Centerline goodness : 0.119449 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99271975e-01 5.05442979e-04 -3.81479297e-02 4.36837205e+00] [-6.51253183e-04 9.99992530e-01 -3.80990141e-03 5.70716700e-01] [ 3.81457191e-02 3.83197167e-03 9.99264840e-01 1.58769099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20255784400007 meters Centerline goodness : 0.119449 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99271975e-01 5.05442979e-04 -3.81479297e-02 4.36837205e+00] [-6.51253183e-04 9.99992530e-01 -3.80990141e-03 5.70716700e-01] [ 3.81457191e-02 3.83197167e-03 9.99264840e-01 1.58769099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23255784400004 meters Centerline goodness : 0.156165 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99261597e-01 5.19938812e-04 -3.84186172e-02 4.36913174e+00] [-6.79104017e-04 9.99991241e-01 -4.12998484e-03 5.72826927e-01] [ 3.84161333e-02 4.15302548e-03 9.99253198e-01 1.58747608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26255784400007 meters Centerline goodness : 0.124643 Centerline is valid? [False, False] Translation: X:4.37, Y:0.57, Z:1.59 [[ 9.99257251e-01 4.66534822e-04 -3.85321759e-02 4.36945998e+00] [-6.39173630e-04 9.99989813e-01 -4.46818304e-03 5.74848989e-01] [ 3.85296988e-02 4.48949305e-03 9.99247370e-01 1.58732491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29255784400004 meters Centerline goodness : 0.139810 Centerline is valid? [False, False] Translation: X:4.37, Y:0.58, Z:1.59 [[ 9.99261975e-01 3.82016664e-04 -3.84103956e-02 4.36922482e+00] [-5.77040892e-04 9.99986999e-01 -5.06642333e-03 5.78469911e-01] [ 3.84079608e-02 5.08484855e-03 9.99249205e-01 1.58708798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3225578440001 meters Centerline goodness : 0.144783 Centerline is valid? [False, False] Translation: X:4.37, Y:0.58, Z:1.59 [[ 9.99268235e-01 2.86794506e-04 -3.82480472e-02 4.36880085e+00] [-4.89666498e-04 9.99985862e-01 -5.29485139e-03 5.79552372e-01] [ 3.82459879e-02 5.30970559e-03 9.99254248e-01 1.58710155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35255784400005 meters Centerline goodness : 0.120641 Centerline is valid? [False, False] Translation: X:4.39, Y:0.59, Z:1.59 [[ 9.99268180e-01 -7.42101919e-03 -3.75237606e-02 4.38816005e+00] [ 7.26070748e-03 9.99963931e-01 -4.40674295e-03 5.85347936e-01] [ 3.75551097e-02 4.13106896e-03 9.99286019e-01 1.58888828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3825578440001 meters Centerline goodness : 0.125623 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99266003e-01 -7.50643701e-03 -3.75647285e-02 4.38801972e+00] [ 7.34786498e-03 9.99963510e-01 -4.35758311e-03 5.84975750e-01] [ 3.75960677e-02 4.07836410e-03 9.99284695e-01 1.58923296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41255784400005 meters Centerline goodness : 0.161446 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99259233e-01 -7.46746170e-03 -3.77521051e-02 4.38866695e+00] [ 7.31538815e-03 9.99964569e-01 -4.16474690e-03 5.83948148e-01] [ 3.77818676e-02 3.88549049e-03 9.99278456e-01 1.58899948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4425578440001 meters Centerline goodness : 0.147216 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99252950e-01 -7.41205248e-03 -3.79289140e-02 4.38915454e+00] [ 7.26736011e-03 9.99965786e-01 -3.95128259e-03 5.82800718e-01] [ 3.79569034e-02 3.67268771e-03 9.99272628e-01 1.58893982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47255784400005 meters Centerline goodness : 0.119028 Centerline is valid? [False, False] Translation: X:4.39, Y:0.58, Z:1.59 [[ 9.99251554e-01 -7.34103767e-03 -3.79794737e-02 4.38926061e+00] [ 7.20716015e-03 9.99967327e-01 -3.66071006e-03 5.81245488e-01] [ 3.80051062e-02 3.38424606e-03 9.99271814e-01 1.58898419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5025578440001 meters Centerline goodness : 0.128336 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99308570e-01 2.57657449e-04 -3.71794918e-02 4.40696708e+00] [-4.54997026e-04 9.99985855e-01 -5.29938990e-03 5.74896158e-01] [ 3.71776004e-02 5.31264231e-03 9.99294552e-01 1.59172629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53255784400005 meters Centerline goodness : 0.139811 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99310974e-01 3.34146348e-04 -3.71142344e-02 4.40674021e+00] [-5.21359379e-04 9.99987190e-01 -5.03467427e-03 5.73375803e-01] [ 3.71120767e-02 5.05055510e-03 9.99298347e-01 1.59184424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5625578440001 meters Centerline goodness : 0.136282 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99313073e-01 4.07649284e-04 -3.70569294e-02 4.40641770e+00] [-5.85769984e-04 9.99988328e-01 -4.79594719e-03 5.71993665e-01] [ 3.70545418e-02 4.81435956e-03 9.99301648e-01 1.59215216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59255784400005 meters Centerline goodness : 0.146742 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99316939e-01 6.42324756e-04 -3.69491839e-02 4.40608303e+00] [-7.99211657e-04 9.99990728e-01 -4.23140461e-03 5.69294011e-01] [ 3.69461234e-02 4.25804452e-03 9.99308187e-01 1.59224166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6225578440001 meters Centerline goodness : 0.127411 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99318335e-01 7.76616661e-04 -3.69088441e-02 4.40603821e+00] [-9.24138589e-04 9.99991653e-01 -3.98003408e-03 5.68239169e-01] [ 3.69054450e-02 4.01142991e-03 9.99310711e-01 1.59217021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65255784400006 meters Centerline goodness : 0.126720 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99322992e-01 9.12263896e-04 -3.67794252e-02 4.40587929e+00] [-1.04937226e-03 9.99992572e-01 -3.70872329e-03 5.67040487e-01] [ 3.67757687e-02 3.74480776e-03 9.99316526e-01 1.59193754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters Centerline goodness : 0.117061 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99325173e-01 9.79055961e-04 -3.67183941e-02 4.40579013e+00] [-1.11061409e-03 9.99993037e-01 -3.56266875e-03 5.66268200e-01] [ 3.67146504e-02 3.60104453e-03 9.99319302e-01 1.59189842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71255784400006 meters Centerline goodness : 0.122147 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99327090e-01 9.66949773e-04 -3.66664953e-02 4.40562378e+00] [-1.10016785e-03 9.99992867e-01 -3.61323496e-03 5.66235445e-01] [ 3.66627400e-02 3.65114288e-03 9.99321026e-01 1.59196323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters Centerline goodness : 0.124356 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99326869e-01 9.29550998e-04 -3.66734885e-02 4.40562919e+00] [-1.07140227e-03 9.99992021e-01 -3.84848838e-03 5.67392613e-01] [ 3.66696185e-02 3.88518990e-03 9.99319891e-01 1.59195338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77255784400006 meters Centerline goodness : 0.144075 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.59 [[ 9.99294210e-01 4.69852512e-03 -3.72693748e-02 4.40751994e+00] [-4.73378211e-03 9.99988428e-01 -8.57817026e-04 5.71740751e-01] [ 3.72649130e-02 1.03363669e-03 9.99304887e-01 1.59127521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters Centerline goodness : 0.119718 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99292505e-01 4.76786040e-03 -3.73062675e-02 4.40772798e+00] [-4.82113193e-03 9.99987483e-01 -1.33812032e-03 5.75041420e-01] [ 3.72994205e-02 1.51703204e-03 9.99302983e-01 1.59093915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83255784400006 meters Centerline goodness : 0.163706 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99300564e-01 4.69718560e-03 -3.70987893e-02 4.40722538e+00] [-4.76905297e-03 9.99986919e-01 -1.84893256e-03 5.77980441e-01] [ 3.70896192e-02 2.02456544e-03 9.99309893e-01 1.59080644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86255784400004 meters Centerline goodness : 0.120104 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.59 [[ 9.99316859e-01 4.58437593e-03 -3.66715065e-02 4.40602100e+00] [-4.67307864e-03 9.99986358e-01 -2.33349747e-03 5.80628724e-01] [ 3.66603086e-02 2.50327220e-03 9.99324650e-01 1.59093968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89255784400007 meters Centerline goodness : 0.123930 Centerline is valid? [False, False] Translation: X:4.40, Y:0.58, Z:1.59 [[ 9.99334321e-01 4.33605402e-03 -3.62230981e-02 4.40465459e+00] [-4.45144883e-03 9.99985270e-01 -3.10562751e-03 5.84790829e-01] [ 3.62090983e-02 3.26480543e-03 9.99338903e-01 1.59119011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92255784400004 meters Centerline goodness : 0.138771 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.59 [[ 9.99316519e-01 -2.97583041e-03 -3.68461500e-02 4.42451168e+00] [ 2.88935815e-03 9.99992946e-01 -2.39987328e-03 5.92565993e-01] [ 3.68530318e-02 2.29177129e-03 9.99318068e-01 1.59280881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95255784400007 meters Centerline goodness : 0.148762 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99198542e-01 -4.41663130e-03 -3.97840056e-02 4.38030284e+00] [ 4.30919226e-03 9.99986835e-01 -2.78590682e-03 5.90599960e-01] [ 3.97957862e-02 2.61223710e-03 9.99204419e-01 1.59168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98255784400004 meters Centerline goodness : 0.170158 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99195083e-01 -4.57104396e-03 -3.98533826e-02 4.38049330e+00] [ 4.45608075e-03 9.99985652e-01 -2.97300755e-03 5.91136445e-01] [ 3.98664006e-02 2.79302464e-03 9.99201115e-01 1.59163330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01255784400007 meters Centerline goodness : 0.141809 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99212542e-01 -4.95840943e-03 -3.93663468e-02 4.37881100e+00] [ 4.83258885e-03 9.99982909e-01 -3.29066060e-03 5.92337096e-01] [ 3.93819904e-02 3.09782797e-03 9.99219426e-01 1.59239853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04255784400004 meters Centerline goodness : 0.132899 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99215182e-01 -5.05803024e-03 -3.92865991e-02 4.37832171e+00] [ 4.92848253e-03 9.99982096e-01 -3.39365362e-03 5.92976745e-01] [ 3.93030609e-02 3.19736690e-03 9.99222221e-01 1.59283433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0725578440001 meters Centerline goodness : 0.130343 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99214556e-01 -5.15861270e-03 -3.92894404e-02 4.37815775e+00] [ 5.02622298e-03 9.99981356e-01 -3.46763305e-03 5.93168092e-01] [ 3.93065961e-02 3.26743193e-03 9.99221855e-01 1.59311363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10255784400005 meters Centerline goodness : 0.135694 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99205869e-01 -5.27468547e-03 -3.94944263e-02 4.37869766e+00] [ 5.14076446e-03 9.99980690e-01 -3.49167231e-03 5.92873797e-01] [ 3.95120812e-02 3.28586792e-03 9.99213690e-01 1.59311614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1325578440001 meters Centerline goodness : 0.131892 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99191803e-01 -5.36789533e-03 -3.98362366e-02 4.37988606e+00] [ 5.23297724e-03 9.99980217e-01 -3.49031888e-03 5.92368743e-01] [ 3.98541841e-02 3.27903589e-03 9.99200126e-01 1.59262124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16255784400005 meters Centerline goodness : 0.136380 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99177579e-01 -5.37668518e-03 -4.01902554e-02 4.38155513e+00] [ 5.24191358e-03 9.99980282e-01 -3.45796874e-03 5.92298668e-01] [ 4.02080553e-02 3.24445099e-03 9.99186062e-01 1.59141779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1925578440001 meters Centerline goodness : 0.137186 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99180514e-01 -5.36880662e-03 -4.01182884e-02 4.38136253e+00] [ 5.23191181e-03 9.99980130e-01 -3.51649152e-03 5.92877529e-01] [ 4.01363706e-02 3.30371445e-03 9.99188750e-01 1.59142639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22255784400005 meters Centerline goodness : 0.140417 Centerline is valid? [False, False] Translation: X:4.38, Y:0.59, Z:1.59 [[ 9.99192315e-01 -5.35070958e-03 -3.98257030e-02 4.38044081e+00] [ 5.21174260e-03 9.99979966e-01 -3.59238422e-03 5.93471688e-01] [ 3.98441269e-02 3.38192140e-03 9.99200184e-01 1.59174151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2525578440001 meters Centerline goodness : 0.149311 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99245398e-01 2.87750413e-03 -3.87344214e-02 4.39941728e+00] [-3.08672382e-03 9.99980964e-01 -5.34266965e-03 5.91462513e-01] [ 3.87183105e-02 5.45820052e-03 9.99235258e-01 1.59430002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28255784400005 meters Centerline goodness : 0.147808 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99259883e-01 2.83954967e-03 -3.83617355e-02 4.39853029e+00] [-3.05952734e-03 9.99979206e-01 -5.67681067e-03 5.93086181e-01] [ 3.83448182e-02 5.78997795e-03 9.99247793e-01 1.59419599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3125578440001 meters Centerline goodness : 0.142938 Centerline is valid? [False, False] Translation: X:4.40, Y:0.59, Z:1.59 [[ 9.99262801e-01 2.84447614e-03 -3.82853032e-02 4.39866684e+00] [-3.06964662e-03 9.99978330e-01 -5.82388448e-03 5.94110882e-01] [ 3.82679076e-02 5.93711347e-03 9.99249878e-01 1.59361152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34255784400005 meters Centerline goodness : 0.140478 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99264355e-01 2.86072712e-03 -3.82434885e-02 4.39883655e+00] [-3.09013636e-03 9.99977578e-01 -5.94088421e-03 5.95101831e-01] [ 3.82256357e-02 6.05469143e-03 9.99250790e-01 1.59313689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3725578440001 meters Centerline goodness : 0.149375 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99270450e-01 2.77010840e-03 -3.80906077e-02 4.39848352e+00] [-3.01004889e-03 9.99975980e-01 -6.24329881e-03 5.96747991e-01] [ 3.80723982e-02 6.35339861e-03 9.99254786e-01 1.59303274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40255784400006 meters Centerline goodness : 0.150892 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99269266e-01 2.70543355e-03 -3.81263095e-02 4.39859473e+00] [-2.95012653e-03 9.99975403e-01 -6.36315877e-03 5.97260502e-01] [ 3.81081566e-02 6.47098643e-03 9.99252668e-01 1.59299026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43255784400003 meters Centerline goodness : 0.136315 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99925572 -0.00490835 -0.03826112 4.41837946] [ 0.0047014 0.99997384 -0.00549691 0.6033307 ] [ 0.0382871 0.00531294 0.99925266 1.59476944] [ 0. 0. 0. 1. ]] SLAMing on 434.46255784400006 meters Centerline goodness : 0.132500 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99244900e-01 2.90536105e-03 -3.87451750e-02 4.39847615e+00] [-3.16160846e-03 9.99973524e-01 -6.55402899e-03 5.98109596e-01] [ 3.87251074e-02 6.67157711e-03 9.99227630e-01 1.59281846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49255784400003 meters Centerline goodness : 0.135123 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99247758e-01 2.87970601e-03 -3.86733282e-02 4.39834966e+00] [-3.13706288e-03 9.99973328e-01 -6.59560109e-03 5.98325048e-01] [ 3.86533033e-02 6.71196026e-03 9.99230140e-01 1.59271748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52255784400006 meters Centerline goodness : 0.136747 Centerline is valid? [False, False] Translation: X:4.40, Y:0.60, Z:1.59 [[ 9.99254315e-01 2.71736556e-03 -3.85153184e-02 4.39760047e+00] [-2.96889742e-03 9.99974630e-01 -6.47500651e-03 5.97192983e-01] [ 3.84967463e-02 6.58452623e-03 9.99237031e-01 1.59326765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55255784400003 meters Centerline goodness : 0.142931 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99924909 -0.0055838 -0.03834149 4.41873334] [ 0.00537079 0.99996958 -0.0056564 0.59984776] [ 0.03837191 0.00544623 0.99924869 1.59487249] [ 0. 0. 0. 1. ]] SLAMing on 434.58255784400006 meters Centerline goodness : 0.144991 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.59 [[ 0.99924292 -0.00585328 -0.03846198 4.41910297] [ 0.00564599 0.99996896 -0.00549579 0.59780441] [ 0.03849295 0.00527447 0.99924495 1.59483287] [ 0. 0. 0. 1. ]] SLAMing on 434.61255784400004 meters Centerline goodness : 0.144192 Centerline is valid? [False, False] Translation: X:4.42, Y:0.60, Z:1.60 [[ 0.9992424 -0.0060829 -0.03843997 4.41894266] [ 0.00588752 0.99996918 -0.00519387 0.5951364 ] [ 0.03847038 0.00496362 0.99924741 1.59505709] [ 0. 0. 0. 1. ]] SLAMing on 434.64255784400007 meters Centerline goodness : 0.147304 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.60 [[ 0.99923427 -0.00983624 -0.03786984 4.41710555] [ 0.00954724 0.99992396 -0.00780485 0.58900761] [ 0.03794373 0.00743732 0.9992522 1.59577781] [ 0. 0. 0. 1. ]] SLAMing on 434.67255784400004 meters Centerline goodness : 0.136109 Centerline is valid? [False, False] Translation: X:4.42, Y:0.59, Z:1.60 [[ 0.99923998 -0.0101241 -0.0376427 4.41636684] [ 0.00985175 0.99992399 -0.00741354 0.58566411] [ 0.0377149 0.00703706 0.99926376 1.59590853] [ 0. 0. 0. 1. ]] SLAMing on 434.70255784400007 meters Centerline goodness : 0.127269 Centerline is valid? [False, False] Translation: X:4.42, Y:0.58, Z:1.60 [[ 0.99923667 -0.01024168 -0.03769859 4.41657065] [ 0.00998701 0.99992606 -0.00693757 0.58245294] [ 0.03776685 0.00655578 0.99926507 1.59563167] [ 0. 0. 0. 1. ]] SLAMing on 434.73255784400004 meters Centerline goodness : 0.154323 Centerline is valid? [False, False] Translation: X:4.42, Y:0.58, Z:1.60 [[ 0.99923736 -0.01020897 -0.03768924 4.41663306] [ 0.00997477 0.99992979 -0.00639684 0.57941002] [ 0.0377519 0.00601602 0.99926903 1.5953597 ] [ 0. 0. 0. 1. ]] SLAMing on 434.76255784400007 meters Centerline goodness : 0.146247 Centerline is valid? [False, False] Translation: X:4.41, Y:0.58, Z:1.60 [[ 0.99926449 -0.01022472 -0.03695867 4.41474454] [ 0.01002019 0.99993347 -0.00571482 0.5754873 ] [ 0.03701464 0.00534028 0.99930045 1.59533126] [ 0. 0. 0. 1. ]] SLAMing on 434.79255784400004 meters Centerline goodness : 0.143124 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.60 [[ 0.99927163 -0.01012055 -0.03679373 4.41428252] [ 0.00992689 0.99993592 -0.00544232 0.5742995 ] [ 0.03684645 0.00507311 0.99930806 1.59536602] [ 0. 0. 0. 1. ]] SLAMing on 434.8225578440001 meters Centerline goodness : 0.144700 Centerline is valid? [False, False] Translation: X:4.41, Y:0.57, Z:1.60 [[ 0.99927347 -0.01003958 -0.03676607 4.41408581] [ 0.00985024 0.99993729 -0.00532741 0.57389071] [ 0.03681725 0.00496139 0.9993097 1.59563195] [ 0. 0. 0. 1. ]] SLAMing on 434.85255784400005 meters Centerline goodness : 0.149743 Centerline is valid? [False, False] Translation: X:4.42, Y:0.57, Z:1.60 [[ 0.99925856 -0.00997179 -0.03718731 4.41526382] [ 0.00977898 0.9999378 -0.00536301 0.57382586] [ 0.03723847 0.00499538 0.99929392 1.59561488] [ 0. 0. 0. 1. ]] SLAMing on 434.8825578440001 meters Centerline goodness : 0.156894 Centerline is valid? [False, False] Translation: X:4.42, Y:0.57, Z:1.60 [[ 0.9992494 -0.00989542 -0.03745286 4.4160827 ] [ 0.00970257 0.99993874 -0.00532758 0.57369574] [ 0.03750328 0.00496019 0.99928419 1.59544495] [ 0. 0. 0. 1. ]] SLAMing on 434.91255784400005 meters Centerline goodness : 0.154620 Centerline is valid? [False, False] Translation: X:4.43, Y:0.57, Z:1.60 [[ 9.99252449e-01 -1.96600318e-03 -3.86092974e-02 4.43399354e+00] [ 1.74712445e-03 9.99982217e-01 -5.70199004e-03 5.68601585e-01] [ 3.86198209e-02 5.63027226e-03 9.99238114e-01 1.59745786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9425578440001 meters Centerline goodness : 0.146329 Centerline is valid? [False, False] Translation: X:4.43, Y:0.57, Z:1.60 [[ 9.99262706e-01 -1.84477192e-03 -3.83489298e-02 4.43308239e+00] [ 1.63404570e-03 9.99983399e-01 -5.52558752e-03 5.68139009e-01] [ 3.83584866e-02 5.45884963e-03 9.99249132e-01 1.59785199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97255784400005 meters Centerline goodness : 0.143123 Centerline is valid? [False, False] Translation: X:4.45, Y:0.57, Z:1.60 [[ 9.99282537e-01 -9.41935334e-03 -3.66835991e-02 4.45208930e+00] [ 9.27274060e-03 9.99948334e-01 -4.16477485e-03 5.71660172e-01] [ 3.67209333e-02 3.82162928e-03 9.99318252e-01 1.59979072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0025578440001 meters Centerline goodness : 0.151649 Centerline is valid? [False, False] Translation: X:4.43, Y:0.56, Z:1.60 [[ 9.99372695e-01 -2.05681220e-03 -3.53551382e-02 4.43343466e+00] [ 1.86217117e-03 9.99982935e-01 -5.53735867e-03 5.62639895e-01] [ 3.53659242e-02 5.46804774e-03 9.99359471e-01 1.59713015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03255784400005 meters Centerline goodness : 0.155786 Centerline is valid? [False, False] Translation: X:4.43, Y:0.56, Z:1.60 [[ 9.99358850e-01 -2.05053149e-03 -3.57447153e-02 4.43471625e+00] [ 1.85994445e-03 9.99983882e-01 -5.36433109e-03 5.61395401e-01] [ 3.57551389e-02 5.29440856e-03 9.99346556e-01 1.59660422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0625578440001 meters Centerline goodness : 0.149694 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288904e-01 -9.58565924e-03 -3.64664552e-02 4.45562509e+00] [ 9.43585345e-03 9.99946331e-01 -4.27793526e-03 5.64996465e-01] [ 3.65055048e-02 3.93080111e-03 9.99325721e-01 1.59832678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09255784400005 meters Centerline goodness : 0.164490 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288235e-01 -9.34593713e-03 -3.65469062e-02 4.45597743e+00] [ 9.21271861e-03 9.99950297e-01 -3.81184901e-03 5.63320138e-01] [ 3.65807150e-02 3.47243951e-03 9.99324669e-01 1.59802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1225578440001 meters Centerline goodness : 0.164490 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99288235e-01 -9.34593713e-03 -3.65469062e-02 4.45597743e+00] [ 9.21271861e-03 9.99950297e-01 -3.81184901e-03 5.63320138e-01] [ 3.65807150e-02 3.47243951e-03 9.99324669e-01 1.59802043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15255784400006 meters Centerline goodness : 0.142221 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99292279e-01 -9.24813311e-03 -3.64611182e-02 4.45567366e+00] [ 9.12475047e-03 9.99952071e-01 -3.54890818e-03 5.62134160e-01] [ 3.64921914e-02 3.21369794e-03 9.99328771e-01 1.59810258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters Centerline goodness : 0.135961 Centerline is valid? [False, False] Translation: X:4.45, Y:0.56, Z:1.60 [[ 9.99303402e-01 -9.55915264e-03 -3.60740118e-02 4.45423013e+00] [ 9.44074488e-03 9.99949479e-01 -3.45127203e-03 5.60396686e-01] [ 3.61051805e-02 3.10830234e-03 9.99343161e-01 1.59849241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21255784400006 meters Centerline goodness : 0.164443 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99367695e-01 -1.55643072e-03 -3.55216640e-02 4.43561375e+00] [ 1.39030132e-03 9.99987983e-01 -4.70106881e-03 5.52842852e-01] [ 3.55285540e-02 4.64871048e-03 9.99357849e-01 1.59617774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters Centerline goodness : 0.153376 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99362995e-01 -1.50135177e-03 -3.56559903e-02 4.43598964e+00] [ 1.34070216e-03 9.99988845e-01 -4.52902569e-03 5.52114359e-01] [ 3.56623922e-02 4.47833662e-03 9.99353860e-01 1.59604863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27255784400006 meters Centerline goodness : 0.141775 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99347886e-01 -1.65697731e-03 -3.60701574e-02 4.43743160e+00] [ 1.49248433e-03 9.99988367e-01 -4.58681044e-03 5.51986204e-01] [ 3.60773381e-02 4.52998517e-03 9.99338734e-01 1.59536844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters Centerline goodness : 0.181691 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349020e-01 -1.71337325e-03 -3.60361121e-02 4.43743465e+00] [ 1.54729591e-03 9.99988057e-01 -4.63601994e-03 5.52007387e-01] [ 3.60436250e-02 4.57724345e-03 9.99339735e-01 1.59520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33255784400006 meters Centerline goodness : 0.167337 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349228e-01 -1.77046848e-03 -3.60275604e-02 4.43746064e+00] [ 1.60286126e-03 9.99987762e-01 -4.68054570e-03 5.52053865e-01] [ 3.60354063e-02 4.61975255e-03 9.99339836e-01 1.59511397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36255784400004 meters Centerline goodness : 0.147733 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.60 [[ 9.99349848e-01 -1.78303218e-03 -3.60097632e-02 4.43740592e+00] [ 1.61557450e-03 9.99987749e-01 -4.67890342e-03 5.52126383e-01] [ 3.60176647e-02 4.61768496e-03 9.99340485e-01 1.59510577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39255784400007 meters Centerline goodness : 0.123762 Centerline is valid? [False, False] Translation: X:4.44, Y:0.55, Z:1.59 [[ 9.99344588e-01 -1.85689839e-03 -3.61517099e-02 4.43792243e+00] [ 1.68871237e-03 9.99987613e-01 -4.68220784e-03 5.52143181e-01] [ 3.61599564e-02 4.61808923e-03 9.99335345e-01 1.59477680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42255784400004 meters Centerline goodness : 0.191313 Centerline is valid? [False, False] Translation: X:4.46, Y:0.56, Z:1.60 [[ 9.99306153e-01 -9.92729239e-03 -3.58979179e-02 4.45869675e+00] [ 9.79117816e-03 9.99944202e-01 -3.96551929e-03 5.56227555e-01] [ 3.59352817e-02 3.61128492e-03 9.99347594e-01 1.59638817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45255784400007 meters Centerline goodness : 0.146405 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99379860e-01 -1.70981964e-03 -3.51706155e-02 4.47705930e+00] [ 1.53232695e-03 9.99985958e-01 -5.07295473e-03 5.52243753e-01] [ 3.51787954e-02 5.01591590e-03 9.99368447e-01 1.59814752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48255784400004 meters Centerline goodness : 0.124108 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99381732e-01 -1.74482174e-03 -3.51156447e-02 4.47693514e+00] [ 1.56475924e-03 9.99985491e-01 -5.15452953e-03 5.52841816e-01] [ 3.51241289e-02 5.09639512e-03 9.99369963e-01 1.59808025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51255784400007 meters Centerline goodness : 0.177452 Centerline is valid? [False, False] Translation: X:4.48, Y:0.55, Z:1.60 [[ 9.99382347e-01 -1.79823880e-03 -3.50954646e-02 4.47685158e+00] [ 1.61215403e-03 9.99984497e-01 -5.32982381e-03 5.54121317e-01] [ 3.51045048e-02 5.26995253e-03 9.99369752e-01 1.59811458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54255784400004 meters Centerline goodness : 0.114766 Centerline is valid? [False, False] Translation: X:4.48, Y:0.56, Z:1.60 [[ 9.99384051e-01 -1.89340774e-03 -3.50418747e-02 4.47685222e+00] [ 1.69655452e-03 9.99982619e-01 -5.64653853e-03 5.56081415e-01] [ 3.50519568e-02 5.58361010e-03 9.99369893e-01 1.59790845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5725578440001 meters Centerline goodness : 0.116420 Centerline is valid? [False, False] Translation: X:4.52, Y:0.56, Z:1.60 [[ 9.99433217e-01 -1.38205672e-03 -3.36353086e-02 4.52128135e+00] [ 1.16431064e-03 9.99978246e-01 -6.49246090e-03 5.61888674e-01] [ 3.36435499e-02 6.44961914e-03 9.99413085e-01 1.59870714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60255784400005 meters Centerline goodness : 0.122420 Centerline is valid? [False, False] Translation: X:4.52, Y:0.56, Z:1.60 [[ 9.99429744e-01 -1.54442339e-03 -3.37313192e-02 4.52167687e+00] [ 1.31291916e-03 9.99975441e-01 -6.88425477e-03 5.64000751e-01] [ 3.37411230e-02 6.83604248e-03 9.99407227e-01 1.59847298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6325578440001 meters Centerline goodness : 0.120342 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99430156e-01 -1.65811519e-03 -3.37137177e-02 4.52173971e+00] [ 1.41665631e-03 9.99973186e-01 -7.18466271e-03 5.65729693e-01] [ 3.37247267e-02 7.13280782e-03 9.99405706e-01 1.59827213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66255784400005 meters Centerline goodness : 0.146946 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99430708e-01 -1.74902519e-03 -3.36927446e-02 4.52159689e+00] [ 1.50023887e-03 9.99971436e-01 -7.40783922e-03 5.67031009e-01] [ 3.37047387e-02 7.35307483e-03 9.99404784e-01 1.59839341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6925578440001 meters Centerline goodness : 0.119884 Centerline is valid? [False, False] Translation: X:4.57, Y:0.57, Z:1.60 [[ 9.99498114e-01 -1.99407866e-03 -3.16155552e-02 4.56548775e+00] [ 1.74560791e-03 9.99967391e-01 -7.88478384e-03 5.68646044e-01] [ 3.16302471e-02 7.82563821e-03 9.99469002e-01 1.59957758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72255784400005 meters Centerline goodness : 0.165312 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99394176e-01 -2.30282654e-03 -3.47271927e-02 4.51867725e+00] [ 2.03649402e-03 9.99968260e-01 -7.70270114e-03 5.69643680e-01] [ 3.47438284e-02 7.62731294e-03 9.99367145e-01 1.60011361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7525578440001 meters Centerline goodness : 0.118744 Centerline is valid? [False, False] Translation: X:4.54, Y:0.57, Z:1.60 [[ 0.99933458 -0.01013358 -0.03503854 4.53910739] [ 0.00989594 0.99992689 -0.006949 0.57426373] [ 0.0351064 0.00659764 0.9993618 1.60198865] [ 0. 0. 0. 1. ]] SLAMing on 435.78255784400005 meters Centerline goodness : 0.153540 Centerline is valid? [False, False] Translation: X:4.52, Y:0.57, Z:1.60 [[ 9.99349605e-01 -1.75525264e-03 -3.60178488e-02 4.51827518e+00] [ 1.47877251e-03 9.99969250e-01 -7.70140245e-03 5.71061471e-01] [ 3.60302592e-02 7.64313129e-03 9.99321471e-01 1.60061020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8125578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 435.84255784400005 meters Centerline goodness : 0.159181 Centerline is valid? [False, False] Translation: X:4.50, Y:0.58, Z:1.60 [[ 9.99281841e-01 -7.38601625e-03 -3.71651520e-02 4.49589758e+00] [ 7.22952261e-03 9.99964434e-01 -4.34339387e-03 5.77025043e-01] [ 3.71959105e-02 4.07158832e-03 9.99299698e-01 1.60019725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8725578440001 meters Centerline goodness : 0.149141 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 9.99348584e-01 -6.16834637e-03 -3.55578163e-02 4.53914790e+00] [ 6.03040123e-03 9.99973875e-01 -3.98540494e-03 5.78837782e-01] [ 3.55814707e-02 3.76838088e-03 9.99359674e-01 1.60184627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90255784400006 meters Centerline goodness : 0.331938 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 9.99351674e-01 -6.27511246e-03 -3.54521412e-02 4.53873051e+00] [ 6.12418914e-03 9.99971724e-01 -4.36409057e-03 5.80957337e-01] [ 3.54785239e-02 4.14414560e-03 9.99361847e-01 1.60210757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93255784400003 meters Centerline goodness : 0.142349 Centerline is valid? [False, False] Translation: X:4.54, Y:0.58, Z:1.60 [[ 0.99935186 -0.00641351 -0.03542203 4.53853834] [ 0.00624755 0.99996899 -0.00479394 0.58314863] [ 0.03545167 0.00456953 0.99936094 1.60234338] [ 0. 0. 0. 1. ]] SLAMing on 435.96255784400006 meters Centerline goodness : 0.150387 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99344014e-01 -3.52249877e-03 -3.60434871e-02 4.54046158e+00] [ 3.44306969e-03 9.99991506e-01 -2.26553458e-03 5.85832091e-01] [ 3.60511613e-02 2.13994819e-03 9.99347654e-01 1.60183321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99255784400003 meters Centerline goodness : 0.099182 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99345229e-01 -3.59457248e-03 -3.60026726e-02 4.54035587e+00] [ 3.50405100e-03 9.99990540e-01 -2.57708155e-03 5.87811780e-01] [ 3.60115955e-02 2.44923895e-03 9.99348371e-01 1.60183228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02255784400006 meters Centerline goodness : 0.099103 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99347471e-01 -3.70028636e-03 -3.59296445e-02 4.54011792e+00] [ 3.59880657e-03 9.99989352e-01 -2.88866524e-03 5.89614645e-01] [ 3.59399508e-02 2.75747646e-03 9.99350147e-01 1.60195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05255784400003 meters Centerline goodness : 0.100758 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99343515e-01 -4.03518678e-03 -3.60035593e-02 4.54013923e+00] [ 3.90964601e-03 9.99986032e-01 -3.55662156e-03 5.92569507e-01] [ 3.60174081e-02 3.41352552e-03 9.99345333e-01 1.60218460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08255784400006 meters Centerline goodness : 0.332745 Centerline is valid? [False, False] Translation: X:4.54, Y:0.59, Z:1.60 [[ 9.99337991e-01 -4.19427049e-03 -3.61384465e-02 4.54056755e+00] [ 4.05640009e-03 9.99984216e-01 -3.88753773e-03 5.94285855e-01] [ 3.61541815e-02 3.73837215e-03 9.99339232e-01 1.60201414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11255784400004 meters Centerline goodness : 0.072515 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 9.99329102e-01 -4.32922936e-03 -3.63676163e-02 4.54124839e+00] [ 4.17950557e-03 9.99982479e-01 -4.19197033e-03 5.96002248e-01] [ 3.63851271e-02 4.03715929e-03 9.99329687e-01 1.60179253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14255784400007 meters Centerline goodness : 0.343905 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 9.99323891e-01 -4.48770962e-03 -3.64913888e-02 4.54163194e+00] [ 4.32684282e-03 9.99980576e-01 -4.48612818e-03 5.97579578e-01] [ 3.65108124e-02 4.32520256e-03 9.99323898e-01 1.60163185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17255784400004 meters Centerline goodness : 0.137004 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99932708 -0.00481228 -0.03636254 4.54084172] [ 0.00463506 0.99997698 -0.00495627 0.59941547] [ 0.03638556 0.0047844 0.99932637 1.60238456] [ 0. 0. 0. 1. ]] SLAMing on 436.20255784400007 meters Centerline goodness : 0.096129 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99933293 -0.00496445 -0.03618067 4.54010643] [ 0.00478236 0.99997547 -0.00511765 0.59983964] [ 0.03620519 0.00494121 0.99933216 1.60279245] [ 0. 0. 0. 1. ]] SLAMing on 436.23255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 436.26255784400007 meters Centerline goodness : 0.096754 Centerline is valid? [False, False] Translation: X:4.54, Y:0.60, Z:1.60 [[ 0.99934397 -0.00515886 -0.03584724 4.53886718] [ 0.0049681 0.99997303 -0.00540845 0.60158549] [ 0.03587417 0.00522681 0.99934265 1.60335678] [ 0. 0. 0. 1. ]] SLAMing on 436.29255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 436.3225578440001 meters Centerline goodness : 0.096163 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99933716 -0.00556936 -0.03597522 4.53910103] [ 0.0053539 0.99996717 -0.0060826 0.6051172 ] [ 0.03600791 0.00588596 0.99933417 1.60350685] [ 0. 0. 0. 1. ]] SLAMing on 436.35255784400005 meters Centerline goodness : 0.099153 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99933785 -0.00567667 -0.03593949 4.53898623] [ 0.00545595 0.99996567 -0.00623671 0.60561857] [ 0.03597366 0.0060365 0.99933451 1.60352069] [ 0. 0. 0. 1. ]] SLAMing on 436.3825578440001 meters Centerline goodness : 0.153903 Centerline is valid? [False, False] Translation: X:4.54, Y:0.61, Z:1.60 [[ 0.99934162 -0.00573262 -0.03582539 4.53862924] [ 0.00550829 0.99996462 -0.00635738 0.60628298] [ 0.03586056 0.00615586 0.99933784 1.60362579] [ 0. 0. 0. 1. ]] SLAMing on 436.41255784400005 meters Centerline goodness : 0.110566 Centerline is valid? [False, False] Translation: X:4.56, Y:0.60, Z:1.60 [[ 9.99401803e-01 2.61344138e-03 -3.44848762e-02 4.55756615e+00] [-2.86332192e-03 9.99969990e-01 -7.19869600e-03 6.02686798e-01] [ 3.44650279e-02 7.29313106e-03 9.99379293e-01 1.60493497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4425578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 436.47255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 436.5025578440001 meters Centerline goodness : 0.339078 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99403779e-01 2.19433564e-03 -3.44567940e-02 4.55767779e+00] [-2.47127994e-03 9.99964971e-01 -7.99690605e-03 6.05903096e-01] [ 3.44380391e-02 8.07729052e-03 9.99374194e-01 1.60477292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53255784400005 meters Centerline goodness : 0.093367 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99387766e-01 2.17946703e-03 -3.49191044e-02 4.55948361e+00] [-2.46732414e-03 9.99963314e-01 -8.20257251e-03 6.07779513e-01] [ 3.48999462e-02 8.28370736e-03 9.99356480e-01 1.60383011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5625578440001 meters Centerline goodness : 0.187179 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99380784e-01 2.12052786e-03 -3.51219722e-02 4.56042720e+00] [-2.41498426e-03 9.99962276e-01 -8.34352326e-03 6.08478212e-01] [ 3.51029546e-02 8.42317582e-03 9.99348204e-01 1.60317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59255784400005 meters Centerline goodness : 0.093600 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99378473e-01 2.03459392e-03 -3.51927289e-02 4.56080991e+00] [-2.33566371e-03 9.99961011e-01 -8.51589083e-03 6.09140118e-01] [ 3.51740305e-02 8.59279636e-03 9.99344261e-01 1.60283490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6225578440001 meters Centerline goodness : 0.130127 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99375602e-01 1.93843140e-03 -3.52795832e-02 4.56101468e+00] [-2.24636021e-03 9.99959712e-01 -8.69070035e-03 6.09841579e-01] [ 3.52613156e-02 8.76452455e-03 9.99339693e-01 1.60284721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65255784400006 meters Centerline goodness : 0.091283 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99372646e-01 1.87675693e-03 -3.53665542e-02 4.56131381e+00] [-2.19153040e-03 9.99958316e-01 -8.86365219e-03 6.10839398e-01] [ 3.53484450e-02 8.93559842e-03 9.99335100e-01 1.60271270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 436.71255784400006 meters Centerline goodness : 0.182004 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99363243e-01 1.61475588e-03 -3.56440776e-02 4.56219158e+00] [-1.95818861e-03 9.99951980e-01 -9.60225108e-03 6.14905731e-01] [ 3.56268607e-02 9.66593461e-03 9.99318416e-01 1.60256120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74255784400003 meters Centerline goodness : 0.134586 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99363813e-01 1.44461916e-03 -3.56354119e-02 4.56225071e+00] [-1.80050440e-03 9.99948809e-01 -9.95677391e-03 6.16503411e-01] [ 3.56192040e-02 1.00146013e-02 9.99315256e-01 1.60244728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77255784400006 meters Centerline goodness : 0.132134 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99361492e-01 1.19587974e-03 -3.57096423e-02 4.56268341e+00] [-1.57398527e-03 9.99942981e-01 -1.05620973e-02 6.19574784e-01] [ 3.56949752e-02 1.06115597e-02 9.99306391e-01 1.60211723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters Centerline goodness : 0.139352 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99359147e-01 1.13564263e-03 -3.57771781e-02 4.56293125e+00] [-1.52128889e-03 9.99941020e-01 -1.07537357e-02 6.20905580e-01] [ 3.57628555e-02 1.08012716e-02 9.99301932e-01 1.60198635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83255784400006 meters Centerline goodness : 0.132196 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932572 -0.00673501 -0.03609348 4.58288066] [ 0.00640056 0.99993558 -0.0093737 0.62486013] [ 0.03615428 0.00913636 0.99930446 1.60452915] [ 0. 0. 0. 1. ]] SLAMing on 436.86255784400004 meters Centerline goodness : 0.132674 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932711 -0.00679128 -0.03604452 4.58271527] [ 0.00645691 0.99993511 -0.0093851 0.62485042] [ 0.03610592 0.00914605 0.99930612 1.60452453] [ 0. 0. 0. 1. ]] SLAMing on 436.89255784400007 meters Centerline goodness : 0.149781 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99932668 -0.0069066 -0.03603449 4.58262066] [ 0.00657471 0.99993495 -0.00932077 0.62396102] [ 0.03609652 0.00907758 0.99930708 1.60454619] [ 0. 0. 0. 1. ]] SLAMing on 436.92255784400004 meters Centerline goodness : 0.184012 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99354674e-01 6.52324112e-04 -3.59139335e-02 4.56185060e+00] [-1.04004421e-03 9.99941373e-01 -1.07781894e-02 6.19273256e-01] [ 3.59047971e-02 1.08085860e-02 9.99296763e-01 1.60230672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95255784400007 meters Centerline goodness : 0.112282 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99352429e-01 4.40798228e-04 -3.59795555e-02 4.56232417e+00] [-8.21726279e-04 9.99943764e-01 -1.05732466e-02 6.17644341e-01] [ 3.59728715e-02 1.05959650e-02 9.99296592e-01 1.60162725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98255784400004 meters Centerline goodness : 0.150656 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99353330e-01 5.08299026e-04 -3.59536271e-02 4.56243435e+00] [-8.81588719e-04 9.99945868e-01 -1.03674411e-02 6.16837590e-01] [ 3.59464111e-02 1.03924331e-02 9.99299681e-01 1.60132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01255784400007 meters Centerline goodness : 0.150656 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99353330e-01 5.08299026e-04 -3.59536271e-02 4.56243435e+00] [-8.81588719e-04 9.99945868e-01 -1.03674411e-02 6.16837590e-01] [ 3.59464111e-02 1.03924331e-02 9.99299681e-01 1.60132485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04255784400004 meters Centerline goodness : 0.325991 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99358373e-01 5.65808137e-04 -3.58123099e-02 4.56199828e+00] [-9.30245686e-04 9.99947948e-01 -1.01604764e-02 6.15727740e-01] [ 3.58046970e-02 1.01872714e-02 9.99306881e-01 1.60137199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0725578440001 meters Centerline goodness : 0.150994 Centerline is valid? [False, False] Translation: X:4.56, Y:0.61, Z:1.60 [[ 9.99368200e-01 4.51611056e-04 -3.55386676e-02 4.56095508e+00] [-8.11384344e-04 9.99948567e-01 -1.01096611e-02 6.14471879e-01] [ 3.55322741e-02 1.01321093e-02 9.99317166e-01 1.60186946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10255784400005 meters Centerline goodness : 0.174537 Centerline is valid? [False, False] Translation: X:4.56, Y:0.62, Z:1.60 [[ 9.99369822e-01 4.42784601e-04 -3.54931508e-02 4.56064906e+00] [-8.05060535e-04 9.99947723e-01 -1.01932835e-02 6.15064596e-01] [ 3.54867819e-02 1.02154341e-02 9.99317934e-01 1.60219300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1325578440001 meters Centerline goodness : 0.148786 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99941435 -0.00515835 -0.03382831 4.5822685 ] [ 0.00493218 0.99996495 -0.00676562 0.61579106] [ 0.03386202 0.00659481 0.99940476 1.60279206] [ 0. 0. 0. 1. ]] SLAMing on 437.16255784400005 meters Centerline goodness : 0.279240 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.999417 -0.0051981 -0.03374388 4.58185895] [ 0.00496491 0.99996324 -0.0069908 0.61724813] [ 0.03377898 0.00681919 0.99940606 1.6031907 ] [ 0. 0. 0. 1. ]] SLAMing on 437.1925578440001 meters Centerline goodness : 0.151401 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99941941 -0.00524413 -0.0336652 4.58154627] [ 0.00500432 0.99996153 -0.00720377 0.61849245] [ 0.03370168 0.00703112 0.9994072 1.60340506] [ 0. 0. 0. 1. ]] SLAMing on 437.22255784400005 meters Centerline goodness : 0.266974 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.9994297 -0.00541288 -0.03333123 4.58040585] [ 0.00515964 0.9999572 -0.00767912 0.62066012] [ 0.03337137 0.00750276 0.99941486 1.60398015] [ 0. 0. 0. 1. ]] SLAMing on 437.2525578440001 meters Centerline goodness : 0.188187 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.99943164 -0.00551654 -0.03325603 4.57992006] [ 0.00525541 0.99995471 -0.00793442 0.62188027] [ 0.03329829 0.00775513 0.99941537 1.60444588] [ 0. 0. 0. 1. ]] SLAMing on 437.28255784400005 meters Centerline goodness : 0.149500 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 0.9994311 -0.00559636 -0.03325904 4.57978814] [ 0.00532796 0.99995257 -0.0081531 0.62306588] [ 0.03330309 0.00797125 0.99941351 1.60466965] [ 0. 0. 0. 1. ]] SLAMing on 437.3125578440001 meters Centerline goodness : 0.329155 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99438482e-01 -2.83622035e-03 -3.33867619e-02 4.58000404e+00] [ 2.65886871e-03 9.99982126e-01 -5.35523475e-03 6.23763380e-01] [ 3.34013538e-02 5.26345668e-03 9.99428159e-01 1.60463668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34255784400005 meters Centerline goodness : 0.310676 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99430316e-01 -2.87552101e-03 -3.36269980e-02 4.58085725e+00] [ 2.69207251e-03 9.99981255e-01 -5.49939751e-03 6.24764907e-01] [ 3.36421813e-02 5.40573828e-03 9.99419322e-01 1.60422476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3725578440001 meters Centerline goodness : 0.153597 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99420417e-01 -2.99739300e-03 -3.39093790e-02 4.58186877e+00] [ 2.80443345e-03 9.99979613e-01 -5.73657938e-03 6.26120460e-01] [ 3.39258825e-02 5.63815795e-03 9.99408448e-01 1.60370719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40255784400006 meters Centerline goodness : 0.167887 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99417704e-01 -3.06096537e-03 -3.39835663e-02 4.58222994e+00] [ 2.86464248e-03 9.99978936e-01 -5.82418215e-03 6.26495749e-01] [ 3.40006781e-02 5.72343998e-03 9.99405421e-01 1.60338101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43255784400003 meters Centerline goodness : 0.147923 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.60 [[ 9.99409807e-01 -3.10727701e-03 -3.42108578e-02 4.58304249e+00] [ 2.91036360e-03 9.99978920e-01 -5.80416863e-03 6.26251040e-01] [ 3.42281718e-02 5.70117702e-03 9.99397783e-01 1.60294756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46255784400006 meters Centerline goodness : 0.344930 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99391968e-01 -3.41543782e-03 -3.46991353e-02 4.58465876e+00] [ 3.21699507e-03 9.99978160e-01 -5.77317544e-03 6.24783672e-01] [ 3.47180954e-02 5.65803822e-03 9.99381129e-01 1.60214848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49255784400003 meters Centerline goodness : 0.093238 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99395785e-01 -3.40410359e-03 -3.45901321e-02 4.58438144e+00] [ 3.21267462e-03 9.99979225e-01 -5.58828141e-03 6.23559185e-01] [ 3.46084366e-02 5.47377805e-03 9.99385958e-01 1.60208477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52255784400006 meters Centerline goodness : 0.140888 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99397714e-01 -3.33648254e-03 -3.45409348e-02 4.58405192e+00] [ 3.15218012e-03 9.99980512e-01 -5.38884979e-03 6.22548711e-01] [ 3.45582414e-02 5.27672491e-03 9.99388755e-01 1.60235131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55255784400003 meters Centerline goodness : 0.097772 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99401912e-01 -3.27230154e-03 -3.44254245e-02 4.58358009e+00] [ 3.09215889e-03 9.99981255e-01 -5.28477712e-03 6.22297360e-01] [ 3.44420726e-02 5.17516748e-03 9.99393297e-01 1.60260574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58255784400006 meters Centerline goodness : 0.136454 Centerline is valid? [False, False] Translation: X:4.54, Y:0.63, Z:1.60 [[ 9.99335210e-01 -2.38350664e-03 -3.63793521e-02 4.53610201e+00] [ 2.21073584e-03 9.99986091e-01 -4.78863189e-03 6.26214041e-01] [ 3.63902598e-02 4.70502332e-03 9.99326579e-01 1.60292697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61255784400004 meters Centerline goodness : 0.147695 Centerline is valid? [False, False] Translation: X:4.58, Y:0.62, Z:1.60 [[ 9.99399507e-01 -2.02545280e-03 -3.45908030e-02 4.57910936e+00] [ 1.87870465e-03 9.99989100e-01 -4.27437954e-03 6.23323396e-01] [ 3.45990835e-02 4.20682690e-03 9.99392418e-01 1.60474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64255784400007 meters Centerline goodness : 0.140231 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99417273e-01 2.03148286e-04 -3.41331623e-02 4.57688434e+00] [-2.89759735e-04 9.99996751e-01 -2.53253002e-03 6.27105704e-01] [ 3.41325369e-02 2.54094466e-03 9.99414085e-01 1.60585332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67255784400004 meters Centerline goodness : 0.148549 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99406081e-01 1.74637532e-04 -3.44594639e-02 4.57775856e+00] [-2.73852199e-04 9.99995831e-01 -2.87447157e-03 6.29330659e-01] [ 3.44588183e-02 2.88220116e-03 9.99401963e-01 1.60581538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70255784400007 meters Centerline goodness : 0.145234 Centerline is valid? [False, False] Translation: X:4.58, Y:0.63, Z:1.61 [[ 9.99401856e-01 9.21639676e-05 -3.45821077e-02 4.57805841e+00] [-2.05245134e-04 9.99994644e-01 -3.26639703e-03 6.31664342e-01] [ 3.45816215e-02 3.27154106e-03 9.99396522e-01 1.60588215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73255784400004 meters Centerline goodness : 0.132225 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99413412e-01 1.62210408e-05 -3.42466222e-02 4.57694154e+00] [-1.53730207e-04 9.99991938e-01 -4.01263283e-03 6.36478333e-01] [ 3.42462810e-02 4.01554381e-03 9.99405357e-01 1.60646743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76255784400007 meters Centerline goodness : 0.088242 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99415039e-01 -1.41228503e-04 -3.41988159e-02 4.57653611e+00] [-1.14210104e-05 9.99990039e-01 -4.46335411e-03 6.38823446e-01] [ 3.41991056e-02 4.46113381e-03 9.99405083e-01 1.60700749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79255784400004 meters Centerline goodness : 0.143077 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99417599e-01 -2.93498292e-04 -3.41229779e-02 4.57632609e+00] [ 1.27326349e-04 9.99988124e-01 -4.87186708e-03 6.40934147e-01] [ 3.41240025e-02 4.86468495e-03 9.99405767e-01 1.60706208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8225578440001 meters Centerline goodness : 0.106014 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99413909e-01 -4.01654623e-04 -3.42297578e-02 4.57681640e+00] [ 2.24196243e-04 9.99986517e-01 -5.18801112e-03 6.42677143e-01] [ 3.42313801e-02 5.17729629e-03 9.99400524e-01 1.60675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85255784400005 meters Centerline goodness : 0.128231 Centerline is valid? [False, False] Translation: X:4.58, Y:0.64, Z:1.61 [[ 9.99409107e-01 -4.55116493e-04 -3.43690297e-02 4.57734798e+00] [ 2.71136525e-04 9.99985611e-01 -5.35754525e-03 6.43712033e-01] [ 3.43709735e-02 5.34506082e-03 9.99394850e-01 1.60647034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8825578440001 meters Centerline goodness : 0.101316 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99416015e-01 -5.58678647e-04 -3.41660300e-02 4.57652846e+00] [ 3.67723582e-04 9.99984280e-01 -5.59506118e-03 6.45052913e-01] [ 3.41686188e-02 5.57923010e-03 9.99400509e-01 1.60692734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91255784400005 meters Centerline goodness : 0.152283 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99419750e-01 -6.16504017e-04 -3.40555787e-02 4.57582600e+00] [ 4.20534469e-04 9.99983315e-01 -5.76126688e-03 6.45982628e-01] [ 3.40585623e-02 5.74360236e-03 9.99403335e-01 1.60762221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9425578440001 meters Centerline goodness : 0.144469 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99418193e-01 -6.81438873e-04 -3.41000079e-02 4.57570973e+00] [ 4.77839396e-04 9.99982015e-01 -5.97845115e-03 6.47124990e-01] [ 3.41034685e-02 5.95867852e-03 9.99400544e-01 1.60804590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97255784400005 meters Centerline goodness : 0.132204 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99414767e-01 -7.68307494e-04 -3.41984256e-02 4.57600025e+00] [ 5.54479917e-04 9.99980242e-01 -6.26160103e-03 6.48538944e-01] [ 3.42025607e-02 6.23897420e-03 9.99395447e-01 1.60804924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0025578440001 meters Centerline goodness : 0.124585 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99409230e-01 -9.06788064e-04 -3.43565072e-02 4.57650106e+00] [ 6.79541972e-04 9.99977821e-01 -6.62545328e-03 6.50118341e-01] [ 3.43617531e-02 6.59819246e-03 9.99387679e-01 1.60790798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03255784400005 meters Centerline goodness : 0.115408 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99415126e-01 -1.07210065e-03 -3.41797816e-02 4.57590423e+00] [ 8.27612422e-04 9.99973979e-01 -7.16635299e-03 6.52677496e-01] [ 3.41865752e-02 7.13387396e-03 9.99390007e-01 1.60824192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0625578440001 meters Centerline goodness : 0.145950 Centerline is valid? [False, False] Translation: X:4.58, Y:0.65, Z:1.61 [[ 9.99413597e-01 -1.14725306e-03 -3.42220113e-02 4.57583621e+00] [ 8.92501617e-04 9.99971787e-01 -7.45842901e-03 6.54339696e-01] [ 3.42296025e-02 7.42351216e-03 9.99386425e-01 1.60855687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09255784400005 meters Centerline goodness : 0.135092 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99409802e-01 -1.22352346e-03 -3.43300323e-02 4.57592947e+00] [ 9.58125777e-04 9.99969539e-01 -7.74615941e-03 6.56042622e-01] [ 3.43384641e-02 7.70869515e-03 9.99380531e-01 1.60884711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1225578440001 meters Centerline goodness : 0.268643 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99402203e-01 -1.31856152e-03 -3.45470319e-02 4.57640777e+00] [ 1.04051916e-03 9.99966936e-01 -8.06497037e-03 6.57953648e-01] [ 3.45565238e-02 8.02420231e-03 9.99370531e-01 1.60898959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15255784400006 meters Centerline goodness : 0.139840 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99383553e-01 -1.45120138e-03 -3.50771846e-02 4.57792185e+00] [ 1.14982853e-03 9.99962269e-01 -8.61035179e-03 6.61281551e-01] [ 3.50883565e-02 8.56471121e-03 9.99347514e-01 1.60872014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters Centerline goodness : 0.157482 Centerline is valid? [False, False] Translation: X:4.58, Y:0.66, Z:1.61 [[ 9.99379954e-01 -1.56452723e-03 -3.51747063e-02 4.57822640e+00] [ 1.25048633e-03 9.99959182e-01 -8.94825958e-03 6.63184693e-01] [ 3.51872703e-02 8.89872576e-03 9.99341117e-01 1.60864233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21255784400006 meters Centerline goodness : 0.141162 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99380161e-01 -1.70534819e-03 -3.51622833e-02 4.57830729e+00] [ 1.37804488e-03 9.99955520e-01 -9.33049817e-03 6.65210624e-01] [ 3.51766311e-02 9.27625955e-03 9.99338059e-01 1.60851350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters Centerline goodness : 0.123866 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99381058e-01 -1.88162091e-03 -3.51277608e-02 4.57831631e+00] [ 1.53763410e-03 9.99950631e-01 -9.81689752e-03 6.67716775e-01] [ 3.51444982e-02 9.75680779e-03 9.99334613e-01 1.60843015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27255784400006 meters Centerline goodness : 0.143073 Centerline is valid? [False, False] Translation: X:4.58, Y:0.67, Z:1.61 [[ 9.99381935e-01 -2.10688199e-03 -3.50900184e-02 4.57821643e+00] [ 1.74281949e-03 9.99944374e-01 -1.04024589e-02 6.70697060e-01] [ 3.51099832e-02 1.03348740e-02 9.99330015e-01 1.60851632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters Centerline goodness : 0.147509 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.61 [[ 9.99397675e-01 1.29631731e-03 -3.46786181e-02 4.57729091e+00] [-1.56396298e-03 9.99969194e-01 -7.69187480e-03 6.75564834e-01] [ 3.46675787e-02 7.74147786e-03 9.99368915e-01 1.60849551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33255784400006 meters Centerline goodness : 0.128469 Centerline is valid? [False, False] Translation: X:4.58, Y:0.68, Z:1.61 [[ 9.99394536e-01 1.08039018e-03 -3.47763513e-02 4.57760914e+00] [-1.36997877e-03 9.99964579e-01 -8.30441861e-03 6.78946694e-01] [ 3.47661475e-02 8.34703345e-03 9.99360617e-01 1.60843924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36255784400004 meters Centerline goodness : 0.144240 Centerline is valid? [False, False] Translation: X:4.60, Y:0.68, Z:1.61 [[ 0.99938397 -0.00536995 -0.03468213 4.60063416] [ 0.00517523 0.99997035 -0.00570175 0.68286547] [ 0.03471172 0.00551875 0.99938213 1.60878737] [ 0. 0. 0. 1. ]] SLAMing on 438.39255784400007 meters Centerline goodness : 0.128431 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99937738 -0.00566289 -0.03482505 4.60107141] [ 0.00544414 0.99996487 -0.00637301 0.68645495] [ 0.03485992 0.00617945 0.9993731 1.60870592] [ 0. 0. 0. 1. ]] SLAMing on 438.42255784400004 meters Centerline goodness : 0.143604 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99938259 -0.00582804 -0.03464771 4.6006885 ] [ 0.00560583 0.99996312 -0.00650708 0.68659001] [ 0.03468436 0.00630883 0.9993784 1.60856597] [ 0. 0. 0. 1. ]] SLAMing on 438.45255784400007 meters Centerline goodness : 0.132083 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99939305 -0.006014 -0.03431272 4.59989057] [ 0.00579215 0.9999617 -0.00656141 0.68620017] [ 0.03435087 0.00635869 0.99938961 1.6084176 ] [ 0. 0. 0. 1. ]] SLAMing on 438.48255784400004 meters Centerline goodness : 0.163738 Centerline is valid? [False, False] Translation: X:4.60, Y:0.69, Z:1.61 [[ 0.99940194 -0.00613813 -0.03403061 4.59916421] [ 0.00591962 0.99996124 -0.00651809 0.68553849] [ 0.0340693 0.00631275 0.99939954 1.60836437] [ 0. 0. 0. 1. ]] SLAMing on 438.51255784400007 meters Centerline goodness : 0.135730 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 0.99930576 -0.00612951 -0.0367482 4.55385581] [ 0.00587854 0.99995868 -0.0069336 0.68865466] [ 0.03678918 0.00671276 0.9993005 1.60786432] [ 0. 0. 0. 1. ]] SLAMing on 438.54255784400004 meters Centerline goodness : 0.145864 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928247 -0.00629391 -0.03734867 4.55579532] [ 0.00604497 0.99995878 -0.00677439 0.68731041] [ 0.03738977 0.00654375 0.99927933 1.60704116] [ 0. 0. 0. 1. ]] SLAMing on 438.5725578440001 meters Centerline goodness : 0.136289 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928283 -0.00627097 -0.03734291 4.55585232] [ 0.00602677 0.99995974 -0.00664847 0.68646498] [ 0.0373831 0.00641864 0.99928039 1.60687749] [ 0. 0. 0. 1. ]] SLAMing on 438.60255784400005 meters Centerline goodness : 0.133656 Centerline is valid? [False, False] Translation: X:4.56, Y:0.69, Z:1.61 [[ 0.99928494 -0.00622259 -0.0372947 4.55557782] [ 0.00598214 0.99996062 -0.00655546 0.68603362] [ 0.03733402 0.00632767 0.99928281 1.60709708] [ 0. 0. 0. 1. ]] SLAMing on 438.6325578440001 meters Centerline goodness : 0.119214 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99332583e-01 -2.52226673e-03 -3.64421005e-02 4.55322592e+00] [ 2.42302567e-03 9.99993236e-01 -2.76716122e-03 6.84810539e-01] [ 3.64488335e-02 2.67701423e-03 9.99331935e-01 1.60727720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66255784400005 meters Centerline goodness : 0.133795 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99334338e-01 -2.48784682e-03 -3.63963153e-02 4.55304638e+00] [ 2.38914164e-03 9.99993350e-01 -2.75519645e-03 6.84736428e-01] [ 3.64029278e-02 2.66640647e-03 9.99333637e-01 1.60743112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6925578440001 meters Centerline goodness : 0.123196 Centerline is valid? [False, False] Translation: X:4.53, Y:0.68, Z:1.60 [[ 9.99308674e-01 5.72895121e-03 -3.67335441e-02 4.53320708e+00] [-5.89543476e-03 9.99972829e-01 -4.42547918e-03 6.81123462e-01] [ 3.67071927e-02 4.63897994e-03 9.99315297e-01 1.60489342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72255784400005 meters Centerline goodness : 0.140937 Centerline is valid? [False, False] Translation: X:4.53, Y:0.68, Z:1.60 [[ 9.99305319e-01 5.69009071e-03 -3.68307227e-02 4.53341077e+00] [-5.85630815e-03 9.99973142e-01 -4.40670142e-03 6.80268764e-01] [ 3.68046589e-02 4.61933223e-03 9.99311803e-01 1.60491304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7525578440001 meters Centerline goodness : 0.139003 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99319615e-01 -2.58469552e-03 -3.67916655e-02 4.55302396e+00] [ 2.46882828e-03 9.99991850e-01 -3.19436303e-03 6.80725212e-01] [ 3.67996221e-02 3.10135733e-03 9.99317852e-01 1.60697558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78255784400005 meters Centerline goodness : 0.137847 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99323427e-01 -2.38709848e-03 -3.67013497e-02 4.55262305e+00] [ 2.28799373e-03 9.99993623e-01 -2.74206610e-03 6.78549831e-01] [ 3.67076613e-02 2.65623844e-03 9.99322517e-01 1.60717442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8125578440001 meters Centerline goodness : 0.138834 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 9.99336452e-01 -2.04415714e-03 -3.63658917e-02 4.55166390e+00] [ 1.98821211e-03 9.99996784e-01 -1.57448985e-03 6.71895964e-01] [ 3.63689933e-02 1.50114200e-03 9.99337302e-01 1.60713610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84255784400005 meters Centerline goodness : 0.124772 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 9.99337592e-01 -1.90763128e-03 -3.63419723e-02 4.55168095e+00] [ 1.87585349e-03 9.99997828e-01 -9.08487688e-04 6.67839442e-01] [ 3.63436265e-02 8.39713682e-04 9.99338999e-01 1.60685957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8725578440001 meters Centerline goodness : 0.114827 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99337887e-01 -1.72493199e-03 -3.63429875e-02 4.55165479e+00] [ 1.72012769e-03 9.99998507e-01 -1.63460513e-04 6.63537659e-01] [ 3.63432152e-02 1.00837704e-04 9.99339362e-01 1.60671113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90255784400006 meters Centerline goodness : 0.131891 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99332243e-01 -1.53512623e-03 -3.65063082e-02 4.55207666e+00] [ 1.55594351e-03 9.99998643e-01 5.41834242e-04 6.59717981e-01] [ 3.65054269e-02 -5.98274182e-04 9.99333276e-01 1.60650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93255784400003 meters Centerline goodness : 0.131891 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99332243e-01 -1.53512623e-03 -3.65063082e-02 4.55207666e+00] [ 1.55594351e-03 9.99998643e-01 5.41834242e-04 6.59717981e-01] [ 3.65054269e-02 -5.98274182e-04 9.99333276e-01 1.60650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96255784400006 meters Centerline goodness : 0.134172 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99330264e-01 -1.00290038e-03 -3.65789103e-02 4.55194489e+00] [ 1.06832921e-03 9.99997864e-01 1.76920176e-03 6.54082191e-01] [ 3.65770578e-02 -1.80709518e-03 9.99329202e-01 1.60681755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99255784400003 meters Centerline goodness : 0.126233 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99333683e-01 -8.63907927e-04 -3.64889595e-02 4.55141972e+00] [ 9.40650624e-04 9.99997382e-01 2.08606077e-03 6.52560114e-01] [ 3.64870618e-02 -2.11899415e-03 9.99331879e-01 1.60727406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02255784400006 meters Centerline goodness : 0.157037 Centerline is valid? [False, False] Translation: X:4.57, Y:0.65, Z:1.61 [[ 9.99354874e-01 7.00644478e-03 -3.52242135e-02 4.57008333e+00] [-6.97048145e-03 9.99975052e-01 1.14368405e-03 6.45588724e-01] [ 3.52313479e-02 -8.97416503e-04 9.99378780e-01 1.60909158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05255784400003 meters Centerline goodness : 0.152727 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99373954e-01 7.20763858e-03 -3.46373963e-02 4.56825971e+00] [-7.16035050e-03 9.99973256e-01 1.48908473e-03 6.43915167e-01] [ 3.46472027e-02 -1.24013660e-03 9.99398836e-01 1.60961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08255784400006 meters Centerline goodness : 0.123321 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99374897e-01 7.28872123e-03 -3.45932039e-02 4.56829311e+00] [-7.23423373e-03 9.99972388e-01 1.69999809e-03 6.42768210e-01] [ 3.46046395e-02 -1.44868009e-03 9.99400030e-01 1.60934362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11255784400004 meters Centerline goodness : 0.122174 Centerline is valid? [False, False] Translation: X:4.57, Y:0.64, Z:1.61 [[ 9.99371659e-01 7.39665233e-03 -3.46637762e-02 4.56869676e+00] [-7.33159379e-03 9.99971116e-01 2.00357984e-03 6.41115193e-01] [ 3.46775948e-02 -1.74818018e-03 9.99397022e-01 1.60892179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14255784400007 meters Centerline goodness : 0.139827 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99362047e-01 -7.11825023e-04 -3.57070405e-02 4.54970194e+00] [ 8.26336885e-04 9.99994563e-01 3.19232751e-03 6.45072028e-01] [ 3.57045740e-02 -3.21979700e-03 9.99357202e-01 1.60732485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17255784400004 meters Centerline goodness : 0.308538 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99353158e-01 -5.92356272e-04 -3.59571221e-02 4.55029785e+00] [ 7.17600559e-04 9.99993721e-01 3.47035095e-03 6.43789357e-01] [ 3.59548406e-02 -3.49390903e-03 9.99347308e-01 1.60729344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20255784400007 meters Centerline goodness : 0.292423 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99344908e-01 -4.65315203e-04 -3.61875442e-02 4.55080614e+00] [ 5.99064155e-04 9.99993030e-01 3.68523911e-03 6.43072822e-01] [ 3.61855771e-02 -3.70450360e-03 9.99338221e-01 1.60738510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23255784400004 meters Centerline goodness : 0.166000 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99343213e-01 -3.26205052e-04 -3.62358305e-02 4.55074989e+00] [ 4.65723859e-04 9.99992511e-01 3.84192570e-03 6.42685663e-01] [ 3.62343059e-02 -3.85627826e-03 9.99335882e-01 1.60768679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26255784400007 meters Centerline goodness : 0.116012 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99347510e-01 -3.30891190e-04 -3.61170998e-02 4.55026382e+00] [ 4.65546117e-04 9.99992973e-01 3.71994120e-03 6.43375054e-01] [ 3.61156151e-02 -3.73432815e-03 9.99340641e-01 1.60801955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29255784400004 meters Centerline goodness : 0.110639 Centerline is valid? [False, False] Translation: X:4.55, Y:0.64, Z:1.61 [[ 9.99354207e-01 -3.02069973e-04 -3.59315580e-02 4.54960019e+00] [ 4.29978389e-04 9.99993599e-01 3.55210516e-03 6.44575579e-01] [ 3.59302550e-02 -3.56526103e-03 9.99347940e-01 1.60838933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3225578440001 meters Centerline goodness : 0.132179 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99346936e-01 1.96854545e-04 -3.61339677e-02 4.55027491e+00] [-7.38928381e-05 9.99994203e-01 3.40424345e-03 6.47411656e-01] [ 3.61344283e-02 -3.39935022e-03 9.99341157e-01 1.60826768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35255784400005 meters Centerline goodness : 0.169514 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99342663e-01 1.81380499e-04 -3.62520190e-02 4.55058314e+00] [-7.10600780e-05 9.99995363e-01 3.04441777e-03 6.49503362e-01] [ 3.62524031e-02 -3.03984049e-03 9.99338042e-01 1.60835632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3825578440001 meters Centerline goodness : 0.137151 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99332776e-01 1.82127710e-04 -3.65235582e-02 4.55117279e+00] [-8.50272199e-05 9.99996458e-01 2.66010711e-03 6.51867812e-01] [ 3.65239134e-02 -2.65522673e-03 9.99329252e-01 1.60852752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41255784400005 meters Centerline goodness : 0.132649 Centerline is valid? [False, False] Translation: X:4.55, Y:0.65, Z:1.61 [[ 9.99331976e-01 2.16573668e-04 -3.65452487e-02 4.55112676e+00] [-1.34993863e-04 9.99997494e-01 2.23474855e-03 6.54648512e-01] [ 3.65456411e-02 -2.22832230e-03 9.99329501e-01 1.60876059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4425578440001 meters Centerline goodness : 0.139492 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99331696e-01 3.91291999e-03 -3.63434971e-02 4.55056947e+00] [-3.73331981e-03 9.99980489e-01 5.00829137e-03 6.60171829e-01] [ 3.63623851e-02 -4.86926242e-03 9.99326807e-01 1.60895770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47255784400005 meters Centerline goodness : 0.120369 Centerline is valid? [False, False] Translation: X:4.55, Y:0.66, Z:1.61 [[ 9.99327471e-01 3.84134778e-03 -3.64671066e-02 4.55080259e+00] [-3.68400574e-03 9.99983618e-01 4.38084424e-03 6.63839999e-01] [ 3.64833376e-02 -4.24355296e-03 9.99325252e-01 1.60912606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5025578440001 meters Centerline goodness : 0.137997 Centerline is valid? [False, False] Translation: X:4.53, Y:0.67, Z:1.61 [[ 9.99361278e-01 -1.94699265e-03 -3.56825558e-02 4.52830936e+00] [ 2.18221467e-03 9.99976139e-01 6.55431351e-03 6.72018227e-01] [ 3.56689431e-02 -6.62799412e-03 9.99341681e-01 1.60810514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53255784400005 meters Centerline goodness : 0.104292 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 0.99935998 0.00641721 -0.03519161 4.54939017] [-0.00623143 0.99996608 0.00538649 0.67171314] [ 0.03522498 -0.00516374 0.99936607 1.6095442 ] [ 0. 0. 0. 1. ]] SLAMing on 439.5625578440001 meters Centerline goodness : 0.126638 Centerline is valid? [False, False] Translation: X:4.55, Y:0.67, Z:1.61 [[ 0.99935108 0.00643935 -0.03543937 4.54996387] [-0.0062688 0.99996824 0.0049215 0.6748353 ] [ 0.03546994 -0.00469614 0.99935971 1.60963538] [ 0. 0. 0. 1. ]] SLAMing on 439.59255784400005 meters Centerline goodness : 0.150507 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99351435e-01 6.83627289e-03 -3.53549880e-02 4.54963529e+00] [-6.68459007e-03 9.99967948e-01 4.40670776e-03 6.80480034e-01] [ 3.53839803e-02 -4.16751612e-03 9.99365101e-01 1.60986450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6225578440001 meters Centerline goodness : 0.142120 Centerline is valid? [False, False] Translation: X:4.55, Y:0.68, Z:1.61 [[ 9.99356902e-01 6.72035683e-03 -3.52224288e-02 4.54910981e+00] [-6.58885831e-03 9.99970889e-01 3.84812087e-03 6.83476014e-01] [ 3.52472641e-02 -3.61357056e-03 9.99372089e-01 1.61020316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65255784400006 meters Centerline goodness : 0.135276 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 9.99359133e-01 6.60657877e-03 -3.51806215e-02 4.54890058e+00] [-6.49405037e-03 9.99973429e-01 3.31189932e-03 6.86504990e-01] [ 3.52015671e-02 -3.08131210e-03 9.99375483e-01 1.61039201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters Centerline goodness : 0.138024 Centerline is valid? [False, False] Translation: X:4.55, Y:0.69, Z:1.61 [[ 9.99359914e-01 6.54615972e-03 -3.51697378e-02 4.54879543e+00] [-6.45072316e-03 9.99975200e-01 2.82638524e-03 6.89563286e-01] [ 3.51873676e-02 -2.59770587e-03 9.99377357e-01 1.61049783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71255784400006 meters Centerline goodness : 0.121889 Centerline is valid? [False, False] Translation: X:4.53, Y:0.70, Z:1.61 [[ 9.99449999e-01 1.60075395e-03 -3.31230693e-02 4.53075783e+00] [-1.43306673e-03 9.99986041e-01 5.08567203e-03 7.00869058e-01] [ 3.31307478e-02 -5.03540733e-03 9.99438341e-01 1.60742215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters Centerline goodness : 0.158293 Centerline is valid? [False, False] Translation: X:4.53, Y:0.70, Z:1.61 [[ 9.99447503e-01 1.43704088e-03 -3.32057843e-02 4.53101991e+00] [-1.28418428e-03 9.99988484e-01 4.62418117e-03 7.03177613e-01] [ 3.32120471e-02 -4.57898398e-03 9.99437838e-01 1.60729405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77255784400006 meters Centerline goodness : 0.128160 Centerline is valid? [False, False] Translation: X:4.53, Y:0.71, Z:1.61 [[ 9.99442730e-01 1.26939070e-03 -3.33559263e-02 4.53141814e+00] [-1.13124190e-03 9.99990706e-01 4.16020241e-03 7.05428143e-01] [ 3.33608972e-02 -4.12015043e-03 9.99434878e-01 1.60724638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80255784400003 meters Centerline goodness : 0.147451 Centerline is valid? [False, False] Translation: X:4.55, Y:0.70, Z:1.61 [[ 9.99414552e-01 9.28180247e-03 -3.29302456e-02 4.55192434e+00] [-9.19032196e-03 9.99953480e-01 2.92828590e-03 7.03510536e-01] [ 3.29558935e-02 -2.62393198e-03 9.99453363e-01 1.60876049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83255784400006 meters Centerline goodness : 0.130934 Centerline is valid? [False, False] Translation: X:4.55, Y:0.71, Z:1.61 [[ 9.99411378e-01 9.18468687e-03 -3.30535901e-02 4.55221774e+00] [-9.10481014e-03 9.99955257e-01 2.56628932e-03 7.05620284e-01] [ 3.30756817e-02 -2.26383208e-03 9.99450286e-01 1.60876751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86255784400004 meters Centerline goodness : 0.196602 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99489299e-01 3.02844373e-03 -3.18114817e-02 4.53470788e+00] [-2.88145372e-03 9.99984965e-01 4.66548669e-03 7.16184820e-01] [ 3.18251325e-02 -4.57144071e-03 9.99482998e-01 1.60574462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89255784400007 meters Centerline goodness : 0.140334 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99494206e-01 2.89252761e-03 -3.16696342e-02 4.53428348e+00] [-2.75821606e-03 9.99987020e-01 4.28388582e-03 7.18014752e-01] [ 3.16816144e-02 -4.19436737e-03 9.99489211e-01 1.60581620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92255784400004 meters Centerline goodness : 0.161459 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99499799e-01 2.72293389e-03 -3.15077339e-02 4.53376402e+00] [-2.60058078e-03 9.99988921e-01 3.92360024e-03 7.19498046e-01] [ 3.15180686e-02 -3.83969924e-03 9.99495807e-01 1.60600211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95255784400007 meters Centerline goodness : 0.169728 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99503144e-01 2.61248824e-03 -3.14108309e-02 4.53330948e+00] [-2.49840594e-03 9.99990142e-01 3.67064140e-03 7.20590486e-01] [ 3.14201108e-02 -3.59034062e-03 9.99499818e-01 1.60629563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98255784400004 meters Centerline goodness : 0.123519 Centerline is valid? [False, False] Translation: X:4.53, Y:0.72, Z:1.61 [[ 9.99505910e-01 2.54859522e-03 -3.13279546e-02 4.53288789e+00] [-2.44074322e-03 9.99990965e-01 3.48043545e-03 7.21661755e-01] [ 3.13365418e-02 -3.40225231e-03 9.99503099e-01 1.60659127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01255784400007 meters Centerline goodness : 0.140220 Centerline is valid? [False, False] Translation: X:4.55, Y:0.72, Z:1.61 [[ 9.99560657e-01 -3.41933799e-03 -2.94414790e-02 4.55494861e+00] [ 3.60811021e-03 9.99973259e-01 6.36104109e-03 7.24507430e-01] [ 2.94189411e-02 -6.46447451e-03 9.99546265e-01 1.60663770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04255784400004 meters Centerline goodness : 0.143272 Centerline is valid? [False, False] Translation: X:4.55, Y:0.72, Z:1.61 [[ 9.99561952e-01 -3.51262763e-03 -2.93864972e-02 4.55462612e+00] [ 3.69711447e-03 9.99973784e-01 6.22596890e-03 7.24773361e-01] [ 2.93638572e-02 -6.33188686e-03 9.99548734e-01 1.60691724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0725578440001 meters Centerline goodness : 0.164023 Centerline is valid? [False, False] Translation: X:4.57, Y:0.72, Z:1.61 [[ 9.99569703e-01 3.95748232e-03 -2.90645383e-02 4.57409233e+00] [-3.82179243e-03 9.99981545e-01 4.72264029e-03 7.19966618e-01] [ 2.90826917e-02 -4.60952952e-03 9.99566381e-01 1.60877338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10255784400005 meters Centerline goodness : 0.159706 Centerline is valid? [False, False] Translation: X:4.58, Y:0.72, Z:1.61 [[ 9.99560929e-01 3.99562900e-03 -2.93595761e-02 4.57506688e+00] [-3.85744764e-03 9.99981223e-01 4.76165003e-03 7.19717091e-01] [ 2.93780506e-02 -4.64630630e-03 9.99557573e-01 1.60836538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1325578440001 meters Centerline goodness : 0.123435 Centerline is valid? [False, False] Translation: X:4.58, Y:0.72, Z:1.61 [[ 9.99559255e-01 4.01739096e-03 -2.94135540e-02 4.57526547e+00] [-3.87789476e-03 9.99980970e-01 4.79809107e-03 7.19480997e-01] [ 2.94322701e-02 -4.68191367e-03 9.99555812e-01 1.60822793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16255784400005 meters Centerline goodness : 0.169465 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99585660e-01 -4.36502089e-03 -2.84509247e-02 4.59534958e+00] [ 4.52737116e-03 9.99973821e-01 5.64440971e-03 7.22902505e-01] [ 2.84255419e-02 -5.77087890e-03 9.99579254e-01 1.60936343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1925578440001 meters Centerline goodness : 0.127426 Centerline is valid? [False, False] Translation: X:4.59, Y:0.72, Z:1.61 [[ 9.99592201e-01 -4.38862080e-03 -2.82165224e-02 4.59441222e+00] [ 4.54930750e-03 9.99973786e-01 5.63310187e-03 7.22597918e-01] [ 2.81910612e-02 -5.75917034e-03 9.99585962e-01 1.60989488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22255784400005 meters Centerline goodness : 0.163179 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99617501e-01 3.40486057e-03 -2.74455586e-02 4.61322801e+00] [-3.28904188e-03 9.99985500e-01 4.26398223e-03 7.18621218e-01] [ 2.74596789e-02 -4.17208167e-03 9.99614205e-01 1.61232808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2525578440001 meters Centerline goodness : 0.122147 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99618728e-01 3.43478108e-03 -2.73970794e-02 4.61301511e+00] [-3.32046285e-03 9.99985595e-01 4.21704619e-03 7.18745941e-01] [ 2.74111693e-02 -4.12446736e-03 9.99615734e-01 1.61240674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28255784400005 meters Centerline goodness : 0.163255 Centerline is valid? [False, False] Translation: X:4.61, Y:0.72, Z:1.61 [[ 9.99606173e-01 3.91552559e-03 -2.77879006e-02 4.61427521e+00] [-3.79744280e-03 9.99983541e-01 4.30093253e-03 7.19784507e-01] [ 2.78042836e-02 -4.19371574e-03 9.99604589e-01 1.61183083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3125578440001 meters Centerline goodness : 0.144605 Centerline is valid? [False, False] Translation: X:4.62, Y:0.72, Z:1.61 [[ 9.99593027e-01 3.99519332e-03 -2.82456945e-02 4.61569291e+00] [-3.88111214e-03 9.99984094e-01 4.09255781e-03 7.21163833e-01] [ 2.82615958e-02 -3.98126755e-03 9.99592633e-01 1.61126316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34255784400005 meters Centerline goodness : 0.161693 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99489023e-01 1.29629684e-02 -2.92173568e-02 4.59546041e+00] [-1.28760886e-02 9.99912107e-01 3.15976056e-03 7.18583919e-01] [ 2.92557487e-02 -2.78194072e-03 9.99568088e-01 1.60969625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3725578440001 meters Centerline goodness : 0.150244 Centerline is valid? [False, False] Translation: X:4.60, Y:0.72, Z:1.61 [[ 9.99481960e-01 1.30571029e-02 -2.94163954e-02 4.59597917e+00] [-1.29761193e-02 9.99911478e-01 2.94223577e-03 7.20275273e-01] [ 2.94522085e-02 -2.55900092e-03 9.99562914e-01 1.60952417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40255784400006 meters Centerline goodness : 0.093265 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99529649e-01 5.87116926e-03 -3.01000171e-02 4.61483099e+00] [-5.74636274e-03 9.99974538e-01 4.23122149e-03 7.26662575e-01] [ 3.01240929e-02 -4.05626571e-03 9.99537936e-01 1.61149917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43255784400003 meters Centerline goodness : 0.153224 Centerline is valid? [False, False] Translation: X:4.60, Y:0.73, Z:1.61 [[ 9.99470366e-01 -1.55035298e-03 -3.25051423e-02 4.59768761e+00] [ 1.72574770e-03 9.99984100e-01 5.36854605e-03 7.33069707e-01] [ 3.24963023e-02 -5.42179836e-03 9.99457150e-01 1.60877097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46255784400006 meters Centerline goodness : 0.157898 Centerline is valid? [False, False] Translation: X:4.60, Y:0.73, Z:1.61 [[ 9.99461322e-01 -1.52157388e-03 -3.27833803e-02 4.59868106e+00] [ 1.69319927e-03 9.99985005e-01 5.20800822e-03 7.34158573e-01] [ 3.27749643e-02 -5.26071158e-03 9.99448911e-01 1.60819841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49255784400003 meters Centerline goodness : 0.132584 Centerline is valid? [False, False] Translation: X:4.60, Y:0.74, Z:1.61 [[ 9.99461487e-01 -1.51016212e-03 -3.27789004e-02 4.59855310e+00] [ 1.67611271e-03 9.99985915e-01 5.03583882e-03 7.35516711e-01] [ 3.27708338e-02 -5.08806809e-03 9.99449941e-01 1.60827364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52255784400006 meters Centerline goodness : 0.109516 Centerline is valid? [False, False] Translation: X:4.60, Y:0.74, Z:1.61 [[ 9.99474372e-01 -1.45037342e-03 -3.23863709e-02 4.59724800e+00] [ 1.61050172e-03 9.99986606e-01 4.91877270e-03 7.36754717e-01] [ 3.23788031e-02 -4.96834556e-03 9.99463320e-01 1.60875727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55255784400003 meters Centerline goodness : 0.405303 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99504999e-01 -1.55604946e-03 -3.14219052e-02 4.59376879e+00] [ 1.69944788e-03 9.99988262e-01 4.53745417e-03 7.38597891e-01] [ 3.14144758e-02 -4.58860801e-03 9.99495911e-01 1.61044868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58255784400006 meters Centerline goodness : 0.105104 Centerline is valid? [False, False] Translation: X:4.57, Y:0.73, Z:1.61 [[ 9.99481436e-01 6.67883611e-03 -3.15000350e-02 4.57365214e+00] [-6.58162332e-03 9.99973257e-01 3.18879552e-03 7.33985880e-01] [ 3.15204900e-02 -2.97982056e-03 9.99498664e-01 1.60884712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 440.64255784400007 meters Centerline goodness : 0.106671 Centerline is valid? [False, False] Translation: X:4.58, Y:0.74, Z:1.61 [[ 9.99466590e-01 6.77095386e-03 -3.19482256e-02 4.57511264e+00] [-6.67804818e-03 9.99973160e-01 3.01381616e-03 7.35794117e-01] [ 3.19677745e-02 -2.79885677e-03 9.99484981e-01 1.60818695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67255784400004 meters Centerline goodness : 0.243391 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99495283e-01 -1.31592647e-03 -3.17403036e-02 4.59406363e+00] [ 1.44087243e-03 9.99991302e-01 3.91395685e-03 7.41065248e-01] [ 3.17348770e-02 -3.95771514e-03 9.99488486e-01 1.60985106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70255784400007 meters Centerline goodness : 0.097619 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99500777e-01 -1.34369779e-03 -3.15656543e-02 4.59332911e+00] [ 1.46826024e-03 9.99991226e-01 3.92329106e-03 7.40687693e-01] [ 3.15601056e-02 -3.96767906e-03 9.99493981e-01 1.61027456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73255784400004 meters Centerline goodness : 0.331749 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99508100e-01 -1.37003241e-03 -3.13317900e-02 4.59250971e+00] [ 1.49385532e-03 9.99991166e-01 3.92892302e-03 7.40367640e-01] [ 3.13261305e-02 -3.97379555e-03 9.99501317e-01 1.61062534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76255784400007 meters Centerline goodness : 0.142602 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99512671e-01 -1.39427086e-03 -3.11845601e-02 4.59189735e+00] [ 1.51653673e-03 9.99991255e-01 3.89740965e-03 7.40412018e-01] [ 3.11788533e-02 -3.94280286e-03 9.99506045e-01 1.61096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79255784400004 meters Centerline goodness : 0.097083 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515601e-01 -1.34822751e-03 -3.10925480e-02 4.59144672e+00] [ 1.47187162e-03 9.99991099e-01 3.95410298e-03 7.40274833e-01] [ 3.10869402e-02 -3.99795185e-03 9.99508689e-01 1.61127169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8225578440001 meters Centerline goodness : 0.097083 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515601e-01 -1.34822751e-03 -3.10925480e-02 4.59144672e+00] [ 1.47187162e-03 9.99991099e-01 3.95410298e-03 7.40274833e-01] [ 3.10869402e-02 -3.99795185e-03 9.99508689e-01 1.61127169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85255784400005 meters Centerline goodness : 0.179438 Centerline is valid? [False, False] Translation: X:4.59, Y:0.74, Z:1.61 [[ 9.99515740e-01 -1.25185076e-03 -3.10920855e-02 4.59120367e+00] [ 1.38197015e-03 9.99990376e-01 4.16383135e-03 7.39298462e-01] [ 3.10865738e-02 -4.20478331e-03 9.99507851e-01 1.61167512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8825578440001 meters Centerline goodness : 0.102881 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99499932e-01 6.33969773e-03 -3.09789273e-02 4.61121058e+00] [-6.25145091e-03 9.99976124e-01 2.94463410e-03 7.34869168e-01] [ 3.09968558e-02 -2.74949834e-03 9.99515700e-01 1.61373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 440.9425578440001 meters Centerline goodness : 0.115622 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99499594e-01 6.58540688e-03 -3.09385637e-02 4.61107013e+00] [-6.47711689e-03 9.99972546e-01 3.59908055e-03 7.31325376e-01] [ 3.09614157e-02 -3.39688686e-03 9.99514808e-01 1.61382810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97255784400005 meters Centerline goodness : 0.131569 Centerline is valid? [False, False] Translation: X:4.61, Y:0.73, Z:1.61 [[ 9.99520298e-01 3.08809964e-03 -3.08161898e-02 4.61060754e+00] [-3.07110119e-03 9.99995105e-01 5.98923693e-04 7.28133968e-01] [ 3.08178885e-02 -5.03996751e-04 9.99524889e-01 1.61395910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0025578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 441.03255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 441.0625578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 441.09255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 441.1225578440001 meters Centerline goodness : 0.091076 Centerline is valid? [False, False] Translation: X:4.61, Y:0.71, Z:1.61 [[ 9.99518196e-01 -7.07620009e-05 -3.10382042e-02 4.61167830e+00] [ 4.36749039e-05 9.99999618e-01 -8.73378899e-04 7.11774373e-01] [ 3.10382542e-02 8.71602512e-04 9.99517817e-01 1.61346863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15255784400006 meters Centerline goodness : 0.172973 Centerline is valid? [False, False] Translation: X:4.61, Y:0.71, Z:1.61 [[ 9.99512984e-01 3.19565050e-04 -3.12040454e-02 4.61260224e+00] [-3.19066805e-04 9.99999949e-01 2.09466460e-05 7.07150497e-01] [ 3.12040505e-02 -1.09802696e-05 9.99513035e-01 1.61275148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 441.21255784400006 meters Centerline goodness : 0.174115 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99507752e-01 7.37119510e-04 -3.13641653e-02 4.61335352e+00] [-7.15933158e-04 9.99999508e-01 6.86720235e-04 7.04338167e-01] [ 3.13646561e-02 -6.63927552e-04 9.99507788e-01 1.61216032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24255784400003 meters Centerline goodness : 0.178650 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99511630e-01 1.06858206e-03 -3.12307500e-02 4.61351593e+00] [-1.02720222e-03 9.99998573e-01 1.34098500e-03 7.01148845e-01] [ 3.12321384e-02 -1.30824981e-03 9.99511302e-01 1.61139920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27255784400006 meters Centerline goodness : 0.176907 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99511136e-01 1.23684918e-03 -3.12403483e-02 4.61370264e+00] [-1.18259117e-03 9.99997760e-01 1.75520957e-03 6.98904107e-01] [ 3.12424493e-02 -1.71740695e-03 9.99510360e-01 1.61115390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30255784400003 meters Centerline goodness : 0.176214 Centerline is valid? [False, False] Translation: X:4.61, Y:0.70, Z:1.61 [[ 9.99509317e-01 1.39877587e-03 -3.12916862e-02 4.61384110e+00] [-1.32950980e-03 9.99996620e-01 2.23425817e-03 6.96168941e-01] [ 3.12947056e-02 -2.19155926e-03 9.99507798e-01 1.61116424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33255784400006 meters Centerline goodness : 0.158152 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99502702e-01 1.58928152e-03 -3.14932141e-02 4.61431100e+00] [-1.50055580e-03 9.99994839e-01 2.84073053e-03 6.92751178e-01] [ 3.14975663e-02 -2.79206052e-03 9.99499929e-01 1.61126284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36255784400004 meters Centerline goodness : 0.183048 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99498273e-01 1.81344794e-03 -3.16214204e-02 4.61460407e+00] [-1.70457870e-03 9.99992528e-01 3.46951270e-03 6.89495640e-01] [ 3.16274759e-02 -3.41387076e-03 9.99493896e-01 1.61135376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39255784400007 meters Centerline goodness : 0.171846 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99497176e-01 2.20094182e-03 -3.16315022e-02 4.61469277e+00] [-2.05751382e-03 9.99987458e-01 4.56617467e-03 6.83755595e-01] [ 3.16411554e-02 -4.49879643e-03 9.99489169e-01 1.61141045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42255784400004 meters Centerline goodness : 0.152079 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99499856e-01 2.34490119e-03 -3.15363086e-02 4.61457742e+00] [-2.18806070e-03 9.99985071e-01 5.00692201e-03 6.81315103e-01] [ 3.15475785e-02 -4.93541448e-03 9.99490066e-01 1.61128361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45255784400007 meters Centerline goodness : 0.168756 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99502306e-01 2.47851971e-03 -3.14483355e-02 4.61433256e+00] [-2.31061109e-03 9.99982888e-01 5.37440829e-03 6.79241631e-01] [ 3.14611179e-02 -5.29906860e-03 9.99490929e-01 1.61136520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48255784400004 meters Centerline goodness : 0.179620 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99506185e-01 2.58312680e-03 -3.13163522e-02 4.61380013e+00] [-2.40712833e-03 9.99981105e-01 5.65641656e-03 6.77680690e-01] [ 3.13303718e-02 -5.57824085e-03 9.99493517e-01 1.61169933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51255784400007 meters Centerline goodness : 0.174407 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99505760e-01 2.65503701e-03 -3.13238878e-02 4.61376145e+00] [-2.47324256e-03 9.99979883e-01 5.84101858e-03 6.76682120e-01] [ 3.13387658e-02 -5.76066014e-03 9.99492219e-01 1.61177160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54255784400004 meters Centerline goodness : 0.171691 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99495444e-01 2.74390061e-03 -3.16437606e-02 4.61468871e+00] [-2.55679189e-03 9.99979018e-01 5.95192196e-03 6.76259898e-01] [ 3.16594281e-02 -5.86801237e-03 9.99481489e-01 1.61152010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5725578440001 meters Centerline goodness : 0.165648 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99470769e-01 2.87579104e-03 -3.24023482e-02 4.61752902e+00] [-2.68192497e-03 9.99978253e-01 6.02496103e-03 6.76001025e-01] [ 3.24189700e-02 -5.93487177e-03 9.99456746e-01 1.60989721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60255784400005 meters Centerline goodness : 0.162657 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99470690e-01 2.89655185e-03 -3.24029155e-02 4.61776178e+00] [-2.70309908e-03 9.99978272e-01 6.01244091e-03 6.76111847e-01] [ 3.24196268e-02 -5.92167017e-03 9.99456803e-01 1.60947876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6325578440001 meters Centerline goodness : 0.166692 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99491725e-01 2.95732092e-03 -3.17418764e-02 4.61545457e+00] [-2.76703577e-03 9.99977949e-01 6.03702049e-03 6.76432588e-01] [ 3.17590298e-02 -5.94612111e-03 9.99477868e-01 1.61047044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66255784400005 meters Centerline goodness : 0.167769 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99498537e-01 2.99259212e-03 -3.15233209e-02 4.61440812e+00] [-2.80116571e-03 9.99977380e-01 6.11494569e-03 6.76223323e-01] [ 3.15409074e-02 -6.02357723e-03 9.99484311e-01 1.61124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6925578440001 meters Centerline goodness : 0.166514 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99504774e-01 3.00797050e-03 -3.13234652e-02 4.61344307e+00] [-2.81504567e-03 9.99976809e-01 6.20139411e-03 6.75860408e-01] [ 3.13413924e-02 -6.11014603e-03 9.99490062e-01 1.61199214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72255784400005 meters Centerline goodness : 0.168856 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99513055e-01 3.02259389e-03 -3.10566772e-02 4.61231975e+00] [-2.82612718e-03 9.99975730e-01 6.36801922e-03 6.74859098e-01] [ 3.10751714e-02 -6.27714822e-03 9.99497339e-01 1.61276910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7525578440001 meters Centerline goodness : 0.165344 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99546766e-01 8.99264109e-03 -2.87296952e-02 4.63409640e+00] [-8.89674277e-03 9.99954423e-01 3.46403839e-03 6.74060574e-01] [ 2.87595366e-02 -3.20686766e-03 9.99581215e-01 1.61268066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78255784400005 meters Centerline goodness : 0.162808 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99578369e-01 5.96238552e-03 -2.84171561e-02 4.63340644e+00] [-5.95397329e-03 9.99982203e-01 3.80632671e-04 6.74318611e-01] [ 2.84189199e-02 -2.11277196e-04 9.99596079e-01 1.61251173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8125578440001 meters Centerline goodness : 0.145325 Centerline is valid? [False, False] Translation: X:4.63, Y:0.67, Z:1.61 [[ 9.99571693e-01 5.93665941e-03 -2.86563441e-02 4.63455281e+00] [-5.92852565e-03 9.99982358e-01 3.68792552e-04 6.74166407e-01] [ 2.86580279e-02 -1.98744725e-04 9.99589255e-01 1.61165065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84255784400005 meters Centerline goodness : 0.166009 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99565780e-01 -2.10071264e-03 -2.93911383e-02 4.61545353e+00] [ 2.15156261e-03 9.99996243e-01 1.69859386e-03 6.78385691e-01] [ 2.93874596e-02 -1.76109317e-03 9.99566544e-01 1.60951556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8725578440001 meters Centerline goodness : 0.163484 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99556367e-01 -2.06863397e-03 -2.97117962e-02 4.61633121e+00] [ 2.11608566e-03 9.99996535e-01 1.56571108e-03 6.79454690e-01] [ 2.97084544e-02 -1.62788918e-03 9.99557281e-01 1.60933251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90255784400006 meters Centerline goodness : 0.167570 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99549502e-01 -2.02983294e-03 -2.99445007e-02 4.61709838e+00] [ 2.07314413e-03 9.99996849e-01 1.41540614e-03 6.80489039e-01] [ 2.99415333e-02 -1.47684777e-03 9.99550561e-01 1.60898352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93255784400003 meters Centerline goodness : 0.159377 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99554303e-01 -2.04156194e-03 -2.97830032e-02 4.61667337e+00] [ 2.07462940e-03 9.99997265e-01 1.07942052e-03 6.81989318e-01] [ 2.97807181e-02 -1.14072812e-03 9.99555805e-01 1.60882968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96255784400006 meters Centerline goodness : 0.161411 Centerline is valid? [False, False] Translation: X:4.62, Y:0.68, Z:1.61 [[ 9.99567356e-01 -1.96743309e-03 -2.93467104e-02 4.61544119e+00] [ 1.99794314e-03 9.99997494e-01 1.01035443e-03 6.82822330e-01] [ 2.93446490e-02 -1.06855036e-03 9.99568782e-01 1.60899904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99255784400003 meters Centerline goodness : 0.153891 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99584551e-01 -1.73177347e-03 -2.87702281e-02 4.61392607e+00] [ 1.76367706e-03 9.99997858e-01 1.08357089e-03 6.83680373e-01] [ 2.87682900e-02 -1.13386211e-03 9.99585464e-01 1.60900684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02255784400006 meters Centerline goodness : 0.160724 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99575015e-01 6.77650648e-03 -2.83525593e-02 4.59259565e+00] [-6.76800105e-03 9.99977018e-01 3.95942673e-04 6.79563389e-01] [ 2.83545908e-02 -2.03884252e-04 9.99597907e-01 1.60760548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05255784400003 meters Centerline goodness : 0.154093 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99593834e-01 -5.38306654e-04 -2.84934666e-02 4.61110409e+00] [ 5.70415361e-04 9.99999211e-01 1.11876341e-03 6.86721400e-01] [ 2.84928419e-02 -1.13456212e-03 9.99593353e-01 1.60928609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08255784400006 meters Centerline goodness : 0.173461 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99589268e-01 -5.95572047e-04 -2.86520494e-02 4.61164485e+00] [ 6.23526882e-04 9.99999338e-01 9.66741558e-04 6.87270233e-01] [ 2.86514546e-02 -9.84209809e-04 9.99588978e-01 1.60898762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11255784400004 meters Centerline goodness : 0.162624 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99588582e-01 -6.18092949e-04 -2.86754981e-02 4.61178500e+00] [ 6.42538595e-04 9.99999438e-01 8.43285830e-04 6.88024753e-01] [ 2.86749607e-02 -8.61364002e-04 9.99588418e-01 1.60878433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14255784400007 meters Centerline goodness : 0.155151 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99593824e-01 -5.95379053e-04 -2.84926849e-02 4.61123258e+00] [ 6.19084037e-04 9.99999470e-01 8.23153122e-04 6.88437257e-01] [ 2.84921797e-02 -8.40458143e-04 9.99593662e-01 1.60888118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17255784400004 meters Centerline goodness : 0.160246 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99600623e-01 -6.02266369e-04 -2.82529968e-02 4.61051218e+00] [ 6.25888803e-04 9.99999462e-01 8.27267712e-04 6.88360636e-01] [ 2.82524834e-02 -8.44620555e-04 9.99600462e-01 1.60906514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20255784400007 meters Centerline goodness : 0.138473 Centerline is valid? [False, False] Translation: X:4.63, Y:0.69, Z:1.61 [[ 9.99619330e-01 4.85619691e-03 -2.71590194e-02 4.63311185e+00] [-4.93141635e-03 9.99984187e-01 -2.70330052e-03 6.87736686e-01] [ 2.71454622e-02 2.83620389e-03 9.99627471e-01 1.60940888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23255784400004 meters Centerline goodness : 0.162249 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99523838e-01 4.37627512e-03 -3.05441644e-02 4.58898440e+00] [-4.45831965e-03 9.99986633e-01 -2.61850822e-03 6.83893643e-01] [ 3.05322969e-02 2.75343703e-03 9.99529988e-01 1.60902354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26255784400007 meters Centerline goodness : 0.139376 Centerline is valid? [False, False] Translation: X:4.61, Y:0.69, Z:1.61 [[ 9.99499608e-01 -3.01922650e-03 -3.14867814e-02 4.60916085e+00] [ 2.97744858e-03 9.99994624e-01 -1.37364220e-03 6.89525716e-01] [ 3.14907595e-02 1.27920457e-03 9.99503224e-01 1.61066639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29255784400004 meters Centerline goodness : 0.163167 Centerline is valid? [False, False] Translation: X:4.57, Y:0.68, Z:1.61 [[ 9.99388238e-01 -3.49773740e-03 -3.47982240e-02 4.56574449e+00] [ 3.45460657e-03 9.99993188e-01 -1.29950299e-03 6.84965255e-01] [ 3.48025323e-02 1.17849383e-03 9.99393514e-01 1.60957974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3225578440001 meters Centerline goodness : 0.139142 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99416199e-01 1.72876168e-03 -3.41214527e-02 4.58852032e+00] [-1.89365332e-03 9.99986683e-01 -4.80076711e-03 6.81694809e-01] [ 3.41126990e-02 4.86257862e-03 9.99406163e-01 1.60975375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35255784400005 meters Centerline goodness : 0.146882 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99418510e-01 1.82271562e-03 -3.40487805e-02 4.58796410e+00] [-1.97564921e-03 9.99988109e-01 -4.45849858e-03 6.79774980e-01] [ 3.40402491e-02 4.52317445e-03 9.99410227e-01 1.61037974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3825578440001 meters Centerline goodness : 0.141803 Centerline is valid? [False, False] Translation: X:4.61, Y:0.68, Z:1.61 [[ 9.99422280e-01 -5.78574133e-03 -3.34907745e-02 4.60706808e+00] [ 5.69338334e-03 9.99979724e-01 -2.85242335e-03 6.83527632e-01] [ 3.35065989e-02 2.66009963e-03 9.99434956e-01 1.61253836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41255784400005 meters Centerline goodness : 0.165628 Centerline is valid? [False, False] Translation: X:4.59, Y:0.68, Z:1.61 [[ 9.99412114e-01 2.11540337e-03 -3.42191662e-02 4.58828144e+00] [-2.24447965e-03 9.99990509e-01 -3.73407302e-03 6.75621704e-01] [ 3.42109424e-02 3.80868203e-03 9.99407377e-01 1.61069394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4425578440001 meters Centerline goodness : 0.164798 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99385436e-01 2.17304336e-03 -3.49861039e-02 4.59073798e+00] [-2.28606546e-03 9.99992296e-01 -3.19080706e-03 6.71813074e-01] [ 3.49789007e-02 3.26882663e-03 9.99382705e-01 1.60991592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47255784400005 meters Centerline goodness : 0.167405 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99388055e-01 2.30233325e-03 -3.49029426e-02 4.59042948e+00] [-2.40150315e-03 9.99993197e-01 -2.79964842e-03 6.69675104e-01] [ 3.48962595e-02 2.88175471e-03 9.99386785e-01 1.61012707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5025578440001 meters Centerline goodness : 0.110474 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99397633e-01 2.47969422e-03 -3.46153557e-02 4.58935766e+00] [-2.56347492e-03 9.99993891e-01 -2.37616183e-03 6.67661062e-01] [ 3.46092520e-02 2.46346610e-03 9.99397884e-01 1.61066664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53255784400005 meters Centerline goodness : 0.339460 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99404413e-01 2.70377162e-03 -3.44021761e-02 4.58857828e+00] [-2.76957880e-03 9.99994425e-01 -1.86536824e-03 6.65356478e-01] [ 3.43969408e-02 1.95953679e-03 9.99406329e-01 1.61107369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5625578440001 meters Centerline goodness : 0.158609 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99375452e-01 8.44314305e-04 -3.53269559e-02 4.59332043e+00] [-9.62531608e-04 9.99993994e-01 -3.32950361e-03 6.60442998e-01] [ 3.53239326e-02 3.36142749e-03 9.99370262e-01 1.60841605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59255784400005 meters Centerline goodness : 0.161672 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99362109e-01 8.85647785e-04 -3.57014175e-02 4.59464942e+00] [-9.95458538e-04 9.99994828e-01 -3.05815137e-03 6.58336098e-01] [ 3.56985244e-02 3.09173988e-03 9.99357822e-01 1.60784467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6225578440001 meters Centerline goodness : 0.122233 Centerline is valid? [False, False] Translation: X:4.60, Y:0.66, Z:1.61 [[ 9.99357635e-01 1.07370706e-03 -3.58212723e-02 4.59503214e+00] [-1.16919121e-03 9.99995819e-01 -2.64472995e-03 6.56315341e-01] [ 3.58182828e-02 2.68491299e-03 9.99354713e-01 1.60769811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65255784400006 meters Centerline goodness : 0.152949 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99357631e-01 1.28079457e-03 -3.58145934e-02 4.59490596e+00] [-1.36374014e-03 9.99996444e-01 -2.29163844e-03 6.55004716e-01] [ 3.58115309e-02 2.33900816e-03 9.99355824e-01 1.60786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters Centerline goodness : 0.125224 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99363273e-01 1.50873256e-03 -3.56478834e-02 4.59436090e+00] [-1.57919617e-03 9.99996855e-01 -1.94858253e-03 6.53863075e-01] [ 3.56448314e-02 2.00363682e-03 9.99362513e-01 1.60806809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71255784400006 meters Centerline goodness : 0.150437 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99378144e-01 1.71899450e-03 -3.52188954e-02 4.59356338e+00] [-1.78117456e-03 9.99996910e-01 -1.73423186e-03 6.52956994e-01] [ 3.52158054e-02 1.79588442e-03 9.99378118e-01 1.60763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters Centerline goodness : 0.150437 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99378144e-01 1.71899450e-03 -3.52188954e-02 4.59356338e+00] [-1.78117456e-03 9.99996910e-01 -1.73423186e-03 6.52956994e-01] [ 3.52158054e-02 1.79588442e-03 9.99378118e-01 1.60763564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77255784400006 meters Centerline goodness : 0.167569 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99382294e-01 1.76678226e-03 -3.50985676e-02 4.59339451e+00] [-1.82920866e-03 9.99996802e-01 -1.74657092e-03 6.53150219e-01] [ 3.50953696e-02 1.80969466e-03 9.99382329e-01 1.60739560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters Centerline goodness : 0.156709 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99384067e-01 1.83273798e-03 -3.50446586e-02 4.59344262e+00] [-1.89617280e-03 9.99996623e-01 -1.77696380e-03 6.53746383e-01] [ 3.50412836e-02 1.84232003e-03 9.99384168e-01 1.60702274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83255784400006 meters Centerline goodness : 0.152650 Centerline is valid? [False, False] Translation: X:4.59, Y:0.65, Z:1.61 [[ 9.99385138e-01 1.88783755e-03 -3.50111657e-02 4.59345945e+00] [-1.95385189e-03 9.99996377e-01 -1.85140457e-03 6.54589483e-01] [ 3.50075437e-02 1.91867284e-03 9.99385206e-01 1.60678921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86255784400004 meters Centerline goodness : 0.151656 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 9.99373181e-01 1.04143418e-02 -3.38347095e-02 4.61395718e+00] [-1.05227224e-02 9.99940054e-01 -3.02674347e-03 6.53888503e-01] [ 3.38011597e-02 3.38087950e-03 9.99422859e-01 1.60825455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89255784400007 meters Centerline goodness : 0.149414 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99441909e-01 1.59327929e-03 -3.33666362e-02 4.59151162e+00] [-1.68586806e-03 9.99994806e-01 -2.74694069e-03 6.58575015e-01] [ 3.33620863e-02 2.80165939e-03 9.99439404e-01 1.60729884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92255784400004 meters Centerline goodness : 0.113094 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99454128e-01 1.48001021e-03 -3.30038728e-02 4.59023087e+00] [-1.58948569e-03 9.99993321e-01 -3.29105944e-03 6.61742078e-01] [ 3.29987816e-02 3.34172213e-03 9.99449805e-01 1.60769151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95255784400007 meters Centerline goodness : 0.246701 Centerline is valid? [False, False] Translation: X:4.59, Y:0.66, Z:1.61 [[ 9.99460343e-01 1.38082497e-03 -3.28194429e-02 4.58969860e+00] [-1.50090967e-03 9.99992268e-01 -3.63459529e-03 6.63783418e-01] [ 3.28141704e-02 3.68189288e-03 9.99454688e-01 1.60772036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98255784400004 meters Centerline goodness : 0.147470 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99463779e-01 1.28073534e-03 -3.27187236e-02 4.58936109e+00] [-1.41120194e-03 9.99991145e-01 -3.96473959e-03 6.65713706e-01] [ 3.27133561e-02 4.00878634e-03 9.99456735e-01 1.60776153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01255784400007 meters Centerline goodness : 0.106381 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99462793e-01 1.01122569e-03 -3.27582594e-02 4.58950228e+00] [-1.16277511e-03 9.99988709e-01 -4.60757653e-03 6.69019382e-01] [ 3.27532302e-02 4.64319180e-03 9.99452684e-01 1.60760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04255784400004 meters Centerline goodness : 0.331032 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99462201e-01 9.39754246e-04 -3.27784242e-02 4.58928726e+00] [-1.09565136e-03 9.99988173e-01 -4.73845210e-03 6.69704192e-01] [ 3.27735836e-02 4.77181749e-03 9.99451411e-01 1.60800897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0725578440001 meters Centerline goodness : 0.156877 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99461206e-01 8.77801990e-04 -3.28104840e-02 4.58913407e+00] [-1.03602515e-03 9.99987916e-01 -4.80564587e-03 6.69957920e-01] [ 3.28058691e-02 4.83704910e-03 9.99450038e-01 1.60839265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10255784400005 meters Centerline goodness : 0.152773 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99435236e-01 3.75702623e-04 -3.36016050e-02 4.59107569e+00] [-5.49403113e-04 9.99986535e-01 -5.16032691e-03 6.69871886e-01] [ 3.35992138e-02 5.17587337e-03 9.99421985e-01 1.60847131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1325578440001 meters Centerline goodness : 0.111569 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99391731e-01 -7.74001705e-03 -3.40038272e-02 4.61160580e+00] [ 7.58920673e-03 9.99960796e-01 -4.56193225e-03 6.74966739e-01] [ 3.40378035e-02 4.30109529e-03 9.99411291e-01 1.60991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16255784400005 meters Centerline goodness : 0.117037 Centerline is valid? [False, False] Translation: X:4.57, Y:0.67, Z:1.61 [[ 9.99282212e-01 -8.47446832e-03 -3.69221451e-02 4.56692580e+00] [ 8.31142783e-03 9.99955030e-01 -4.56704903e-03 6.70219416e-01] [ 3.69591881e-02 4.25689511e-03 9.99307709e-01 1.60946989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1925578440001 meters Centerline goodness : 0.160891 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99301165e-01 -4.56188261e-04 -3.73761188e-02 4.58676982e+00] [ 2.51532625e-04 9.99984953e-01 -5.48009150e-03 6.67191528e-01] [ 3.73780564e-02 5.46686050e-03 9.99286242e-01 1.61143361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22255784400005 meters Centerline goodness : 0.162338 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99303133e-01 -4.07340471e-04 -3.73240240e-02 4.58661169e+00] [ 2.08496259e-04 9.99985767e-01 -5.33125015e-03 6.66501339e-01] [ 3.73256644e-02 5.31975305e-03 9.99288995e-01 1.61150110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2525578440001 meters Centerline goodness : 0.159405 Centerline is valid? [False, False] Translation: X:4.59, Y:0.67, Z:1.61 [[ 9.99313927e-01 -3.62503590e-04 -3.70343675e-02 4.58555957e+00] [ 1.73772882e-04 9.99986984e-01 -5.09918824e-03 6.65154786e-01] [ 3.70357339e-02 5.08925426e-03 9.99300983e-01 1.61207239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28255784400005 meters Centerline goodness : 0.099208 Centerline is valid? [False, False] Translation: X:4.61, Y:0.67, Z:1.61 [[ 9.99353540e-01 -9.29504687e-03 -3.47290000e-02 4.60524737e+00] [ 9.14231512e-03 9.99947838e-01 -4.55403378e-03 6.65498776e-01] [ 3.47695184e-02 4.23358632e-03 9.99386390e-01 1.61367983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3125578440001 meters Centerline goodness : 0.154167 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99353200e-01 -9.16110226e-03 -3.47743577e-02 4.60525978e+00] [ 9.02716671e-03 9.99951227e-01 -4.00661650e-03 6.62597980e-01] [ 3.48093667e-02 3.69011109e-03 9.99387158e-01 1.61394698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34255784400005 meters Centerline goodness : 0.156387 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99339722e-01 -9.01951050e-03 -3.51961429e-02 4.60638792e+00] [ 8.90546183e-03 9.99954580e-01 -3.39580055e-03 6.59354214e-01] [ 3.52251728e-02 3.08012047e-03 9.99374655e-01 1.61391421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3725578440001 meters Centerline goodness : 0.158811 Centerline is valid? [False, False] Translation: X:4.61, Y:0.66, Z:1.61 [[ 9.99329825e-01 -8.84662458e-03 -3.55195454e-02 4.60750542e+00] [ 8.75512761e-03 9.99957945e-01 -2.73067641e-03 6.55707201e-01] [ 3.55422089e-02 2.41786823e-03 9.99365251e-01 1.61358531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40255784400006 meters Centerline goodness : 0.116130 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 0.9992911 -0.01244347 -0.03553108 4.6077463 ] [ 0.01225741 0.99991003 -0.00544941 0.65000346] [ 0.03559569 0.00501003 0.99935371 1.61363412] [ 0. 0. 0. 1. ]] SLAMing on 443.43255784400003 meters Centerline goodness : 0.161785 Centerline is valid? [False, False] Translation: X:4.61, Y:0.65, Z:1.61 [[ 9.99298815e-01 -1.21841375e-02 -3.54037544e-02 4.60713695e+00] [ 1.20248498e-02 9.99916612e-01 -4.70863612e-03 6.46196688e-01] [ 3.54581728e-02 4.27960967e-03 9.99361998e-01 1.61418813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46255784400006 meters Centerline goodness : 0.133668 Centerline is valid? [False, False] Translation: X:4.63, Y:0.64, Z:1.62 [[ 9.99386615e-01 -4.13799572e-03 -3.47745738e-02 4.62535324e+00] [ 3.94670792e-03 9.99976712e-01 -5.56763936e-03 6.38598754e-01] [ 3.47968028e-02 5.42697917e-03 9.99379673e-01 1.61672620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49255784400003 meters Centerline goodness : 0.260163 Centerline is valid? [False, False] Translation: X:4.62, Y:0.64, Z:1.62 [[ 9.99392727e-01 -3.90369972e-03 -3.46256779e-02 4.62491933e+00] [ 3.73437499e-03 9.99980759e-01 -4.95347412e-03 6.35372328e-01] [ 3.46443485e-02 4.82116075e-03 9.99388076e-01 1.61688912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52255784400006 meters Centerline goodness : 0.137847 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99394817e-01 -3.43173979e-03 -3.46153552e-02 4.62502656e+00] [ 3.29923068e-03 9.99987013e-01 -3.88443727e-03 6.29637014e-01] [ 3.46282360e-02 3.76788243e-03 9.99393160e-01 1.61677424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55255784400003 meters Centerline goodness : 0.124476 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99390450e-01 -3.20635913e-03 -3.47627328e-02 4.62558372e+00] [ 3.08958651e-03 9.99989405e-01 -3.41232969e-03 6.27415193e-01] [ 3.47733056e-02 3.30284723e-03 9.99389768e-01 1.61650414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58255784400006 meters Centerline goodness : 0.135455 Centerline is valid? [False, False] Translation: X:4.63, Y:0.63, Z:1.62 [[ 9.99378859e-01 -2.93020506e-03 -3.51185038e-02 4.62693751e+00] [ 2.83048843e-03 9.99991822e-01 -2.88881313e-03 6.25041105e-01] [ 3.51266814e-02 2.78761625e-03 9.99378980e-01 1.61582323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61255784400004 meters Centerline goodness : 0.129154 Centerline is valid? [False, False] Translation: X:4.61, Y:0.62, Z:1.61 [[ 9.99316683e-01 4.96569242e-03 -3.66266056e-02 4.60819654e+00] [-5.10559495e-03 9.99980020e-01 -3.72715397e-03 6.16399407e-01] [ 3.66073660e-02 3.91160775e-03 9.99322070e-01 1.61384368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64255784400007 meters Centerline goodness : 0.131962 Centerline is valid? [False, False] Translation: X:4.61, Y:0.61, Z:1.61 [[ 9.99311244e-01 5.16750277e-03 -3.67469102e-02 4.60864489e+00] [-5.28820745e-03 9.99980935e-01 -3.18832022e-03 6.13501734e-01] [ 3.67297340e-02 3.38044953e-03 9.99319518e-01 1.61363995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67255784400004 meters Centerline goodness : 0.133039 Centerline is valid? [False, False] Translation: X:4.63, Y:0.61, Z:1.61 [[ 9.99375229e-01 -3.12584579e-03 -3.52048469e-02 4.62852686e+00] [ 3.05303274e-03 9.99993088e-01 -2.12183528e-03 6.10574710e-01] [ 3.52112361e-02 2.01302807e-03 9.99377865e-01 1.61492798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70255784400007 meters Centerline goodness : 0.127933 Centerline is valid? [False, False] Translation: X:4.63, Y:0.61, Z:1.62 [[ 9.99380093e-01 -2.90490411e-03 -3.50854759e-02 4.62821442e+00] [ 2.85366757e-03 9.99994788e-01 -1.51032296e-03 6.07348849e-01] [ 3.50896804e-02 1.40926442e-03 9.99383174e-01 1.61500399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73255784400004 meters Centerline goodness : 0.128600 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99382492e-01 -2.70792180e-03 -3.50328775e-02 4.62829504e+00] [ 2.67563660e-03 9.99995952e-01 -9.68417877e-04 6.04498171e-01] [ 3.50353580e-02 8.74084622e-04 9.99385691e-01 1.61474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76255784400007 meters Centerline goodness : 0.129461 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99385803e-01 -2.53306247e-03 -3.49513888e-02 4.62818767e+00] [ 2.51483562e-03 9.99996678e-01 -5.65443518e-04 6.02570088e-01] [ 3.49527050e-02 4.77199227e-04 9.99388854e-01 1.61461632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79255784400004 meters Centerline goodness : 0.120716 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99392720e-01 -2.22041723e-03 -3.47744362e-02 4.62760625e+00] [ 2.22378686e-03 9.99997526e-01 5.82226733e-05 5.99964737e-01] [ 3.47742209e-02 -1.35518250e-04 9.99395185e-01 1.61487491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8225578440001 meters Centerline goodness : 0.128313 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99389765e-01 -2.11687686e-03 -3.48656936e-02 4.62781418e+00] [ 2.12677159e-03 9.99997708e-01 2.46710810e-04 5.99119804e-01] [ 3.48650914e-02 -3.20711625e-04 9.99391976e-01 1.61489118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85255784400005 meters Centerline goodness : 0.139019 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99385192e-01 -2.06997884e-03 -3.49993401e-02 4.62844579e+00] [ 2.08458647e-03 9.99997755e-01 3.80883252e-04 5.98265609e-01] [ 3.49984731e-02 -4.53608233e-04 9.99387263e-01 1.61441531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8825578440001 meters Centerline goodness : 0.129258 Centerline is valid? [False, False] Translation: X:4.63, Y:0.60, Z:1.61 [[ 9.99376427e-01 -2.00239063e-03 -3.52526160e-02 4.62947709e+00] [ 2.02415572e-03 9.99997782e-01 5.81724744e-04 5.97011478e-01] [ 3.52513730e-02 -6.52718780e-04 9.99378264e-01 1.61383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91255784400005 meters Centerline goodness : 0.124111 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99367103e-01 -1.83198977e-03 -3.55251599e-02 4.63052776e+00] [ 1.87357397e-03 9.99997598e-01 1.13730150e-03 5.94031999e-01] [ 3.55229910e-02 -1.20314072e-03 9.99368135e-01 1.61332684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9425578440001 meters Centerline goodness : 0.122523 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99369932e-01 -1.71269594e-03 -3.54514571e-02 4.63033631e+00] [ 1.76791429e-03 9.99997272e-01 1.52628751e-03 5.91910900e-01] [ 3.54487463e-02 -1.58800098e-03 9.99370234e-01 1.61340600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97255784400005 meters Centerline goodness : 0.123052 Centerline is valid? [False, False] Translation: X:4.63, Y:0.59, Z:1.61 [[ 9.99373039e-01 -1.62749643e-03 -3.53677948e-02 4.62988273e+00] [ 1.69591375e-03 9.99996748e-01 1.90453893e-03 5.89697860e-01] [ 3.53645802e-02 -1.96332559e-03 9.99372549e-01 1.61387382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0025578440001 meters Centerline goodness : 0.152179 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99394309e-01 6.20078221e-03 -3.42427561e-02 4.64865494e+00] [-6.19731931e-03 9.99980775e-01 2.07265893e-04 5.84644157e-01] [ 3.42433830e-02 5.07294000e-06 9.99413523e-01 1.61604569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03255784400005 meters Centerline goodness : 0.110403 Centerline is valid? [False, False] Translation: X:4.60, Y:0.58, Z:1.62 [[ 9.99317592e-01 4.72794200e-03 -3.66332707e-02 4.60285323e+00] [-4.72556297e-03 9.99988823e-01 1.51527650e-04 5.79840599e-01] [ 3.66335777e-02 2.16885814e-05 9.99328765e-01 1.61601769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0625578440001 meters Centerline goodness : 0.145637 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99312931e-01 -2.69461294e-03 -3.69649054e-02 4.62367202e+00] [ 2.74778130e-03 9.99995262e-01 1.38761938e-03 5.82847857e-01] [ 3.69609911e-02 -1.48823746e-03 9.99315601e-01 1.61717401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09255784400005 meters Centerline goodness : 0.144920 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99305793e-01 -2.67099376e-03 -3.71590894e-02 4.62446530e+00] [ 2.72655499e-03 9.99995239e-01 1.44463033e-03 5.82524382e-01] [ 3.71550539e-02 -1.54494376e-03 9.99308318e-01 1.61674418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1225578440001 meters Centerline goodness : 0.117675 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99304359e-01 -2.62596247e-03 -3.72008344e-02 4.62463623e+00] [ 2.68350171e-03 9.99995279e-01 1.49687191e-03 5.82283132e-01] [ 3.71967281e-02 -1.59565912e-03 9.99306688e-01 1.61662271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15255784400006 meters Centerline goodness : 0.150240 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99307364e-01 -2.56355013e-03 -3.71243914e-02 4.62437815e+00] [ 2.62341697e-03 9.99995336e-01 1.56397781e-03 5.82040189e-01] [ 3.71202089e-02 -1.66028730e-03 9.99309428e-01 1.61672804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters Centerline goodness : 0.122765 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99319235e-01 -2.39465583e-03 -3.68148262e-02 4.62329532e+00] [ 2.46055983e-03 9.99995450e-01 1.74494476e-03 5.81666575e-01] [ 3.68104802e-02 -1.83434195e-03 9.99320581e-01 1.61718370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21255784400006 meters Centerline goodness : 0.160491 Centerline is valid? [False, False] Translation: X:4.64, Y:0.58, Z:1.62 [[ 9.99353402e-01 5.88994654e-03 -3.54695065e-02 4.64246640e+00] [-5.87998991e-03 9.99982639e-01 3.85016958e-04 5.77994617e-01] [ 3.54711585e-02 -1.76207667e-04 9.99370685e-01 1.61885669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters Centerline goodness : 0.130748 Centerline is valid? [False, False] Translation: X:4.60, Y:0.57, Z:1.62 [[ 9.99279702e-01 4.33023468e-03 -3.77004921e-02 4.59538957e+00] [-4.33092903e-03 9.99990619e-01 6.32509133e-05 5.73632296e-01] [ 3.77004123e-02 1.00072802e-04 9.99289082e-01 1.61901844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27255784400006 meters Centerline goodness : 0.123523 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99320500e-01 -3.31021452e-03 -3.67094167e-02 4.61483023e+00] [ 3.35445101e-03 9.99993720e-01 1.14351946e-03 5.76631132e-01] [ 3.67054009e-02 -1.26588237e-03 9.99325328e-01 1.62042543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters Centerline goodness : 0.134204 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99320103e-01 -3.19561713e-03 -3.67303663e-02 4.61507552e+00] [ 3.24578959e-03 9.99993879e-01 1.30641793e-03 5.76288949e-01] [ 3.67259666e-02 -1.42474874e-03 9.99324358e-01 1.62009604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33255784400006 meters Centerline goodness : 0.122020 Centerline is valid? [False, False] Translation: X:4.62, Y:0.58, Z:1.62 [[ 9.99318638e-01 -3.09506757e-03 -3.67788136e-02 4.61547981e+00] [ 3.14979049e-03 9.99994017e-01 1.43004314e-03 5.76092236e-01] [ 3.67741674e-02 -1.54491432e-03 9.99322407e-01 1.61964970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36255784400004 meters Centerline goodness : 0.117641 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99326830e-01 5.25089067e-03 -3.63086136e-02 4.63528218e+00] [-5.24997679e-03 9.99986212e-01 1.20511530e-04 5.72957438e-01] [ 3.63087457e-02 7.01889733e-05 9.99340618e-01 1.62139225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39255784400007 meters Centerline goodness : 0.138580 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99331747e-01 -3.64683806e-03 -3.63697631e-02 4.61452926e+00] [ 3.68522031e-03 9.99992721e-01 9.88352052e-04 5.75761813e-01] [ 3.63658940e-02 -1.12172217e-03 9.99337913e-01 1.61979113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42255784400004 meters Centerline goodness : 0.127037 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99393610e-01 4.79699522e-03 -3.44877076e-02 4.63370821e+00] [-4.81518964e-03 9.99988308e-01 -4.44524398e-04 5.73650402e-01] [ 3.44851720e-02 6.10319695e-04 9.99405023e-01 1.62177248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45255784400007 meters Centerline goodness : 0.145053 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99405134e-01 -3.29638046e-03 -3.43294633e-02 4.61391260e+00] [ 3.34251172e-03 9.99993586e-01 1.28647675e-03 5.77441830e-01] [ 3.43250024e-02 -1.40045810e-03 9.99409742e-01 1.61921477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48255784400004 meters Centerline goodness : 0.137005 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99404945e-01 -3.27345156e-03 -3.43371488e-02 4.61409587e+00] [ 3.32002901e-03 9.99993644e-01 1.29954445e-03 5.77547868e-01] [ 3.43326766e-02 -1.41277148e-03 9.99409461e-01 1.61893932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51255784400007 meters Centerline goodness : 0.146859 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99400957e-01 -3.27252184e-03 -3.44531308e-02 4.61462679e+00] [ 3.32186478e-03 9.99993537e-01 1.37503184e-03 5.76866314e-01] [ 3.44484083e-02 -1.48865678e-03 9.99405369e-01 1.61858600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54255784400004 meters Centerline goodness : 0.138707 Centerline is valid? [False, False] Translation: X:4.61, Y:0.58, Z:1.62 [[ 9.99396040e-01 -3.22972845e-03 -3.45994810e-02 4.61494089e+00] [ 3.28622984e-03 9.99993358e-01 1.57626904e-03 5.75427825e-01] [ 3.45941603e-02 -1.68901888e-03 9.99400016e-01 1.61867698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5725578440001 meters Centerline goodness : 0.065090 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99386494e-01 -3.24554658e-03 -3.48726506e-02 4.61528330e+00] [ 3.32370913e-03 9.99992092e-01 2.18363401e-03 5.71055670e-01] [ 3.48652877e-02 -2.29820089e-03 9.99389379e-01 1.61929308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60255784400005 meters Centerline goodness : 0.140124 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99382872e-01 -3.08540557e-03 -3.49907821e-02 4.61561054e+00] [ 3.17823903e-03 9.99991575e-01 2.59777188e-03 5.69035150e-01] [ 3.49824721e-02 -2.70737779e-03 9.99384259e-01 1.61927839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6325578440001 meters Centerline goodness : 0.140124 Centerline is valid? [False, False] Translation: X:4.62, Y:0.57, Z:1.62 [[ 9.99382872e-01 -3.08540557e-03 -3.49907821e-02 4.61561054e+00] [ 3.17823903e-03 9.99991575e-01 2.59777188e-03 5.69035150e-01] [ 3.49824721e-02 -2.70737779e-03 9.99384259e-01 1.61927839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66255784400005 meters Centerline goodness : 0.111712 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99352515e-01 4.90855520e-03 -3.56434564e-02 4.63553216e+00] [-4.86642430e-03 9.99987354e-01 1.26866954e-03 5.64148714e-01] [ 3.56492330e-02 -1.09439191e-03 9.99363765e-01 1.62148667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6925578440001 meters Centerline goodness : 0.146632 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99345695e-01 4.79620590e-03 -3.58493890e-02 4.63635512e+00] [-4.75834899e-03 9.99988028e-01 1.14124398e-03 5.63821798e-01] [ 3.58544334e-02 -9.69913356e-04 9.99356552e-01 1.62105466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72255784400005 meters Centerline goodness : 0.150014 Centerline is valid? [False, False] Translation: X:4.64, Y:0.56, Z:1.62 [[ 9.99347116e-01 4.79612565e-03 -3.58097606e-02 4.63635431e+00] [-4.76372171e-03 9.99988163e-01 9.90158338e-04 5.64779624e-01] [ 3.58140856e-02 -8.18924145e-04 9.99358134e-01 1.62081601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7525578440001 meters Centerline goodness : 0.134361 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99351062e-01 4.87595766e-03 -3.56886639e-02 4.63617679e+00] [-4.84946783e-03 9.99987898e-01 8.28773693e-04 5.66415235e-01] [ 3.56922730e-02 -6.55164843e-04 9.99362613e-01 1.62054988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78255784400005 meters Centerline goodness : 0.132424 Centerline is valid? [False, False] Translation: X:4.64, Y:0.57, Z:1.62 [[ 9.99360292e-01 4.95333561e-03 -3.54185063e-02 4.63555610e+00] [-4.93359994e-03 9.99987622e-01 6.44590201e-04 5.68179334e-01] [ 3.54212608e-02 -4.69437111e-04 9.99372360e-01 1.62039709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8125578440001 meters Centerline goodness : 0.108632 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99378711e-01 5.08812220e-03 -3.48755441e-02 4.63382439e+00] [-5.07792467e-03 9.99987035e-01 3.80966688e-04 5.70576713e-01] [ 3.48770304e-02 -2.03634611e-04 9.99391591e-01 1.62085527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84255784400005 meters Centerline goodness : 0.108983 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99381527e-01 4.98496619e-03 -3.48096656e-02 4.63362017e+00] [-4.98281008e-03 9.99987575e-01 1.48691504e-04 5.71609956e-01] [ 3.48099743e-02 2.48504102e-05 9.99393949e-01 1.62086657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8725578440001 meters Centerline goodness : 0.129622 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99376934e-01 4.88810741e-03 -3.49549850e-02 4.63415988e+00] [-4.89365313e-03 9.99988023e-01 -7.30995294e-05 5.72574415e-01] [ 3.49542091e-02 2.44111555e-04 9.99388885e-01 1.62052169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90255784400006 meters Centerline goodness : 0.146838 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99374917e-01 4.78597086e-03 -3.50266947e-02 4.63460144e+00] [-4.79650725e-03 9.99988473e-01 -2.16787295e-04 5.73019071e-01] [ 3.50252534e-02 3.84657580e-04 9.99386354e-01 1.62010624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93255784400003 meters Centerline goodness : 0.163108 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99376272e-01 4.72347635e-03 -3.49965066e-02 4.63443949e+00] [-4.73629742e-03 9.99988744e-01 -2.83458917e-04 5.73120930e-01] [ 3.49947737e-02 4.49035979e-04 9.99387394e-01 1.62021828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96255784400006 meters Centerline goodness : 0.117451 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99423027e-01 -3.17443253e-03 -3.38162044e-02 4.65318805e+00] [ 3.19828658e-03 9.99994673e-01 6.51333893e-04 5.78595336e-01] [ 3.38139567e-02 -7.59112004e-04 9.99427856e-01 1.62243671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99255784400003 meters Centerline goodness : 0.137130 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99424176e-01 -3.22885367e-03 -3.37770905e-02 4.65296711e+00] [ 3.24899491e-03 9.99994575e-01 5.41429212e-04 5.79229318e-01] [ 3.37751590e-02 -6.50859039e-04 9.99429245e-01 1.62262221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02255784400006 meters Centerline goodness : 0.138123 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99422468e-01 -3.33192027e-03 -3.38175735e-02 4.65323780e+00] [ 3.34365583e-03 9.99994368e-01 2.90477934e-04 5.80503917e-01] [ 3.38164152e-02 -4.03384501e-04 9.99427980e-01 1.62230481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05255784400003 meters Centerline goodness : 0.132608 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99420351e-01 -3.45550532e-03 -3.38677014e-02 4.65364515e+00] [ 3.45628363e-03 9.99994026e-01 -3.55642596e-05 5.82166693e-01] [ 3.38676220e-02 -8.15127372e-05 9.99426324e-01 1.62179631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08255784400006 meters Centerline goodness : 0.114278 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99427135e-01 -3.63230355e-03 -3.36483074e-02 4.65329956e+00] [ 3.61511344e-03 9.99993302e-01 -5.71700689e-04 5.85456068e-01] [ 3.36501586e-02 4.49730733e-04 9.99433572e-01 1.62137794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11255784400004 meters Centerline goodness : 0.142654 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99427184e-01 -3.74635584e-03 -3.36343497e-02 4.65328559e+00] [ 3.72121741e-03 9.99992748e-01 -8.09970556e-04 5.86686763e-01] [ 3.36371403e-02 6.84345864e-04 9.99433877e-01 1.62129164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14255784400007 meters Centerline goodness : 0.106207 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422302e-01 -3.89498213e-03 -3.37622750e-02 4.65353787e+00] [ 3.86127215e-03 9.99991980e-01 -1.06359517e-03 5.87746684e-01] [ 3.37661469e-02 9.32615401e-04 9.99429326e-01 1.62137805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17255784400004 meters Centerline goodness : 0.139402 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422980e-01 -4.31866681e-03 -3.36905852e-02 4.65298078e+00] [ 4.27541116e-03 9.99989941e-01 -1.35584508e-03 5.88030919e-01] [ 3.36961017e-02 1.21102162e-03 9.99431391e-01 1.62198125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20255784400007 meters Centerline goodness : 0.128054 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99422517e-01 -4.30775952e-03 -3.37057149e-02 4.65277227e+00] [ 4.26778873e-03 9.99990102e-01 -1.25773113e-03 5.87701816e-01] [ 3.37107993e-02 1.11315594e-03 9.99431010e-01 1.62236783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23255784400004 meters Centerline goodness : 0.121617 Centerline is valid? [False, False] Translation: X:4.65, Y:0.59, Z:1.62 [[ 9.99424313e-01 -4.28500851e-03 -3.36553198e-02 4.65258901e+00] [ 4.24946458e-03 9.99990335e-01 -1.12757426e-03 5.87236919e-01] [ 3.36598262e-02 9.83908042e-04 9.99432863e-01 1.62244796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26255784400007 meters Centerline goodness : 0.149030 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99467552e-01 2.43530229e-03 -3.25373781e-02 4.63423153e+00] [-2.51198564e-03 9.99994163e-01 -2.31610747e-03 5.80675140e-01] [ 3.25315477e-02 2.39660769e-03 9.99467836e-01 1.61993885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29255784400004 meters Centerline goodness : 0.143998 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491566e-01 1.87004744e-03 -3.18294422e-02 4.63213743e+00] [-1.94800789e-03 9.99995178e-01 -2.41848506e-03 5.79068743e-01] [ 3.18247660e-02 2.47925942e-03 9.99490389e-01 1.62069266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3225578440001 meters Centerline goodness : 0.144636 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99494881e-01 1.90308943e-03 -3.17232079e-02 4.63173579e+00] [-1.97606458e-03 9.99995473e-01 -2.26917830e-03 5.78295473e-01] [ 3.17187458e-02 2.33071920e-03 9.99494116e-01 1.62090404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35255784400005 meters Centerline goodness : 0.145183 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99496817e-01 1.95957967e-03 -3.16586972e-02 4.63152379e+00] [-2.02849309e-03 9.99995643e-01 -2.14478990e-03 5.77893433e-01] [ 3.16543563e-02 2.20793012e-03 9.99496437e-01 1.62096999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3825578440001 meters Centerline goodness : 0.118086 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99498813e-01 1.97804180e-03 -3.15944681e-02 4.63148048e+00] [-2.04469064e-03 9.99995752e-01 -2.07734051e-03 5.77604475e-01] [ 3.15902248e-02 2.14090029e-03 9.99498611e-01 1.62079766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41255784400005 meters Centerline goodness : 0.122078 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99499332e-01 1.96725250e-03 -3.15787025e-02 4.63154742e+00] [-2.03311197e-03 9.99995825e-01 -2.05359189e-03 5.77311607e-01] [ 3.15745307e-02 2.11676677e-03 9.99499159e-01 1.62065816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4425578440001 meters Centerline goodness : 0.132028 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491415e-01 1.86414910e-03 -3.18345139e-02 4.63223339e+00] [-1.93313193e-03 9.99995850e-01 -2.13627917e-03 5.77058487e-01] [ 3.18303994e-02 2.19673301e-03 9.99490870e-01 1.62054950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47255784400005 meters Centerline goodness : 0.138231 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99487604e-01 1.87394764e-03 -3.19533623e-02 4.63244137e+00] [-1.94295657e-03 9.99995847e-01 -2.12876352e-03 5.77112575e-01] [ 3.19492404e-02 2.18975674e-03 9.99487094e-01 1.62067729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5025578440001 meters Centerline goodness : 0.148375 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486103e-01 1.90949513e-03 -3.19981775e-02 4.63248530e+00] [-1.97708618e-03 9.99995881e-01 -2.08083415e-03 5.77020962e-01] [ 3.19940723e-02 2.14302797e-03 9.99485761e-01 1.62078377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53255784400005 meters Centerline goodness : 0.133926 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486572e-01 1.95008838e-03 -3.19810948e-02 4.63253522e+00] [-2.01550090e-03 9.99995942e-01 -2.01323989e-03 5.76672083e-01] [ 3.19770391e-02 2.07666416e-03 9.99486446e-01 1.62062639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5625578440001 meters Centerline goodness : 0.128122 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99486164e-01 1.94749090e-03 -3.19939932e-02 4.63303696e+00] [-2.00810633e-03 9.99996249e-01 -1.86256532e-03 5.75112165e-01] [ 3.19902458e-02 1.92585561e-03 9.99486326e-01 1.61995259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59255784400005 meters Centerline goodness : 0.139216 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99486552e-01 1.99820529e-03 -3.19787294e-02 4.63308158e+00] [-2.05347227e-03 9.99996454e-01 -1.69549304e-03 5.74112191e-01] [ 3.19752280e-02 1.76028993e-03 9.99487112e-01 1.61984084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6225578440001 meters Centerline goodness : 0.139601 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487842e-01 2.04959459e-03 -3.19351358e-02 4.63292566e+00] [-2.10081554e-03 9.99996560e-01 -1.57043478e-03 5.73418006e-01] [ 3.19318072e-02 1.63672029e-03 9.99488710e-01 1.61989317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65255784400006 meters Centerline goodness : 0.138690 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99488747e-01 2.08109574e-03 -3.19047498e-02 4.63286400e+00] [-2.12950909e-03 9.99996632e-01 -1.48352964e-03 5.72883964e-01] [ 3.19015550e-02 1.55071264e-03 9.99489813e-01 1.61987807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters Centerline goodness : 0.116706 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487297e-01 2.19329427e-03 -3.19426367e-02 4.63320527e+00] [-2.23921207e-03 9.99996510e-01 -1.40180688e-03 5.72757143e-01] [ 3.19394507e-02 1.47261451e-03 9.99488721e-01 1.61945450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71255784400006 meters Centerline goodness : 0.140477 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99487096e-01 2.23446529e-03 -3.19460899e-02 4.63339484e+00] [-2.28195517e-03 9.99996345e-01 -1.45018139e-03 5.73351756e-01] [ 3.19427327e-02 1.52233713e-03 9.99488541e-01 1.61911286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters Centerline goodness : 0.142411 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99488847e-01 2.24767948e-03 -3.18903140e-02 4.63331376e+00] [-2.29801551e-03 9.99996171e-01 -1.54184757e-03 5.74081367e-01] [ 3.18867263e-02 1.61434389e-03 9.99490185e-01 1.61900778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77255784400006 meters Centerline goodness : 0.131093 Centerline is valid? [False, False] Translation: X:4.63, Y:0.57, Z:1.62 [[ 9.99490872e-01 2.22011956e-03 -3.18287116e-02 4.63314675e+00] [-2.27397280e-03 9.99996044e-01 -1.65587246e-03 5.74632966e-01] [ 3.18249094e-02 1.72740704e-03 9.99491967e-01 1.61897503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters Centerline goodness : 0.133088 Centerline is valid? [False, False] Translation: X:4.63, Y:0.58, Z:1.62 [[ 9.99491374e-01 2.14052670e-03 -3.18184103e-02 4.63304412e+00] [-2.19959817e-03 9.99995922e-01 -1.82163188e-03 5.75207983e-01] [ 3.18143813e-02 1.89069306e-03 9.99492006e-01 1.61897970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83255784400006 meters Centerline goodness : 0.141344 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99509783e-01 -5.12927338e-03 -3.08850318e-02 4.65140623e+00] [ 5.12023395e-03 9.99986822e-01 -3.71761669e-04 5.80181475e-01] [ 3.08865317e-02 2.13440836e-04 9.99522874e-01 1.62099697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86255784400004 meters Centerline goodness : 0.137116 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99519021e-01 -5.05127373e-03 -3.05975584e-02 4.65038980e+00] [ 5.04874495e-03 9.99987242e-01 -1.59903953e-04 5.79216014e-01] [ 3.05979757e-02 5.34777367e-06 9.99531772e-01 1.62148451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89255784400007 meters Centerline goodness : 0.106926 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99522831e-01 -5.00302657e-03 -3.04808301e-02 4.64977982e+00] [ 5.00889306e-03 9.99987449e-01 1.16112244e-04 5.77624484e-01] [ 3.04798666e-02 -2.68732057e-04 9.99535345e-01 1.62199265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92255784400004 meters Centerline goodness : 0.115806 Centerline is valid? [False, False] Translation: X:4.65, Y:0.58, Z:1.62 [[ 9.99519051e-01 -5.03916146e-03 -3.05985939e-02 4.64993921e+00] [ 5.05411435e-03 9.99987143e-01 4.11355676e-04 5.75539513e-01] [ 3.05961276e-02 -5.65806628e-04 9.99531669e-01 1.62227170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95255784400007 meters Centerline goodness : 0.136118 Centerline is valid? [False, False] Translation: X:4.65, Y:0.57, Z:1.62 [[ 9.99500464e-01 -5.59156597e-03 -3.11055753e-02 4.65149559e+00] [ 5.61377128e-03 9.99984046e-01 6.26583385e-04 5.70591585e-01] [ 3.11015755e-02 -8.00889970e-04 9.99515908e-01 1.62207763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98255784400004 meters Centerline goodness : 0.165076 Centerline is valid? [False, False] Translation: X:4.65, Y:0.57, Z:1.62 [[ 9.99496899e-01 -5.40841140e-03 -3.12521647e-02 4.65182517e+00] [ 5.44995482e-03 9.99984375e-01 1.24426770e-03 5.67282719e-01] [ 3.12449469e-02 -1.41396459e-03 9.99510757e-01 1.62222113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01255784400007 meters Centerline goodness : 0.122333 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99496714e-01 -5.19207703e-03 -3.12947372e-02 4.65200822e+00] [ 5.25261758e-03 9.99984489e-01 1.85262835e-03 5.64189921e-01] [ 3.12846328e-02 -2.01607523e-03 9.99508483e-01 1.62217334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04255784400004 meters Centerline goodness : 0.132275 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99492914e-01 -4.97872297e-03 -3.14503771e-02 4.65244304e+00] [ 5.05607463e-03 9.99984385e-01 2.38043379e-03 5.61504574e-01] [ 3.14380344e-02 -2.53824216e-03 9.99502480e-01 1.62215146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0725578440001 meters Centerline goodness : 0.116369 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99487087e-01 -4.62157891e-03 -3.16891775e-02 4.65312918e+00] [ 4.72108953e-03 9.99984155e-01 3.06610486e-03 5.58299604e-01] [ 3.16745052e-02 -3.21413966e-03 9.99493069e-01 1.62211797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10255784400005 meters Centerline goodness : 0.135080 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99491506e-01 -4.44667846e-03 -3.15746112e-02 4.65287955e+00] [ 4.55208385e-03 9.99984302e-01 3.26719723e-03 5.57545241e-01] [ 3.15595874e-02 -3.40926616e-03 9.99496058e-01 1.62206941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1325578440001 meters Centerline goodness : 0.136995 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99518698e-01 3.35518576e-03 -3.08401640e-02 4.63233152e+00] [-3.28119928e-03 9.99991617e-01 2.44932552e-03 5.51316935e-01] [ 3.08481234e-02 -2.34695393e-03 9.99521328e-01 1.61977130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16255784400005 meters Centerline goodness : 0.105459 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99523009e-01 3.43728809e-03 -3.06910476e-02 4.63220118e+00] [-3.36528450e-03 9.99991464e-01 2.39742415e-03 5.51701209e-01] [ 3.06990262e-02 -2.29299650e-03 9.99526044e-01 1.61937021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1925578440001 meters Centerline goodness : 0.119108 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99530605e-01 4.17533888e-03 -3.03502196e-02 4.63148898e+00] [-4.09383263e-03 9.99987847e-01 2.74716711e-03 5.52096770e-01] [ 3.03613211e-02 -2.62162888e-03 9.99535551e-01 1.61896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22255784400005 meters Centerline goodness : 0.117637 Centerline is valid? [False, False] Translation: X:4.63, Y:0.55, Z:1.62 [[ 9.99532237e-01 4.21842495e-03 -3.02904694e-02 4.63148150e+00] [-4.14502317e-03 9.99988320e-01 2.48564632e-03 5.53872730e-01] [ 3.03006011e-02 -2.35892892e-03 9.99538048e-01 1.61861634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2525578440001 meters Centerline goodness : 0.111646 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99531059e-01 4.26371231e-03 -3.03229888e-02 4.63177165e+00] [-4.19839052e-03 9.99988728e-01 2.21754293e-03 5.55792014e-01] [ 3.03321019e-02 -2.08919528e-03 9.99537693e-01 1.61818099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28255784400005 meters Centerline goodness : 0.163419 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99535095e-01 4.58755540e-03 -3.01421348e-02 4.63161787e+00] [-4.53057140e-03 9.99987819e-01 1.95853434e-03 5.58816838e-01] [ 3.01507525e-02 -1.82106271e-03 9.99543704e-01 1.61750757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3125578440001 meters Centerline goodness : 0.137249 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99535484e-01 4.45771949e-03 -3.01487202e-02 4.63189824e+00] [-4.41092041e-03 9.99988962e-01 1.61860318e-03 5.60389785e-01] [ 3.01556027e-02 -1.48486771e-03 9.99544113e-01 1.61702196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34255784400005 meters Centerline goodness : 0.139185 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99532386e-01 4.30874250e-03 -3.02728284e-02 4.63241555e+00] [-4.27006743e-03 9.99989983e-01 1.34208300e-03 5.61462639e-01] [ 3.02783078e-02 -1.21218840e-03 9.99540772e-01 1.61666630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3725578440001 meters Centerline goodness : 0.150659 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99530313e-01 4.19272658e-03 -3.03574374e-02 4.63270749e+00] [-4.15918071e-03 9.99990668e-01 1.16809122e-03 5.61986798e-01] [ 3.03620516e-02 -1.04128052e-03 9.99538424e-01 1.61649595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40255784400006 meters Centerline goodness : 0.145980 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99522045e-01 3.92903722e-03 -3.06633906e-02 4.63317216e+00] [-3.89626641e-03 9.99991773e-01 1.12840488e-03 5.61581327e-01] [ 3.06675719e-02 -1.00839282e-03 9.99529131e-01 1.61697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43255784400003 meters Centerline goodness : 0.117297 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519270e-01 3.91460278e-03 -3.07555598e-02 4.63325756e+00] [-3.87641861e-03 9.99991640e-01 1.30106417e-03 5.60590032e-01] [ 3.07603959e-02 -1.18121729e-03 9.99526089e-01 1.61721941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46255784400006 meters Centerline goodness : 0.128846 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99516400e-01 3.86228218e-03 -3.08553028e-02 4.63357372e+00] [-3.81908998e-03 9.99991643e-01 1.45864181e-03 5.59413776e-01] [ 3.08606787e-02 -1.34009724e-03 9.99522797e-01 1.61712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49255784400003 meters Centerline goodness : 0.130145 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99512789e-01 3.79873929e-03 -3.09798846e-02 4.63400075e+00] [-3.75201970e-03 9.99991735e-01 1.56605539e-03 5.58378960e-01] [ 3.09855776e-02 -1.44905525e-03 9.99518781e-01 1.61703090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52255784400006 meters Centerline goodness : 0.135630 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511168e-01 3.76070607e-03 -3.10368000e-02 4.63405402e+00] [-3.71164759e-03 9.99991770e-01 1.63811671e-03 5.57656441e-01] [ 3.10427050e-02 -1.52211828e-03 9.99516900e-01 1.61716172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55255784400003 meters Centerline goodness : 0.135630 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511168e-01 3.76070607e-03 -3.10368000e-02 4.63405402e+00] [-3.71164759e-03 9.99991770e-01 1.63811671e-03 5.57656441e-01] [ 3.10427050e-02 -1.52211828e-03 9.99516900e-01 1.61716172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58255784400006 meters Centerline goodness : 0.152501 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99515686e-01 3.77693516e-03 -3.08889731e-02 4.63306084e+00] [-3.72516670e-03 9.99991559e-01 1.73332842e-03 5.57308625e-01] [ 3.08952590e-02 -1.61742237e-03 9.99521319e-01 1.61815344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61255784400004 meters Centerline goodness : 0.121539 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99516951e-01 3.74983087e-03 -3.08513257e-02 4.63281558e+00] [-3.70075873e-03 9.99991795e-01 1.64754763e-03 5.57853816e-01] [ 3.08572506e-02 -1.53257847e-03 9.99522627e-01 1.61837864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64255784400007 meters Centerline goodness : 0.127923 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99517762e-01 3.69179780e-03 -3.08320458e-02 4.63281904e+00] [-3.64645714e-03 9.99992186e-01 1.52666752e-03 5.58393703e-01] [ 3.08374410e-02 -1.41350357e-03 9.99523414e-01 1.61827262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67255784400004 meters Centerline goodness : 0.126342 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519301e-01 3.68475837e-03 -3.07829439e-02 4.63282201e+00] [-3.64030773e-03 9.99992249e-01 1.49992073e-03 5.58578485e-01] [ 3.07882322e-02 -1.38714033e-03 9.99524967e-01 1.61805736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70255784400007 meters Centerline goodness : 0.126583 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99518183e-01 3.69930852e-03 -3.08174824e-02 4.63288341e+00] [-3.65299479e-03 9.99992113e-01 1.55900554e-03 5.58199549e-01] [ 3.08230066e-02 -1.44567829e-03 9.99523813e-01 1.61805882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73255784400004 meters Centerline goodness : 0.125906 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519143e-01 3.71186373e-03 -3.07848224e-02 4.63272904e+00] [-3.66357312e-03 9.99991969e-01 1.62490629e-03 5.57764556e-01] [ 3.07906066e-02 -1.51134250e-03 9.99524714e-01 1.61816510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76255784400007 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99519612e-01 3.71621321e-03 -3.07690677e-02 4.63266697e+00] [-3.66666607e-03 9.99991889e-01 1.66655762e-03 5.57476240e-01] [ 3.07750114e-02 -1.55293713e-03 9.99525131e-01 1.61819806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79255784400004 meters Centerline goodness : 0.128579 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99518719e-01 3.64720254e-03 -3.08063083e-02 4.63285093e+00] [-3.60081254e-03 9.99992298e-01 1.56120364e-03 5.57805570e-01] [ 3.08117651e-02 -1.44952452e-03 9.99524154e-01 1.61802261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8225578440001 meters Centerline goodness : 0.127899 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99512334e-01 3.60318605e-03 -3.10179226e-02 4.63396250e+00] [-3.55907780e-03 9.99992576e-01 1.47711814e-03 5.58240541e-01] [ 3.10230147e-02 -1.36600260e-03 9.99517737e-01 1.61706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85255784400005 meters Centerline goodness : 0.130094 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99511819e-01 3.61369217e-03 -3.10332921e-02 4.63419045e+00] [-3.56688125e-03 9.99992416e-01 1.56363708e-03 5.57666864e-01] [ 3.10387072e-02 -1.45218168e-03 9.99517128e-01 1.61677449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8825578440001 meters Centerline goodness : 0.129102 Centerline is valid? [False, False] Translation: X:4.63, Y:0.56, Z:1.62 [[ 9.99509987e-01 3.58986275e-03 -3.10949846e-02 4.63445263e+00] [-3.53928051e-03 9.99992323e-01 1.68158883e-03 5.56502297e-01] [ 3.11007826e-02 -1.57071096e-03 9.99515019e-01 1.61663141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91255784400005 meters Centerline goodness : 0.132936 Centerline is valid? [False, False] Translation: X:4.66, Y:0.56, Z:1.62 [[ 9.99527334e-01 -5.17034547e-03 -3.03047215e-02 4.65509636e+00] [ 5.23448620e-03 9.99984224e-01 2.03757455e-03 5.57240442e-01] [ 3.02937084e-02 -2.19524111e-03 9.99538630e-01 1.61779873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9425578440001 meters Centerline goodness : 0.132550 Centerline is valid? [False, False] Translation: X:4.65, Y:0.56, Z:1.62 [[ 9.99533237e-01 -5.07763369e-03 -3.01251587e-02 4.65443297e+00] [ 5.15227689e-03 9.99983845e-01 2.40066250e-03 5.55467782e-01] [ 3.01124823e-02 -2.55475512e-03 9.99543252e-01 1.61818298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97255784400005 meters Centerline goodness : 0.135178 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99542254e-01 -4.94874569e-03 -2.98461330e-02 4.65350644e+00] [ 5.03463138e-03 9.99983397e-01 2.80315275e-03 5.53681875e-01] [ 2.98317653e-02 -2.95213389e-03 9.99550574e-01 1.61859237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0025578440001 meters Centerline goodness : 0.135303 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99547757e-01 -4.86351138e-03 -2.96753600e-02 4.65286230e+00] [ 4.95899718e-03 9.99982759e-01 3.14493193e-03 5.51936074e-01] [ 2.96595530e-02 -3.29066968e-03 9.99554642e-01 1.61898105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03255784400005 meters Centerline goodness : 0.141142 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99546706e-01 -4.83654472e-03 -2.97151398e-02 4.65286086e+00] [ 4.93922573e-03 9.99982079e-01 3.38308248e-03 5.50395713e-01] [ 2.96982449e-02 -3.52831873e-03 9.99552683e-01 1.61918404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0625578440001 meters Centerline goodness : 0.141455 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99532483e-01 -4.82265432e-03 -3.01920070e-02 4.65422435e+00] [ 4.93830153e-03 9.99980749e-01 3.75699809e-03 5.47991434e-01] [ 3.01733071e-02 -3.90433887e-03 9.99537057e-01 1.61886770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09255784400005 meters Centerline goodness : 0.117727 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99533949e-01 -4.71770039e-03 -3.01600268e-02 4.65406352e+00] [ 4.84027689e-03 9.99980316e-01 3.99248814e-03 5.47049163e-01] [ 3.01405978e-02 -4.13661032e-03 9.99537109e-01 1.61898360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1225578440001 meters Centerline goodness : 0.118132 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99541196e-01 -4.63265445e-03 -2.99321763e-02 4.65332850e+00] [ 4.76081992e-03 9.99979797e-01 4.21201545e-03 5.46135855e-01] [ 2.99120587e-02 -4.35258466e-03 9.99543057e-01 1.61925436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15255784400006 meters Centerline goodness : 0.118782 Centerline is valid? [False, False] Translation: X:4.65, Y:0.55, Z:1.62 [[ 9.99545937e-01 -4.60936847e-03 -2.97770597e-02 4.65265813e+00] [ 4.74107839e-03 9.99979282e-01 4.35411272e-03 5.45304419e-01] [ 2.97563731e-02 -4.49331105e-03 9.99547082e-01 1.61970537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters Centerline goodness : 0.141574 Centerline is valid? [False, False] Translation: X:4.65, Y:0.54, Z:1.62 [[ 9.99546219e-01 -4.61386597e-03 -2.97668871e-02 4.65236181e+00] [ 4.74867857e-03 9.99978780e-01 4.45984350e-03 5.44477129e-01] [ 2.97456783e-02 -4.59917309e-03 9.99546918e-01 1.62010816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21255784400006 meters Centerline goodness : 0.129194 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99547655e-01 3.31960541e-03 -2.98908868e-02 4.67152968e+00] [-3.23922149e-03 9.99991007e-01 2.73726619e-03 5.40874421e-01] [ 2.98997046e-02 -2.63920480e-03 9.99549420e-01 1.62216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters Centerline goodness : 0.127930 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99549072e-01 3.25125491e-03 -2.98509855e-02 4.67154316e+00] [-3.17585683e-03 9.99991647e-01 2.57288003e-03 5.41703986e-01] [ 2.98591012e-02 -2.47691739e-03 9.99551049e-01 1.62194064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27255784400006 meters Centerline goodness : 0.128911 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.62 [[ 9.99551328e-01 3.15651027e-03 -2.97855576e-02 4.67152961e+00] [-3.08793218e-03 9.99992475e-01 2.34811137e-03 5.42838946e-01] [ 2.97927453e-02 -2.25508205e-03 9.99553554e-01 1.62166705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters Centerline goodness : 0.128661 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99558201e-01 2.89767370e-03 -2.95805113e-02 4.67118998e+00] [-2.84541133e-03 9.99994316e-01 1.80872483e-03 5.45443984e-01] [ 2.95855843e-02 -1.72375701e-03 9.99560764e-01 1.62127869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33255784400006 meters Centerline goodness : 0.132974 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99559092e-01 2.78307735e-03 -2.95613998e-02 4.67121891e+00] [-2.73788070e-03 9.99995021e-01 1.56927408e-03 5.46602369e-01] [ 2.95656200e-02 -1.48764658e-03 9.99561734e-01 1.62111816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36255784400004 meters Centerline goodness : 0.128651 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99562439e-01 2.73015342e-03 -2.94529456e-02 4.67116305e+00] [-2.68742823e-03 9.99995279e-01 1.49011287e-03 5.47154213e-01] [ 2.94568748e-02 -1.41030818e-03 9.99565057e-01 1.62065680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39255784400007 meters Centerline goodness : 0.137011 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99564704e-01 2.67216109e-03 -2.93813299e-02 4.67102245e+00] [-2.62903941e-03 9.99995410e-01 1.50618845e-03 5.47088560e-01] [ 2.93852199e-02 -1.42828813e-03 9.99567141e-01 1.62043752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42255784400004 meters Centerline goodness : 0.152164 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.62 [[ 9.99564194e-01 2.60702455e-03 -2.94045018e-02 4.67102723e+00] [-2.56130288e-03 9.99995452e-01 1.59247880e-03 5.46469440e-01] [ 2.94085197e-02 -1.51647096e-03 9.99566326e-01 1.62036879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45255784400007 meters Centerline goodness : 0.157523 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.62 [[ 9.99537256e-01 -5.42622768e-03 -2.99304133e-02 4.69196027e+00] [ 5.49988223e-03 9.99982045e-01 2.37908322e-03 5.50210078e-01] [ 2.99169665e-02 -2.54259606e-03 9.99549154e-01 1.62217903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48255784400004 meters Centerline goodness : 0.122159 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.62 [[ 9.99506275e-01 -9.21550197e-03 -3.00379820e-02 4.69292393e+00] [ 9.20689771e-03 9.99957525e-01 -4.24745875e-04 5.46088536e-01] [ 3.00406204e-02 1.47979540e-04 9.99548668e-01 1.62057036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51255784400007 meters Centerline goodness : 0.127501 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99501391e-01 -9.48072527e-03 -3.01178562e-02 4.69330417e+00] [ 9.48812769e-03 9.99954981e-01 1.02874795e-04 5.43554050e-01] [ 3.01155250e-02 -3.88585566e-04 9.99546349e-01 1.61960293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54255784400004 meters Centerline goodness : 0.124186 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99509080e-01 -9.55717160e-03 -2.98372271e-02 4.69283313e+00] [ 9.58075238e-03 9.99953894e-01 6.47447461e-04 5.41206198e-01] [ 2.98296636e-02 -9.32992701e-04 9.99554561e-01 1.61875886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5725578440001 meters Centerline goodness : 0.172017 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99508231e-01 -1.03516296e-02 -2.95996509e-02 4.69189280e+00] [ 1.03763403e-02 9.99945932e-01 6.81347436e-04 5.39085844e-01] [ 2.95909975e-02 -9.88148422e-04 9.99561602e-01 1.61848510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60255784400005 meters Centerline goodness : 0.145262 Centerline is valid? [False, False] Translation: X:4.69, Y:0.54, Z:1.62 [[ 9.99515384e-01 -1.05546355e-02 -2.92847706e-02 4.69080917e+00] [ 1.05829306e-02 9.99943670e-01 8.11376584e-04 5.38129424e-01] [ 2.92745572e-02 -1.12090207e-03 9.99570780e-01 1.61856172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6325578440001 meters Centerline goodness : 0.185057 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.62 [[ 9.99554378e-01 -8.42526385e-04 -2.98384767e-02 4.67177055e+00] [ 8.58263303e-04 9.99999499e-01 5.14599986e-04 5.32487658e-01] [ 2.98380282e-02 -5.39979939e-04 9.99554601e-01 1.61766637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66255784400005 meters Centerline goodness : 0.128073 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.62 [[ 9.99552344e-01 -7.75229483e-04 -2.99083658e-02 4.67221056e+00] [ 7.94264545e-04 9.99999490e-01 6.24571070e-04 5.32222435e-01] [ 2.99078663e-02 -6.48046631e-04 9.99552450e-01 1.61725625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6925578440001 meters Centerline goodness : 0.121145 Centerline is valid? [False, False] Translation: X:4.69, Y:0.53, Z:1.62 [[ 9.99536303e-01 7.82939415e-03 -2.94258232e-02 4.69231453e+00] [-7.83909358e-03 9.99969251e-01 -2.14274765e-04 5.27277195e-01] [ 2.94232407e-02 4.44847187e-04 9.99566944e-01 1.61800013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72255784400005 meters Centerline goodness : 0.138097 Centerline is valid? [False, False] Translation: X:4.69, Y:0.53, Z:1.62 [[ 9.99541158e-01 7.75706655e-03 -2.92796975e-02 4.69234851e+00] [-7.76858433e-03 9.99969785e-01 -2.79634323e-04 5.26964399e-01] [ 2.92766437e-02 5.06967815e-04 9.99571219e-01 1.61746480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7525578440001 meters Centerline goodness : 0.183071 Centerline is valid? [False, False] Translation: X:4.68, Y:0.53, Z:1.61 [[ 9.99664184e-01 1.14909439e-03 -2.58881938e-02 4.67548318e+00] [-1.13563783e-03 9.99999212e-01 5.34491347e-04 5.31678469e-01] [ 2.58887876e-02 -5.04912244e-04 9.99664702e-01 1.61382248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78255784400005 meters Centerline goodness : 0.156323 Centerline is valid? [False, False] Translation: X:4.67, Y:0.53, Z:1.61 [[ 9.99673266e-01 1.24703373e-03 -2.55304939e-02 4.67464378e+00] [-1.23867553e-03 9.99999174e-01 3.43193152e-04 5.33327326e-01] [ 2.55309008e-02 -3.11457021e-04 9.99673985e-01 1.61377617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8125578440001 meters Centerline goodness : 0.149972 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99672520e-01 1.17049566e-03 -2.55633110e-02 4.67497885e+00] [-1.17015007e-03 9.99999315e-01 2.84780587e-05 5.35063814e-01] [ 2.55633269e-02 1.44417745e-06 9.99673205e-01 1.61337337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84255784400005 meters Centerline goodness : 0.151043 Centerline is valid? [False, False] Translation: X:4.68, Y:0.54, Z:1.61 [[ 9.99674060e-01 1.05252419e-03 -2.55081723e-02 4.67513040e+00] [-1.06105924e-03 9.99999386e-01 -3.21067573e-04 5.36910163e-01] [ 2.55078187e-02 3.48028606e-04 9.99674562e-01 1.61290794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8725578440001 meters Centerline goodness : 0.200212 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99677775e-01 9.34625415e-04 -2.53667538e-02 4.67489530e+00] [-9.50802686e-04 9.99999352e-01 -6.25681333e-04 5.38436301e-01] [ 2.53661526e-02 6.49598501e-04 9.99678016e-01 1.61272257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90255784400006 meters Centerline goodness : 0.132343 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99681535e-01 8.28756617e-04 -2.52218498e-02 4.67455815e+00] [-8.49952369e-04 9.99999295e-01 -8.29663853e-04 5.39361024e-01] [ 2.52211444e-02 8.50837005e-04 9.99681534e-01 1.61269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93255784400003 meters Centerline goodness : 0.142485 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99682421e-01 5.77734324e-04 -2.51937105e-02 4.67440117e+00] [-6.04507012e-04 9.99999261e-01 -1.05507034e-03 5.39919495e-01] [ 2.51930823e-02 1.06996504e-03 9.99682031e-01 1.61274451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96255784400006 meters Centerline goodness : 0.140604 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99680951e-01 5.18272476e-04 -2.52532570e-02 4.67450956e+00] [-5.45407989e-04 9.99999281e-01 -1.06765925e-03 5.39854105e-01] [ 2.52526855e-02 1.08109194e-03 9.99680516e-01 1.61274138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99255784400003 meters Centerline goodness : 0.139622 Centerline is valid? [False, False] Translation: X:4.67, Y:0.54, Z:1.61 [[ 9.99681434e-01 4.32876108e-04 -2.52357511e-02 4.67449159e+00] [-4.61440503e-04 9.99999259e-01 -1.12608959e-03 5.39977869e-01] [ 2.52352449e-02 1.13737565e-03 9.99680893e-01 1.61264877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02255784400006 meters Centerline goodness : 0.194627 Centerline is valid? [False, False] Translation: X:4.70, Y:0.54, Z:1.61 [[ 9.99640874e-01 -7.58025294e-03 -2.57033611e-02 4.69535198e+00] [ 7.57243388e-03 9.99971248e-01 -4.01526381e-04 5.44561383e-01] [ 2.57056658e-02 2.06745180e-04 9.99669533e-01 1.61453225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05255784400003 meters Centerline goodness : 0.147057 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99632784e-01 -7.69657942e-03 -2.59819284e-02 4.69632683e+00] [ 7.68422527e-03 9.99970310e-01 -5.75300451e-04 5.45486148e-01] [ 2.59855849e-02 3.75438200e-04 9.99662247e-01 1.61399424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 448.11255784400004 meters Centerline goodness : 0.134441 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99629684e-01 -8.19554080e-03 -2.59485768e-02 4.69650241e+00] [ 8.16430274e-03 9.99965814e-01 -1.30956164e-03 5.48982101e-01] [ 2.59584223e-02 1.09722466e-03 9.99662421e-01 1.61356215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14255784400007 meters Centerline goodness : 0.192320 Centerline is valid? [False, False] Translation: X:4.70, Y:0.55, Z:1.61 [[ 9.99635523e-01 -8.35422031e-03 -2.56715493e-02 4.69552438e+00] [ 8.31639729e-03 9.99964170e-01 -1.57975764e-03 5.50016272e-01] [ 2.56838271e-02 1.36568705e-03 9.99669183e-01 1.61398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17255784400004 meters Centerline goodness : 0.144222 Centerline is valid? [False, False] Translation: X:4.69, Y:0.55, Z:1.61 [[ 9.99639972e-01 -8.47871322e-03 -2.54565750e-02 4.69477844e+00] [ 8.43540587e-03 9.99962787e-01 -1.80813032e-03 5.51167038e-01] [ 2.54709583e-02 1.59274280e-03 9.99674294e-01 1.61424973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20255784400007 meters Centerline goodness : 0.097568 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99668073e-01 -6.76670932e-05 -2.57631375e-02 4.67356298e+00] [ 8.25634983e-06 9.99997341e-01 -2.30613620e-03 5.50261365e-01] [ 2.57632250e-02 2.30515802e-03 9.99665415e-01 1.61288519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23255784400004 meters Centerline goodness : 0.167594 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99665451e-01 -1.74607177e-04 -2.58641569e-02 4.67401616e+00] [ 1.10944861e-04 9.99996961e-01 -2.46282537e-03 5.50914255e-01] [ 2.58645083e-02 2.45913194e-03 9.99662433e-01 1.61254695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26255784400007 meters Centerline goodness : 0.087559 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99665524e-01 -2.55257351e-04 -2.58606938e-02 4.67412378e+00] [ 1.89355703e-04 9.99996729e-01 -2.55074937e-03 5.51163486e-01] [ 2.58612603e-02 2.54499934e-03 9.99662302e-01 1.61230115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29255784400004 meters Centerline goodness : 0.167640 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99677208e-01 -3.83297033e-04 -2.54033966e-02 4.67263038e+00] [ 3.12955647e-04 9.99996107e-01 -2.77289353e-03 5.52002961e-01] [ 2.54043605e-02 2.76404833e-03 9.99673436e-01 1.61290857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3225578440001 meters Centerline goodness : 0.190926 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99682398e-01 -4.04161236e-04 -2.51980115e-02 4.67208881e+00] [ 3.30345442e-04 9.99995643e-01 -2.93352320e-03 5.53132647e-01] [ 2.51990873e-02 2.92426746e-03 9.99678176e-01 1.61297868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35255784400005 meters Centerline goodness : 0.151196 Centerline is valid? [False, False] Translation: X:4.67, Y:0.55, Z:1.61 [[ 9.99683047e-01 -4.93471738e-04 -2.51706684e-02 4.67234491e+00] [ 4.12647347e-04 9.99994743e-01 -3.21614772e-03 5.54649487e-01] [ 2.51721231e-02 3.20474174e-03 9.99677995e-01 1.61251142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3825578440001 meters Centerline goodness : 0.093445 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99679117e-01 -5.99478088e-04 -2.53239588e-02 4.67306732e+00] [ 5.09236753e-04 9.99993499e-01 -3.56977531e-03 5.56501746e-01] [ 2.53259342e-02 3.55573394e-03 9.99672923e-01 1.61198956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41255784400005 meters Centerline goodness : 0.117918 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99672853e-01 -6.94437059e-04 -2.55676412e-02 4.67407595e+00] [ 5.92766848e-04 9.99991889e-01 -3.98388336e-03 5.58813909e-01] [ 2.55702003e-02 3.96742440e-03 9.99665156e-01 1.61136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4425578440001 meters Centerline goodness : 0.117918 Centerline is valid? [False, False] Translation: X:4.67, Y:0.56, Z:1.61 [[ 9.99672853e-01 -6.94437059e-04 -2.55676412e-02 4.67407595e+00] [ 5.92766848e-04 9.99991889e-01 -3.98388336e-03 5.58813909e-01] [ 2.55702003e-02 3.96742440e-03 9.99665156e-01 1.61136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47255784400005 meters Centerline goodness : 0.166088 Centerline is valid? [False, False] Translation: X:4.68, Y:0.56, Z:1.61 [[ 9.99650972e-01 1.68810629e-03 -2.63644364e-02 4.67744952e+00] [-1.73967880e-03 9.99996618e-01 -1.93332499e-03 5.62169719e-01] [ 2.63610835e-02 1.97851586e-03 9.99650528e-01 1.60986443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5025578440001 meters Centerline goodness : 0.093744 Centerline is valid? [False, False] Translation: X:4.68, Y:0.57, Z:1.61 [[ 9.99628011e-01 5.27878417e-03 -2.67576815e-02 4.67901336e+00] [-5.26003567e-03 9.99985869e-01 7.71015255e-04 5.67876269e-01] [ 2.67613734e-02 -6.29982087e-04 9.99641652e-01 1.60915312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53255784400005 meters Centerline goodness : 0.123725 Centerline is valid? [False, False] Translation: X:4.68, Y:0.57, Z:1.61 [[ 9.99624543e-01 5.18175704e-03 -2.69057950e-02 4.67948376e+00] [-5.18303417e-03 9.99986568e-01 2.22728791e-05 5.72065508e-01] [ 2.69055490e-02 1.17189139e-04 9.99637973e-01 1.60900066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5625578440001 meters Centerline goodness : 0.132521 Centerline is valid? [False, False] Translation: X:4.66, Y:0.58, Z:1.61 [[ 9.99645453e-01 -1.49833202e-03 -2.65842514e-02 4.65806950e+00] [ 1.55395609e-03 9.99996646e-01 2.07183356e-03 5.80466757e-01] [ 2.65810579e-02 -2.11240976e-03 9.99644429e-01 1.60771119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59255784400005 meters Centerline goodness : 0.154647 Centerline is valid? [False, False] Translation: X:4.68, Y:0.58, Z:1.61 [[ 9.99632524e-01 8.14618617e-03 -2.58545110e-02 4.68064583e+00] [-8.11507050e-03 9.99966217e-01 1.30818752e-03 5.84989436e-01] [ 2.58642943e-02 -1.09789561e-03 9.99664860e-01 1.60763912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6225578440001 meters Centerline goodness : 0.099161 Centerline is valid? [False, False] Translation: X:4.68, Y:0.59, Z:1.61 [[ 9.99635070e-01 7.90188175e-03 -2.58319185e-02 4.68071827e+00] [-7.88756163e-03 9.99968677e-01 6.56204865e-04 5.88150922e-01] [ 2.58362946e-02 -4.52214546e-04 9.99666085e-01 1.60743321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65255784400006 meters Centerline goodness : 0.139619 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99642713e-01 5.67836307e-04 -2.67230903e-02 4.69982873e+00] [-5.31751809e-04 9.99998937e-01 1.35739849e-03 5.95613619e-01] [ 2.67238327e-02 -1.34270345e-03 9.99641953e-01 1.60957934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6825578440001 meters Centerline goodness : 0.140300 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99639778e-01 3.67516060e-04 -2.68361540e-02 4.70030764e+00] [-3.43603792e-04 9.99999540e-01 8.95652651e-04 5.97864721e-01] [ 2.68364708e-02 -8.86109013e-04 9.99639444e-01 1.60923002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71255784400006 meters Centerline goodness : 0.135877 Centerline is valid? [False, False] Translation: X:4.70, Y:0.60, Z:1.61 [[ 9.99639422e-01 1.03632190e-04 -2.68517120e-02 4.70026643e+00] [-1.00475166e-04 9.99999988e-01 1.18921717e-04 6.02624884e-01] [ 2.68517240e-02 -1.16180906e-04 9.99639421e-01 1.60930348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 448.77255784400006 meters Centerline goodness : 0.148081 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99649887e-01 -1.59017445e-04 -2.64589853e-02 4.69901827e+00] [ 1.43655519e-04 9.99999820e-01 -5.82493723e-04 6.06483088e-01] [ 2.64590732e-02 5.78488805e-04 9.99649730e-01 1.60969638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80255784400003 meters Centerline goodness : 0.066521 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99655594e-01 -3.16829700e-04 -2.62410476e-02 4.69830744e+00] [ 2.93613340e-04 9.99999562e-01 -8.88582759e-04 6.07803405e-01] [ 2.62413176e-02 8.80572004e-04 9.99655249e-01 1.60996220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83255784400006 meters Centerline goodness : 0.104234 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99663344e-01 -5.30751750e-04 -2.59406534e-02 4.69717617e+00] [ 5.00180322e-04 9.99999173e-01 -1.18498857e-03 6.08984686e-01] [ 2.59412609e-02 1.17161463e-03 9.99662782e-01 1.61054869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86255784400004 meters Centerline goodness : 0.412303 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99664791e-01 -5.43985104e-04 -2.58845295e-02 4.69718764e+00] [ 5.11460128e-04 9.99999071e-01 -1.26314513e-03 6.09536697e-01] [ 2.58851926e-02 1.24948281e-03 9.99664141e-01 1.61028345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89255784400007 meters Centerline goodness : 0.099579 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99662578e-01 -5.61693140e-04 -2.59694965e-02 4.69755075e+00] [ 5.26491514e-04 9.99998933e-01 -1.36231662e-03 6.10224927e-01] [ 2.59702340e-02 1.34818423e-03 9.99661807e-01 1.61003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92255784400004 meters Centerline goodness : 0.185774 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99663200e-01 -5.44293796e-04 -2.59459203e-02 4.69761633e+00] [ 5.07612776e-04 9.99998863e-01 -1.42031442e-03 6.10822054e-01] [ 2.59466639e-02 1.40666558e-03 9.99662339e-01 1.60983092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95255784400007 meters Centerline goodness : 0.195148 Centerline is valid? [False, False] Translation: X:4.70, Y:0.61, Z:1.61 [[ 9.99664821e-01 -5.38098106e-04 -2.58835296e-02 4.69746610e+00] [ 4.98836769e-04 9.99998715e-01 -1.52327934e-03 6.11468573e-01] [ 2.58843160e-02 1.50985711e-03 9.99663805e-01 1.60983331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98255784400004 meters Centerline goodness : 0.189166 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99652527e-01 8.03675063e-03 -2.51044931e-02 4.71807300e+00] [-8.10629061e-03 9.99963580e-01 -2.66948084e-03 6.08009947e-01] [ 2.50821249e-02 2.87205759e-03 9.99681268e-01 1.61126973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01255784400007 meters Centerline goodness : 0.179535 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99651729e-01 8.03037907e-03 -2.51382924e-02 4.71826776e+00] [-8.10171128e-03 9.99963435e-01 -2.73702963e-03 6.08334873e-01] [ 2.51153938e-02 2.93973959e-03 9.99680236e-01 1.61108758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04255784400004 meters Centerline goodness : 0.146814 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99650135e-01 8.04984724e-03 -2.51953722e-02 4.71866278e+00] [-8.12342101e-03 9.99963031e-01 -2.81913962e-03 6.08805409e-01] [ 2.51717471e-02 3.02282592e-03 9.99678571e-01 1.61068422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0725578440001 meters Centerline goodness : 0.143916 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99645355e-01 8.40880896e-03 -2.52676765e-02 4.71923277e+00] [-8.48260280e-03 9.99960061e-01 -2.81471754e-03 6.09796413e-01] [ 2.52429989e-02 3.02805498e-03 9.99676759e-01 1.61008431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10255784400005 meters Centerline goodness : 0.158951 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99645580e-01 8.45263106e-03 -2.52441548e-02 4.71917320e+00] [-8.53065468e-03 9.99959159e-01 -2.98466729e-03 6.10986287e-01] [ 2.52178955e-02 3.19895863e-03 9.99676860e-01 1.61011330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1325578440001 meters Centerline goodness : 0.142377 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99647438e-01 8.47019406e-03 -2.51645591e-02 4.71884615e+00] [-8.55380733e-03 9.99958241e-01 -3.21687467e-03 6.12494034e-01] [ 2.51362607e-02 3.43099332e-03 9.99678147e-01 1.61034544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16255784400005 meters Centerline goodness : 0.118816 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99647943e-01 8.47089522e-03 -2.51442826e-02 4.71873946e+00] [-8.56061611e-03 9.99957362e-01 -3.46274506e-03 6.14020754e-01] [ 2.51138779e-02 3.67677653e-03 9.99677835e-01 1.61048789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1925578440001 meters Centerline goodness : 0.121336 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99664025e-01 1.82061474e-03 -2.58558049e-02 4.73687832e+00] [-1.87087109e-03 9.99996407e-01 -1.91965881e-03 6.20373352e-01] [ 2.58522171e-02 1.96738673e-03 9.99663840e-01 1.61274343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22255784400005 meters Centerline goodness : 0.141052 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99653336e-01 1.94335722e-03 -2.62570057e-02 4.73848385e+00] [-1.99575749e-03 9.99996069e-01 -1.96960982e-03 6.20923858e-01] [ 2.62530749e-02 2.02132964e-03 9.99653285e-01 1.61167503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2525578440001 meters Centerline goodness : 0.140439 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99656934e-01 2.05980171e-03 -2.61107721e-02 4.73809365e+00] [-2.10662719e-03 9.99996222e-01 -1.76595882e-03 6.20100862e-01] [ 2.61070360e-02 1.82035864e-03 9.99657496e-01 1.61169397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28255784400005 meters Centerline goodness : 0.120904 Centerline is valid? [False, False] Translation: X:4.74, Y:0.62, Z:1.61 [[ 9.99663152e-01 2.19076640e-03 -2.58608569e-02 4.73716984e+00] [-2.22974443e-03 9.99996421e-01 -1.47848089e-03 6.18791872e-01] [ 2.58575253e-02 1.53564597e-03 9.99664459e-01 1.61214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3125578440001 meters Centerline goodness : 0.123094 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99669672e-01 2.30258238e-03 -2.55977382e-02 4.73606221e+00] [-2.32403814e-03 9.99996973e-01 -8.08471420e-04 6.14440698e-01] [ 2.55957991e-02 8.67694480e-04 9.99671997e-01 1.61290096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34255784400005 meters Centerline goodness : 0.120101 Centerline is valid? [False, False] Translation: X:4.76, Y:0.62, Z:1.61 [[ 9.99652865e-01 -5.75984775e-03 -2.57094172e-02 4.75685024e+00] [ 5.77082617e-03 9.99983286e-01 3.52844446e-04 6.16399351e-01] [ 2.57069551e-02 -5.01086538e-04 9.99669396e-01 1.61400512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3725578440001 meters Centerline goodness : 0.126273 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99647456e-01 -5.62103709e-03 -2.59493401e-02 4.75789453e+00] [ 5.64353154e-03 9.99983760e-01 7.93705827e-04 6.13920130e-01] [ 2.59444572e-02 -9.39871929e-04 9.99662944e-01 1.61333683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40255784400006 meters Centerline goodness : 0.121846 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99646499e-01 -5.45365720e-03 -2.60218078e-02 4.75827992e+00] [ 5.48713864e-03 9.99984207e-01 1.21543691e-03 6.11722874e-01] [ 2.60147683e-02 -1.35779252e-03 9.99660637e-01 1.61304272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4325578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 449.46255784400006 meters Centerline goodness : 0.125376 Centerline is valid? [False, False] Translation: X:4.76, Y:0.61, Z:1.61 [[ 9.99664419e-01 -4.81413284e-03 -2.54533722e-02 4.75679989e+00] [ 4.86862545e-03 9.99985986e-01 2.07934166e-03 6.08554113e-01] [ 2.54430053e-02 -2.20256680e-03 9.99673848e-01 1.61322625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49255784400003 meters Centerline goodness : 0.123175 Centerline is valid? [False, False] Translation: X:4.74, Y:0.60, Z:1.61 [[ 9.99665946e-01 3.50662000e-03 -2.56066519e-02 4.73621432e+00] [-3.47703628e-03 9.99993235e-01 1.19974741e-03 6.04117207e-01] [ 2.56106857e-02 -1.11031137e-03 9.99671376e-01 1.61146643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52255784400006 meters Centerline goodness : 0.104504 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99659387e-01 3.59188896e-03 -2.58497131e-02 4.73712794e+00] [-3.56608312e-03 9.99993096e-01 1.04433233e-03 6.05166545e-01] [ 2.58532858e-02 -9.51794389e-04 9.99665295e-01 1.61101179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55255784400003 meters Centerline goodness : 0.152920 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99655287e-01 3.63442007e-03 -2.60018873e-02 4.73774706e+00] [-3.61155352e-03 9.99993049e-01 9.26326258e-04 6.05874139e-01] [ 2.60050732e-02 -8.32099734e-04 9.99661465e-01 1.61056273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58255784400006 meters Centerline goodness : 0.173083 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99644122e-01 4.10981973e-03 -2.63578818e-02 4.73894251e+00] [-4.08408438e-03 9.99991129e-01 1.03014071e-03 6.06740371e-01] [ 2.63618817e-02 -9.22126293e-04 9.99652040e-01 1.60988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61255784400004 meters Centerline goodness : 0.153911 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99644514e-01 4.10165289e-03 -2.63443142e-02 4.73906773e+00] [-4.07753967e-03 9.99991217e-01 9.68964552e-04 6.07178044e-01] [ 2.63480572e-02 -8.61200112e-04 9.99652459e-01 1.60957914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64255784400007 meters Centerline goodness : 0.127075 Centerline is valid? [False, False] Translation: X:4.74, Y:0.61, Z:1.61 [[ 9.99643641e-01 4.10465692e-03 -2.63769519e-02 4.73922390e+00] [-4.07993916e-03 9.99991186e-01 9.90846299e-04 6.06951256e-01] [ 2.63807865e-02 -8.82876843e-04 9.99651577e-01 1.60945782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67255784400004 meters Centerline goodness : 0.124342 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99618771e-01 -4.71853828e-03 -2.72038422e-02 4.71925393e+00] [ 4.77789034e-03 9.99986345e-01 2.11716522e-03 6.09311197e-01] [ 2.71934808e-02 -2.24633507e-03 9.99627665e-01 1.60795558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70255784400007 meters Centerline goodness : 0.130017 Centerline is valid? [False, False] Translation: X:4.72, Y:0.61, Z:1.61 [[ 9.99615335e-01 -4.55520549e-03 -2.73574895e-02 4.71949156e+00] [ 4.63149963e-03 9.99985559e-01 2.72606690e-03 6.06152751e-01] [ 2.73446766e-02 -2.85172448e-03 9.99621997e-01 1.60820305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73255784400004 meters Centerline goodness : 0.130442 Centerline is valid? [False, False] Translation: X:4.72, Y:0.60, Z:1.61 [[ 9.99618907e-01 -4.42705325e-03 -2.72477849e-02 4.71910429e+00] [ 4.51404051e-03 9.99984908e-01 3.13177050e-03 6.04044522e-01] [ 2.72335091e-02 -3.25357461e-03 9.99623804e-01 1.60843992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76255784400007 meters Centerline goodness : 0.130695 Centerline is valid? [False, False] Translation: X:4.72, Y:0.60, Z:1.61 [[ 9.99623221e-01 -4.30205531e-03 -2.71091860e-02 4.71860162e+00] [ 4.40043413e-03 9.99983944e-01 3.57037302e-03 6.01610009e-01] [ 2.70933908e-02 -3.68831997e-03 9.99626102e-01 1.60871378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79255784400004 meters Centerline goodness : 0.133809 Centerline is valid? [False, False] Translation: X:4.69, Y:0.59, Z:1.61 [[ 9.99652406e-01 1.17956158e-03 -2.63377428e-02 4.69496560e+00] [-1.14972078e-03 9.99998680e-01 1.14811966e-03 5.93855837e-01] [ 2.63390623e-02 -1.11743953e-03 9.99652442e-01 1.60838851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8225578440001 meters Centerline goodness : 0.165986 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99651280e-01 1.31901694e-03 -2.63738344e-02 4.69511831e+00] [-1.28135567e-03 9.99998135e-01 1.44482776e-03 5.92482274e-01] [ 2.63756909e-02 -1.41052965e-03 9.99651106e-01 1.60828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85255784400005 meters Centerline goodness : 0.130010 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99649877e-01 1.44319945e-03 -2.64204658e-02 4.69540855e+00] [-1.39856049e-03 9.99997563e-01 1.70796059e-03 5.91159625e-01] [ 2.64228664e-02 -1.67041198e-03 9.99649459e-01 1.60807035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8825578440001 meters Centerline goodness : 0.142627 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99647255e-01 1.50311481e-03 -2.65161540e-02 4.69579596e+00] [-1.45429466e-03 9.99997212e-01 1.86033619e-03 5.90098151e-01] [ 2.65188764e-02 -1.82111767e-03 9.99646654e-01 1.60788852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91255784400005 meters Centerline goodness : 0.127699 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99644142e-01 1.56153818e-03 -2.66298774e-02 4.69620991e+00] [-1.50869510e-03 9.99996853e-01 2.00432923e-03 5.89102736e-01] [ 2.66329235e-02 -1.96343961e-03 9.99643353e-01 1.60770225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9425578440001 meters Centerline goodness : 0.126754 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99634359e-01 1.81429897e-03 -2.69788334e-02 4.69734711e+00] [-1.75095332e-03 9.99995655e-01 2.37141425e-03 5.87361098e-01] [ 2.69830186e-02 -2.32330848e-03 9.99633192e-01 1.60722863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97255784400005 meters Centerline goodness : 0.142580 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99633931e-01 1.94970940e-03 -2.69852211e-02 4.69758497e+00] [-1.88129612e-03 9.99994953e-01 2.56036920e-03 5.86620369e-01] [ 2.69900769e-02 -2.50866474e-03 9.99632554e-01 1.60687674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0025578440001 meters Centerline goodness : 0.126869 Centerline is valid? [False, False] Translation: X:4.70, Y:0.59, Z:1.61 [[ 9.99638232e-01 2.09779300e-03 -2.68142408e-02 4.69709128e+00] [-2.02281406e-03 9.99993969e-01 2.82305485e-03 5.85469108e-01] [ 2.68200013e-02 -2.76779334e-03 9.99636447e-01 1.60699704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03255784400005 meters Centerline goodness : 0.120547 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99640784e-01 2.22158410e-03 -2.67089539e-02 4.69681363e+00] [-2.13973692e-03 9.99992929e-01 3.09259945e-03 5.84136609e-01] [ 2.67156355e-02 -3.03433840e-03 9.99638468e-01 1.60704469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0625578440001 meters Centerline goodness : 0.126533 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99637316e-01 2.50706710e-03 -2.68132768e-02 4.69695494e+00] [-2.40573955e-03 9.99989846e-01 3.81059777e-03 5.80400130e-01] [ 2.68225580e-02 -3.74470996e-03 9.99633196e-01 1.60725139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09255784400005 meters Centerline goodness : 0.122328 Centerline is valid? [False, False] Translation: X:4.70, Y:0.58, Z:1.61 [[ 9.99634987e-01 2.68672555e-03 -2.68825872e-02 4.69708000e+00] [-2.57198272e-03 9.99987439e-01 4.30196264e-03 5.77769875e-01] [ 2.68938077e-02 -4.23125082e-03 9.99629341e-01 1.60740094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1225578440001 meters Centerline goodness : 0.155293 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99634499e-01 2.83998588e-03 -2.68849994e-02 4.69695224e+00] [-2.71198074e-03 9.99984819e-01 4.79647602e-03 5.74781750e-01] [ 2.68982132e-02 -4.72181130e-03 9.99627026e-01 1.60765549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15255784400006 meters Centerline goodness : 0.138983 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99636785e-01 3.04021967e-03 -2.67778905e-02 4.69647451e+00] [-2.89852956e-03 9.99981602e-01 5.32853662e-03 5.71954517e-01] [ 2.67935978e-02 -5.24898471e-03 9.99627206e-01 1.60803760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1825578440001 meters Centerline goodness : 0.155040 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99632948e-01 3.47773453e-03 -2.68677075e-02 4.69674585e+00] [-3.30850651e-03 9.99974426e-01 6.34045439e-03 5.67079944e-01] [ 2.68890708e-02 -6.24923513e-03 9.99618890e-01 1.60806464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21255784400006 meters Centerline goodness : 0.141836 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99628101e-01 3.62645644e-03 -2.70279054e-02 4.69729912e+00] [-3.44586140e-03 9.99971447e-01 6.72538292e-03 5.65061649e-01] [ 2.70515230e-02 -6.62974735e-03 9.99612056e-01 1.60787869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters Centerline goodness : 0.227413 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99621210e-01 3.69373802e-03 -2.72725625e-02 4.69793259e+00] [-3.50468960e-03 9.99969523e-01 6.97636637e-03 5.63496000e-01] [ 2.72975002e-02 -6.87814192e-03 9.99603690e-01 1.60790377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27255784400006 meters Centerline goodness : 0.122427 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99617704e-01 3.75454062e-03 -2.73925088e-02 4.69803844e+00] [-3.55981719e-03 9.99968074e-01 7.15394363e-03 5.62335902e-01] [ 2.74184940e-02 -7.05369638e-03 9.99599155e-01 1.60818421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters Centerline goodness : 0.142429 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99619996e-01 3.98062694e-03 -2.72766826e-02 4.69748301e+00] [-3.77583251e-03 9.99964329e-01 7.55543738e-03 5.60943963e-01] [ 2.73057850e-02 -7.44957411e-03 9.99599369e-01 1.60858244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 450.36255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 450.39255784400007 meters Centerline goodness : 0.220379 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99615191e-01 4.06793533e-03 -2.74394121e-02 4.69806492e+00] [-3.85408214e-03 9.99961823e-01 7.84204016e-03 5.59378236e-01] [ 2.74702655e-02 -7.73326873e-03 9.99592708e-01 1.60836791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42255784400004 meters Centerline goodness : 0.147430 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99628619e-01 1.87712320e-04 -2.72504735e-02 4.69755019e+00] [-7.80521718e-05 9.99991896e-01 4.02516359e-03 5.59124150e-01] [ 2.72510083e-02 -4.02154176e-03 9.99620533e-01 1.60830526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45255784400007 meters Centerline goodness : 0.137611 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99631514e-01 2.17754854e-04 -2.71438513e-02 4.69714074e+00] [-1.05615614e-04 9.99991455e-01 4.13265962e-03 5.58485966e-01] [ 2.71445192e-02 -4.12826998e-03 9.99622995e-01 1.60854601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48255784400004 meters Centerline goodness : 0.161419 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99633939e-01 2.53323305e-04 -2.70540873e-02 4.69682053e+00] [-1.39980944e-04 9.99991207e-01 4.19128444e-03 5.58396864e-01] [ 2.70549111e-02 -4.18596312e-03 9.99625185e-01 1.60867586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51255784400007 meters Centerline goodness : 0.132474 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99635701e-01 2.95645656e-04 -2.69884835e-02 4.69660899e+00] [-1.81975634e-04 9.99991104e-01 4.21415620e-03 5.58605018e-01] [ 2.69894893e-02 -4.20770974e-03 9.99626862e-01 1.60875415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54255784400004 meters Centerline goodness : 0.136942 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99637434e-01 1.95241447e-04 -2.69251333e-02 4.69677902e+00] [-8.87502112e-05 9.99992170e-01 3.95622497e-03 5.59648730e-01] [ 2.69256949e-02 -3.95240097e-03 9.99629624e-01 1.60824421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5725578440001 meters Centerline goodness : 0.072129 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99635641e-01 1.16060033e-04 -2.69920611e-02 4.69734596e+00] [-1.47298951e-05 9.99992953e-01 3.75424040e-03 5.60550601e-01] [ 2.69923066e-02 -3.75247492e-03 9.99628598e-01 1.60762531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60255784400005 meters Centerline goodness : 0.142498 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99633553e-01 8.73690448e-05 -2.70693939e-02 4.69793808e+00] [ 9.96814817e-06 9.99993535e-01 3.59568359e-03 5.61517736e-01] [ 2.70695331e-02 -3.59463579e-03 9.99627090e-01 1.60696885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6325578440001 meters Centerline goodness : 0.137989 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99634248e-01 5.19901370e-05 -2.70438162e-02 4.69810595e+00] [ 4.06725202e-05 9.99994131e-01 3.42582849e-03 5.62634812e-01] [ 2.70438356e-02 -3.42567543e-03 9.99628379e-01 1.60655616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66255784400005 meters Centerline goodness : 0.147013 Centerline is valid? [False, False] Translation: X:4.70, Y:0.56, Z:1.61 [[ 9.99629284e-01 -8.19006559e-05 -2.72265926e-02 4.69878729e+00] [ 1.64298371e-04 9.99995414e-01 3.02414570e-03 5.64542379e-01] [ 2.72262200e-02 -3.02749789e-03 9.99624713e-01 1.60615473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6925578440001 meters Centerline goodness : 0.154392 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99627810e-01 -1.73041376e-04 -2.72802317e-02 4.69911512e+00] [ 2.50131455e-04 9.99995986e-01 2.82247152e-03 5.65380802e-01] [ 2.72796338e-02 -2.82824467e-03 9.99623841e-01 1.60583243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72255784400005 meters Centerline goodness : 0.155658 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99628056e-01 -2.25815142e-04 -2.72708440e-02 4.69917106e+00] [ 2.99119929e-04 9.99996353e-01 2.68397833e-03 5.66152779e-01] [ 2.72701384e-02 -2.69113730e-03 9.99624478e-01 1.60565543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7525578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 450.78255784400005 meters Centerline goodness : 0.133614 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.61 [[ 9.99640897e-01 -2.75609342e-04 -2.67955287e-02 4.69831073e+00] [ 3.39926328e-04 9.99997072e-01 2.39576257e-03 5.68084901e-01] [ 2.67947899e-02 -2.40401075e-03 9.99638064e-01 1.60513687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8125578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 450.84255784400005 meters Centerline goodness : 0.061238 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99631317e-01 -3.89118505e-04 -2.71491828e-02 4.69975519e+00] [ 4.48541176e-04 9.99997517e-01 2.18269068e-03 5.68711428e-01] [ 2.71482661e-02 -2.19406348e-03 9.99629010e-01 1.60421009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8725578440001 meters Centerline goodness : 0.134059 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99624748e-01 -4.04284809e-04 -2.73897710e-02 4.70051871e+00] [ 4.62463373e-04 9.99997651e-01 2.11779697e-03 5.69067513e-01] [ 2.73888505e-02 -2.12966903e-03 9.99622586e-01 1.60394311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90255784400006 meters Centerline goodness : 0.138824 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99620310e-01 -4.22585875e-04 -2.75509778e-02 4.70103055e+00] [ 4.80209929e-04 9.99997711e-01 2.08496015e-03 5.69191452e-01] [ 2.75500337e-02 -2.09739877e-03 9.99618225e-01 1.60374352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9325578440001 meters Centerline goodness : 0.136748 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99611666e-01 -4.75010186e-04 -2.78620253e-02 4.70193905e+00] [ 5.34431391e-04 9.99997599e-01 2.12528725e-03 5.68381714e-01] [ 2.78609489e-02 -2.13935226e-03 9.99609519e-01 1.60358068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96255784400006 meters Centerline goodness : 0.130168 Centerline is valid? [False, False] Translation: X:4.70, Y:0.57, Z:1.60 [[ 9.99611303e-01 -4.43451339e-04 -2.78755330e-02 4.70164658e+00] [ 5.07221364e-04 9.99997271e-01 2.28064087e-03 5.67369582e-01] [ 2.78744456e-02 -2.29389346e-03 9.99608800e-01 1.60409815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99255784400003 meters Centerline goodness : 0.142502 Centerline is valid? [False, False] Translation: X:4.72, Y:0.57, Z:1.60 [[ 9.99666786e-01 6.23789006e-03 -2.50480553e-02 4.72285519e+00] [-6.24863290e-03 9.99980416e-01 -3.50640748e-04 5.66669908e-01] [ 2.50453775e-02 5.07040012e-04 9.99686187e-01 1.60389694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02255784400006 meters Centerline goodness : 0.130804 Centerline is valid? [False, False] Translation: X:4.74, Y:0.57, Z:1.61 [[ 9.99719793e-01 -1.19014572e-03 -2.36414613e-02 4.74108822e+00] [ 1.21974863e-03 9.99998490e-01 1.23778007e-03 5.69966992e-01] [ 2.36399525e-02 -1.26626988e-03 9.99719735e-01 1.60630769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05255784400003 meters Centerline goodness : 0.148739 Centerline is valid? [False, False] Translation: X:4.74, Y:0.57, Z:1.61 [[ 9.99729264e-01 -1.06995093e-03 -2.32433818e-02 4.73949481e+00] [ 1.11716016e-03 9.99997339e-01 2.01819263e-03 5.65883387e-01] [ 2.32411606e-02 -2.04361282e-03 9.99727799e-01 1.60745324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08255784400006 meters Centerline goodness : 0.038326 Centerline is valid? [False, False] Translation: X:4.74, Y:0.56, Z:1.61 [[ 9.99722073e-01 -1.05522077e-03 -2.35512929e-02 4.74033986e+00] [ 1.11134439e-03 9.99996574e-01 2.37007663e-03 5.63462281e-01] [ 2.35487113e-02 -2.39559152e-03 9.99719820e-01 1.60740444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11255784400004 meters Centerline goodness : 0.155099 Centerline is valid? [False, False] Translation: X:4.74, Y:0.56, Z:1.61 [[ 9.99714536e-01 -1.04287995e-03 -2.38696029e-02 4.74120932e+00] [ 1.10794503e-03 9.99995707e-01 2.71279229e-03 5.60986555e-01] [ 2.38666713e-02 -2.73846410e-03 9.99711400e-01 1.60737538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 451.17255784400004 meters Centerline goodness : 0.137542 Centerline is valid? [False, False] Translation: X:4.74, Y:0.55, Z:1.61 [[ 9.99736436e-01 -3.24261830e-03 -2.27275884e-02 4.73668466e+00] [ 3.27867321e-03 9.99993425e-01 1.54931058e-03 5.53257926e-01] [ 2.27224152e-02 -1.62341857e-03 9.99740495e-01 1.60956562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20255784400007 meters Centerline goodness : 0.130152 Centerline is valid? [False, False] Translation: X:4.74, Y:0.55, Z:1.61 [[ 9.99739326e-01 -3.05962169e-03 -2.26256098e-02 4.73618168e+00] [ 3.10684970e-03 9.99993067e-01 2.05251233e-03 5.50792913e-01] [ 2.26191730e-02 -2.12227167e-03 9.99741901e-01 1.61000365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23255784400004 meters Centerline goodness : 0.147620 Centerline is valid? [False, False] Translation: X:4.76, Y:0.55, Z:1.61 [[ 9.99770333e-01 3.64038548e-03 -2.11193945e-02 4.75752453e+00] [-3.65841545e-03 9.99992976e-01 -8.15142894e-04 5.47998552e-01] [ 2.11162788e-02 8.92219201e-04 9.99776628e-01 1.61008033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26255784400007 meters Centerline goodness : 0.150991 Centerline is valid? [False, False] Translation: X:4.76, Y:0.55, Z:1.61 [[ 9.99767892e-01 3.67189372e-03 -2.12291887e-02 4.75801357e+00] [-3.68829644e-03 9.99992929e-01 -7.33546567e-04 5.47245311e-01] [ 2.12263451e-02 8.11675846e-04 9.99774366e-01 1.60974884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29255784400004 meters Centerline goodness : 0.130970 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99692929e-01 3.34781307e-03 -2.45527893e-02 4.71379396e+00] [-3.35069066e-03 9.99994384e-01 -7.60600836e-05 5.45243112e-01] [ 2.45523968e-02 1.58305529e-04 9.99698532e-01 1.60992642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3225578440001 meters Centerline goodness : 0.134048 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99691122e-01 3.36523908e-03 -2.46238902e-02 4.71429194e+00] [-3.37344141e-03 9.99994267e-01 -2.91572140e-04 5.46730851e-01] [ 2.46227678e-02 3.74549330e-04 9.99696744e-01 1.60935637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35255784400005 meters Centerline goodness : 0.141632 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99693470e-01 3.46070140e-03 -2.45150991e-02 4.71394589e+00] [-3.47563229e-03 9.99993800e-01 -5.66465615e-04 5.48695193e-01] [ 2.45129867e-02 6.51497446e-04 9.99699299e-01 1.60939714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3825578440001 meters Centerline goodness : 0.144089 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99692370e-01 3.38186120e-03 -2.45708909e-02 4.71397152e+00] [-3.40010362e-03 9.99993974e-01 -7.00699860e-04 5.49048910e-01] [ 2.45683731e-02 7.84027879e-04 9.99697845e-01 1.60959020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41255784400005 meters Centerline goodness : 0.125321 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99688146e-01 3.36404697e-03 -2.47445658e-02 4.71421536e+00] [-3.38113400e-03 9.99994074e-01 -6.48729904e-04 5.48473567e-01] [ 2.47422368e-02 7.32192287e-04 9.99693596e-01 1.60987085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4425578440001 meters Centerline goodness : 0.129322 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99685191e-01 3.35383072e-03 -2.48650577e-02 4.71423159e+00] [-3.36307474e-03 9.99994290e-01 -3.29958747e-04 5.46355231e-01] [ 2.48638091e-02 4.13477921e-04 9.99690762e-01 1.61035567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47255784400005 meters Centerline goodness : 0.129768 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99687162e-01 3.42367285e-03 -2.47761368e-02 4.71391153e+00] [-3.42676297e-03 9.99994125e-01 -8.22652148e-05 5.45004543e-01] [ 2.47757096e-02 1.67141427e-04 9.99693021e-01 1.61053317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5025578440001 meters Centerline goodness : 0.122634 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99686483e-01 3.49723939e-03 -2.47932263e-02 4.71384203e+00] [-3.49460871e-03 9.99993883e-01 1.49432202e-04 5.43793386e-01] [ 2.47935972e-02 -6.27427281e-05 9.99692590e-01 1.61071022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53255784400005 meters Centerline goodness : 0.128644 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99684975e-01 3.54735842e-03 -2.48468812e-02 4.71398283e+00] [-3.54096578e-03 9.99993685e-01 3.01274434e-04 5.42994052e-01] [ 2.48477930e-02 -2.13197569e-04 9.99691223e-01 1.61071255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5625578440001 meters Centerline goodness : 0.128051 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99675749e-01 3.65100309e-03 -2.52005391e-02 4.71505702e+00] [-3.64033484e-03 9.99993264e-01 4.69197709e-04 5.42352955e-01] [ 2.52020824e-02 -3.77307171e-04 9.99682306e-01 1.61041832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59255784400005 meters Centerline goodness : 0.136740 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99670507e-01 3.61567048e-03 -2.54126936e-02 4.71586159e+00] [-3.60820792e-03 9.99993433e-01 3.39503071e-04 5.42953362e-01] [ 2.54137543e-02 -2.47696925e-04 9.99676988e-01 1.61001305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6225578440001 meters Centerline goodness : 0.125785 Centerline is valid? [False, False] Translation: X:4.72, Y:0.54, Z:1.61 [[ 9.99668215e-01 3.54151454e-03 -2.55130929e-02 4.71638383e+00] [-3.54007198e-03 9.99993729e-01 1.01708273e-04 5.44044567e-01] [ 2.55132931e-02 -1.13563427e-05 9.99674483e-01 1.60957404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65255784400006 meters Centerline goodness : 0.162819 Centerline is valid? [False, False] Translation: X:4.72, Y:0.55, Z:1.61 [[ 9.99669813e-01 3.47262421e-03 -2.54598878e-02 4.71628645e+00] [-3.47791456e-03 9.99993939e-01 -1.63513450e-04 5.45339430e-01] [ 2.54591656e-02 2.52006774e-04 9.99675831e-01 1.60952992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6825578440001 meters Centerline goodness : 0.236699 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99708722e-01 4.13297105e-03 -2.37779223e-02 4.71128583e+00] [-4.13298255e-03 9.99991458e-01 4.86600970e-05 5.47175426e-01] [ 2.37779203e-02 4.96278145e-05 9.99717264e-01 1.61065987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71255784400006 meters Centerline goodness : 0.146358 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99716665e-01 4.09909948e-03 -2.34475359e-02 4.71033791e+00] [-4.10481867e-03 9.99991556e-01 -1.95789090e-04 5.48841032e-01] [ 2.34465354e-02 2.91981499e-04 9.99725050e-01 1.61084370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 451.77255784400006 meters Centerline goodness : 0.225050 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99718102e-01 4.08719771e-03 -2.33882889e-02 4.71019133e+00] [-4.09631728e-03 9.99991552e-01 -3.42024044e-04 5.49892972e-01] [ 2.33866934e-02 4.37733481e-04 9.99726398e-01 1.61078915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80255784400003 meters Centerline goodness : 0.128133 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99709797e-01 4.08813371e-03 -2.37404518e-02 4.71109997e+00] [-4.08906922e-03 9.99991640e-01 9.13935280e-06 5.47525861e-01] [ 2.37402907e-02 8.79396504e-05 9.99718156e-01 1.61078471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83255784400006 meters Centerline goodness : 0.152836 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99707996e-01 4.18304596e-03 -2.37996948e-02 4.71119898e+00] [-4.17634086e-03 9.99991224e-01 3.31428828e-04 5.45861435e-01] [ 2.38008723e-02 -2.31936412e-04 9.99716692e-01 1.61089300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86255784400004 meters Centerline goodness : 0.137079 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99704997e-01 4.25670714e-03 -2.39123450e-02 4.71137312e+00] [-4.24236454e-03 9.99990790e-01 6.50496698e-04 5.44067273e-01] [ 2.39148937e-02 -5.48859915e-04 9.99713847e-01 1.61108191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89255784400007 meters Centerline goodness : 0.085119 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99702524e-01 4.33136822e-03 -2.40021368e-02 4.71155750e+00] [-4.31206904e-03 9.99990337e-01 8.55759616e-04 5.42966999e-01] [ 2.40056114e-02 -7.52006178e-04 9.99711541e-01 1.61118717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92255784400004 meters Centerline goodness : 0.165214 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99699874e-01 4.32957126e-03 -2.41125979e-02 4.71187236e+00] [-4.31159374e-03 9.99990387e-01 7.97505137e-04 5.43183127e-01] [ 2.41158190e-02 -6.93302058e-04 9.99708931e-01 1.61114675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95255784400007 meters Centerline goodness : 0.176970 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99700116e-01 4.32941093e-03 -2.41025619e-02 4.71194891e+00] [-4.31623737e-03 9.99990506e-01 5.98559976e-04 5.44495224e-01] [ 2.41049245e-02 -4.94348099e-04 9.99709312e-01 1.61093842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98255784400004 meters Centerline goodness : 0.063717 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99700570e-01 4.38212697e-03 -2.40742143e-02 4.71200567e+00] [-4.37371717e-03 9.99990354e-01 4.01971807e-04 5.46134774e-01] [ 2.40757436e-02 -2.96557640e-04 9.99710093e-01 1.61064918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01255784400007 meters Centerline goodness : 0.149345 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99706873e-01 4.43527600e-03 -2.38011785e-02 4.71129551e+00] [-4.42939134e-03 9.99990145e-01 2.99956740e-04 5.47279273e-01] [ 2.38022744e-02 -1.94444081e-04 9.99716667e-01 1.61064752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04255784400004 meters Centerline goodness : 0.151316 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99715825e-01 4.41844030e-03 -2.34253576e-02 4.71000330e+00] [-4.41544169e-03 9.99990236e-01 1.79729351e-04 5.47899988e-01] [ 2.34259230e-02 -7.62449754e-05 9.99725573e-01 1.61118523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0725578440001 meters Centerline goodness : 0.125320 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99704222e-01 -3.09064159e-03 -2.41229452e-02 4.72954543e+00] [ 3.10472193e-03 9.99995031e-01 5.46259285e-04 5.52959878e-01] [ 2.41211371e-02 -6.20992750e-04 9.99708850e-01 1.61285568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10255784400005 meters Centerline goodness : 0.177179 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99695757e-01 -3.21058795e-03 -2.44557883e-02 4.73058754e+00] [ 3.22173625e-03 9.99994723e-01 4.16467594e-04 5.53025415e-01] [ 2.44543222e-02 -4.95130986e-04 9.99700826e-01 1.61249346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1325578440001 meters Centerline goodness : 0.151697 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99690318e-01 -3.23566931e-03 -2.46738284e-02 4.73147368e+00] [ 3.24649539e-03 9.99994651e-01 3.98722296e-04 5.53012482e-01] [ 2.46724063e-02 -4.78702289e-04 9.99695475e-01 1.61193908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16255784400005 meters Centerline goodness : 0.127725 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99691167e-01 -3.18148751e-03 -2.46464717e-02 4.73172739e+00] [ 3.19497715e-03 9.99994767e-01 5.07966309e-04 5.53143354e-01] [ 2.46447267e-02 -5.86554346e-04 9.99696101e-01 1.61144243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1925578440001 meters Centerline goodness : 0.135427 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99715739e-01 3.97414246e-03 -2.35084365e-02 4.71190895e+00] [-3.98172954e-03 9.99992035e-01 -2.75938398e-04 5.46778281e-01] [ 2.35071526e-02 3.69464195e-04 9.99723600e-01 1.60956556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22255784400005 meters Centerline goodness : 0.160928 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731034e-01 -3.43510002e-03 -2.29359768e-02 4.73027858e+00] [ 3.45501868e-03 9.99993688e-01 8.28875020e-04 5.51582929e-01] [ 2.29329848e-02 -9.07896310e-04 9.99736592e-01 1.61184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2525578440001 meters Centerline goodness : 0.160928 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731034e-01 -3.43510002e-03 -2.29359768e-02 4.73027858e+00] [ 3.45501868e-03 9.99993688e-01 8.28875020e-04 5.51582929e-01] [ 2.29329848e-02 -9.07896310e-04 9.99736592e-01 1.61184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28255784400005 meters Centerline goodness : 0.132679 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731598e-01 -3.47308085e-03 -2.29056515e-02 4.73012465e+00] [ 3.49300187e-03 9.99993555e-01 8.29746372e-04 5.51355648e-01] [ 2.29026221e-02 -9.09533151e-04 9.99737287e-01 1.61197387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3125578440001 meters Centerline goodness : 0.118517 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99718690e-01 -3.62416949e-03 -2.34394157e-02 4.73222716e+00] [ 3.63936681e-03 9.99993194e-01 6.05740227e-04 5.52102372e-01] [ 2.34370608e-02 -6.90874458e-04 9.99725076e-01 1.61075792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34255784400005 meters Centerline goodness : 0.134429 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99700352e-01 3.79316151e-03 -2.41830244e-02 4.71399460e+00] [-3.81150234e-03 9.99992482e-01 -7.12369187e-04 5.47203730e-01] [ 2.41801405e-02 8.04329381e-04 9.99707294e-01 1.60818775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3725578440001 meters Centerline goodness : 0.129733 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99699548e-01 3.75353588e-03 -2.42224184e-02 4.71423765e+00] [-3.77341635e-03 9.99992580e-01 -7.75091291e-04 5.47502998e-01] [ 2.42193293e-02 8.66259683e-04 9.99706294e-01 1.60796438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40255784400006 meters Centerline goodness : 0.136206 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99705057e-01 3.77969508e-03 -2.39898633e-02 4.71339413e+00] [-3.79904045e-03 9.99992494e-01 -7.60872805e-04 5.47627695e-01] [ 2.39868074e-02 8.51786851e-04 9.99711912e-01 1.60837747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4325578440001 meters Centerline goodness : 0.193648 Centerline is valid? [False, False] Translation: X:4.71, Y:0.55, Z:1.61 [[ 9.99712244e-01 3.83290952e-03 -2.36799178e-02 4.71216445e+00] [-3.85092546e-03 9.99992329e-01 -7.15256227e-04 5.47661307e-01] [ 2.36769946e-02 8.06240005e-04 9.99719336e-01 1.60908412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46255784400006 meters Centerline goodness : 0.130232 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99735728e-01 -3.38998127e-03 -2.27372546e-02 4.73077082e+00] [ 3.40165215e-03 9.99994102e-01 4.74635467e-04 5.53029395e-01] [ 2.27355115e-02 -5.51854265e-04 9.99741363e-01 1.61066144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49255784400003 meters Centerline goodness : 0.165358 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99733763e-01 -3.44754271e-03 -2.28148392e-02 4.73129001e+00] [ 3.45537784e-03 9.99993984e-01 3.04009185e-04 5.53908482e-01] [ 2.28136539e-02 -3.82762137e-04 9.99739661e-01 1.61014420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52255784400006 meters Centerline goodness : 0.130785 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99731064e-01 -3.50567773e-03 -2.29240041e-02 4.73179101e+00] [ 3.50940333e-03 9.99993835e-01 1.22291419e-04 5.54878422e-01] [ 2.29234341e-02 -2.02708107e-04 9.99737203e-01 1.60974330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55255784400003 meters Centerline goodness : 0.129866 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99729522e-01 -3.55753432e-03 -2.29832043e-02 4.73213185e+00] [ 3.55677791e-03 9.99993672e-01 -7.37900440e-05 5.56005829e-01] [ 2.29833214e-02 -7.97606795e-06 9.99735849e-01 1.60940433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58255784400006 meters Centerline goodness : 0.211899 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99732641e-01 -3.51891910e-03 -2.28530736e-02 4.73194565e+00] [ 3.50882107e-03 9.99993728e-01 -4.81951476e-04 5.58919963e-01] [ 2.28546262e-02 4.01635276e-04 9.99738718e-01 1.60905687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61255784400004 meters Centerline goodness : 0.139556 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:1.61 [[ 9.99735426e-01 -3.58177520e-03 -2.27210999e-02 4.73168179e+00] [ 3.56363415e-03 9.99993298e-01 -8.38863321e-04 5.61111537e-01] [ 2.27239522e-02 7.57671692e-04 9.99741491e-01 1.60887395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64255784400007 meters Centerline goodness : 0.148298 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99755993e-01 5.04873155e-03 -2.15049917e-02 4.75192539e+00] [-5.10234768e-03 9.99984008e-01 -2.43905501e-03 5.61604040e-01] [ 2.14923337e-02 2.54818581e-03 9.99765766e-01 1.60985487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67255784400004 meters Centerline goodness : 0.151249 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99761487e-01 4.92480781e-03 -2.12770872e-02 4.75122950e+00] [-4.98543605e-03 9.99983660e-01 -2.79735771e-03 5.63421642e-01] [ 2.12629630e-02 2.90276606e-03 9.99769704e-01 1.61003018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70255784400007 meters Centerline goodness : 0.137355 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99766785e-01 4.80348586e-03 -2.10547442e-02 4.75045271e+00] [-4.86981375e-03 9.99983337e-01 -3.10011928e-03 5.64857136e-01] [ 2.10395020e-02 3.20192897e-03 9.99773518e-01 1.61030851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73255784400004 meters Centerline goodness : 0.139037 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99768564e-01 4.71100886e-03 -2.09910807e-02 4.75016951e+00] [-4.78148194e-03 9.99983096e-01 -3.30836254e-03 5.65853051e-01] [ 2.09751402e-02 3.40796534e-03 9.99774189e-01 1.61049109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76255784400007 meters Centerline goodness : 0.135255 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99768597e-01 4.63810923e-03 -2.10057394e-02 4.75019988e+00] [-4.71074425e-03 9.99983091e-01 -3.40970485e-03 5.66542172e-01] [ 2.09895696e-02 3.50786850e-03 9.99773541e-01 1.61046202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79255784400004 meters Centerline goodness : 0.148254 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99767683e-01 4.59457617e-03 -2.10587396e-02 4.75025524e+00] [-4.66671823e-03 9.99983406e-01 -3.37789201e-03 5.66185901e-01] [ 2.10428702e-02 3.47538247e-03 9.99772534e-01 1.61058744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8225578440001 meters Centerline goodness : 0.137710 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 9.99776699e-01 -3.30897490e-03 -2.08710790e-02 4.77071579e+00] [ 3.25256076e-03 9.99990967e-01 -2.73634829e-03 5.70626705e-01] [ 2.08799450e-02 2.66785281e-03 9.99778431e-01 1.61179678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85255784400005 meters Centerline goodness : 0.149504 Centerline is valid? [False, False] Translation: X:4.73, Y:0.57, Z:1.61 [[ 9.99685963e-01 -6.47164121e-03 -2.42093801e-02 4.72844324e+00] [ 6.37650273e-03 9.99971650e-01 -4.00495455e-03 5.66480837e-01] [ 2.42346124e-02 3.84932566e-03 9.99698888e-01 1.61077597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8825578440001 meters Centerline goodness : 0.140404 Centerline is valid? [False, False] Translation: X:4.73, Y:0.57, Z:1.61 [[ 9.99682058e-01 -6.41764194e-03 -2.43843569e-02 4.72902000e+00] [ 6.32548187e-03 9.99972564e-01 -3.85473067e-03 5.65879727e-01] [ 2.44084262e-02 3.69926228e-03 9.99695226e-01 1.61051607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91255784400005 meters Centerline goodness : 0.143951 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99713398e-01 1.75096684e-03 -2.38758303e-02 4.74830280e+00] [-1.87509429e-03 9.99984839e-01 -5.17747829e-03 5.62811328e-01] [ 2.38664027e-02 5.22076385e-03 9.99701525e-01 1.61188066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9425578440001 meters Centerline goodness : 0.142523 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99711570e-01 1.69088025e-03 -2.39565867e-02 4.74846061e+00] [-1.81687854e-03 9.99984628e-01 -5.23865292e-03 5.62892902e-01] [ 2.39473605e-02 5.28066814e-03 9.99699274e-01 1.61196066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97255784400005 meters Centerline goodness : 0.145394 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99711124e-01 1.63529552e-03 -2.39790439e-02 4.74843809e+00] [-1.76388274e-03 9.99984174e-01 -5.34231308e-03 5.63276614e-01] [ 2.39699281e-02 5.38306604e-03 9.99698187e-01 1.61206220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0025578440001 meters Centerline goodness : 0.119308 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99720621e-01 1.54453049e-03 -2.35858799e-02 4.74738834e+00] [-1.67977362e-03 9.99982256e-01 -5.71533650e-03 5.65529493e-01] [ 2.35766339e-02 5.75335870e-03 9.99705477e-01 1.61214842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03255784400005 meters Centerline goodness : 0.120300 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99726502e-01 1.49957601e-03 -2.33382187e-02 4.74671367e+00] [-1.63930152e-03 9.99980842e-01 -5.96900264e-03 5.67179423e-01] [ 2.33288206e-02 6.00562851e-03 9.99709807e-01 1.61222772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0625578440001 meters Centerline goodness : 0.145711 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99729807e-01 1.43132945e-03 -2.32005399e-02 4.74639460e+00] [-1.57707069e-03 9.99979133e-01 -6.26472469e-03 5.68903866e-01] [ 2.31910888e-02 6.29962090e-03 9.99711202e-01 1.61214450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09255784400005 meters Centerline goodness : 0.133626 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99728428e-01 1.31983457e-03 -2.32664543e-02 4.74663482e+00] [-1.47216944e-03 9.99977586e-01 -6.53149175e-03 5.70159212e-01] [ 2.32573123e-02 6.56397014e-03 9.99707963e-01 1.61198024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1225578440001 meters Centerline goodness : 0.144836 Centerline is valid? [False, False] Translation: X:4.75, Y:0.57, Z:1.61 [[ 9.99725142e-01 1.24822060e-03 -2.34111650e-02 4.74702231e+00] [-1.40436145e-03 9.99976874e-01 -6.65424883e-03 5.70588696e-01] [ 2.34023176e-02 6.68529759e-03 9.99703775e-01 1.61190409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15255784400006 meters Centerline goodness : 0.118691 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.9996816 -0.00675256 -0.02431243 4.76884206] [ 0.00661128 0.99996082 -0.00588698 0.57407804] [ 0.02435123 0.00572437 0.99968708 1.61336043] [ 0. 0. 0. 1. ]] SLAMing on 453.1825578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 453.21255784400006 meters Centerline goodness : 0.132265 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.99965562 -0.0073704 -0.02518583 4.77155915] [ 0.0072255 0.99995685 -0.00583938 0.57108918] [ 0.02522778 0.00565539 0.99966573 1.61277592] [ 0. 0. 0. 1. ]] SLAMing on 453.24255784400003 meters Centerline goodness : 0.125284 Centerline is valid? [False, False] Translation: X:4.77, Y:0.57, Z:1.61 [[ 0.99966238 -0.00785827 -0.02476635 4.76998882] [ 0.00772231 0.99995461 -0.00558064 0.56724735] [ 0.02480908 0.00538751 0.99967769 1.61375078] [ 0. 0. 0. 1. ]] SLAMing on 453.27255784400006 meters Centerline goodness : 0.126912 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99713570e-01 -3.65081326e-05 -2.39327471e-02 4.74942196e+00] [-9.80826293e-05 9.99984189e-01 -5.62250921e-03 5.59500580e-01] [ 2.39325739e-02 5.62324614e-03 9.99697760e-01 1.61257133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30255784400003 meters Centerline goodness : 0.123847 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99714796e-01 1.51867037e-04 -2.38810261e-02 4.74922033e+00] [-2.76755920e-04 9.99986304e-01 -5.22640990e-03 5.57898541e-01] [ 2.38799053e-02 5.23152852e-03 9.99701146e-01 1.61269333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33255784400006 meters Centerline goodness : 0.167741 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.61 [[ 9.99715821e-01 2.88676101e-04 -2.38368010e-02 4.74917885e+00] [-4.05503955e-04 9.99987930e-01 -4.89646670e-03 5.56180525e-01] [ 2.38350998e-02 4.90474114e-03 9.99703872e-01 1.61261483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36255784400004 meters Centerline goodness : 0.137590 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99711782e-01 3.14847194e-04 -2.40052976e-02 4.74944732e+00] [-4.18944685e-04 9.99990531e-01 -4.33153242e-03 5.51378927e-01] [ 2.40037066e-02 4.34034089e-03 9.99702447e-01 1.61290428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39255784400007 meters Centerline goodness : 0.118303 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99711249e-01 4.75130295e-04 -2.40248271e-02 4.74920747e+00] [-5.68118613e-04 9.99992374e-01 -3.86383202e-03 5.48827439e-01] [ 2.40228080e-02 3.87636529e-03 9.99703895e-01 1.61338341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42255784400004 meters Centerline goodness : 0.139771 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99712588e-01 6.91721856e-04 -2.39637807e-02 4.74889357e+00] [-7.71789110e-04 9.99994151e-01 -3.33209020e-03 5.46306438e-01] [ 2.39613356e-02 3.34962750e-03 9.99707274e-01 1.61363263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45255784400007 meters Centerline goodness : 0.142919 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99714937e-01 9.03648133e-04 -2.38585056e-02 4.74849257e+00] [-9.70714966e-04 9.99995610e-01 -2.79959215e-03 5.43703462e-01] [ 2.38558710e-02 2.82195390e-03 9.99711425e-01 1.61386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48255784400004 meters Centerline goodness : 0.144733 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99715686e-01 1.08603434e-03 -2.38194758e-02 4.74834209e+00] [-1.14019540e-03 9.99996795e-01 -2.26035027e-03 5.40863067e-01] [ 2.38169447e-02 2.28686648e-03 9.99713721e-01 1.61395866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51255784400007 meters Centerline goodness : 0.150018 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.61 [[ 9.99709920e-01 1.31789440e-03 -2.40486594e-02 4.74907193e+00] [-1.35152818e-03 9.99998131e-01 -1.38237208e-03 5.35798310e-01] [ 2.40467926e-02 1.41447353e-03 9.99709833e-01 1.61377571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54255784400004 meters Centerline goodness : 0.132142 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99640602e-01 5.41243708e-04 -2.68025158e-02 4.70460359e+00] [-5.66499554e-04 9.99999403e-01 -9.34709666e-04 5.30713936e-01] [ 2.68019939e-02 9.49557346e-04 9.99640311e-01 1.61408643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5725578440001 meters Centerline goodness : 0.144872 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99639706e-01 6.66717860e-04 -2.68330565e-02 4.70471766e+00] [-6.83567081e-04 9.99999575e-01 -6.18759899e-04 5.29231960e-01] [ 2.68326326e-02 6.36879158e-04 9.99639737e-01 1.61405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60255784400005 meters Centerline goodness : 0.152689 Centerline is valid? [False, False] Translation: X:4.70, Y:0.53, Z:1.61 [[ 9.99637688e-01 7.92762002e-04 -2.69047114e-02 4.70481755e+00] [-8.01187545e-04 9.99999633e-01 -3.02383993e-04 5.27669077e-01] [ 2.69044618e-02 3.23830155e-04 9.99637957e-01 1.61418630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6325578440001 meters Centerline goodness : 0.149717 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99632110e-01 9.05594978e-04 -2.71076438e-02 4.70544070e+00] [-9.07543305e-04 9.99999586e-01 -5.95708519e-05 5.26272925e-01] [ 2.71075787e-02 8.41502971e-05 9.99632519e-01 1.61406726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66255784400005 meters Centerline goodness : 0.167612 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99632764e-01 9.67508879e-04 -2.70813717e-02 4.70551578e+00] [-9.64545091e-04 9.99999527e-01 1.22502877e-04 5.25367600e-01] [ 2.70814774e-02 -9.63366857e-05 9.99633225e-01 1.61389776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6925578440001 meters Centerline goodness : 0.142364 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99636056e-01 9.68056509e-04 -2.69595530e-02 4.70522093e+00] [-9.66360303e-04 9.99999530e-01 7.59453058e-05 5.25700653e-01] [ 2.69596139e-02 -4.98650241e-05 9.99636522e-01 1.61389549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72255784400005 meters Centerline goodness : 0.174305 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99626304e-01 9.42403531e-04 -2.73196610e-02 4.70660636e+00] [-9.49908354e-04 9.99999515e-01 -2.61727422e-04 5.27735828e-01] [ 2.73194011e-02 2.87580789e-04 9.99626714e-01 1.61308531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7525578440001 meters Centerline goodness : 0.142440 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99611830e-01 9.25097544e-04 -2.78448038e-02 4.70840855e+00] [-9.39252423e-04 9.99999436e-01 -4.95274150e-04 5.28832630e-01] [ 2.78443299e-02 5.21235199e-04 9.99612136e-01 1.61242205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78255784400005 meters Centerline goodness : 0.143978 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99597252e-01 7.33403175e-04 -2.83689297e-02 4.71014918e+00] [-7.59621627e-04 9.99999294e-01 -9.13430047e-04 5.30451111e-01] [ 2.83682398e-02 9.34611817e-04 9.99597104e-01 1.61174852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8125578440001 meters Centerline goodness : 0.115636 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99590004e-01 5.96578615e-04 -2.86263572e-02 4.71101152e+00] [-6.31940711e-04 9.99999048e-01 -1.22626747e-03 5.31765658e-01] [ 2.86255984e-02 1.24385486e-03 9.99589430e-01 1.61136879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84255784400005 meters Centerline goodness : 0.144843 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589490e-01 5.39723377e-04 -2.86454330e-02 4.71113301e+00] [-5.80305714e-04 9.99998840e-01 -1.40841792e-03 5.32794100e-01] [ 2.86446396e-02 1.42446286e-03 9.99588643e-01 1.61120767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8725578440001 meters Centerline goodness : 0.178783 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99593426e-01 5.84531360e-04 -2.85068452e-02 4.71054585e+00] [-6.25083915e-04 9.99998805e-01 -1.41366432e-03 5.33309528e-01] [ 2.85059848e-02 1.43090873e-03 9.99592598e-01 1.61153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90255784400006 meters Centerline goodness : 0.171534 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99605708e-01 6.20617567e-04 -2.80721182e-02 4.70885439e+00] [-6.56179056e-04 9.99998994e-01 -1.25759611e-03 5.32677930e-01] [ 2.80713094e-02 1.27552059e-03 9.99605109e-01 1.61250715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9325578440001 meters Centerline goodness : 0.143599 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99609411e-01 5.83832064e-04 -2.79407505e-02 4.70817929e+00] [-6.17181726e-04 9.99999107e-01 -1.18497596e-03 5.31930192e-01] [ 2.79400337e-02 1.20175764e-03 9.99608879e-01 1.61307678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96255784400006 meters Centerline goodness : 0.139512 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99613382e-01 5.58200961e-04 -2.77988408e-02 4.70750146e+00] [-5.88905431e-04 9.99999226e-01 -1.09634860e-03 5.31141107e-01] [ 2.77982073e-02 1.11229562e-03 9.99612936e-01 1.61360830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99255784400003 meters Centerline goodness : 0.143003 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99614870e-01 5.78558897e-04 -2.77448476e-02 4.70719922e+00] [-6.07751826e-04 9.99999271e-01 -1.04377173e-03 5.30943039e-01] [ 2.77442235e-02 1.06023172e-03 9.99614493e-01 1.61382077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02255784400006 meters Centerline goodness : 0.120396 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99618049e-01 6.72102529e-04 -2.76279600e-02 4.70685798e+00] [-6.97395217e-04 9.99999347e-01 -9.05848898e-04 5.30755699e-01] [ 2.76273332e-02 9.24770515e-04 9.99617865e-01 1.61387844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05255784400003 meters Centerline goodness : 0.116736 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99618640e-01 7.23506161e-04 -2.76052721e-02 4.70671588e+00] [-7.45600604e-04 9.99999410e-01 -7.90085620e-04 5.30193361e-01] [ 2.76046841e-02 8.10366821e-04 9.99618590e-01 1.61399558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08255784400006 meters Centerline goodness : 0.144358 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99619117e-01 7.37340235e-04 -2.75876409e-02 4.70653569e+00] [-7.56186414e-04 9.99999488e-01 -6.72712034e-04 5.29302376e-01] [ 2.75871308e-02 6.93317208e-04 9.99619162e-01 1.61419828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11255784400004 meters Centerline goodness : 0.128956 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99616226e-01 7.48037675e-04 -2.76918805e-02 4.70663642e+00] [-7.63305117e-04 9.99999562e-01 -5.40766198e-04 5.28350155e-01] [ 2.76914638e-02 5.61696020e-04 9.99616360e-01 1.61444262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14255784400007 meters Centerline goodness : 0.144961 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99615831e-01 8.04984968e-04 -2.77045634e-02 4.70664254e+00] [-8.15866127e-04 9.99999594e-01 -3.81455370e-04 5.27529782e-01] [ 2.77042451e-02 4.03912041e-04 9.99616082e-01 1.61447713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17255784400004 meters Centerline goodness : 0.144961 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99615831e-01 8.04984968e-04 -2.77045634e-02 4.70664254e+00] [-8.15866127e-04 9.99999594e-01 -3.81455370e-04 5.27529782e-01] [ 2.77042451e-02 4.03912041e-04 9.99616082e-01 1.61447713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20255784400007 meters Centerline goodness : 0.155921 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99613893e-01 9.02294914e-04 -2.77713942e-02 4.70665858e+00] [-9.07702050e-04 9.99999571e-01 -1.82095745e-04 5.26635376e-01] [ 2.77712180e-02 2.07233588e-04 9.99614284e-01 1.61471380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23255784400004 meters Centerline goodness : 0.139814 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99610231e-01 1.07720045e-03 -2.78966830e-02 4.70668831e+00] [-1.06890489e-03 9.99999380e-01 3.12277951e-04 5.24024699e-01] [ 2.78970021e-02 -2.82337334e-04 9.99610763e-01 1.61518860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26255784400007 meters Centerline goodness : 0.158869 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99609186e-01 1.09428985e-03 -2.79334351e-02 4.70675314e+00] [-1.08271639e-03 9.99999322e-01 4.29444358e-04 5.23121475e-01] [ 2.79338861e-02 -3.99032538e-04 9.99609693e-01 1.61524702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29255784400004 meters Centerline goodness : 0.122098 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99607464e-01 1.06884909e-03 -2.79960003e-02 4.70683686e+00] [-1.05917748e-03 9.99999374e-01 3.60291217e-04 5.23274075e-01] [ 2.79963679e-02 -3.30497056e-04 9.99607970e-01 1.61543393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3225578440001 meters Centerline goodness : 0.134465 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99606393e-01 1.11637131e-03 -2.80323381e-02 4.70694741e+00] [-1.10856332e-03 9.99999342e-01 2.94074286e-04 5.23874810e-01] [ 2.80326479e-02 -2.62882915e-04 9.99606974e-01 1.61551153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35255784400005 meters Centerline goodness : 0.140325 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.62 [[ 9.99610029e-01 1.51579563e-03 -2.78835507e-02 4.70683026e+00] [-1.50720384e-03 9.99998810e-01 3.29145746e-04 5.25181888e-01] [ 2.78840164e-02 -2.86991194e-04 9.99611124e-01 1.61507162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3825578440001 meters Centerline goodness : 0.124690 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99602374e-01 1.48829007e-03 -2.81581125e-02 4.70783663e+00] [-1.48760946e-03 9.99998892e-01 4.51191998e-05 5.26744758e-01] [ 2.81581485e-02 -3.21298463e-06 9.99603481e-01 1.61451897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41255784400005 meters Centerline goodness : 0.144100 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99595517e-01 1.38168111e-03 -2.84058579e-02 4.70886203e+00] [-1.39102952e-03 9.99998985e-01 -3.09343392e-04 5.28376229e-01] [ 2.84054017e-02 3.48731655e-04 9.99596424e-01 1.61383937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4425578440001 meters Centerline goodness : 0.138170 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589898e-01 1.32354682e-03 -2.86056630e-02 4.70974449e+00] [-1.33952769e-03 9.99998957e-01 -5.39505134e-04 5.29506898e-01] [ 2.86049191e-02 5.77601959e-04 9.99590629e-01 1.61316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47255784400005 meters Centerline goodness : 0.116883 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99589423e-01 1.29311106e-03 -2.86236438e-02 4.70991166e+00] [-1.31287372e-03 9.99998913e-01 -6.71648554e-04 5.30222395e-01] [ 2.86227442e-02 7.08952021e-04 9.99590034e-01 1.61294468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5025578440001 meters Centerline goodness : 0.113786 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99597364e-01 1.30561381e-03 -2.83444089e-02 4.70906453e+00] [-1.32653114e-03 9.99998862e-01 -7.19179344e-04 5.30687299e-01] [ 2.83434376e-02 7.56489517e-04 9.99597958e-01 1.61315632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53255784400005 meters Centerline goodness : 0.137793 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99595721e-01 1.22089908e-03 -2.84060642e-02 4.70923291e+00] [-1.24509313e-03 9.99998877e-01 -8.34049133e-04 5.30949014e-01] [ 2.84050140e-02 8.69080139e-04 9.99596118e-01 1.61312140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5625578440001 meters Centerline goodness : 0.134913 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99591108e-01 1.16136989e-03 -2.85703982e-02 4.70976652e+00] [-1.18886727e-03 9.99998846e-01 -9.45475159e-04 5.31391276e-01] [ 2.85692672e-02 9.79054973e-04 9.99591336e-01 1.61288183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59255784400005 meters Centerline goodness : 0.126380 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99588957e-01 1.12631302e-03 -2.86469775e-02 4.71008704e+00] [-1.15666716e-03 9.99998787e-01 -1.04304409e-03 5.31949614e-01] [ 2.86457680e-02 1.07575037e-03 9.99589047e-01 1.61265286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6225578440001 meters Centerline goodness : 0.166659 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99593784e-01 1.06708706e-03 -2.84803178e-02 4.70944444e+00] [-1.10408755e-03 9.99998567e-01 -1.28346596e-03 5.33388539e-01] [ 2.84789074e-02 1.31438936e-03 9.99593529e-01 1.61299226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65255784400006 meters Centerline goodness : 0.225279 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99594629e-01 9.42296966e-04 -2.84550548e-02 4.70923950e+00] [-9.86026660e-04 9.99998354e-01 -1.52280634e-03 5.34260849e-01] [ 2.84535731e-02 1.55024648e-03 9.99593913e-01 1.61322555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6825578440001 meters Centerline goodness : 0.136509 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99596557e-01 8.76564047e-04 -2.83893506e-02 4.70901405e+00] [-9.24343042e-04 9.99998178e-01 -1.66991041e-03 5.34859677e-01] [ 2.83878351e-02 1.69547819e-03 9.99595546e-01 1.61327603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71255784400006 meters Centerline goodness : 0.122802 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99602726e-01 9.53713403e-04 -2.81687859e-02 4.70844761e+00] [-9.99412268e-04 9.99998207e-01 -1.60828847e-03 5.35076029e-01] [ 2.81672016e-02 1.63580177e-03 9.99601887e-01 1.61326052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters Centerline goodness : 0.130843 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99606751e-01 1.05089896e-03 -2.80221076e-02 4.70798216e+00] [-1.08976835e-03 9.99998465e-01 -1.37186159e-03 5.34034545e-01] [ 2.80206229e-02 1.40185972e-03 9.99606362e-01 1.61339521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77255784400006 meters Centerline goodness : 0.126684 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99604808e-01 1.16637611e-03 -2.80867846e-02 4.70819769e+00] [-1.19431868e-03 9.99998808e-01 -9.78110404e-04 5.31903806e-01] [ 2.80856103e-02 1.01126843e-03 9.99605010e-01 1.61336269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters Centerline goodness : 0.135542 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99598911e-01 1.23913108e-03 -2.82927720e-02 4.70869531e+00] [-1.25476236e-03 9.99999070e-01 -5.34735982e-04 5.29240776e-01] [ 2.82920831e-02 5.70022211e-04 9.99599536e-01 1.61342749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83255784400006 meters Centerline goodness : 0.123858 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.61 [[ 9.99605218e-01 1.59877152e-03 -2.80508698e-02 4.70780388e+00] [-1.58295449e-03 9.99998575e-01 5.86066197e-04 5.23090066e-01] [ 2.80517668e-02 -5.41431579e-04 9.99606325e-01 1.61404424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86255784400004 meters Centerline goodness : 0.140225 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.61 [[ 9.99608307e-01 1.77523958e-03 -2.79299338e-02 4.70719548e+00] [-1.74820370e-03 9.99997979e-01 9.92378293e-04 5.21156953e-01] [ 2.79316390e-02 -9.43162372e-04 9.99609391e-01 1.61460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89255784400007 meters Centerline goodness : 0.154102 Centerline is valid? [False, False] Translation: X:4.71, Y:0.52, Z:1.62 [[ 9.99605643e-01 1.85713787e-03 -2.80198169e-02 4.70723420e+00] [-1.82882201e-03 9.99997791e-01 1.03615836e-03 5.20960022e-01] [ 2.80216793e-02 -9.84506489e-04 9.99606831e-01 1.61504468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92255784400004 meters Centerline goodness : 0.137460 Centerline is valid? [False, False] Translation: X:4.73, Y:0.52, Z:1.62 [[ 9.99559178e-01 1.08449405e-02 -2.76376106e-02 4.72797159e+00] [-1.08554288e-02 9.99941052e-01 -2.29480527e-04 5.18649951e-01] [ 2.76334927e-02 5.29397481e-04 9.99617982e-01 1.61634517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95255784400007 meters Centerline goodness : 0.133885 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99617733e-01 3.55781142e-03 -2.74176885e-02 4.71265600e+00] [-3.54091000e-03 9.99993510e-01 6.64968308e-04 5.27729830e-01] [ 2.74198764e-02 -5.67630545e-04 9.99623843e-01 1.61396448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98255784400004 meters Centerline goodness : 0.133455 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99610384e-01 3.80336402e-03 -2.76516640e-02 4.71358301e+00] [-3.79158217e-03 9.99992697e-01 4.78500745e-04 5.29838464e-01] [ 2.76532819e-02 -3.73470758e-04 9.99617505e-01 1.61327914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01255784400007 meters Centerline goodness : 0.094292 Centerline is valid? [False, False] Translation: X:4.71, Y:0.53, Z:1.61 [[ 9.99619790e-01 4.58791869e-03 -2.71887297e-02 4.71260522e+00] [-4.57855192e-03 9.99989436e-01 4.06753698e-04 5.33614355e-01] [ 2.71903086e-02 -2.82114036e-04 9.99630235e-01 1.61273818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04255784400004 meters Centerline goodness : 0.149438 Centerline is valid? [False, False] Translation: X:4.71, Y:0.54, Z:1.61 [[ 9.99632481e-01 4.51334225e-03 -2.67307274e-02 4.71145281e+00] [-4.51711748e-03 9.99989795e-01 -8.08494990e-05 5.36258916e-01] [ 2.67300897e-02 2.01565621e-04 9.99642667e-01 1.61268338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0725578440001 meters Centerline goodness : 0.133014 Centerline is valid? [False, False] Translation: X:4.73, Y:0.54, Z:1.62 [[ 9.99625158e-01 -2.05802660e-03 -2.73003165e-02 4.72882377e+00] [ 2.07332980e-03 9.99997709e-01 5.32255469e-04 5.44833857e-01] [ 2.72991585e-02 -5.88658517e-04 9.99627135e-01 1.61503323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10255784400005 meters Centerline goodness : 0.122542 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99617591e-01 -2.36183367e-03 -2.75516650e-02 4.72994148e+00] [ 2.35890482e-03 9.99997208e-01 -1.38805685e-04 5.48020204e-01] [ 2.75519159e-02 7.37608488e-05 9.99620371e-01 1.61411509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1325578440001 meters Centerline goodness : 0.131003 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99607717e-01 -2.48620137e-03 -2.78968024e-02 4.73118189e+00] [ 2.47950398e-03 9.99996888e-01 -2.74666982e-04 5.48479142e-01] [ 2.78973985e-02 2.05389002e-04 9.99610771e-01 1.61350015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16255784400005 meters Centerline goodness : 0.130794 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99598732e-01 -2.63548539e-03 -2.82033605e-02 4.73211531e+00] [ 2.62655871e-03 9.99996488e-01 -3.53552875e-04 5.48412258e-01] [ 2.82041932e-02 2.79333224e-04 9.99602144e-01 1.61325264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1925578440001 meters Centerline goodness : 0.135444 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99595458e-01 -3.29932668e-03 -2.82495158e-02 4.73200525e+00] [ 3.27751128e-03 9.99994294e-01 -8.18508169e-04 5.48883399e-01] [ 2.82520551e-02 7.25588941e-04 9.99600568e-01 1.61371393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22255784400005 meters Centerline goodness : 0.136300 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99594782e-01 -3.33549561e-03 -2.82691924e-02 4.73196881e+00] [ 3.31216336e-03 9.99994134e-01 -8.72144995e-04 5.49296603e-01] [ 2.82719356e-02 7.78159402e-04 9.99599966e-01 1.61382597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2525578440001 meters Centerline goodness : 0.135941 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99595431e-01 -3.37101306e-03 -2.82419848e-02 4.73187286e+00] [ 3.34546216e-03 9.99993951e-01 -9.51915359e-04 5.49950917e-01] [ 2.82450229e-02 8.57047753e-04 9.99600662e-01 1.61384734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28255784400005 meters Centerline goodness : 0.129789 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99590497e-01 -3.41071884e-03 -2.84113443e-02 4.73232287e+00] [ 3.38351826e-03 9.99993770e-01 -1.00540463e-03 5.50243565e-01] [ 2.84145965e-02 9.08862616e-04 9.99595811e-01 1.61376419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3125578440001 meters Centerline goodness : 0.139820 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99582417e-01 -3.48196452e-03 -2.86856719e-02 4.73312921e+00] [ 3.45305606e-03 9.99993479e-01 -1.05724184e-03 5.50273673e-01] [ 2.86891661e-02 9.57747117e-04 9.99587922e-01 1.61355825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34255784400005 meters Centerline goodness : 0.135342 Centerline is valid? [False, False] Translation: X:4.73, Y:0.55, Z:1.61 [[ 9.99578025e-01 -3.46944900e-03 -2.88398158e-02 4.73347744e+00] [ 3.44590854e-03 9.99993688e-01 -8.65908810e-04 5.49187923e-01] [ 2.88426379e-02 7.66164050e-04 9.99583671e-01 1.61363468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3725578440001 meters Centerline goodness : 0.153544 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.61 [[ 9.99598634e-01 4.78169408e-03 -2.79232360e-02 4.75313974e+00] [-4.84754547e-03 9.99985626e-01 -2.29108409e-03 5.45465909e-01] [ 2.79118794e-02 2.42552369e-03 9.99607445e-01 1.61492724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40255784400006 meters Centerline goodness : 0.128619 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99595271e-01 4.81584135e-03 -2.80375114e-02 4.75321812e+00] [-4.87830383e-03 9.99985769e-01 -2.15984310e-03 5.44416780e-01] [ 2.80267109e-02 2.29574445e-03 9.99604538e-01 1.61530215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4325578440001 meters Centerline goodness : 0.137011 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99592762e-01 4.78715244e-03 -2.81317125e-02 4.75317958e+00] [-4.84785200e-03 9.99986065e-01 -2.08988490e-03 5.43559048e-01] [ 2.81213159e-02 2.22541219e-03 9.99602040e-01 1.61574167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46255784400006 meters Centerline goodness : 0.138428 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99592666e-01 4.79420000e-03 -2.81339075e-02 4.75286379e+00] [-4.85303073e-03 9.99986177e-01 -2.02318826e-03 5.42966984e-01] [ 2.81238191e-02 2.15889886e-03 9.99602116e-01 1.61622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49255784400003 meters Centerline goodness : 0.136823 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99596465e-01 4.82409369e-03 -2.79934697e-02 4.75241987e+00] [-4.88207714e-03 9.99986076e-01 -2.00334379e-03 5.42996779e-01] [ 2.79834156e-02 2.13920165e-03 9.99606099e-01 1.61636409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52255784400006 meters Centerline goodness : 0.134195 Centerline is valid? [False, False] Translation: X:4.75, Y:0.54, Z:1.62 [[ 9.99623024e-01 5.41743825e-03 -2.69158278e-02 4.74930934e+00] [-5.46876886e-03 9.99983365e-01 -1.83383291e-03 5.44984882e-01] [ 2.69054454e-02 1.98033804e-03 9.99636021e-01 1.61695397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55255784400003 meters Centerline goodness : 0.136028 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99634774e-01 5.53073732e-03 -2.64524070e-02 4.74802562e+00] [-5.58711227e-03 9.99982275e-01 -2.05774962e-03 5.46848495e-01] [ 2.64405572e-02 2.20479064e-03 9.99647956e-01 1.61709626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58255784400006 meters Centerline goodness : 0.139839 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99630592e-01 5.94666939e-03 -2.65201170e-02 4.74813099e+00] [-6.01457337e-03 9.99978833e-01 -2.48143794e-03 5.50929070e-01] [ 2.65047994e-02 2.64002846e-03 9.99645200e-01 1.61692874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61255784400004 meters Centerline goodness : 0.132550 Centerline is valid? [False, False] Translation: X:4.75, Y:0.55, Z:1.62 [[ 9.99626338e-01 6.01171458e-03 -2.66653940e-02 4.74850922e+00] [-6.09068840e-03 9.99977300e-01 -2.88142832e-03 5.53737040e-01] [ 2.66474664e-02 3.04276225e-03 9.99640262e-01 1.61672667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64255784400007 meters Centerline goodness : 0.134644 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.62 [[ 9.99632062e-01 6.00188899e-03 -2.64521938e-02 4.74806969e+00] [-6.09091613e-03 9.99976050e-01 -3.28629830e-03 5.56332452e-01] [ 2.64318363e-02 3.44620724e-03 9.99644678e-01 1.61650212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67255784400004 meters Centerline goodness : 0.137735 Centerline is valid? [False, False] Translation: X:4.75, Y:0.56, Z:1.62 [[ 9.99642267e-01 5.94766443e-03 -2.60761123e-02 4.74701561e+00] [-6.04420386e-03 9.99975163e-01 -3.62496289e-03 5.58361317e-01] [ 2.60539046e-02 3.78127546e-03 9.99653388e-01 1.61660517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70255784400007 meters Centerline goodness : 0.136472 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99702640e-01 -7.39520247e-04 -2.43738353e-02 4.76240587e+00] [ 6.85872385e-04 9.99997324e-01 -2.20932954e-03 5.68293223e-01] [ 2.43754039e-02 2.19195523e-03 9.99700473e-01 1.61965514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73255784400004 meters Centerline goodness : 0.159825 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99707256e-01 -8.43743670e-04 -2.41803818e-02 4.76175336e+00] [ 7.82538670e-04 9.99996467e-01 -2.54053485e-03 5.70139111e-01] [ 2.41824399e-02 2.52086904e-03 9.99704384e-01 1.61989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76255784400007 meters Centerline goodness : 0.175167 Centerline is valid? [False, False] Translation: X:4.76, Y:0.57, Z:1.62 [[ 9.99705811e-01 -1.04779342e-03 -2.42320731e-02 4.76206255e+00] [ 9.74195046e-04 9.99994878e-01 -3.04883539e-03 5.72565165e-01] [ 2.42351435e-02 3.02433169e-03 9.99701711e-01 1.61954872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79255784400004 meters Centerline goodness : 0.118140 Centerline is valid? [False, False] Translation: X:4.76, Y:0.58, Z:1.62 [[ 9.99700988e-01 -1.27526072e-03 -2.44194071e-02 4.76275379e+00] [ 1.18677881e-03 9.99992680e-01 -3.63757526e-03 5.75358033e-01] [ 2.44238672e-02 3.60750714e-03 9.99695184e-01 1.61910799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8225578440001 meters Centerline goodness : 0.147565 Centerline is valid? [False, False] Translation: X:4.77, Y:0.58, Z:1.62 [[ 9.99667470e-01 8.82159464e-04 -2.57715264e-02 4.76811323e+00] [-9.43831791e-04 9.99996720e-01 -2.38097529e-03 5.82972111e-01] [ 2.57693415e-02 2.40450753e-03 9.99665024e-01 1.61654508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85255784400005 meters Centerline goodness : 0.110689 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99665741e-01 6.73281964e-04 -2.58447734e-02 4.76876827e+00] [-7.52191319e-04 9.99995085e-01 -3.04360329e-03 5.86701960e-01] [ 2.58425971e-02 3.06202615e-03 9.99661335e-01 1.61569268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8825578440001 meters Centerline goodness : 0.138148 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666277e-01 4.39432304e-04 -2.58291008e-02 4.76901450e+00] [-5.34864193e-04 9.99993056e-01 -3.68795046e-03 5.90068635e-01] [ 2.58273008e-02 3.70053476e-03 9.99659570e-01 1.61514755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91255784400005 meters Centerline goodness : 0.150227 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666999e-01 2.09938525e-04 -2.58040025e-02 4.76885862e+00] [-3.19322662e-04 9.99990981e-01 -4.23499013e-03 5.92749107e-01] [ 2.58028807e-02 4.24181968e-03 9.99658051e-01 1.61522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9425578440001 meters Centerline goodness : 0.135070 Centerline is valid? [False, False] Translation: X:4.77, Y:0.60, Z:1.62 [[ 9.99679847e-01 -3.94164406e-04 -2.52991781e-02 4.76665088e+00] [ 2.69449658e-04 9.99987797e-01 -4.93281648e-03 5.95059641e-01] [ 2.53008138e-02 4.92442037e-03 9.99667754e-01 1.61669098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97255784400005 meters Centerline goodness : 0.142086 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99684495e-01 -5.21972387e-04 -2.51125066e-02 4.76585494e+00] [ 3.97516284e-04 9.99987617e-01 -4.96067794e-03 5.94921875e-01] [ 2.51147850e-02 4.94913019e-03 9.99672323e-01 1.61722197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0025578440001 meters Centerline goodness : 0.133982 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99683146e-01 -5.84647051e-04 -2.51647643e-02 4.76586852e+00] [ 4.62147535e-04 9.99988018e-01 -4.87343904e-03 5.94355449e-01] [ 2.51673120e-02 4.86026504e-03 9.99671438e-01 1.61740046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03255784400005 meters Centerline goodness : 0.141281 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99679478e-01 -6.44780567e-04 -2.53085944e-02 4.76636113e+00] [ 5.24400407e-04 9.99988520e-01 -4.76284215e-03 5.93586805e-01] [ 2.53113748e-02 4.74804372e-03 9.99668340e-01 1.61723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0625578440001 meters Centerline goodness : 0.141281 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99679478e-01 -6.44780567e-04 -2.53085944e-02 4.76636113e+00] [ 5.24400407e-04 9.99988520e-01 -4.76284215e-03 5.93586805e-01] [ 2.53113748e-02 4.74804372e-03 9.99668340e-01 1.61723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09255784400005 meters Centerline goodness : 0.119486 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99671105e-01 -9.64615002e-04 -2.56271669e-02 4.76727271e+00] [ 8.44932201e-04 9.99988689e-01 -4.68057142e-03 5.91946995e-01] [ 2.56313920e-02 4.65737879e-03 9.99660613e-01 1.61718131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1225578440001 meters Centerline goodness : 0.123544 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99667422e-01 -9.58464160e-04 -2.57706612e-02 4.76746678e+00] [ 8.42281573e-04 9.99989435e-01 -4.51880474e-03 5.90834385e-01] [ 2.57747201e-02 4.49559573e-03 9.99657668e-01 1.61747430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15255784400006 meters Centerline goodness : 0.114385 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99662840e-01 -8.87518307e-04 -2.59503090e-02 4.76761424e+00] [ 7.76400932e-04 9.99990489e-01 -4.29169091e-03 5.89607564e-01] [ 2.59538711e-02 4.27009608e-03 9.99654022e-01 1.61795572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1825578440001 meters Centerline goodness : 0.119308 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99658778e-01 -7.96762680e-04 -2.61092473e-02 4.76777700e+00] [ 6.91287772e-04 9.99991566e-01 -4.04852999e-03 5.88467074e-01] [ 2.61122528e-02 4.02909954e-03 9.99650897e-01 1.61834939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21255784400006 meters Centerline goodness : 0.167744 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99656497e-01 -6.59717773e-04 -2.62002458e-02 4.76791650e+00] [ 5.62261939e-04 9.99992897e-01 -3.72684623e-03 5.86756255e-01] [ 2.62025183e-02 3.71083464e-03 9.99649768e-01 1.61851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters Centerline goodness : 0.120103 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99661557e-01 -6.09080975e-04 -2.60076833e-02 4.76724970e+00] [ 5.13657999e-04 9.99993113e-01 -3.67555327e-03 5.86396153e-01] [ 2.60097429e-02 3.66095025e-03 9.99654986e-01 1.61880581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27255784400006 meters Centerline goodness : 0.130468 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666750e-01 -4.87054059e-04 -2.58099092e-02 4.76660164e+00] [ 3.95140057e-04 9.99993563e-01 -3.56617089e-03 5.86081851e-01] [ 2.58114800e-02 3.55478394e-03 9.99660508e-01 1.61902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters Centerline goodness : 0.140737 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99668943e-01 -4.06887744e-04 -2.57262446e-02 4.76637099e+00] [ 3.15748348e-04 9.99993661e-01 -3.54662522e-03 5.86248836e-01] [ 2.57275245e-02 3.53732807e-03 9.99662734e-01 1.61902731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33255784400006 meters Centerline goodness : 0.123023 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655850e-01 2.55674249e-04 -2.62319758e-02 4.76800498e+00] [-3.39639668e-04 9.99994834e-01 -3.19647492e-03 5.86417677e-01] [ 2.62310230e-02 3.20428427e-03 9.99650772e-01 1.61825248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36255784400004 meters Centerline goodness : 0.140774 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655637e-01 2.73832183e-04 -2.62398995e-02 4.76824144e+00] [-3.60944153e-04 9.99994440e-01 -3.31514976e-03 5.87101986e-01] [ 2.62388458e-02 3.32347929e-03 9.99650178e-01 1.61785907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39255784400007 meters Centerline goodness : 0.127062 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99659288e-01 3.22567612e-04 -2.60998915e-02 4.76781711e+00] [-4.11829158e-04 9.99994085e-01 -3.41469385e-03 5.87853690e-01] [ 2.60986356e-02 3.42427912e-03 9.99653508e-01 1.61790526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42255784400004 meters Centerline goodness : 0.134670 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99663749e-01 3.73127126e-04 -2.59277950e-02 4.76732137e+00] [-4.64683813e-04 9.99993678e-01 -3.52528220e-03 5.88825192e-01] [ 2.59263157e-02 3.53614505e-03 9.99657602e-01 1.61793567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45255784400007 meters Centerline goodness : 0.134258 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99658587e-01 5.22434210e-04 -2.61235030e-02 4.76803561e+00] [-6.21290725e-04 9.99992677e-01 -3.77622495e-03 5.91092433e-01] [ 2.61213389e-02 3.79116598e-03 9.99651591e-01 1.61736233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48255784400004 meters Centerline goodness : 0.115342 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99653854e-01 4.35121306e-04 -2.63055676e-02 4.76880217e+00] [-5.41399930e-04 9.99991720e-01 -4.03316991e-03 5.92382550e-01] [ 2.63035949e-02 4.04601568e-03 9.99645813e-01 1.61680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51255784400007 meters Centerline goodness : 0.157611 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99655054e-01 3.56387662e-04 -2.62611157e-02 4.76885984e+00] [-4.67218548e-04 9.99991011e-01 -4.21432686e-03 5.93278000e-01] [ 2.62593777e-02 4.22514283e-03 9.99646234e-01 1.61650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54255784400004 meters Centerline goodness : 0.116583 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99666475e-01 3.25606447e-04 -2.58231061e-02 4.76710827e+00] [-4.34594289e-04 9.99991022e-01 -4.21505516e-03 5.93666533e-01] [ 2.58215018e-02 4.22487191e-03 9.99657642e-01 1.61750858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5725578440001 meters Centerline goodness : 0.131827 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99672529e-01 3.46709024e-04 -2.55873729e-02 4.76599133e+00] [-4.49336308e-04 9.99991878e-01 -4.00521601e-03 5.92665306e-01] [ 2.55857764e-02 4.01540175e-03 9.99664566e-01 1.61835440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60255784400005 meters Centerline goodness : 0.188521 Centerline is valid? [False, False] Translation: X:4.77, Y:0.59, Z:1.62 [[ 9.99674330e-01 1.93244403e-04 -2.55185601e-02 4.76563974e+00] [-2.92626949e-04 9.99992388e-01 -3.89084323e-03 5.91418268e-01] [ 2.55176140e-02 3.89704352e-03 9.99666777e-01 1.61874350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6325578440001 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 9.99648134e-01 -8.21764611e-03 -2.52206158e-02 4.78695349e+00] [ 8.13393986e-03 9.99961071e-01 -3.41975848e-03 5.94751163e-01] [ 2.52477364e-02 3.21341221e-03 9.99676060e-01 1.61956877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66255784400005 meters Centerline goodness : 0.133664 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99960908 -0.01202905 -0.0252385 4.78730077] [ 0.01186338 0.99990716 -0.0067037 0.59240892] [ 0.02531679 0.00640167 0.99965898 1.61931804] [ 0. 0. 0. 1. ]] SLAMing on 456.6925578440001 meters Centerline goodness : 0.135611 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99960261 -0.0120226 -0.02549665 4.78769298] [ 0.01186399 0.99990938 -0.00636274 0.59054175] [ 0.02557084 0.00605772 0.99965466 1.61975579] [ 0. 0. 0. 1. ]] SLAMing on 456.72255784400005 meters Centerline goodness : 0.138010 Centerline is valid? [False, False] Translation: X:4.79, Y:0.59, Z:1.62 [[ 0.99959857 -0.0119901 -0.02566972 4.78788962] [ 0.01183839 0.9999116 -0.00605412 0.5889343 ] [ 0.02574004 0.0057478 0.99965215 1.62014837] [ 0. 0. 0. 1. ]] SLAMing on 456.7525578440001 meters Centerline goodness : 0.116901 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99677870e-01 -4.10284546e-03 -2.50464105e-02 4.80593199e+00] [ 3.91734309e-03 9.99964568e-01 -7.45092381e-03 5.84444549e-01] [ 2.50760930e-02 7.35040826e-03 9.99658522e-01 1.62231746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78255784400005 meters Centerline goodness : 0.174966 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99685557e-01 -4.31712647e-03 -2.47012220e-02 4.80482903e+00] [ 4.13672126e-03 9.99964432e-01 -7.34993689e-03 5.83062752e-01] [ 2.47320740e-02 7.24544368e-03 9.99667859e-01 1.62281727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8125578440001 meters Centerline goodness : 0.117592 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99683196e-01 -4.32428386e-03 -2.47953063e-02 4.80519587e+00] [ 4.14467231e-03 9.99964834e-01 -7.29059497e-03 5.82650320e-01] [ 2.48259609e-02 7.18551687e-03 9.99665964e-01 1.62258112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84255784400005 meters Centerline goodness : 0.118773 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99681899e-01 -4.31269661e-03 -2.48495926e-02 4.80543759e+00] [ 4.13377031e-03 9.99965194e-01 -7.24724764e-03 5.82528631e-01] [ 2.48799829e-02 7.14221977e-03 9.99664931e-01 1.62236402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8725578440001 meters Centerline goodness : 0.141221 Centerline is valid? [False, False] Translation: X:4.81, Y:0.58, Z:1.62 [[ 9.99683379e-01 -4.30144673e-03 -2.47919167e-02 4.80514314e+00] [ 4.12293496e-03 9.99965240e-01 -7.24702581e-03 5.82761538e-01] [ 2.48222276e-02 7.14251580e-03 9.99666365e-01 1.62254623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90255784400006 meters Centerline goodness : 0.144352 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99694062e-01 -4.43452702e-03 -2.43334464e-02 4.80327926e+00] [ 4.25719777e-03 9.99964040e-01 -7.33444072e-03 5.83048300e-01] [ 2.43650961e-02 7.22860455e-03 9.99676993e-01 1.62366082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9325578440001 meters Centerline goodness : 0.132745 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693757e-01 -4.50570512e-03 -2.43329306e-02 4.80300110e+00] [ 4.32776834e-03 9.99963547e-01 -7.36030899e-03 5.82937171e-01] [ 2.43652070e-02 7.25274765e-03 9.99676815e-01 1.62407514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96255784400006 meters Centerline goodness : 0.118176 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693861e-01 -4.57367031e-03 -2.43159740e-02 4.80284281e+00] [ 4.39616447e-03 9.99963337e-01 -7.34842029e-03 5.82697938e-01] [ 2.43486917e-02 7.23927363e-03 9.99677315e-01 1.62410415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99255784400003 meters Centerline goodness : 0.131719 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99696684e-01 -4.60601440e-03 -2.41934636e-02 4.80257422e+00] [ 4.43214987e-03 9.99964004e-01 -7.23513890e-03 5.82175147e-01] [ 2.42259179e-02 7.12571531e-03 9.99681114e-01 1.62387528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02255784400006 meters Centerline goodness : 0.114063 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99700716e-01 -4.61670467e-03 -2.40242373e-02 4.80196632e+00] [ 4.44717250e-03 9.99964868e-01 -7.10536331e-03 5.81730472e-01] [ 2.40561966e-02 6.99639686e-03 9.99686126e-01 1.62397894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05255784400003 meters Centerline goodness : 0.106150 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706841e-01 -4.87342028e-03 -2.37167039e-02 4.80120135e+00] [ 4.70907285e-03 9.99964548e-01 -6.98053024e-03 5.80950983e-01] [ 2.37498821e-02 6.86680015e-03 9.99694348e-01 1.62361317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08255784400006 meters Centerline goodness : 0.172323 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706306e-01 -4.89693922e-03 -2.37344047e-02 4.80150865e+00] [ 4.73312689e-03 9.99964625e-01 -6.95316304e-03 5.80832778e-01] [ 2.37676143e-02 6.83878299e-03 9.99694119e-01 1.62313381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11255784400004 meters Centerline goodness : 0.146513 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99706916e-01 -4.90976252e-03 -2.37060224e-02 4.80172374e+00] [ 4.74714297e-03 9.99964849e-01 -6.91125116e-03 5.80717821e-01] [ 2.37391217e-02 6.79668971e-03 9.99695083e-01 1.62258825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14255784400007 meters Centerline goodness : 0.140982 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99715003e-01 -4.95542034e-03 -2.33528796e-02 4.80086197e+00] [ 4.79782946e-03 9.99965374e-01 -6.79944641e-03 5.80266778e-01] [ 2.33857650e-02 6.68546546e-03 9.99704162e-01 1.62234532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17255784400004 meters Centerline goodness : 0.182812 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99713439e-01 -4.93189184e-03 -2.34247144e-02 4.80106177e+00] [ 4.77570087e-03 9.99966023e-01 -6.71905439e-03 5.79864165e-01] [ 2.34570562e-02 6.60525954e-03 9.99703024e-01 1.62224517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20255784400007 meters Centerline goodness : 0.136014 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99709650e-01 -4.84439018e-03 -2.36039594e-02 4.80179186e+00] [ 4.69076074e-03 9.99967483e-01 -6.55965687e-03 5.79277635e-01] [ 2.36349694e-02 6.44703175e-03 9.99699867e-01 1.62174969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23255784400004 meters Centerline goodness : 0.131452 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99705257e-01 -4.80703284e-03 -2.37968906e-02 4.80253935e+00] [ 4.65384252e-03 9.99968119e-01 -6.48861033e-03 5.79159687e-01] [ 2.38273229e-02 6.37595088e-03 9.99695757e-01 1.62127683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26255784400007 meters Centerline goodness : 0.160104 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99697536e-01 -4.69540267e-03 -2.41410274e-02 4.80362918e+00] [ 4.54591624e-03 9.99970177e-01 -6.24337051e-03 5.78301352e-01] [ 2.41696226e-02 6.13173903e-03 9.99689067e-01 1.62082360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29255784400004 meters Centerline goodness : 0.112917 Centerline is valid? [False, False] Translation: X:4.80, Y:0.58, Z:1.62 [[ 9.99693817e-01 -4.57507010e-03 -2.43175102e-02 4.80451094e+00] [ 4.44034517e-03 9.99974510e-01 -5.59135667e-03 5.75792633e-01] [ 2.43424712e-02 5.48166655e-03 9.99688649e-01 1.61972628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3225578440001 meters Centerline goodness : 0.127980 Centerline is valid? [False, False] Translation: X:4.80, Y:0.57, Z:1.62 [[ 9.99702026e-01 -4.55855527e-03 -2.39807976e-02 4.80363336e+00] [ 4.43317142e-03 9.99976239e-01 -5.27907796e-03 5.74455668e-01] [ 2.40042927e-02 5.17119394e-03 9.99698481e-01 1.61961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35255784400005 meters Centerline goodness : 0.143372 Centerline is valid? [False, False] Translation: X:4.80, Y:0.57, Z:1.62 [[ 9.99707522e-01 -4.51817415e-03 -2.37583067e-02 4.80292444e+00] [ 4.39911501e-03 9.99977516e-01 -5.06114345e-03 5.73184076e-01] [ 2.37806396e-02 4.95514765e-03 9.99704920e-01 1.61988473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3825578440001 meters Centerline goodness : 0.035423 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99741821e-01 3.67616627e-03 -2.24227107e-02 4.82131328e+00] [-3.81780281e-03 9.99973011e-01 -6.27712173e-03 5.68020490e-01] [ 2.23990298e-02 6.36110659e-03 9.99728873e-01 1.62111181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41255784400005 meters Centerline goodness : 0.172588 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99741971e-01 3.73710995e-03 -2.24059320e-02 4.82097512e+00] [-3.87423665e-03 9.99974013e-01 -6.07982505e-03 5.67136975e-01] [ 2.23826288e-02 6.16506216e-03 9.99730469e-01 1.62155977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4425578440001 meters Centerline goodness : 0.149282 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99740328e-01 3.76594362e-03 -2.24743013e-02 4.82112447e+00] [-3.90298210e-03 9.99974041e-01 -6.05681772e-03 5.67278510e-01] [ 2.24509082e-02 6.14296173e-03 9.99729074e-01 1.62155835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47255784400005 meters Centerline goodness : 0.118021 Centerline is valid? [False, False] Translation: X:4.82, Y:0.57, Z:1.62 [[ 9.99739052e-01 3.76671326e-03 -2.25308822e-02 4.82140470e+00] [-3.90561099e-03 9.99973621e-01 -6.12394699e-03 5.67777430e-01] [ 2.25072207e-02 6.21034581e-03 9.99727391e-01 1.62129092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5025578440001 meters Centerline goodness : 0.164374 Centerline is valid? [False, False] Translation: X:4.84, Y:0.57, Z:1.62 [[ 9.99737791e-01 -3.55988841e-03 -2.26202511e-02 4.84105438e+00] [ 3.44620336e-03 9.99981246e-01 -5.06280443e-03 5.73118305e-01] [ 2.26378499e-02 4.98352293e-03 9.99731310e-01 1.62289918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53255784400005 meters Centerline goodness : 0.146366 Centerline is valid? [False, False] Translation: X:4.84, Y:0.57, Z:1.62 [[ 9.99743840e-01 -3.63812949e-03 -2.23387263e-02 4.84030510e+00] [ 3.52057500e-03 9.99979761e-01 -5.29943780e-03 5.74305097e-01] [ 2.23575542e-02 5.21943513e-03 9.99736414e-01 1.62297696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5625578440001 meters Centerline goodness : 0.167108 Centerline is valid? [False, False] Translation: X:4.86, Y:0.57, Z:1.62 [[ 9.99777423e-01 4.54619397e-03 -2.06018357e-02 4.85926144e+00] [-4.68573405e-03 9.99966375e-01 -6.72998316e-03 5.70776975e-01] [ 2.05705472e-02 6.82501995e-03 9.99765108e-01 1.62400063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59255784400005 meters Centerline goodness : 0.112804 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99790515e-01 -3.30026245e-03 -2.01998639e-02 4.87859817e+00] [ 3.18542411e-03 9.99978598e-01 -5.71464275e-03 5.74423095e-01] [ 2.02182914e-02 5.64910048e-03 9.99779630e-01 1.62587612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6225578440001 meters Centerline goodness : 0.116087 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99790301e-01 -3.37229326e-03 -2.01985601e-02 4.87836833e+00] [ 3.25814467e-03 9.99978552e-01 -5.68156747e-03 5.73943127e-01] [ 2.02172868e-02 5.61456622e-03 9.99779845e-01 1.62617360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65255784400006 meters Centerline goodness : 0.154075 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99796884e-01 -3.85868708e-03 -1.97813117e-02 4.87689462e+00] [ 3.74692273e-03 9.99976826e-01 -5.68395023e-03 5.72285742e-01] [ 1.98027859e-02 5.60867669e-03 9.99788174e-01 1.62687903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6825578440001 meters Centerline goodness : 0.129399 Centerline is valid? [False, False] Translation: X:4.88, Y:0.57, Z:1.63 [[ 9.99798517e-01 -3.87859240e-03 -1.96946940e-02 4.87651538e+00] [ 3.77028838e-03 9.99977583e-01 -5.53330347e-03 5.71338079e-01] [ 1.97157139e-02 5.45793393e-03 9.99790729e-01 1.62710313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71255784400006 meters Centerline goodness : 0.147340 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99834596e-01 -3.78665372e-03 -1.77888210e-02 4.92130159e+00] [ 3.68019429e-03 9.99975146e-01 -6.01355452e-03 5.71229933e-01] [ 1.78111501e-02 5.94709353e-03 9.99823682e-01 1.62682810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters Centerline goodness : 0.157626 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99830139e-01 -3.83432318e-03 -1.80275353e-02 4.92218501e+00] [ 3.72594748e-03 9.99974809e-01 -6.04142494e-03 5.71312254e-01] [ 1.80502459e-02 5.97322909e-03 9.99819238e-01 1.62636738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77255784400006 meters Centerline goodness : 0.162163 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99823727e-01 -3.91777554e-03 -1.83620684e-02 4.92336434e+00] [ 3.80166006e-03 9.99972585e-01 -6.35430626e-03 5.73191382e-01] [ 1.83864598e-02 6.28337983e-03 9.99811211e-01 1.62577497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters Centerline goodness : 0.089970 Centerline is valid? [False, False] Translation: X:4.92, Y:0.57, Z:1.63 [[ 9.99822867e-01 -3.98794946e-03 -1.83937679e-02 4.92336721e+00] [ 3.86667214e-03 9.99970584e-01 -6.62424999e-03 5.74714693e-01] [ 1.84196440e-02 6.55195395e-03 9.99808876e-01 1.62585913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 457.86255784400004 meters Centerline goodness : 0.091919 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99815873e-01 -1.92458487e-03 -1.90923060e-02 4.92658903e+00] [ 1.83166457e-03 9.99986400e-01 -4.88319140e-03 5.78814491e-01] [ 1.91014444e-02 4.84732157e-03 9.99805800e-01 1.62415363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89255784400007 meters Centerline goodness : 0.149473 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99814778e-01 -1.98129815e-03 -1.91437829e-02 4.92706358e+00] [ 1.88668588e-03 9.99985924e-01 -4.95899029e-03 5.79281980e-01] [ 1.91533386e-02 4.92195347e-03 9.99804443e-01 1.62354683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92255784400004 meters Centerline goodness : 0.094873 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99812054e-01 -2.06792672e-03 -1.92764452e-02 4.92759947e+00] [ 1.97280727e-03 9.99985792e-01 -4.95220160e-03 5.79055707e-01] [ 1.92864121e-02 4.91324214e-03 9.99801928e-01 1.62314801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95255784400007 meters Centerline goodness : 0.092866 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99806459e-01 -2.18137129e-03 -1.95521598e-02 4.92831737e+00] [ 2.08665127e-03 9.99985996e-01 -4.86357180e-03 5.78237152e-01] [ 1.95624952e-02 4.82183196e-03 9.99797009e-01 1.62295796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98255784400004 meters Centerline goodness : 0.092866 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99806459e-01 -2.18137129e-03 -1.95521598e-02 4.92831737e+00] [ 2.08665127e-03 9.99985996e-01 -4.86357180e-03 5.78237152e-01] [ 1.95624952e-02 4.82183196e-03 9.99797009e-01 1.62295796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01255784400007 meters Centerline goodness : 0.160558 Centerline is valid? [False, False] Translation: X:4.93, Y:0.58, Z:1.62 [[ 9.99800884e-01 -2.21499457e-03 -1.98314324e-02 4.92894914e+00] [ 2.12269518e-03 9.99986824e-01 -4.67403753e-03 5.77086773e-01] [ 1.98415241e-02 4.63101077e-03 9.99792412e-01 1.62295082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04255784400004 meters Centerline goodness : 0.169443 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99789751e-01 -2.43227426e-03 -2.03602218e-02 4.93016738e+00] [ 2.34427816e-03 9.99987814e-01 -4.34471396e-03 5.74818111e-01] [ 2.03705412e-02 4.29607046e-03 9.99783269e-01 1.62287604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0725578440001 meters Centerline goodness : 0.163809 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99790614e-01 -2.31226290e-03 -2.03317862e-02 4.93007314e+00] [ 2.23271380e-03 9.99989768e-01 -3.93437833e-03 5.72877556e-01] [ 2.03406755e-02 3.88815946e-03 9.99785547e-01 1.62283509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10255784400005 meters Centerline goodness : 0.184801 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99793047e-01 -2.26842640e-03 -2.02167548e-02 4.92976651e+00] [ 2.19555500e-03 9.99991016e-01 -3.62597279e-03 5.71148791e-01] [ 2.02247985e-02 3.58083539e-03 9.99789045e-01 1.62278467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1325578440001 meters Centerline goodness : 0.102201 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99792936e-01 -2.21157593e-03 -2.02285437e-02 4.92965575e+00] [ 2.14448788e-03 9.99992131e-01 -3.33759573e-03 5.69511620e-01] [ 2.02357659e-02 3.29352477e-03 9.99789811e-01 1.62296076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16255784400005 meters Centerline goodness : 0.103288 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99791521e-01 -2.10127190e-03 -2.03100578e-02 4.92974881e+00] [ 2.03985617e-03 9.99993286e-01 -3.04415146e-03 5.68153199e-01] [ 2.03163180e-02 3.00208723e-03 9.99789095e-01 1.62305156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1925578440001 meters Centerline goodness : 0.103116 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99790156e-01 -2.07217646e-03 -2.03801364e-02 4.92984577e+00] [ 2.01021667e-03 9.99993297e-01 -3.06022126e-03 5.68475895e-01] [ 2.03863411e-02 3.01861060e-03 9.99787620e-01 1.62316893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22255784400005 meters Centerline goodness : 0.138693 Centerline is valid? [False, False] Translation: X:4.93, Y:0.57, Z:1.62 [[ 9.99791393e-01 -2.07479210e-03 -2.03190768e-02 4.92974665e+00] [ 2.01150639e-03 9.99993064e-01 -3.13453872e-03 5.69028913e-01] [ 2.03254394e-02 3.09301288e-03 9.99788633e-01 1.62309895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2525578440001 meters Centerline goodness : 0.095546 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 9.99795189e-01 5.58812314e-03 -1.94513096e-02 4.90842275e+00] [-5.67220322e-03 9.99974796e-01 -4.27010804e-03 5.65557665e-01] [ 1.94269575e-02 4.37956526e-03 9.99801687e-01 1.62147070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28255784400005 meters Centerline goodness : 0.164462 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 9.99809618e-01 5.51602220e-03 -1.87163586e-02 4.90596396e+00] [-5.60320525e-03 9.99973681e-01 -4.60888098e-03 5.67220416e-01] [ 1.86904433e-02 4.71287513e-03 9.99814211e-01 1.62263995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3125578440001 meters Centerline goodness : 0.097843 Centerline is valid? [False, False] Translation: X:4.91, Y:0.57, Z:1.62 [[ 0.99981331 0.00540904 -0.01854965 4.90538499] [-0.00550112 0.99997278 -0.00491654 0.56887202] [ 0.01852256 0.00501767 0.99981585 1.6229524 ] [ 0. 0. 0. 1. ]] SLAMing on 458.34255784400005 meters Centerline goodness : 0.228690 Centerline is valid? [False, False] Translation: X:4.90, Y:0.57, Z:1.62 [[ 0.99981692 0.00532085 -0.01837958 4.90482645] [-0.00541783 0.99997164 -0.00523064 0.57060399] [ 0.01835123 0.00532926 0.9998174 1.62317099] [ 0. 0. 0. 1. ]] SLAMing on 458.3725578440001 meters Centerline goodness : 0.094784 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99792478e-01 -3.06855674e-04 -2.03692387e-02 4.91991607e+00] [ 2.31195127e-04 9.99993066e-01 -3.71670238e-03 5.75841477e-01] [ 2.03702379e-02 3.71122181e-03 9.99785617e-01 1.62742908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40255784400006 meters Centerline goodness : 0.093869 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99795921e-01 -4.12280806e-04 -2.01976816e-02 4.91923056e+00] [ 3.31135572e-04 9.99991862e-01 -4.02073159e-03 5.77517205e-01] [ 2.01991749e-02 4.01322288e-03 9.99787921e-01 1.62782413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4325578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 458.46255784400006 meters Centerline goodness : 0.096356 Centerline is valid? [False, False] Translation: X:4.92, Y:0.58, Z:1.63 [[ 9.99798081e-01 -1.03665206e-03 -2.00679368e-02 4.91869211e+00] [ 9.28249031e-04 9.99984933e-01 -5.41036377e-03 5.84820151e-01] [ 2.00732431e-02 5.39064327e-03 9.99783980e-01 1.62817555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49255784400003 meters Centerline goodness : 0.411942 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.63 [[ 9.99795137e-01 -1.24082367e-03 -2.02025797e-02 4.91921014e+00] [ 1.12214608e-03 9.99982056e-01 -5.88465487e-03 5.87299407e-01] [ 2.02095190e-02 5.86077908e-03 9.99778589e-01 1.62784419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52255784400006 meters Centerline goodness : 0.093998 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.63 [[ 9.99792422e-01 -1.39641422e-03 -2.03264128e-02 4.91969296e+00] [ 1.26964403e-03 9.99979673e-01 -6.24829163e-03 5.89224329e-01] [ 2.03347249e-02 6.22118731e-03 9.99773872e-01 1.62749599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55255784400003 meters Centerline goodness : 0.154268 Centerline is valid? [False, False] Translation: X:4.94, Y:0.60, Z:1.63 [[ 0.99975739 -0.0093773 -0.01993032 4.93960113] [ 0.00927103 0.99994235 -0.0054179 0.59725068] [ 0.01997997 0.00523181 0.99978669 1.6294907 ] [ 0. 0. 0. 1. ]] SLAMing on 458.58255784400006 meters Centerline goodness : 0.195343 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99797803e-01 -1.01522508e-03 -2.00829077e-02 4.91824476e+00] [ 8.91589302e-04 9.99980603e-01 -6.16426484e-03 5.95592993e-01] [ 2.00887763e-02 6.14511273e-03 9.99779315e-01 1.62843323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61255784400004 meters Centerline goodness : 0.125333 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99796601e-01 -1.17776065e-03 -2.01337688e-02 4.91854217e+00] [ 1.04677016e-03 9.99978227e-01 -6.51531091e-03 5.97261078e-01] [ 2.01410039e-02 6.49291028e-03 9.99776066e-01 1.62815549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64255784400007 meters Centerline goodness : 0.111666 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99789535e-01 -1.47107013e-03 -2.04626901e-02 4.92008347e+00] [ 1.32290168e-03 9.99972825e-01 -7.25256004e-03 6.01238507e-01] [ 2.04728031e-02 7.22396350e-03 9.99764312e-01 1.62704736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67255784400004 meters Centerline goodness : 0.145702 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.63 [[ 9.99786333e-01 -1.63381740e-03 -2.06062817e-02 4.92081570e+00] [ 1.47428845e-03 9.99968846e-01 -7.75457955e-03 6.03988535e-01] [ 2.06183093e-02 7.72254305e-03 9.99757594e-01 1.62654253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70255784400007 meters Centerline goodness : 0.160687 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.63 [[ 9.99783877e-01 1.77217640e-03 -2.07137438e-02 4.92116491e+00] [-1.86713793e-03 9.99987833e-01 -4.56602942e-03 6.05587790e-01] [ 2.07053999e-02 4.60371801e-03 9.99775021e-01 1.62640279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73255784400004 meters Centerline goodness : 0.157875 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.63 [[ 9.99780000e-01 1.63663227e-03 -2.09110631e-02 4.92189177e+00] [-1.74679291e-03 9.99984688e-01 -5.25087621e-03 6.09649724e-01] [ 2.09021491e-02 5.28624832e-03 9.99767551e-01 1.62613353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76255784400007 meters Centerline goodness : 0.141399 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.63 [[ 9.99765155e-01 5.14383149e-03 -2.10517400e-02 4.92245229e+00] [-5.20434685e-03 9.99982479e-01 -2.82082449e-03 6.17112225e-01] [ 2.10368613e-02 2.92972259e-03 9.99774408e-01 1.62604694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79255784400004 meters Centerline goodness : 0.172089 Centerline is valid? [False, False] Translation: X:4.92, Y:0.62, Z:1.63 [[ 9.99767071e-01 4.93899803e-03 -2.10097515e-02 4.92228605e+00] [-5.01860803e-03 9.99980420e-01 -3.73815566e-03 6.22245442e-01] [ 2.09908773e-02 3.84272464e-03 9.99772282e-01 1.62622634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8225578440001 meters Centerline goodness : 0.152843 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.63 [[ 9.99770210e-01 4.67186773e-03 -2.09213007e-02 4.92215743e+00] [-4.77062761e-03 9.99977701e-01 -4.67312287e-03 6.27288259e-01] [ 2.08990019e-02 4.77185677e-03 9.99770204e-01 1.62619969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85255784400005 meters Centerline goodness : 0.152305 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.63 [[ 9.99769556e-01 4.41499106e-03 -2.10081385e-02 4.92253196e+00] [-4.53330061e-03 9.99974115e-01 -5.58731875e-03 6.32339354e-01] [ 2.09829267e-02 5.68126739e-03 9.99763692e-01 1.62602125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8825578440001 meters Centerline goodness : 0.160166 Centerline is valid? [False, False] Translation: X:4.94, Y:0.64, Z:1.63 [[ 9.99696246e-01 5.24352749e-04 -2.46402257e-02 4.94282981e+00] [-6.09270890e-04 9.99993901e-01 -3.43894048e-03 6.44844920e-01] [ 2.46382722e-02 3.45290846e-03 9.99690469e-01 1.62796165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91255784400005 meters Centerline goodness : 0.155647 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.63 [[ 9.99693705e-01 2.07852502e-04 -2.47477775e-02 4.94323867e+00] [-3.12257198e-04 9.99991068e-01 -4.21496067e-03 6.48811953e-01] [ 2.47466804e-02 4.22139732e-03 9.99684841e-01 1.62778180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9425578440001 meters Centerline goodness : 0.161225 Centerline is valid? [False, False] Translation: X:4.92, Y:0.66, Z:1.63 [[ 9.99654419e-01 -7.99941638e-03 -2.50409864e-02 4.92396438e+00] [ 7.91385931e-03 9.99962511e-01 -3.51392132e-03 6.58524905e-01] [ 2.50681569e-02 3.31453613e-03 9.99680250e-01 1.62604647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97255784400005 meters Centerline goodness : 0.164536 Centerline is valid? [False, False] Translation: X:4.92, Y:0.66, Z:1.63 [[ 9.99650153e-01 -8.35750004e-03 -2.50943052e-02 4.92408219e+00] [ 8.25175870e-03 9.99956646e-01 -4.31436018e-03 6.62282644e-01] [ 2.51292746e-02 4.10577866e-03 9.99675779e-01 1.62607990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0025578440001 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:4.92, Y:0.67, Z:1.63 [[ 9.99646687e-01 -8.71837652e-03 -2.51095789e-02 4.92407992e+00] [ 8.59346716e-03 9.99950181e-01 -5.07818968e-03 6.65938889e-01] [ 2.51526016e-02 4.86061715e-03 9.99671807e-01 1.62613449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03255784400005 meters Centerline goodness : 0.202527 Centerline is valid? [False, False] Translation: X:4.92, Y:0.67, Z:1.63 [[ 0.99964424 -0.00907365 -0.02508111 4.92398216] [ 0.00892869 0.99994282 -0.00588588 0.67005113] [ 0.02513308 0.00565984 0.99966809 1.62616167] [ 0. 0. 0. 1. ]] SLAMing on 459.0625578440001 meters Centerline goodness : 0.126816 Centerline is valid? [False, False] Translation: X:4.92, Y:0.68, Z:1.63 [[ 9.99688275e-01 -7.10443321e-03 -2.39348992e-02 4.91989254e+00] [ 6.99113958e-03 9.99963975e-01 -4.81376595e-03 6.79432446e-01] [ 2.39682360e-02 4.64493316e-03 9.99701930e-01 1.62768019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09255784400005 meters Centerline goodness : 0.231136 Centerline is valid? [False, False] Translation: X:4.92, Y:0.68, Z:1.63 [[ 0.99968564 -0.00752126 -0.02391768 4.91973713] [ 0.00738463 0.99995594 -0.00579567 0.68415099] [ 0.02396022 0.00561723 0.99969713 1.62790358] [ 0. 0. 0. 1. ]] SLAMing on 459.1225578440001 meters Centerline goodness : 0.126163 Centerline is valid? [False, False] Translation: X:4.92, Y:0.69, Z:1.63 [[ 0.99967963 -0.00817395 -0.02395452 4.9201327 ] [ 0.00800422 0.99994224 -0.00717286 0.69341453] [ 0.02401176 0.00697882 0.99968732 1.62750759] [ 0. 0. 0. 1. ]] SLAMing on 459.15255784400006 meters Centerline goodness : 0.122189 Centerline is valid? [False, False] Translation: X:4.90, Y:0.69, Z:1.63 [[ 9.99693727e-01 4.47285545e-04 -2.47437098e-02 4.89950029e+00] [-6.49828607e-04 9.99966347e-01 -8.17820329e-03 6.94467833e-01] [ 2.47392191e-02 8.19177770e-03 9.99660375e-01 1.62629962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1825578440001 meters Centerline goodness : 0.126101 Centerline is valid? [False, False] Translation: X:4.90, Y:0.70, Z:1.63 [[ 9.99696667e-01 2.20945830e-04 -2.46277368e-02 4.89917029e+00] [-4.34825085e-04 9.99962238e-01 -8.67946990e-03 6.97075751e-01] [ 2.46248892e-02 8.68754589e-03 9.99659013e-01 1.62642119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21255784400006 meters Centerline goodness : 0.126593 Centerline is valid? [False, False] Translation: X:4.90, Y:0.70, Z:1.63 [[ 9.99702854e-01 -4.26145047e-05 -2.43762604e-02 4.89840256e+00] [-1.81969741e-04 9.99957562e-01 -9.21094381e-03 6.99498791e-01] [ 2.43756185e-02 9.21264256e-03 9.99660421e-01 1.62674780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters Centerline goodness : 0.124218 Centerline is valid? [False, False] Translation: X:4.92, Y:0.70, Z:1.63 [[ 0.99970194 -0.00857711 -0.02285758 4.91782073] [ 0.00838453 0.99992866 -0.00850774 0.70490631] [ 0.02292892 0.00831355 0.99970253 1.62846729] [ 0. 0. 0. 1. ]] SLAMing on 459.27255784400006 meters Centerline goodness : 0.121461 Centerline is valid? [False, False] Translation: X:4.91, Y:0.71, Z:1.63 [[ 0.99973773 -0.00660042 -0.0219297 4.91428546] [ 0.00644476 0.99995359 -0.00716124 0.71167818] [ 0.02197595 0.00701803 0.99973387 1.62987767] [ 0. 0. 0. 1. ]] SLAMing on 459.30255784400003 meters Centerline goodness : 0.142916 Centerline is valid? [False, False] Translation: X:4.91, Y:0.71, Z:1.63 [[ 9.99754009e-01 -3.07055222e-03 -2.19657498e-02 4.91463983e+00] [ 2.98622075e-03 9.99988049e-01 -3.87099710e-03 7.13647031e-01] [ 2.19773733e-02 3.80445029e-03 9.99751230e-01 1.62942284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33255784400006 meters Centerline goodness : 0.122238 Centerline is valid? [False, False] Translation: X:4.92, Y:0.72, Z:1.63 [[ 9.99754310e-01 4.17854718e-04 -2.21617899e-02 4.91549130e+00] [-4.35537813e-04 9.99999591e-01 -7.93088400e-04 7.16482683e-01] [ 2.21614495e-02 8.02545844e-04 9.99754083e-01 1.62894140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36255784400004 meters Centerline goodness : 0.159254 Centerline is valid? [False, False] Translation: X:4.92, Y:0.73, Z:1.63 [[ 9.99746702e-01 3.26616712e-03 -2.22680224e-02 4.91658415e+00] [-3.25094413e-03 9.99994457e-01 7.19791982e-04 7.26653421e-01] [ 2.22702499e-02 -6.47217563e-04 9.99751778e-01 1.62819936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39255784400007 meters Centerline goodness : 0.146726 Centerline is valid? [False, False] Translation: X:4.92, Y:0.73, Z:1.63 [[ 9.99746417e-01 3.17805679e-03 -2.22935225e-02 4.91655836e+00] [-3.18132832e-03 9.99994933e-01 -1.11283769e-04 7.32300098e-01] [ 2.22930559e-02 1.82178564e-04 9.99751462e-01 1.62845771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42255784400004 meters Centerline goodness : 0.115657 Centerline is valid? [False, False] Translation: X:4.96, Y:0.74, Z:1.63 [[ 9.99786331e-01 4.10554684e-03 -2.02592267e-02 4.95908300e+00] [-4.09239473e-03 9.99991388e-01 6.90607306e-04 7.36583113e-01] [ 2.02618876e-02 -6.07550992e-04 9.99794522e-01 1.62983146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45255784400007 meters Centerline goodness : 0.117329 Centerline is valid? [False, False] Translation: X:4.96, Y:0.74, Z:1.63 [[ 9.99795137e-01 3.97661713e-03 -1.98461527e-02 4.95786124e+00] [-3.98070947e-03 9.99992063e-01 -1.66702053e-04 7.42107915e-01] [ 1.98453323e-02 2.45669669e-04 9.99803032e-01 1.63031971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48255784400004 meters Centerline goodness : 0.120374 Centerline is valid? [False, False] Translation: X:4.96, Y:0.75, Z:1.63 [[ 9.99802559e-01 3.57876028e-03 -1.95457258e-02 4.95678056e+00] [-3.61280482e-03 9.99992017e-01 -1.70675625e-03 7.53505277e-01] [ 1.95394617e-02 1.77703416e-03 9.99807507e-01 1.63099233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51255784400007 meters Centerline goodness : 0.120750 Centerline is valid? [False, False] Translation: X:4.96, Y:0.76, Z:1.63 [[ 9.99797956e-01 3.25343934e-03 -1.98358663e-02 4.95768559e+00] [-3.30485789e-03 9.99991262e-01 -2.55997125e-03 7.57789261e-01] [ 1.98273643e-02 2.62500874e-03 9.99799972e-01 1.63069659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54255784400004 meters Centerline goodness : 0.151785 Centerline is valid? [False, False] Translation: X:4.98, Y:0.76, Z:1.63 [[ 9.99775280e-01 -2.98576952e-03 -2.09874937e-02 4.98088137e+00] [ 2.98986923e-03 9.99995517e-01 1.63964668e-04 7.63110961e-01] [ 2.09869101e-02 -2.26677683e-04 9.99779725e-01 1.63106660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5725578440001 meters Centerline goodness : 0.155062 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99769734e-01 -3.15759373e-03 -2.12251759e-02 4.98191380e+00] [ 3.15169286e-03 9.99994985e-01 -3.11458779e-04 7.65907574e-01] [ 2.12260530e-02 2.44491825e-04 9.99774672e-01 1.63038434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60255784400005 meters Centerline goodness : 0.152028 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764647e-01 -3.35562706e-03 -2.14333796e-02 4.98281910e+00] [ 3.34171546e-03 9.99994182e-01 -6.84845737e-04 7.67691229e-01] [ 2.14355530e-02 6.13060301e-04 9.99770044e-01 1.62978270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6325578440001 meters Centerline goodness : 0.141328 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99760927e-01 -4.00333360e-03 -2.14956397e-02 4.98326122e+00] [ 3.97323480e-03 9.99991066e-01 -1.44275410e-03 7.70031077e-01] [ 2.15012235e-02 1.35700195e-03 9.99767901e-01 1.62929235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66255784400005 meters Centerline goodness : 0.141737 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764176e-01 -4.11916746e-03 -2.13219435e-02 4.98268426e+00] [ 4.08617324e-03 9.99990386e-01 -1.59076654e-03 7.70678619e-01] [ 2.13282911e-02 1.50326625e-03 9.99771396e-01 1.62948582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6925578440001 meters Centerline goodness : 0.148867 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99764626e-01 -4.19424514e-03 -2.12861666e-02 4.98253283e+00] [ 4.15806989e-03 9.99989835e-01 -1.74344761e-03 7.71573594e-01] [ 2.12932627e-02 1.65452788e-03 9.99771904e-01 1.62958209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72255784400005 meters Centerline goodness : 0.147295 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99761221e-01 -4.28239324e-03 -2.14280780e-02 4.98317573e+00] [ 4.24310470e-03 9.99989233e-01 -1.87863774e-03 7.72318157e-01] [ 2.14358924e-02 1.78726759e-03 9.99768627e-01 1.62914227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7525578440001 meters Centerline goodness : 0.141227 Centerline is valid? [False, False] Translation: X:4.98, Y:0.77, Z:1.63 [[ 9.99756963e-01 -4.38026559e-03 -2.16062243e-02 4.98410535e+00] [ 4.33624320e-03 9.99988427e-01 -2.08391639e-03 7.73308208e-01] [ 2.16151023e-02 1.98972008e-03 9.99764386e-01 1.62834747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78255784400005 meters Centerline goodness : 0.137620 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99710467e-01 6.12098336e-04 -2.40542422e-02 5.00896078e+00] [-7.27873275e-04 9.99988193e-01 -4.80461708e-03 7.71593629e-01] [ 2.40510173e-02 4.82073443e-03 9.99699109e-01 1.62747719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8125578440001 meters Centerline goodness : 0.146386 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99708877e-01 5.37015198e-04 -2.41220304e-02 5.00942547e+00] [-6.56837055e-04 9.99987485e-01 -4.95967197e-03 7.72306729e-01] [ 2.41190651e-02 4.97407234e-03 9.99696719e-01 1.62701490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84255784400005 meters Centerline goodness : 0.138474 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99724004e-01 3.87167423e-04 -2.34896809e-02 5.00738547e+00] [-5.07199942e-04 9.99986845e-01 -5.10426808e-03 7.72557403e-01] [ 2.34873957e-02 5.11477329e-03 9.99711049e-01 1.62771681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8725578440001 meters Centerline goodness : 0.138474 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99724004e-01 3.87167423e-04 -2.34896809e-02 5.00738547e+00] [-5.07199942e-04 9.99986845e-01 -5.10426808e-03 7.72557403e-01] [ 2.34873957e-02 5.11477329e-03 9.99711049e-01 1.62771681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90255784400006 meters Centerline goodness : 0.117334 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99744428e-01 -8.27146931e-03 -2.10395352e-02 5.02712007e+00] [ 8.18983058e-03 9.99958608e-01 -3.96346454e-03 7.73728677e-01] [ 2.10714480e-02 3.79014136e-03 9.99770788e-01 1.62876396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9325578440001 meters Centerline goodness : 0.141089 Centerline is valid? [False, False] Translation: X:5.00, Y:0.77, Z:1.63 [[ 9.99818697e-01 -1.13025312e-04 -1.90409917e-02 5.00496145e+00] [ 1.90272219e-05 9.99987814e-01 -4.93672623e-03 7.68988905e-01] [ 1.90413176e-02 4.93546889e-03 9.99806516e-01 1.62702345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96255784400006 meters Centerline goodness : 0.134105 Centerline is valid? [False, False] Translation: X:5.00, Y:0.77, Z:1.63 [[ 9.99820089e-01 -6.85546976e-05 -1.89680060e-02 5.00488133e+00] [-2.13021427e-05 9.99988780e-01 -4.73704188e-03 7.67889863e-01] [ 1.89681179e-02 4.73659369e-03 9.99808869e-01 1.62678813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99255784400003 meters Centerline goodness : 0.117625 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99818005e-01 2.12620897e-05 -1.90776238e-02 5.00554417e+00] [-1.07331389e-04 9.99989822e-01 -4.51051885e-03 7.66956387e-01] [ 1.90773337e-02 4.51174559e-03 9.99807831e-01 1.62611480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02255784400006 meters Centerline goodness : 0.147065 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99813864e-01 1.77679230e-04 -1.92926438e-02 5.00659602e+00] [-2.57382225e-04 9.99991443e-01 -4.12885906e-03 7.65302587e-01] [ 1.92917451e-02 4.13305611e-03 9.99805354e-01 1.62525186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05255784400003 meters Centerline goodness : 0.149755 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99814400e-01 1.91850956e-04 -1.92647160e-02 5.00647573e+00] [-2.71147650e-04 9.99991502e-01 -4.11363445e-03 7.65257911e-01] [ 1.92637631e-02 4.11809454e-03 9.99805956e-01 1.62532186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08255784400006 meters Centerline goodness : 0.157747 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99814302e-01 2.06631989e-04 -1.92696589e-02 5.00628883e+00] [-2.87247658e-04 9.99991219e-01 -4.18088058e-03 7.65735744e-01] [ 1.92686258e-02 4.18563936e-03 9.99805581e-01 1.62563914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11255784400004 meters Centerline goodness : 0.150064 Centerline is valid? [False, False] Translation: X:5.01, Y:0.77, Z:1.63 [[ 9.99815293e-01 2.62549284e-04 -1.92174633e-02 5.00577864e+00] [-3.44475915e-04 9.99990867e-01 -4.25994839e-03 7.66528845e-01] [ 1.92161694e-02 4.26578150e-03 9.99806252e-01 1.62631213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14255784400007 meters Centerline goodness : 0.142357 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99846734e-01 -4.87384771e-03 -1.68153109e-02 5.02701062e+00] [ 4.86638459e-03 9.99988042e-01 -4.84718318e-04 7.68150887e-01] [ 1.68174723e-02 4.02814257e-04 9.99858495e-01 1.62569908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17255784400004 meters Centerline goodness : 0.137987 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99846097e-01 -4.89912200e-03 -1.68457688e-02 5.02708675e+00] [ 4.88909322e-03 9.99987846e-01 -6.36461345e-04 7.68996819e-01] [ 1.68486821e-02 5.54002858e-04 9.99857897e-01 1.62570225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20255784400007 meters Centerline goodness : 0.135930 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99845746e-01 -4.90537286e-03 -1.68647835e-02 5.02723954e+00] [ 4.89398665e-03 9.99987768e-01 -7.16352435e-04 7.69517994e-01] [ 1.68680912e-02 6.33705910e-04 9.99857523e-01 1.62552211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23255784400004 meters Centerline goodness : 0.138944 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99844721e-01 -4.85568138e-03 -1.69398050e-02 5.02752768e+00] [ 4.84534967e-03 9.99988049e-01 -6.50896810e-04 7.69311427e-01] [ 1.69427631e-02 5.68716460e-04 9.99856299e-01 1.62533114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26255784400007 meters Centerline goodness : 0.135847 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.63 [[ 9.99848551e-01 -4.83063994e-03 -1.67194653e-02 5.02707269e+00] [ 4.82408411e-03 9.99988271e-01 -4.32416460e-04 7.67963874e-01] [ 1.67213581e-02 3.51694863e-04 9.99860126e-01 1.62513054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29255784400004 meters Centerline goodness : 0.136827 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99869429e-01 2.29281619e-03 -1.59958648e-02 5.04548874e+00] [-2.31919287e-03 9.99995981e-01 -1.63061335e-03 7.61282235e-01] [ 1.59920618e-02 1.66749794e-03 9.99870728e-01 1.62677852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3225578440001 meters Centerline goodness : 0.158438 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.63 [[ 9.99872662e-01 2.28413045e-03 -1.57937577e-02 5.04473704e+00] [-2.30835001e-03 9.99996187e-01 -1.51543018e-03 7.60398955e-01] [ 1.57902360e-02 1.55169473e-03 9.99874122e-01 1.62712504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35255784400005 meters Centerline goodness : 0.157182 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.63 [[ 9.99874556e-01 2.30972525e-03 -1.56696557e-02 5.04422215e+00] [-2.33149216e-03 9.99996342e-01 -1.37098610e-03 7.59588617e-01] [ 1.56664318e-02 1.40734780e-03 9.99876283e-01 1.62738963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3825578440001 meters Centerline goodness : 0.144082 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99868054e-01 2.36909678e-03 -1.60705419e-02 5.04552271e+00] [-2.38867883e-03 9.99996428e-01 -1.19941983e-03 7.58833084e-01] [ 1.60676429e-02 1.23764893e-03 9.99870141e-01 1.62684971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41255784400005 meters Centerline goodness : 0.109640 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99864909e-01 2.39790626e-03 -1.62607869e-02 5.04641926e+00] [-2.41649409e-03 9.99996449e-01 -1.12355571e-03 7.58530922e-01] [ 1.62580350e-02 1.16269802e-03 9.99867153e-01 1.62611886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4425578440001 meters Centerline goodness : 0.107402 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99863130e-01 2.41527513e-03 -1.63672486e-02 5.04688395e+00] [-2.43384601e-03 9.99996417e-01 -1.11481257e-03 7.58562881e-01] [ 1.63644974e-02 1.15449535e-03 9.99865426e-01 1.62578943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47255784400005 meters Centerline goodness : 0.116379 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99862277e-01 2.48420523e-03 -1.64089932e-02 5.04658558e+00] [-2.50286078e-03 9.99996245e-01 -1.11647171e-03 7.58946624e-01] [ 1.64061580e-02 1.15738737e-03 9.99864740e-01 1.62646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5025578440001 meters Centerline goodness : 0.149254 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.63 [[ 9.99860796e-01 2.46331003e-03 -1.65021661e-02 5.04666867e+00] [-2.48448285e-03 9.99996117e-01 -1.26265429e-03 7.59775768e-01] [ 1.64989918e-02 1.30347787e-03 9.99863033e-01 1.62667670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53255784400005 meters Centerline goodness : 0.118033 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:1.63 [[ 9.99868116e-01 -3.77246101e-03 -1.57961650e-02 5.06938950e+00] [ 3.79996978e-03 9.99991315e-01 1.71183206e-03 7.61003239e-01] [ 1.57895700e-02 -1.77163125e-03 9.99873767e-01 1.62657190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5625578440001 meters Centerline goodness : 0.138178 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:1.63 [[ 9.99864265e-01 -3.81156007e-03 -1.60288296e-02 5.06997561e+00] [ 3.83392409e-03 9.99991719e-01 1.36474010e-03 7.62980812e-01] [ 1.60234951e-02 -1.42600817e-03 9.99870599e-01 1.62659946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59255784400005 meters Centerline goodness : 0.140941 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99875317e-01 -1.61452237e-04 -1.57899886e-02 5.06969119e+00] [ 2.31183234e-04 9.99990230e-01 4.41442683e-03 7.66667489e-01] [ 1.57891216e-02 -4.41752681e-03 9.99865586e-01 1.62622482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6225578440001 meters Centerline goodness : 0.133927 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99876659e-01 -1.19535528e-04 -1.57051679e-02 5.06936542e+00] [ 1.81694480e-04 9.99992157e-01 3.95649890e-03 7.69815935e-01] [ 1.57045717e-02 -3.95886445e-03 9.99868838e-01 1.62649878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65255784400006 meters Centerline goodness : 0.139203 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:1.63 [[ 9.99878786e-01 -4.97680117e-05 -1.55695595e-02 5.06885763e+00] [ 1.03907702e-04 9.99993952e-01 3.47648859e-03 7.73214619e-01] [ 1.55692924e-02 -3.47768498e-03 9.99872743e-01 1.62691641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6825578440001 meters Centerline goodness : 0.138518 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99880725e-01 -6.20671274e-05 -1.54444951e-02 5.06825760e+00] [ 1.07138717e-04 9.99995738e-01 2.91748450e-03 7.76650934e-01] [ 1.54442482e-02 -2.91879122e-03 9.99876470e-01 1.62745023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71255784400006 meters Centerline goodness : 0.136003 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99882454e-01 7.59887170e-05 -1.53320454e-02 5.06776040e+00] [-4.33550029e-05 9.99997733e-01 2.12878564e-03 7.81923138e-01] [ 1.53321724e-02 -2.12787069e-03 9.99880191e-01 1.62795612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters Centerline goodness : 0.144046 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:1.63 [[ 9.99882884e-01 -7.82762544e-05 -1.53039655e-02 5.06760293e+00] [ 1.02377203e-04 9.99998756e-01 1.57404014e-03 7.84696928e-01] [ 1.53038232e-02 -1.57542258e-03 9.99881649e-01 1.62811739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77255784400006 meters Centerline goodness : 0.119660 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99881686e-01 -9.45194589e-05 -1.53819490e-02 5.06763025e+00] [ 1.13432356e-04 9.99999239e-01 1.22868360e-03 7.86889623e-01] [ 1.53818212e-02 -1.23028304e-03 9.99880936e-01 1.62835920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80255784400003 meters Centerline goodness : 0.137006 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99880764e-01 -1.37045613e-04 -1.54414492e-02 5.06782845e+00] [ 1.51332147e-04 9.99999562e-01 9.24042177e-04 7.88928645e-01] [ 1.54413158e-02 -9.26268786e-04 9.99880347e-01 1.62829954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83255784400006 meters Centerline goodness : 0.110480 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.63 [[ 9.99890327e-01 1.77386359e-03 -1.47032823e-02 5.06508628e+00] [-1.74228304e-03 9.99996149e-01 2.16038812e-03 7.94954454e-01] [ 1.47070579e-02 -2.13453390e-03 9.99889567e-01 1.62918841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86255784400004 meters Centerline goodness : 0.163903 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.63 [[ 9.99889196e-01 1.58430433e-03 -1.48015767e-02 5.06531377e+00] [-1.55961003e-03 9.99997373e-01 1.67975016e-03 7.97067438e-01] [ 1.48041991e-02 -1.65647934e-03 9.99889040e-01 1.62923191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89255784400007 meters Centerline goodness : 0.131762 Centerline is valid? [False, False] Translation: X:5.06, Y:0.80, Z:1.63 [[ 9.99892017e-01 1.36847910e-03 -1.46315491e-02 5.06496516e+00] [-1.35257850e-03 9.99998484e-01 1.09657421e-03 7.99189506e-01] [ 1.46330276e-02 -1.07666548e-03 9.99892352e-01 1.62898712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92255784400004 meters Centerline goodness : 0.135642 Centerline is valid? [False, False] Translation: X:5.06, Y:0.80, Z:1.63 [[ 9.99900814e-01 1.43132740e-03 -1.40111639e-02 5.06314863e+00] [-1.42446531e-03 9.99998861e-01 4.99725968e-04 8.01754953e-01] [ 1.40118632e-02 -4.79717986e-04 9.99901714e-01 1.62902542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95255784400007 meters Centerline goodness : 0.138135 Centerline is valid? [False, False] Translation: X:5.06, Y:0.81, Z:1.63 [[ 9.99912686e-01 3.85317233e-03 -1.26401290e-02 5.05817691e+00] [-3.83115907e-03 9.99991103e-01 1.76528967e-03 8.08851503e-01] [ 1.26468185e-02 -1.71670919e-03 9.99918552e-01 1.63056506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98255784400004 meters Centerline goodness : 0.139120 Centerline is valid? [False, False] Translation: X:5.06, Y:0.81, Z:1.63 [[ 9.99912566e-01 3.68250841e-03 -1.27003463e-02 5.05849274e+00] [-3.66738058e-03 9.99992538e-01 1.21421902e-03 8.11161921e-01] [ 1.27047229e-02 -1.16753586e-03 9.99918610e-01 1.63015498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 461.04255784400004 meters Centerline goodness : 0.082239 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.63 [[ 9.99895440e-01 2.64532509e-03 -1.42165987e-02 5.10703094e+00] [-2.63495919e-03 9.99996249e-01 7.47822480e-04 8.13788960e-01] [ 1.42185236e-02 -7.10284130e-04 9.99898659e-01 1.62913826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0725578440001 meters Centerline goodness : 0.116672 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99892508e-01 2.45080555e-03 -1.44556569e-02 5.10778699e+00] [-2.44583088e-03 9.99996944e-01 3.61802203e-04 8.15273760e-01] [ 1.44564994e-02 -3.26407220e-04 9.99895446e-01 1.62882338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10255784400005 meters Centerline goodness : 0.145745 Centerline is valid? [False, False] Translation: X:5.13, Y:0.82, Z:1.63 [[ 9.99897666e-01 -3.80431809e-03 -1.37907425e-02 5.12980547e+00] [ 3.85162719e-03 9.99986783e-01 3.40556196e-03 8.20008587e-01] [ 1.37776044e-02 -3.45833026e-03 9.99899104e-01 1.62893142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1325578440001 meters Centerline goodness : 0.141726 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99883828e-01 5.06244279e-03 -1.43771311e-02 5.10976222e+00] [-5.03463089e-03 9.99985386e-01 1.96998954e-03 8.18430389e-01] [ 1.43868939e-02 -1.89737713e-03 9.99894703e-01 1.62749430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16255784400005 meters Centerline goodness : 0.140614 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99882029e-01 4.93296775e-03 -1.45462621e-02 5.11044352e+00] [-4.91028684e-03 9.99986673e-01 1.59452949e-03 8.20255185e-01] [ 1.45539340e-02 -1.52291506e-03 9.99892926e-01 1.62703203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1925578440001 meters Centerline goodness : 0.170326 Centerline is valid? [False, False] Translation: X:5.11, Y:0.82, Z:1.63 [[ 9.99873161e-01 4.92836269e-03 -1.51450595e-02 5.11237737e+00] [-4.91230952e-03 9.99987333e-01 1.09697930e-03 8.23560890e-01] [ 1.51502740e-02 -1.02244294e-03 9.99884705e-01 1.62618696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22255784400005 meters Centerline goodness : 0.183757 Centerline is valid? [False, False] Translation: X:5.11, Y:0.83, Z:1.63 [[ 9.99870364e-01 4.91645588e-03 -1.53324445e-02 5.11270241e+00] [-4.90416509e-03 9.99987622e-01 8.39115293e-04 8.25349694e-01] [ 1.53363802e-02 -7.63813674e-04 9.99882099e-01 1.62639470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2525578440001 meters Centerline goodness : 0.153057 Centerline is valid? [False, False] Translation: X:5.11, Y:0.83, Z:1.63 [[ 9.99872815e-01 4.91393375e-03 -1.51725996e-02 5.11202574e+00] [-4.90678314e-03 9.99987832e-01 5.08475532e-04 8.26788025e-01] [ 1.51749136e-02 -4.33962205e-04 9.99884760e-01 1.62661087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28255784400005 meters Centerline goodness : 0.117591 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99891084e-01 -2.48482050e-03 -1.45480384e-02 5.13357761e+00] [ 2.52046927e-03 9.99993865e-01 2.43259534e-03 8.30644620e-01] [ 1.45419046e-02 -2.46899828e-03 9.99891213e-01 1.62661277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3125578440001 meters Centerline goodness : 0.141391 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99890277e-01 -2.56781785e-03 -1.45890580e-02 5.13359350e+00] [ 2.59871114e-03 9.99994420e-01 2.09900265e-03 8.32323964e-01] [ 1.45835867e-02 -2.13668509e-03 9.99891371e-01 1.62671297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34255784400005 meters Centerline goodness : 0.147120 Centerline is valid? [False, False] Translation: X:5.13, Y:0.83, Z:1.63 [[ 9.99896636e-01 -2.07992076e-03 -1.42264175e-02 5.13268126e+00] [ 2.10942440e-03 9.99995655e-01 2.05917172e-03 8.34563458e-01] [ 1.42220728e-02 -2.08896843e-03 9.99896679e-01 1.62683395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3725578440001 meters Centerline goodness : 0.180785 Centerline is valid? [False, False] Translation: X:5.13, Y:0.84, Z:1.63 [[ 9.99900662e-01 -2.09074582e-03 -1.39389980e-02 5.13165330e+00] [ 2.11603399e-03 9.99996142e-01 1.79970128e-03 8.36047200e-01] [ 1.39351815e-02 -1.82901789e-03 9.99901228e-01 1.62734322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40255784400006 meters Centerline goodness : 0.133914 Centerline is valid? [False, False] Translation: X:5.15, Y:0.83, Z:1.63 [[ 9.99908543e-01 5.45771168e-03 -1.23741446e-02 5.15042781e+00] [-5.45383626e-03 9.99985068e-01 3.46910316e-04 8.33510695e-01] [ 1.23758532e-02 -2.79392030e-04 9.99923377e-01 1.62920544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4325578440001 meters Centerline goodness : 0.174657 Centerline is valid? [False, False] Translation: X:5.13, Y:0.84, Z:1.63 [[ 9.99928514e-01 -2.31540168e-03 -1.17305366e-02 5.12881039e+00] [ 2.32202871e-03 9.99997152e-01 5.51350521e-04 8.39774782e-01] [ 1.17292265e-02 -5.78549750e-04 9.99931043e-01 1.62882216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46255784400006 meters Centerline goodness : 0.150153 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99921657e-01 5.36194548e-03 -1.13106314e-02 5.14897944e+00] [-5.36946813e-03 9.99985383e-01 -6.34832841e-04 8.37169422e-01] [ 1.13070621e-02 6.95515181e-04 9.99935831e-01 1.63032898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49255784400003 meters Centerline goodness : 0.182020 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99914237e-01 5.54996558e-03 -1.18624173e-02 5.15056145e+00] [-5.55881546e-03 9.99984295e-01 -7.13201360e-04 8.38243603e-01] [ 1.18582727e-02 7.79081182e-04 9.99929385e-01 1.62983432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 461.55255784400003 meters Centerline goodness : 0.143372 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99928375e-01 -2.73001997e-03 -1.16529619e-02 5.17158740e+00] [ 2.73952618e-03 9.99995928e-01 7.99891612e-04 8.40373104e-01] [ 1.16507307e-02 -8.31757914e-04 9.99931782e-01 1.62998789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58255784400006 meters Centerline goodness : 0.188663 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99928904e-01 -2.61788506e-03 -1.16332624e-02 5.17155004e+00] [ 2.63025075e-03 9.99995992e-01 1.04778788e-03 8.39224341e-01] [ 1.16304728e-02 -1.07831178e-03 9.99931782e-01 1.62996998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61255784400004 meters Centerline goodness : 0.156205 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99929134e-01 -2.46923701e-03 -1.16459996e-02 5.17183549e+00] [ 2.48417581e-03 9.99996110e-01 1.26844982e-03 8.38116476e-01] [ 1.16428222e-02 -1.29729064e-03 9.99931379e-01 1.62958820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64255784400007 meters Centerline goodness : 0.120000 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99929787e-01 -2.39942530e-03 -1.16044677e-02 5.17178814e+00] [ 2.41407395e-03 9.99996307e-01 1.24848579e-03 8.38333031e-01] [ 1.16014292e-02 -1.27641217e-03 9.99931886e-01 1.62945734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67255784400004 meters Centerline goodness : 0.134295 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99938411e-01 -1.87861381e-03 -1.09382204e-02 5.16983191e+00] [ 1.89332517e-03 9.99997317e-01 1.33474969e-03 8.39328045e-01] [ 1.09356836e-02 -1.35537709e-03 9.99939285e-01 1.62992717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 461.73255784400004 meters Centerline goodness : 0.130729 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99939126e-01 -1.54632001e-03 -1.09248616e-02 5.16975660e+00] [ 1.55981381e-03 9.99998031e-01 1.22673277e-03 8.40947039e-01] [ 1.09229431e-02 -1.24369884e-03 9.99939569e-01 1.62988391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76255784400007 meters Centerline goodness : 0.146653 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99937702e-01 -1.52910754e-03 -1.10568621e-02 5.17025397e+00] [ 1.54133785e-03 9.99998210e-01 1.09769150e-03 8.41488209e-01] [ 1.10551638e-02 -1.11466547e-03 9.99938269e-01 1.62951914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79255784400004 meters Centerline goodness : 0.146653 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99937634e-01 -1.54426896e-03 -1.10609155e-02 5.17022610e+00] [ 1.55634335e-03 9.99998202e-01 1.08310211e-03 8.41481841e-01] [ 1.10592230e-02 -1.10024914e-03 9.99938240e-01 1.62954002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8225578440001 meters Centerline goodness : 0.149305 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935236e-01 -1.43517930e-03 -1.12899806e-02 5.17100890e+00] [ 1.44795382e-03 9.99998321e-01 1.12339915e-03 8.41523397e-01] [ 1.12883494e-02 -1.13967376e-03 9.99935635e-01 1.62907394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85255784400005 meters Centerline goodness : 0.154165 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935269e-01 -1.35852207e-03 -1.12965888e-02 5.17090700e+00] [ 1.37289361e-03 9.99998258e-01 1.26454427e-03 8.40916378e-01] [ 1.12948512e-02 -1.27997143e-03 9.99935392e-01 1.62924341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8825578440001 meters Centerline goodness : 0.122092 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935906e-01 -1.33559776e-03 -1.12428182e-02 5.17063306e+00] [ 1.35062680e-03 9.99998204e-01 1.32928128e-03 8.40488727e-01] [ 1.12410226e-02 -1.34438093e-03 9.99935914e-01 1.62946866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91255784400005 meters Centerline goodness : 0.128443 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99935886e-01 -1.31134987e-03 -1.12473706e-02 5.17056011e+00] [ 1.32660099e-03 9.99998211e-01 1.34861845e-03 8.39996242e-01] [ 1.12455819e-02 -1.36345276e-03 9.99935837e-01 1.62960508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9425578440001 meters Centerline goodness : 0.122489 Centerline is valid? [False, False] Translation: X:5.15, Y:0.83, Z:1.63 [[ 9.99900250e-01 5.96474143e-03 -1.28028171e-02 5.15015314e+00] [-5.97910642e-03 9.99981537e-01 -1.08403518e-03 8.34817568e-01] [ 1.27961148e-02 1.16047646e-03 9.99917453e-01 1.62966958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97255784400005 meters Centerline goodness : 0.120222 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99911528e-01 -2.69847293e-03 -1.30251471e-02 5.17090575e+00] [ 2.69601579e-03 9.99996344e-01 -2.06200485e-04 8.38406665e-01] [ 1.30256559e-02 1.71066240e-04 9.99915148e-01 1.63018554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0025578440001 meters Centerline goodness : 0.165687 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99909610e-01 -2.60571572e-03 -1.31901969e-02 5.17143863e+00] [ 2.60534466e-03 9.99996605e-01 -4.53146344e-05 8.37506028e-01] [ 1.31902702e-02 1.09455292e-05 9.99913005e-01 1.62993563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03255784400005 meters Centerline goodness : 0.169997 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99909956e-01 -2.57659263e-03 -1.31697296e-02 5.17132373e+00] [ 2.57667709e-03 9.99996680e-01 -1.05548904e-05 8.37182300e-01] [ 1.31697131e-02 -2.33802006e-05 9.99913275e-01 1.63001350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0625578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 462.09255784400005 meters Centerline goodness : 0.124414 Centerline is valid? [False, False] Translation: X:5.17, Y:0.84, Z:1.63 [[ 9.99915934e-01 -2.51164361e-03 -1.27206973e-02 5.16969583e+00] [ 2.50956134e-03 9.99996835e-01 -1.79651419e-04 8.38023811e-01] [ 1.27211083e-02 1.47712947e-04 9.99919073e-01 1.63076018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1225578440001 meters Centerline goodness : 0.112858 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99885452e-01 7.00686017e-03 -1.34159131e-02 5.14909580e+00] [-7.02270990e-03 9.99974697e-01 -1.13466639e-03 8.35927182e-01] [ 1.34076232e-02 1.22875248e-03 9.99909359e-01 1.62996231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15255784400006 meters Centerline goodness : 0.173808 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99883755e-01 6.99000930e-03 -1.35505333e-02 5.14938347e+00] [-7.00974571e-03 9.99974438e-01 -1.40955669e-03 8.37582971e-01] [ 1.35403341e-02 1.50437863e-03 9.99907194e-01 1.62994801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1825578440001 meters Centerline goodness : 0.162017 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99882315e-01 6.96384206e-03 -1.36697293e-02 5.14975418e+00] [-6.98790226e-03 9.99974117e-01 -1.71313428e-03 8.39464406e-01] [ 1.36574455e-02 1.80845540e-03 9.99905097e-01 1.62973705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21255784400006 meters Centerline goodness : 0.038707 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99880886e-01 7.04945478e-03 -1.37302406e-02 5.14967884e+00] [-7.07923008e-03 9.99972692e-01 -2.12119862e-03 8.42434703e-01] [ 1.37149124e-02 2.21814549e-03 9.99903486e-01 1.62993198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters Centerline goodness : 0.117429 Centerline is valid? [False, False] Translation: X:5.15, Y:0.84, Z:1.63 [[ 9.99882318e-01 6.91499580e-03 -1.36942835e-02 5.14945696e+00] [-6.94949929e-03 9.99972793e-01 -2.47357198e-03 8.44065938e-01] [ 1.36768062e-02 2.56844929e-03 9.99903169e-01 1.63006870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27255784400006 meters Centerline goodness : 0.134200 Centerline is valid? [False, False] Translation: X:5.10, Y:0.84, Z:1.63 [[ 9.99839757e-01 7.29897295e-03 -1.63457857e-02 5.10428386e+00] [-7.35822565e-03 9.99966563e-01 -3.56774874e-03 8.44889371e-01] [ 1.63191983e-02 3.68745302e-03 9.99860033e-01 1.63095909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30255784400003 meters Centerline goodness : 0.122750 Centerline is valid? [False, False] Translation: X:5.10, Y:0.85, Z:1.63 [[ 9.99838223e-01 7.14669205e-03 -1.65061229e-02 5.10455893e+00] [-7.21378185e-03 9.99965946e-01 -4.00858218e-03 8.47020166e-01] [ 1.64769127e-02 4.12700525e-03 9.99855729e-01 1.63107185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33255784400006 meters Centerline goodness : 0.168983 Centerline is valid? [False, False] Translation: X:5.10, Y:0.85, Z:1.63 [[ 9.99835961e-01 7.11541357e-03 -1.66559798e-02 5.10489238e+00] [-7.18442328e-03 9.99965839e-01 -4.08707593e-03 8.47440978e-01] [ 1.66263296e-02 4.20606910e-03 9.99852926e-01 1.63110084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36255784400004 meters Centerline goodness : 0.150848 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99838305e-01 -1.14059248e-03 -1.79461193e-02 5.08373372e+00] [ 1.07669344e-03 9.99993048e-01 -3.56986417e-03 8.50289331e-01] [ 1.79500663e-02 3.54996447e-03 9.99832582e-01 1.63049630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39255784400007 meters Centerline goodness : 0.147594 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99834876e-01 -1.07207381e-03 -1.81403172e-02 5.08434216e+00] [ 1.01215859e-03 9.99994004e-01 -3.31173497e-03 8.48849060e-01] [ 1.81437589e-02 3.29282725e-03 9.99829966e-01 1.63034684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42255784400004 meters Centerline goodness : 0.140247 Centerline is valid? [False, False] Translation: X:5.08, Y:0.85, Z:1.63 [[ 9.99834918e-01 -1.01388732e-03 -1.81413696e-02 5.08438199e+00] [ 9.59752220e-04 9.99995062e-01 -2.99252677e-03 8.46972122e-01] [ 1.81443141e-02 2.97462153e-03 9.99830953e-01 1.63033768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45255784400007 meters Centerline goodness : 0.050772 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99836107e-01 -9.38243953e-04 -1.80797852e-02 5.08420657e+00] [ 8.91777126e-04 9.99996279e-01 -2.57798928e-03 8.44451032e-01] [ 1.80821367e-02 2.56144363e-03 9.99833224e-01 1.63045903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48255784400004 meters Centerline goodness : 0.124390 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99839322e-01 -1.12960722e-03 -1.78900541e-02 5.08375625e+00] [ 1.09320946e-03 9.99997313e-01 -2.04417371e-03 8.39304761e-01] [ 1.78923151e-02 2.02428768e-03 9.99837871e-01 1.63053260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51255784400007 meters Centerline goodness : 0.094390 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:1.63 [[ 9.99839709e-01 -9.35870712e-04 -1.78796202e-02 5.08368943e+00] [ 9.09547857e-04 9.99998491e-01 -1.48030183e-03 8.36445867e-01] [ 1.78809786e-02 1.46380218e-03 9.99839051e-01 1.63067664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54255784400004 meters Centerline goodness : 0.112003 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99840792e-01 -7.60456517e-04 -1.78272796e-02 5.08341389e+00] [ 7.43115015e-04 9.99999244e-01 -9.79355118e-04 8.33967112e-01] [ 1.78280109e-02 9.65951478e-04 9.99840602e-01 1.63098324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5725578440001 meters Centerline goodness : 0.167084 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99842760e-01 -5.73648788e-04 -1.77236056e-02 5.08309377e+00] [ 5.64512071e-04 9.99999705e-01 -5.20509914e-04 8.31800320e-01] [ 1.77238990e-02 5.10422880e-04 9.99842789e-01 1.63112148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 462.6325578440001 meters Centerline goodness : 0.094800 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99846905e-01 -4.50167731e-05 -1.74975725e-02 5.08261665e+00] [ 5.27373731e-05 9.99999901e-01 4.40777173e-04 8.27384958e-01] [ 1.74975509e-02 -4.41632468e-04 9.99846809e-01 1.63103558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66255784400005 meters Centerline goodness : 0.162373 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99845691e-01 3.06154405e-05 -1.75668445e-02 5.08298708e+00] [-2.10171401e-05 9.99999850e-01 5.46571638e-04 8.26774838e-01] [ 1.75668586e-02 -5.46118092e-04 9.99845542e-01 1.63065484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6925578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 462.72255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 462.7525578440001 meters Centerline goodness : 0.188091 Centerline is valid? [False, False] Translation: X:5.08, Y:0.83, Z:1.63 [[ 9.99856367e-01 3.35149006e-04 -1.69449954e-02 5.08119322e+00] [-3.21039058e-04 9.99999600e-01 8.35404544e-04 8.25298881e-01] [ 1.69452686e-02 -8.29844547e-04 9.99856074e-01 1.63093630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78255784400005 meters Centerline goodness : 0.149638 Centerline is valid? [False, False] Translation: X:5.08, Y:0.82, Z:1.63 [[ 9.99855479e-01 4.95092874e-04 -1.69934026e-02 5.08165627e+00] [-4.72219227e-04 9.99998977e-01 1.35001723e-03 8.22558651e-01] [ 1.69940536e-02 -1.34179751e-03 9.99854690e-01 1.63042887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8125578440001 meters Centerline goodness : 0.149726 Centerline is valid? [False, False] Translation: X:5.08, Y:0.82, Z:1.63 [[ 9.99852816e-01 6.04101920e-04 -1.71458837e-02 5.08241938e+00] [-5.75857232e-04 9.99998469e-01 1.65220532e-03 8.20982547e-01] [ 1.71468556e-02 -1.64208856e-03 9.99851633e-01 1.62986710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84255784400005 meters Centerline goodness : 0.178399 Centerline is valid? [False, False] Translation: X:5.04, Y:0.82, Z:1.63 [[ 9.99795090e-01 6.05261776e-04 -2.02339022e-02 5.03860063e+00] [-5.86241602e-04 9.99999381e-01 9.45933516e-04 8.17134061e-01] [ 2.02344622e-02 -9.33877730e-04 9.99794826e-01 1.63003544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8725578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 462.90255784400006 meters Centerline goodness : 0.087020 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99785246e-01 8.57433380e-04 -2.07056948e-02 5.04003872e+00] [-8.24467708e-04 9.99998379e-01 1.60059056e-03 8.13831561e-01] [ 2.07070336e-02 -1.58317565e-03 9.99784333e-01 1.62966587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9325578440001 meters Centerline goodness : 0.038867 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99786367e-01 1.07044717e-03 -2.06415901e-02 5.03991606e+00] [-1.02836761e-03 9.99997372e-01 2.04908840e-03 8.11749013e-01] [ 2.06437293e-02 -2.02742350e-03 9.99784840e-01 1.62963856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96255784400006 meters Centerline goodness : 0.095138 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99792859e-01 1.08471932e-03 -2.03239173e-02 5.03887468e+00] [-1.04167631e-03 9.99997193e-01 2.12831739e-03 8.11010911e-01] [ 2.03261689e-02 -2.10670558e-03 9.99791183e-01 1.62999759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99255784400003 meters Centerline goodness : 0.087854 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99798313e-01 1.07755516e-03 -2.00542412e-02 5.03793356e+00] [-1.03503006e-03 9.99997194e-01 2.13076276e-03 8.10722688e-01] [ 2.00564810e-02 -2.10957627e-03 9.99796623e-01 1.63039091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02255784400006 meters Centerline goodness : 0.091807 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99801448e-01 1.11767147e-03 -1.98950922e-02 5.03741901e+00] [-1.07468498e-03 9.99997065e-01 2.17121816e-03 8.10594200e-01] [ 1.98974605e-02 -2.14940611e-03 9.99799716e-01 1.63048467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05255784400003 meters Centerline goodness : 0.087471 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99792946e-01 1.43883223e-03 -2.02976434e-02 5.03868296e+00] [-1.38989771e-03 9.99996094e-01 2.42474866e-03 8.10361919e-01] [ 2.03010529e-02 -2.39603496e-03 9.99791041e-01 1.62992669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08255784400006 meters Centerline goodness : 0.097535 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99791651e-01 1.45693138e-03 -2.03600723e-02 5.03914914e+00] [-1.40751872e-03 9.99996030e-01 2.44105892e-03 8.10164700e-01] [ 2.03635479e-02 -2.41189314e-03 9.99789732e-01 1.62938066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11255784400004 meters Centerline goodness : 0.086379 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99789958e-01 1.47575380e-03 -2.04416722e-02 5.03946444e+00] [-1.42477828e-03 9.99995840e-01 2.50804508e-03 8.09623060e-01] [ 2.04452884e-02 -2.47839343e-03 9.99787901e-01 1.62917904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14255784400007 meters Centerline goodness : 0.092876 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99791128e-01 1.51318925e-03 -2.03816032e-02 5.03926016e+00] [-1.45945236e-03 9.99995421e-01 2.65115571e-03 8.08771406e-01] [ 2.03855216e-02 -2.62085598e-03 9.99788759e-01 1.62924236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 463.20255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 463.23255784400004 meters Centerline goodness : 0.158013 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99818817e-01 -7.12576378e-04 -1.90217030e-02 5.03351306e+00] [ 7.38410938e-04 9.99998815e-01 1.35117334e-03 8.01220588e-01] [ 1.90207176e-02 -1.36497436e-03 9.99818158e-01 1.63228891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26255784400007 meters Centerline goodness : 0.152592 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99820574e-01 -5.82581416e-04 -1.89336034e-02 5.03323993e+00] [ 6.15328050e-04 9.99998325e-01 1.72377140e-03 7.99395133e-01] [ 1.89325674e-02 -1.73511249e-03 9.99819257e-01 1.63239507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29255784400004 meters Centerline goodness : 0.169297 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99819300e-01 -4.73420859e-04 -1.90037901e-02 5.03362980e+00] [ 5.10891669e-04 9.99997935e-01 1.96694815e-03 7.98326313e-01] [ 1.90028196e-02 -1.97630160e-03 9.99817477e-01 1.63209066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3225578440001 meters Centerline goodness : 0.167229 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99814024e-01 -3.13379112e-04 -1.92825911e-02 5.03491343e+00] [ 3.54969177e-04 9.99997618e-01 2.15348632e-03 7.97731441e-01] [ 1.92818704e-02 -2.15993055e-03 9.99811754e-01 1.63112997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35255784400005 meters Centerline goodness : 0.151716 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99813867e-01 -3.30450389e-04 -1.92904717e-02 5.03499812e+00] [ 3.69211192e-04 9.99997920e-01 2.00579688e-03 7.98425106e-01] [ 1.92897688e-02 -2.01254579e-03 9.99811910e-01 1.63093079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3825578440001 meters Centerline goodness : 0.097077 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99816241e-01 -3.77871042e-04 -1.91661578e-02 5.03455499e+00] [ 4.12391782e-04 9.99998300e-01 1.79720950e-03 7.99396077e-01] [ 1.91654461e-02 -1.80478321e-03 9.99814697e-01 1.63106634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41255784400005 meters Centerline goodness : 0.169518 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99825667e-01 -2.41029469e-06 -1.86717757e-02 5.03317939e+00] [ 3.36988547e-05 9.99998596e-01 1.67539976e-03 8.01593020e-01] [ 1.86717455e-02 -1.67573690e-03 9.99824263e-01 1.63116743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4425578440001 meters Centerline goodness : 0.147455 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99823803e-01 5.71348760e-07 -1.87713447e-02 5.03362237e+00] [ 2.55649067e-05 9.99999031e-01 1.39210860e-03 8.03440094e-01] [ 1.87713273e-02 -1.39234321e-03 9.99822834e-01 1.63071846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47255784400005 meters Centerline goodness : 0.172142 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99822129e-01 -8.85506409e-05 -1.88600814e-02 5.03413196e+00] [ 1.08183070e-04 9.99999453e-01 1.03993372e-03 8.05313132e-01] [ 1.88599790e-02 -1.04178909e-03 9.99821592e-01 1.63012699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5025578440001 meters Centerline goodness : 0.140034 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99821451e-01 -1.97683980e-04 -1.88951772e-02 5.03432806e+00] [ 2.10602935e-04 9.99999745e-01 6.81729646e-04 8.07142709e-01] [ 1.88950376e-02 -6.85587304e-04 9.99821238e-01 1.62981912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 463.5625578440001 meters Centerline goodness : 0.161099 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817023e-01 -4.55364196e-04 -1.91236420e-02 5.03466605e+00] [ 4.53664752e-04 9.99999893e-01 -9.32043145e-05 8.11312147e-01] [ 1.91236824e-02 8.45115380e-05 9.99817122e-01 1.62999185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59255784400005 meters Centerline goodness : 0.088861 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817464e-01 -5.14850059e-04 -1.90990426e-02 5.03434915e+00] [ 5.12450518e-04 9.99999860e-01 -1.30530585e-04 8.11410074e-01] [ 1.90991072e-02 1.20719445e-04 9.99817588e-01 1.63038911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6225578440001 meters Centerline goodness : 0.150759 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99818563e-01 -5.72308851e-04 -1.90397664e-02 5.03401562e+00] [ 5.70052208e-04 9.99999830e-01 -1.23949730e-04 8.11197065e-01] [ 1.90398341e-02 1.13073580e-04 9.99818720e-01 1.63072130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65255784400006 meters Centerline goodness : 0.087612 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817115e-01 -6.12081360e-04 -1.91144607e-02 5.03417289e+00] [ 6.10372973e-04 9.99999809e-01 -9.52105388e-05 8.10889083e-01] [ 1.91145153e-02 8.35261760e-05 9.99817297e-01 1.63083412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6825578440001 meters Centerline goodness : 0.087612 Centerline is valid? [False, False] Translation: X:5.03, Y:0.81, Z:1.63 [[ 9.99817115e-01 -6.12081360e-04 -1.91144607e-02 5.03417289e+00] [ 6.10372973e-04 9.99999809e-01 -9.52105388e-05 8.10889083e-01] [ 1.91145153e-02 8.35261760e-05 9.99817297e-01 1.63083412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71255784400006 meters Centerline goodness : 0.092801 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99801260e-01 -1.24978462e-03 -1.98966957e-02 5.03661955e+00] [ 1.24245449e-03 9.99999156e-01 -3.80766629e-04 8.09960423e-01] [ 1.98971548e-02 3.55970216e-04 9.99801969e-01 1.63008934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters Centerline goodness : 0.099913 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99799223e-01 -1.27725794e-03 -1.99970660e-02 5.03702156e+00] [ 1.27404788e-03 9.99999173e-01 -1.73265911e-04 8.08528984e-01] [ 1.99972708e-02 1.47753904e-04 9.99800024e-01 1.62991998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77255784400006 meters Centerline goodness : 0.189680 Centerline is valid? [False, False] Translation: X:5.04, Y:0.81, Z:1.63 [[ 9.99797985e-01 -1.24355064e-03 -2.00609694e-02 5.03701958e+00] [ 1.24522753e-03 9.99999222e-01 7.10984403e-05 8.07213610e-01] [ 2.00608654e-02 -9.60645489e-05 9.99798756e-01 1.63024401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80255784400003 meters Centerline goodness : 0.162653 Centerline is valid? [False, False] Translation: X:5.02, Y:0.80, Z:1.63 [[ 9.99769635e-01 7.20010286e-03 -2.02196638e-02 5.01715388e+00] [-7.21757148e-03 9.99973640e-01 -7.91098235e-04 8.00718740e-01] [ 2.02134348e-02 9.36852862e-04 9.99795249e-01 1.62943824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83255784400006 meters Centerline goodness : 0.152395 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99802223e-01 -1.16876307e-03 -1.98531635e-02 5.03651311e+00] [ 1.18167355e-03 9.99999098e-01 6.38579953e-04 8.03894616e-01] [ 1.98523992e-02 -6.61913615e-04 9.99802703e-01 1.63128588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86255784400004 meters Centerline goodness : 0.092932 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801422e-01 -1.12274869e-03 -1.98961201e-02 5.03666468e+00] [ 1.13867573e-03 9.99999040e-01 7.89199274e-04 8.03033640e-01] [ 1.98952150e-02 -8.11697785e-04 9.99801741e-01 1.63119217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89255784400007 meters Centerline goodness : 0.154040 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801834e-01 -1.08839382e-03 -1.98773027e-02 5.03670474e+00] [ 1.10603776e-03 9.99999004e-01 8.76670550e-04 8.02543259e-01] [ 1.98763288e-02 -8.98481872e-04 9.99802043e-01 1.63101788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92255784400004 meters Centerline goodness : 0.181221 Centerline is valid? [False, False] Translation: X:5.04, Y:0.80, Z:1.63 [[ 9.99801170e-01 -9.26114329e-04 -1.99188824e-02 5.03683640e+00] [ 9.45064171e-04 9.99999110e-01 9.41958475e-04 8.02652327e-01] [ 1.99179923e-02 -9.60595808e-04 9.99801156e-01 1.63092769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95255784400007 meters Centerline goodness : 0.157891 Centerline is valid? [False, False] Translation: X:4.99, Y:0.80, Z:1.63 [[ 9.99758566e-01 -3.01804321e-05 -2.19729178e-02 4.99089254e+00] [ 4.42477005e-05 9.99999794e-01 6.39723492e-04 8.00917650e-01] [ 2.19728940e-02 -6.40541292e-04 9.99758362e-01 1.63118590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98255784400004 meters Centerline goodness : 0.164609 Centerline is valid? [False, False] Translation: X:5.01, Y:0.80, Z:1.63 [[ 9.99747714e-01 8.08738396e-03 -2.09547659e-02 5.01152449e+00] [-8.09982457e-03 9.99967066e-01 -5.08881034e-04 8.00123018e-01] [ 2.09499603e-02 6.78482578e-04 9.99780295e-01 1.63253373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01255784400007 meters Centerline goodness : 0.167040 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99791301e-01 1.21125322e-04 -2.04288950e-02 4.98981727e+00] [-1.26120236e-04 9.99999962e-01 -2.43214182e-04 8.05923580e-01] [ 2.04288648e-02 2.45739920e-04 9.99791279e-01 1.63138972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04255784400004 meters Centerline goodness : 0.098422 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99790905e-01 1.91505804e-04 -2.04477191e-02 4.98984029e+00] [-2.01879857e-04 9.99999852e-01 -5.05282230e-04 8.07798411e-01] [ 2.04476193e-02 5.09304560e-04 9.99790796e-01 1.63122548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0725578440001 meters Centerline goodness : 0.181714 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99790490e-01 6.71255454e-04 -2.04579018e-02 4.98965324e+00] [-6.84541176e-04 9.99999559e-01 -6.42421653e-04 8.10646195e-01] [ 2.04574616e-02 6.56291335e-04 9.99790509e-01 1.63133728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.1325578440001 meters Centerline goodness : 0.118344 Centerline is valid? [False, False] Translation: X:4.99, Y:0.81, Z:1.63 [[ 9.99799633e-01 5.67331606e-04 -2.00093091e-02 4.98833728e+00] [-5.91468459e-04 9.99999105e-01 -1.20038378e-03 8.13380214e-01] [ 2.00086102e-02 1.21197814e-03 9.99799073e-01 1.63151317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16255784400005 meters Centerline goodness : 0.087110 Centerline is valid? [False, False] Translation: X:4.99, Y:0.82, Z:1.63 [[ 9.99804888e-01 4.45718216e-04 -1.97481073e-02 4.98746154e+00] [-4.76306320e-04 9.99998694e-01 -1.54423673e-03 8.15042998e-01] [ 1.97473932e-02 1.55334158e-03 9.99803795e-01 1.63176616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1925578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.22255784400005 meters Centerline goodness : 0.159123 Centerline is valid? [False, False] Translation: X:5.01, Y:0.82, Z:1.63 [[ 9.99808935e-01 -5.80112220e-03 -1.86665675e-02 5.00862256e+00] [ 5.83068882e-03 9.99981831e-01 1.52989974e-03 8.19670906e-01] [ 1.86573532e-02 -1.63844637e-03 9.99824594e-01 1.63183974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2525578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.28255784400005 meters Centerline goodness : 0.114160 Centerline is valid? [False, False] Translation: X:5.01, Y:0.82, Z:1.63 [[ 9.99812994e-01 -5.85239207e-03 -1.84316631e-02 5.00776326e+00] [ 5.88602101e-03 9.99981109e-01 1.77079900e-03 8.18022543e-01] [ 1.84209515e-02 -1.87895700e-03 9.99828554e-01 1.63242259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3125578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.34255784400005 meters Centerline goodness : 0.097284 Centerline is valid? [False, False] Translation: X:5.01, Y:0.81, Z:1.63 [[ 9.99809458e-01 -5.84818932e-03 -1.86237880e-02 5.00860089e+00] [ 5.89163277e-03 9.99980048e-01 2.27867320e-03 8.14696535e-01] [ 1.86100903e-02 -2.38796354e-03 9.99823966e-01 1.63197855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3725578440001 meters Centerline goodness : 0.097056 Centerline is valid? [False, False] Translation: X:5.01, Y:0.81, Z:1.63 [[ 9.99809203e-01 -5.75179272e-03 -1.86674948e-02 5.00881385e+00] [ 5.80406505e-03 9.99979383e-01 2.74720959e-03 8.12001465e-01] [ 1.86513086e-02 -2.85503278e-03 9.99821973e-01 1.63196002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.4325578440001 meters Centerline goodness : 0.092655 Centerline is valid? [False, False] Translation: X:5.01, Y:0.80, Z:1.63 [[ 9.99786107e-01 -9.19996055e-03 -1.85229989e-02 5.00870902e+00] [ 9.20703673e-03 9.99957570e-01 2.96777399e-04 8.04946723e-01] [ 1.85194827e-02 -4.67255852e-04 9.99828390e-01 1.63188621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46255784400006 meters Centerline goodness : 0.152131 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99817547e-01 -1.67048291e-03 -1.90284816e-02 5.02990349e+00] [ 1.66437527e-03 9.99998558e-01 -3.36805577e-04 7.98461059e-01] [ 1.90290168e-02 3.05073592e-04 9.99818885e-01 1.63318909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49255784400003 meters Centerline goodness : 0.157413 Centerline is valid? [False, False] Translation: X:5.03, Y:0.80, Z:1.63 [[ 9.99815634e-01 -1.53526355e-03 -1.91400302e-02 5.03058969e+00] [ 1.53749361e-03 9.99998813e-01 1.01798078e-04 7.95938228e-01] [ 1.91398512e-02 -1.31206984e-04 9.99816808e-01 1.63259472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52255784400006 meters Centerline goodness : 0.096335 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99814411e-01 -1.17596085e-03 -1.92291784e-02 5.03095109e+00] [ 1.19375328e-03 9.99998870e-01 9.13830678e-04 7.92212452e-01] [ 1.92280821e-02 -9.36615975e-04 9.99814685e-01 1.63241962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55255784400003 meters Centerline goodness : 0.097677 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99815251e-01 -1.01895400e-03 -1.91944008e-02 5.03089344e+00] [ 1.04285858e-03 9.99998693e-01 1.23542493e-03 7.90908958e-01] [ 1.91931169e-02 -1.25521373e-03 9.99815007e-01 1.63238605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.61255784400004 meters Centerline goodness : 0.095037 Centerline is valid? [False, False] Translation: X:5.03, Y:0.79, Z:1.63 [[ 9.99810861e-01 -8.84399805e-04 -1.94283325e-02 5.03191681e+00] [ 9.17801811e-04 9.99998116e-01 1.71039280e-03 7.87977975e-01] [ 1.94267832e-02 -1.72790066e-03 9.99809789e-01 1.63172043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64255784400007 meters Centerline goodness : 0.094300 Centerline is valid? [False, False] Translation: X:5.03, Y:0.78, Z:1.63 [[ 9.99799369e-01 -9.81697440e-04 -2.00064327e-02 5.03364043e+00] [ 1.02994436e-03 9.99996586e-01 2.40140926e-03 7.82842102e-01] [ 2.00040069e-02 -2.42153298e-03 9.99796967e-01 1.63135926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.70255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.73255784400004 meters Centerline goodness : 0.146848 Centerline is valid? [False, False] Translation: X:5.03, Y:0.77, Z:1.64 [[ 9.99816181e-01 -6.79893062e-03 -1.79270565e-02 5.02631524e+00] [ 6.78527840e-03 9.99976642e-01 -8.22258066e-04 7.65913930e-01] [ 1.79322282e-02 7.00466849e-04 9.99838959e-01 1.63530884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.79255784400004 meters Centerline goodness : 0.093019 Centerline is valid? [False, False] Translation: X:5.03, Y:0.76, Z:1.64 [[ 9.99788745e-01 -1.03449022e-02 -1.77608878e-02 5.02583034e+00] [ 1.02869963e-02 9.99941481e-01 -3.34857673e-03 7.58457110e-01] [ 1.77944891e-02 3.16516313e-03 9.99836656e-01 1.63569131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8225578440001 meters Centerline goodness : 0.155519 Centerline is valid? [False, False] Translation: X:5.01, Y:0.75, Z:1.63 [[ 9.99824910e-01 -1.92900478e-03 -1.86125993e-02 5.00734129e+00] [ 1.85669416e-03 9.99990665e-01 -3.90153459e-03 7.48168553e-01] [ 1.86199516e-02 3.86629357e-03 9.99819158e-01 1.63381033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 464.8825578440001 meters Centerline goodness : 0.177222 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.63 [[ 9.99812037e-01 -1.26921688e-03 -1.93463085e-02 5.01044273e+00] [ 1.22466123e-03 9.99996571e-01 -2.31473060e-03 7.36484183e-01] [ 1.93491800e-02 2.29060284e-03 9.99810163e-01 1.63224280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91255784400005 meters Centerline goodness : 0.100279 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99813048e-01 -1.06752486e-03 -1.93062268e-02 5.01051373e+00] [ 1.03069491e-03 9.99997630e-01 -1.91752208e-03 7.34475456e-01] [ 1.93082281e-02 1.89726476e-03 9.99811779e-01 1.63197478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9425578440001 meters Centerline goodness : 0.145852 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99817210e-01 -8.85450250e-04 -1.90987837e-02 5.01009087e+00] [ 8.53568304e-04 9.99998229e-01 -1.67740536e-03 7.33389361e-01] [ 1.91002351e-02 1.66079663e-03 9.99816194e-01 1.63179688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97255784400005 meters Centerline goodness : 0.130469 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99825850e-01 -5.64510361e-04 -1.86534505e-02 5.00898451e+00] [ 5.37949375e-04 9.99998834e-01 -1.42890519e-03 7.32875173e-01] [ 1.86542354e-02 1.41862173e-03 9.99824988e-01 1.63176731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0025578440001 meters Centerline goodness : 0.172840 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99831746e-01 5.23159834e-04 -1.83358950e-02 5.00812406e+00] [-5.34245801e-04 9.99999677e-01 -5.99711479e-04 7.31775726e-01] [ 1.83355754e-02 6.09406450e-04 9.99831703e-01 1.63173398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03255784400005 meters Centerline goodness : 0.124775 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99832069e-01 6.95674384e-04 -1.83125827e-02 5.00822145e+00] [-7.06418139e-04 9.99999582e-01 -5.80224852e-04 7.32123956e-01] [ 1.83121714e-02 5.93063754e-04 9.99832142e-01 1.63136669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0625578440001 meters Centerline goodness : 0.158648 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99832666e-01 8.53341277e-04 -1.82732761e-02 5.00817457e+00] [-8.63791350e-04 9.99999468e-01 -5.63992214e-04 7.32421206e-01] [ 1.82727851e-02 5.79682137e-04 9.99832871e-01 1.63115297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09255784400005 meters Centerline goodness : 0.159280 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99834638e-01 9.71506611e-04 -1.81590872e-02 5.00800866e+00] [-9.81932022e-04 9.99999358e-01 -5.65207981e-04 7.32826559e-01] [ 1.81585264e-02 5.82945507e-04 9.99834950e-01 1.63086629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1225578440001 meters Centerline goodness : 0.202048 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99834744e-01 1.11595100e-03 -1.81449665e-02 5.00812635e+00] [-1.12493691e-03 9.99999250e-01 -4.85029312e-04 7.32893619e-01] [ 1.81444116e-02 5.05361101e-04 9.99835249e-01 1.63048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15255784400006 meters Centerline goodness : 0.159169 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99837240e-01 1.33482871e-03 -1.79920033e-02 5.00794061e+00] [-1.33559567e-03 9.99999108e-01 -3.06115934e-05 7.30744989e-01] [ 1.79919464e-02 5.46366527e-05 9.99838130e-01 1.63017774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1825578440001 meters Centerline goodness : 0.159679 Centerline is valid? [False, False] Translation: X:5.01, Y:0.73, Z:1.63 [[ 9.99837371e-01 1.42961262e-03 -1.79774481e-02 5.00790351e+00] [-1.42421291e-03 9.99998937e-01 3.13159476e-04 7.28775080e-01] [ 1.79778766e-02 -2.87504833e-04 9.99838344e-01 1.63021776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21255784400006 meters Centerline goodness : 0.157581 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99835521e-01 1.60194003e-03 -1.80655886e-02 5.00834823e+00] [-1.58303374e-03 9.99998184e-01 1.06078765e-03 7.24819373e-01] [ 1.80672551e-02 -1.03201473e-03 9.99836241e-01 1.62998987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters Centerline goodness : 0.160877 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99834482e-01 1.74270848e-03 -1.81099702e-02 5.00846588e+00] [-1.71600080e-03 9.99997417e-01 1.49018529e-03 7.22717669e-01] [ 1.81125204e-02 -1.45886192e-03 9.99834891e-01 1.63003917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27255784400006 meters Centerline goodness : 0.148605 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99834851e-01 1.87434597e-03 -1.80764398e-02 5.00835672e+00] [-1.83917370e-03 9.99996384e-01 1.96217993e-03 7.20297690e-01] [ 1.80800522e-02 -1.92861016e-03 9.99834682e-01 1.63017231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30255784400003 meters Centerline goodness : 0.169317 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99867566e-01 1.33695221e-03 -1.62192181e-02 5.05223541e+00] [-1.30692986e-03 9.99997413e-01 1.86149351e-03 7.21064534e-01] [ 1.62216649e-02 -1.84004961e-03 9.99866727e-01 1.63070838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33255784400006 meters Centerline goodness : 0.157890 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99866908e-01 1.45691483e-03 -1.62494254e-02 5.05239309e+00] [-1.42027046e-03 9.99996423e-01 2.26642977e-03 7.18870681e-01] [ 1.62526693e-02 -2.24304955e-03 9.99865401e-01 1.63068062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36255784400004 meters Centerline goodness : 0.128207 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99866053e-01 1.46487934e-03 -1.63012170e-02 5.05247422e+00] [-1.42149147e-03 9.99995417e-01 2.67290192e-03 7.15856427e-01] [ 1.63050578e-02 -2.64937185e-03 9.99863554e-01 1.63083673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39255784400007 meters Centerline goodness : 0.158469 Centerline is valid? [False, False] Translation: X:5.07, Y:0.71, Z:1.63 [[ 9.99838455e-01 9.10646342e-03 -1.54963350e-02 5.07139161e+00] [-9.08840260e-03 9.99957936e-01 1.23551523e-03 7.12192275e-01] [ 1.55069343e-02 -1.09447871e-03 9.99879161e-01 1.63276097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42255784400004 meters Centerline goodness : 0.097946 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:1.63 [[ 9.99877112e-01 4.42732625e-04 -1.56705006e-02 5.04923455e+00] [-4.13403411e-04 9.99998157e-01 1.87480930e-03 7.15233249e-01] [ 1.56713018e-02 -1.86810067e-03 9.99875452e-01 1.63194271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45255784400007 meters Centerline goodness : 0.189715 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99875489e-01 5.13664964e-04 -1.57715751e-02 5.04966623e+00] [-4.82168799e-04 9.99997882e-01 2.00075848e-03 7.14915784e-01] [ 1.57725695e-02 -1.99290480e-03 9.99873619e-01 1.63162154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48255784400004 meters Centerline goodness : 0.154454 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99873009e-01 4.89440463e-04 -1.59287763e-02 5.05031806e+00] [-4.57465188e-04 9.99997873e-01 2.01097229e-03 7.14686140e-01] [ 1.59297266e-02 -2.00343006e-03 9.99871107e-01 1.63119741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51255784400007 meters Centerline goodness : 0.149341 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99869408e-01 4.64136073e-04 -1.61539904e-02 5.05112387e+00] [-4.31131129e-04 9.99997813e-01 2.04656751e-03 7.14201875e-01] [ 1.61549050e-02 -2.03933576e-03 9.99867421e-01 1.63083190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54255784400004 meters Centerline goodness : 0.153404 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.63 [[ 9.99866482e-01 4.35098200e-04 -1.63349002e-02 5.05171116e+00] [-4.00920055e-04 9.99997724e-01 2.09555516e-03 7.13594438e-01] [ 1.63357748e-02 -2.08872638e-03 9.99864381e-01 1.63062520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5725578440001 meters Centerline goodness : 0.162707 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825591e-01 -8.39646587e-04 -1.86569704e-02 5.00450522e+00] [ 8.62901082e-04 9.99998861e-01 1.23840867e-03 7.08590885e-01] [ 1.86559093e-02 -1.25429181e-03 9.99825177e-01 1.63205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60255784400005 meters Centerline goodness : 0.162707 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825591e-01 -8.39646587e-04 -1.86569704e-02 5.00450522e+00] [ 8.62901082e-04 9.99998861e-01 1.23840867e-03 7.08590885e-01] [ 1.86559093e-02 -1.25429181e-03 9.99825177e-01 1.63205307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6325578440001 meters Centerline goodness : 0.135454 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99829794e-01 -8.07769172e-04 -1.84317784e-02 5.00365095e+00] [ 8.33264947e-04 9.99998707e-01 1.37561296e-03 7.07818938e-01] [ 1.84306434e-02 -1.39073738e-03 9.99829174e-01 1.63254943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66255784400005 meters Centerline goodness : 0.099374 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99832979e-01 -7.86681654e-04 -1.82591204e-02 5.00299087e+00] [ 8.12920789e-04 9.99998648e-01 1.42966492e-03 7.07676163e-01] [ 1.82579710e-02 -1.44426936e-03 9.99832266e-01 1.63291004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6925578440001 meters Centerline goodness : 0.187511 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99834793e-01 -7.86827274e-04 -1.81595302e-02 5.00276208e+00] [ 8.12200875e-04 9.99998704e-01 1.38992796e-03 7.08057992e-01] [ 1.81584130e-02 -1.40444752e-03 9.99834136e-01 1.63286670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72255784400005 meters Centerline goodness : 0.144814 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99835881e-01 -8.22374113e-04 -1.80979218e-02 5.00283880e+00] [ 8.44671965e-04 9.99998894e-01 1.22445742e-03 7.09092249e-01] [ 1.80968948e-02 -1.23954327e-03 9.99835469e-01 1.63244203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7525578440001 meters Centerline goodness : 0.103791 Centerline is valid? [False, False] Translation: X:5.00, Y:0.71, Z:1.63 [[ 9.99825391e-01 -7.14839007e-04 -1.86728683e-02 5.00476760e+00] [ 7.27394574e-04 9.99999514e-01 6.65613091e-04 7.12634115e-01] [ 1.86723835e-02 -6.79079412e-04 9.99825425e-01 1.63135237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78255784400005 meters Centerline goodness : 0.156097 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99823548e-01 -7.09383634e-04 -1.87714998e-02 5.00496985e+00] [ 7.13741120e-04 9.99999720e-01 2.25434521e-04 7.15391837e-01] [ 1.87713346e-02 -2.38792734e-04 9.99823774e-01 1.63121411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8125578440001 meters Centerline goodness : 0.129945 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99827322e-01 -6.76287191e-04 -1.85706607e-02 5.00415536e+00] [ 6.73685160e-04 9.99999762e-01 -1.46370727e-04 7.18021749e-01] [ 1.85707553e-02 1.33834673e-04 9.99827540e-01 1.63153416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84255784400005 meters Centerline goodness : 0.098364 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99832460e-01 -6.92640835e-04 -1.82913111e-02 5.00320695e+00] [ 6.84266484e-04 9.99999658e-01 -4.64086778e-04 7.20246951e-01] [ 1.82916263e-02 4.51492894e-04 9.99832592e-01 1.63179917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8725578440001 meters Centerline goodness : 0.155967 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99834949e-01 -7.66083533e-04 -1.81518212e-02 5.00285976e+00] [ 7.52897548e-04 9.99999448e-01 -7.33250329e-04 7.21728769e-01] [ 1.81523729e-02 7.19462843e-04 9.99834973e-01 1.63175420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90255784400006 meters Centerline goodness : 0.180378 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99840051e-01 -1.06596991e-03 -1.78531681e-02 5.00179501e+00] [ 1.04883404e-03 9.99998980e-01 -9.69157919e-04 7.21951782e-01] [ 1.78541830e-02 9.50277892e-04 9.99840150e-01 1.63229458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9325578440001 meters Centerline goodness : 0.150384 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99840623e-01 -1.13281533e-03 -1.78170087e-02 5.00143128e+00] [ 1.11771927e-03 9.99999008e-01 -8.57218677e-04 7.21078078e-01] [ 1.78179621e-02 8.37167642e-04 9.99840897e-01 1.63280700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96255784400006 meters Centerline goodness : 0.144556 Centerline is valid? [False, False] Translation: X:5.00, Y:0.72, Z:1.63 [[ 9.99823633e-01 -1.82144647e-03 -1.86918614e-02 5.00398847e+00] [ 1.80315358e-03 9.99997879e-01 -9.95462173e-04 7.19286606e-01] [ 1.86936349e-02 9.61582309e-04 9.99824796e-01 1.63236719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99255784400003 meters Centerline goodness : 0.152829 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.63 [[ 9.99817017e-01 -1.78407304e-03 -1.90460010e-02 5.00521021e+00] [ 1.77261159e-03 9.99998238e-01 -6.18642400e-04 7.17021336e-01] [ 1.90470711e-02 5.84768036e-04 9.99818417e-01 1.63194209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02255784400006 meters Centerline goodness : 0.121658 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99813390e-01 -1.71064540e-03 -1.92420924e-02 5.00590959e+00] [ 1.70681954e-03 9.99998520e-01 -2.15248577e-04 7.14787429e-01] [ 1.92424321e-02 1.82365630e-04 9.99814831e-01 1.63168394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05255784400003 meters Centerline goodness : 0.157156 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99811535e-01 -1.55270505e-03 -1.93515773e-02 5.00632074e+00] [ 1.55844755e-03 9.99998746e-01 2.81668866e-04 7.12310581e-01] [ 1.93511157e-02 -3.11774199e-04 9.99812701e-01 1.63155855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08255784400006 meters Centerline goodness : 0.105560 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99802290e-01 -1.33936517e-03 -1.98390152e-02 5.00783804e+00] [ 1.36139004e-03 9.99998472e-01 1.09671584e-03 7.07677472e-01] [ 1.98375160e-02 -1.12350765e-03 9.99802586e-01 1.63117325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11255784400004 meters Centerline goodness : 0.153579 Centerline is valid? [False, False] Translation: X:5.01, Y:0.71, Z:1.63 [[ 9.99799107e-01 -1.19537867e-03 -2.00079309e-02 5.00842436e+00] [ 1.22575318e-03 9.99998115e-01 1.50592851e-03 7.05489514e-01] [ 2.00060931e-02 -1.53015077e-03 9.99798687e-01 1.63096094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14255784400007 meters Centerline goodness : 0.150764 Centerline is valid? [False, False] Translation: X:5.01, Y:0.70, Z:1.63 [[ 9.99799129e-01 -1.04363148e-03 -2.00153280e-02 5.00861487e+00] [ 1.08159166e-03 9.99997637e-01 1.88582419e-03 7.03605017e-01] [ 2.00133126e-02 -1.90709379e-03 9.99797895e-01 1.63070065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17255784400004 meters Centerline goodness : 0.155441 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99787818e-01 7.25768622e-03 -1.92780732e-02 5.02891757e+00] [-7.23735929e-03 9.99973178e-01 1.12396648e-03 6.99183386e-01] [ 1.92857136e-02 -9.84205651e-04 9.99813529e-01 1.63195151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20255784400007 meters Centerline goodness : 0.158609 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99791819e-01 7.40615299e-03 -1.90122745e-02 5.02823699e+00] [-7.38122023e-03 9.99971804e-01 1.38124276e-03 6.98154116e-01] [ 1.90219681e-02 -1.24062142e-03 9.99818296e-01 1.63198374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23255784400004 meters Centerline goodness : 0.110207 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99856707e-01 3.41394594e-04 -1.69248103e-02 5.04591518e+00] [-2.87701662e-04 9.99994919e-01 3.17477250e-03 7.01755262e-01] [ 1.69258082e-02 -3.16944828e-03 9.99851725e-01 1.63283608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26255784400007 meters Centerline goodness : 0.147997 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99856378e-01 3.60023952e-04 -1.69438287e-02 5.04601797e+00] [-3.06327864e-04 9.99994924e-01 3.17155326e-03 7.01633091e-01] [ 1.69448845e-02 -3.16590739e-03 9.99851413e-01 1.63267207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29255784400004 meters Centerline goodness : 0.107865 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.63 [[ 9.99806153e-01 8.48849668e-03 -1.77651850e-02 5.02620597e+00] [-8.45462892e-03 9.99962297e-01 1.98065072e-03 6.95610757e-01] [ 1.77813280e-02 -1.83006873e-03 9.99840225e-01 1.63114810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3225578440001 meters Centerline goodness : 0.134234 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99845973e-01 4.63804727e-04 -1.75446634e-02 5.04559978e+00] [-4.17326676e-04 9.99996395e-01 2.65269598e-03 7.00881292e-01] [ 1.75458304e-02 -2.64496554e-03 9.99842562e-01 1.63208647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35255784400005 meters Centerline goodness : 0.153552 Centerline is valid? [False, False] Translation: X:5.05, Y:0.70, Z:1.63 [[ 9.99847709e-01 4.46826351e-04 -1.74459162e-02 5.04532052e+00] [-4.01962602e-04 9.99996604e-01 2.57501218e-03 7.01189598e-01] [ 1.74470075e-02 -2.56760742e-03 9.99844493e-01 1.63209073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3825578440001 meters Centerline goodness : 0.145016 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99855749e-01 5.80443385e-04 -1.69748376e-02 5.04367701e+00] [-5.34774069e-04 9.99996226e-01 2.69482793e-03 7.01240288e-01] [ 1.69763377e-02 -2.68536149e-03 9.99852285e-01 1.63275720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41255784400005 meters Centerline goodness : 0.148048 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99857654e-01 6.31643331e-04 -1.68603821e-02 5.04310943e+00] [-5.83485006e-04 9.99995737e-01 2.86106737e-03 7.00369153e-01] [ 1.68621174e-02 -2.85082233e-03 9.99853760e-01 1.63325343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4425578440001 meters Centerline goodness : 0.153906 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.63 [[ 9.99859281e-01 6.29442011e-04 -1.67637331e-02 5.04260936e+00] [-5.78536338e-04 9.99995208e-01 3.04133140e-03 6.99023225e-01] [ 1.67655671e-02 -3.03120499e-03 9.99854853e-01 1.63370072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47255784400005 meters Centerline goodness : 0.158817 Centerline is valid? [False, False] Translation: X:5.00, Y:0.69, Z:1.63 [[ 9.99816821e-01 -1.08210149e-03 -1.91089926e-02 4.99695764e+00] [ 1.12903711e-03 9.99996372e-01 2.44558839e-03 6.90264951e-01] [ 1.91062769e-02 -2.46671517e-03 9.99814416e-01 1.63465589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5025578440001 meters Centerline goodness : 0.151710 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99843861e-01 -1.47994721e-03 -1.76086212e-02 5.04247243e+00] [ 1.52078430e-03 9.99996185e-01 2.30598898e-03 6.91011413e-01] [ 1.76051413e-02 -2.33240784e-03 9.99842297e-01 1.63467660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53255784400005 meters Centerline goodness : 0.151824 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99838835e-01 -1.32608522e-03 -1.79038047e-02 5.04336514e+00] [ 1.37726556e-03 9.99995000e-01 2.84660160e-03 6.88198293e-01] [ 1.78999403e-02 -2.87080112e-03 9.99835662e-01 1.63454786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5625578440001 meters Centerline goodness : 0.159512 Centerline is valid? [False, False] Translation: X:5.04, Y:0.69, Z:1.63 [[ 9.99821013e-01 -5.11008441e-03 -1.82161573e-02 5.04439468e+00] [ 5.10108727e-03 9.99986843e-01 -5.40340653e-04 6.85568210e-01] [ 1.82186789e-02 4.47321731e-04 9.99833926e-01 1.63421049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59255784400005 meters Centerline goodness : 0.154354 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99817676e-01 -5.03034003e-03 -1.84203761e-02 5.04497276e+00] [ 5.02802604e-03 9.99987345e-01 -1.71932239e-04 6.83241151e-01] [ 1.84210079e-02 7.92827610e-05 9.99830316e-01 1.63415577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6225578440001 meters Centerline goodness : 0.142069 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99832290e-01 1.29087909e-03 -1.82681785e-02 5.02253493e+00] [-1.33793066e-03 9.99995819e-01 -2.56361571e-03 6.76365635e-01] [ 1.82647928e-02 2.58762732e-03 9.99829836e-01 1.63383967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65255784400006 meters Centerline goodness : 0.150714 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99828217e-01 -6.48457642e-03 -1.73633880e-02 5.04198378e+00] [ 6.46492577e-03 9.99978397e-01 -1.18762110e-03 6.79921936e-01] [ 1.73707141e-02 1.07516407e-03 9.99848540e-01 1.63497818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6825578440001 meters Centerline goodness : 0.098292 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99841773e-01 -6.04100343e-03 -1.67312794e-02 5.04038941e+00] [ 6.03164900e-03 9.99981624e-01 -6.09504557e-04 6.78436736e-01] [ 1.67346540e-02 5.08490913e-04 9.99859837e-01 1.63511364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71255784400006 meters Centerline goodness : 0.150300 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.63 [[ 9.99868006e-01 2.00247968e-03 -1.61232971e-02 5.02031273e+00] [-2.02691501e-03 9.99996822e-01 -1.49933061e-03 6.71695821e-01] [ 1.61202435e-02 1.53181326e-03 9.99868887e-01 1.63317876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters Centerline goodness : 0.095340 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99851431e-01 -5.38043096e-03 -1.63757858e-02 5.03931318e+00] [ 5.37287180e-03 9.99985438e-01 -5.05566981e-04 6.77280799e-01] [ 1.63782675e-02 4.17506872e-04 9.99865780e-01 1.63444936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77255784400006 meters Centerline goodness : 0.145619 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.63 [[ 9.99850078e-01 -5.38328277e-03 -1.64572985e-02 5.03968337e+00] [ 5.37349440e-03 9.99985359e-01 -6.38935365e-04 6.78039172e-01] [ 1.64604971e-02 5.50406373e-04 9.99864365e-01 1.63409409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80255784400003 meters Centerline goodness : 0.099482 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99840081e-01 4.02403006e-03 -1.74246709e-02 5.01766104e+00] [-4.03668279e-03 9.99991614e-01 -6.91027990e-04 6.75459400e-01] [ 1.74217440e-02 7.61255350e-04 9.99847940e-01 1.63377524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83255784400006 meters Centerline goodness : 0.098208 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99844744e-01 3.97906549e-03 -1.71655429e-02 5.01691874e+00] [-3.99544720e-03 9.99991595e-01 -9.20147867e-04 6.76863453e-01] [ 1.71617373e-02 9.88589029e-04 9.99852238e-01 1.63384747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86255784400004 meters Centerline goodness : 0.150328 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99848535e-01 3.93833842e-03 -1.69527885e-02 5.01618044e+00] [-3.95627968e-03 9.99991649e-01 -1.02489954e-03 6.77358976e-01] [ 1.69486105e-02 1.09181428e-03 9.99855766e-01 1.63414581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89255784400007 meters Centerline goodness : 0.171537 Centerline is valid? [False, False] Translation: X:5.02, Y:0.68, Z:1.63 [[ 9.99851689e-01 3.89732869e-03 -1.67753084e-02 5.01556944e+00] [-3.91607026e-03 9.99991744e-01 -1.08450790e-03 6.77470227e-01] [ 1.67709432e-02 1.15004035e-03 9.99858696e-01 1.63440420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92255784400004 meters Centerline goodness : 0.149894 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.64 [[ 9.99854990e-01 -3.68051355e-03 -1.66268479e-02 5.03422909e+00] [ 3.68346777e-03 9.99993205e-01 1.47057028e-04 6.83406577e-01] [ 1.66261937e-02 -2.08280162e-04 9.99861754e-01 1.63621518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95255784400007 meters Centerline goodness : 0.112673 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.64 [[ 9.99852293e-01 -3.59252254e-03 -1.68072958e-02 5.03489764e+00] [ 3.59961602e-03 9.99993445e-01 3.91814748e-04 6.82408014e-01] [ 1.68057781e-02 -4.52256686e-04 9.99858671e-01 1.63589409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98255784400004 meters Centerline goodness : 0.085606 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99850477e-01 -3.56408828e-03 -1.69209957e-02 5.03528366e+00] [ 3.57482556e-03 9.99993428e-01 6.04348545e-04 6.81055431e-01] [ 1.69187306e-02 -6.64747789e-04 9.99856647e-01 1.63578248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01255784400007 meters Centerline goodness : 0.145134 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99848495e-01 -3.50891799e-03 -1.70491872e-02 5.03568303e+00] [ 3.52485002e-03 9.99993379e-01 9.04514035e-04 6.79225999e-01] [ 1.70459005e-02 -9.64472825e-04 9.99854243e-01 1.63573786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04255784400004 meters Centerline goodness : 0.098078 Centerline is valid? [False, False] Translation: X:5.04, Y:0.68, Z:1.64 [[ 9.99842039e-01 -3.46015266e-03 -1.74334055e-02 5.03675143e+00] [ 3.48723053e-03 9.99992760e-01 1.52305740e-03 6.75351328e-01] [ 1.74280093e-02 -1.58361112e-03 9.99846867e-01 1.63571327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0725578440001 meters Centerline goodness : 0.140382 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.64 [[ 9.99840756e-01 -3.33730890e-03 -1.75306649e-02 5.03696743e+00] [ 3.37161515e-03 9.99992458e-01 1.92773720e-03 6.73129527e-01] [ 1.75240992e-02 -1.98653688e-03 9.99844468e-01 1.63580470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10255784400005 meters Centerline goodness : 0.160560 Centerline is valid? [False, False] Translation: X:5.05, Y:0.67, Z:1.64 [[ 9.99792674e-01 2.95272052e-03 -2.01467038e-02 5.05410250e+00] [-2.93548074e-03 9.99995300e-01 8.85231902e-04 6.67188638e-01] [ 2.01492229e-02 -8.25908110e-04 9.99796643e-01 1.63924985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1325578440001 meters Centerline goodness : 0.202450 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.64 [[ 9.99734515e-01 2.43551542e-03 -2.29121810e-02 5.00876878e+00] [-2.41167972e-03 9.99996522e-01 1.06788126e-03 6.61050560e-01] [ 2.29147021e-02 -1.01234091e-03 9.99736911e-01 1.63956129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16255784400005 meters Centerline goodness : 0.150848 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.64 [[ 9.99733978e-01 2.58431268e-03 -2.29193097e-02 5.00891205e+00] [-2.55060632e-03 9.99995623e-01 1.49976430e-03 6.58716237e-01] [ 2.29230852e-02 -1.44090719e-03 9.99736193e-01 1.63943466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1925578440001 meters Centerline goodness : 0.086028 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99730271e-01 8.64449517e-04 -2.32085600e-02 5.01051158e+00] [-8.61092724e-04 9.99999617e-01 1.54629312e-04 6.52922625e-01] [ 2.32086848e-02 -1.34602882e-04 9.99730633e-01 1.63853982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22255784400005 meters Centerline goodness : 0.143866 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99726751e-01 9.83157389e-04 -2.33550121e-02 5.01088441e+00] [-9.73457037e-04 9.99999435e-01 4.26708970e-04 6.51493478e-01] [ 2.33554184e-02 -4.03857271e-04 9.99727143e-01 1.63851437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2525578440001 meters Centerline goodness : 0.147416 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99722346e-01 1.13117042e-03 -2.35361612e-02 5.01137326e+00] [-1.11553685e-03 9.99999148e-01 6.77355253e-04 6.50569519e-01] [ 2.35369074e-02 -6.50911727e-04 9.99722757e-01 1.63844560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28255784400005 meters Centerline goodness : 0.145879 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99721178e-01 1.36070919e-03 -2.35735948e-02 5.01183720e+00] [-1.33789682e-03 9.99998621e-01 9.83453166e-04 6.49581371e-01] [ 2.35749005e-02 -9.51639921e-04 9.99721620e-01 1.63783470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3125578440001 meters Centerline goodness : 0.145531 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99723627e-01 1.36562598e-03 -2.34692432e-02 5.01155877e+00] [-1.34192662e-03 9.99998574e-01 1.02552484e-03 6.49153019e-01] [ 2.34706102e-02 -9.93747408e-04 9.99724033e-01 1.63785569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34255784400005 meters Centerline goodness : 0.146745 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99725631e-01 1.38688156e-03 -2.33824637e-02 5.01132101e+00] [-1.36216218e-03 9.99998497e-01 1.07307053e-03 6.48796818e-01] [ 2.33839167e-02 -1.04092540e-03 9.99726017e-01 1.63784227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3725578440001 meters Centerline goodness : 0.150682 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99725320e-01 1.45150374e-03 -2.33918082e-02 5.01140769e+00] [-1.42369771e-03 9.99998260e-01 1.20531788e-03 6.48216366e-01] [ 2.33935170e-02 -1.17168394e-03 9.99725648e-01 1.63774603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40255784400006 meters Centerline goodness : 0.143877 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.64 [[ 9.99717839e-01 1.50611085e-03 -2.37059811e-02 5.01263253e+00] [-1.47120665e-03 9.99997808e-01 1.48975114e-03 6.46540824e-01] [ 2.37081729e-02 -1.45445439e-03 9.99717864e-01 1.63708333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4325578440001 meters Centerline goodness : 0.150283 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99655804e-01 -8.25119485e-05 -2.62348373e-02 4.96678333e+00] [ 1.03605344e-04 9.99999672e-01 8.02664087e-04 6.41054747e-01] [ 2.62347625e-02 -8.05105883e-04 9.99655485e-01 1.63731455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46255784400006 meters Centerline goodness : 0.147188 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99656473e-01 -1.39951117e-04 -2.62091009e-02 4.96660438e+00] [ 1.65140650e-04 9.99999527e-01 9.58936721e-04 6.39574119e-01] [ 2.62089543e-02 -9.62935488e-04 9.99656023e-01 1.63755993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49255784400003 meters Centerline goodness : 0.147188 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99656473e-01 -1.39951117e-04 -2.62091009e-02 4.96660438e+00] [ 1.65140650e-04 9.99999527e-01 9.58936721e-04 6.39574119e-01] [ 2.62089543e-02 -9.62935488e-04 9.99656023e-01 1.63755993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52255784400006 meters Centerline goodness : 0.147813 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99662129e-01 -1.18397929e-04 -2.59925677e-02 4.96579012e+00] [ 1.50273104e-04 9.99999239e-01 1.22436893e-03 6.37945583e-01] [ 2.59924029e-02 -1.22786123e-03 9.99661386e-01 1.63809043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55255784400003 meters Centerline goodness : 0.147044 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99665508e-01 -4.22880915e-05 -2.58625326e-02 4.96519781e+00] [ 8.18715695e-05 9.99998827e-01 1.52947675e-03 6.36410314e-01] [ 2.58624376e-02 -1.53108256e-03 9.99664339e-01 1.63855743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58255784400006 meters Centerline goodness : 0.141714 Centerline is valid? [False, False] Translation: X:4.97, Y:0.64, Z:1.64 [[ 9.99663715e-01 6.39115299e-05 -2.59316848e-02 4.96522134e+00] [-1.70641241e-05 9.99998368e-01 1.80678734e-03 6.35216702e-01] [ 2.59317579e-02 -1.80573725e-03 9.99662085e-01 1.63882961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61255784400004 meters Centerline goodness : 0.146642 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.64 [[ 9.99654296e-01 1.75077248e-04 -2.62917781e-02 4.96618794e+00] [-1.16634018e-04 9.99997519e-01 2.22438801e-03 6.32878256e-01] [ 2.62921023e-02 -2.22055251e-03 9.99651837e-01 1.63883219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64255784400007 meters Centerline goodness : 0.152175 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.64 [[ 9.99576096e-01 -7.55197758e-04 -2.91042633e-02 4.92125441e+00] [ 8.14328596e-04 9.99997628e-01 2.01989074e-03 6.28483600e-01] [ 2.91026689e-02 -2.04273494e-03 9.99574340e-01 1.63895022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67255784400004 meters Centerline goodness : 0.259909 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.64 [[ 9.99632240e-01 -4.47495389e-04 -2.71142998e-02 4.96451033e+00] [ 4.89933637e-04 9.99998665e-01 1.55853804e-03 6.31153592e-01] [ 2.71135662e-02 -1.57124908e-03 9.99631125e-01 1.64011943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70255784400007 meters Centerline goodness : 0.149671 Centerline is valid? [False, False] Translation: X:4.92, Y:0.63, Z:1.64 [[ 9.99564962e-01 -6.45775244e-04 -2.94867771e-02 4.91711321e+00] [ 7.05625764e-04 9.99997712e-01 2.01938051e-03 6.25940306e-01] [ 2.94854056e-02 -2.03930863e-03 9.99563131e-01 1.64137433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73255784400004 meters Centerline goodness : 0.145181 Centerline is valid? [False, False] Translation: X:4.94, Y:0.62, Z:1.64 [[ 9.99554453e-01 7.75754819e-03 -2.88221342e-02 4.93692988e+00] [-7.73471556e-03 9.99969678e-01 9.03596720e-04 6.24061738e-01] [ 2.88282700e-02 -6.80263115e-04 9.99584148e-01 1.64282735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76255784400007 meters Centerline goodness : 0.146749 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99551835e-01 1.11513886e-03 -2.99146317e-02 4.95461995e+00] [-1.05445359e-03 9.99997354e-01 2.04431391e-03 6.30783158e-01] [ 2.99168323e-02 -2.01185413e-03 9.99550367e-01 1.64503684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79255784400004 meters Centerline goodness : 0.125862 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99566818e-01 1.15803675e-03 -2.94080875e-02 4.95309316e+00] [-1.10712079e-03 9.99997860e-01 1.74758257e-03 6.32957258e-01] [ 2.94100483e-02 -1.71426724e-03 9.99565961e-01 1.64536564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8225578440001 meters Centerline goodness : 0.144740 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.65 [[ 9.99571411e-01 1.09550848e-03 -2.92539682e-02 4.95247235e+00] [-1.05223790e-03 9.99998330e-01 1.49448914e-03 6.34394074e-01] [ 2.92555565e-02 -1.46306648e-03 9.99570894e-01 1.64564631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85255784400005 meters Centerline goodness : 0.178830 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99570749e-01 9.89952434e-04 -2.92803441e-02 4.95260198e+00] [-9.56871754e-04 9.99998888e-01 1.14378157e-03 6.36266624e-01] [ 2.92814438e-02 -1.11527307e-03 9.99570584e-01 1.64547757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8825578440001 meters Centerline goodness : 0.146252 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99568720e-01 8.70633766e-04 -2.93532881e-02 4.95300025e+00] [-8.47827786e-04 9.99999329e-01 7.89385028e-04 6.38075494e-01] [ 2.93539557e-02 -7.64158049e-04 9.99568788e-01 1.64510031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91255784400005 meters Centerline goodness : 0.153256 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99563114e-01 6.56961042e-04 -2.95491007e-02 4.95392934e+00] [-6.51426567e-04 9.99999768e-01 1.96923810e-04 6.40859450e-01] [ 2.95492233e-02 -1.77588707e-04 9.99563311e-01 1.64425966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9425578440001 meters Centerline goodness : 0.108690 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99561919e-01 5.62060763e-04 -2.95914451e-02 4.95395688e+00] [-5.63942345e-04 9.99999839e-01 -5.52396444e-05 6.42122908e-01] [ 2.95914093e-02 7.19033139e-05 9.99562076e-01 1.64431960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97255784400005 meters Centerline goodness : 0.146474 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.64 [[ 9.99566939e-01 5.20609660e-04 -2.94221611e-02 4.95317762e+00] [-5.26755192e-04 9.99999841e-01 -2.01123830e-04 6.43062770e-01] [ 2.94220518e-02 2.16535007e-04 9.99567054e-01 1.64483363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0025578440001 meters Centerline goodness : 0.112398 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99573830e-01 4.84601588e-04 -2.91877219e-02 4.95229180e+00] [-4.93937052e-04 9.99999829e-01 -3.12633007e-04 6.43688265e-01] [ 2.91875654e-02 3.26916670e-04 9.99573899e-01 1.64523920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03255784400005 meters Centerline goodness : 0.145085 Centerline is valid? [False, False] Translation: X:4.95, Y:0.64, Z:1.65 [[ 9.99578194e-01 3.97728142e-04 -2.90392026e-02 4.95171488e+00] [-4.11669690e-04 9.99999803e-01 -4.74117097e-04 6.44358314e-01] [ 2.90390084e-02 4.85871671e-04 9.99578161e-01 1.64555866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0625578440001 meters Centerline goodness : 0.146387 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99578736e-01 2.80582224e-04 -2.90219150e-02 4.95182622e+00] [-3.04843629e-04 9.99999608e-01 -8.31547338e-04 6.46405580e-01] [ 2.90216703e-02 8.40044183e-04 9.99578430e-01 1.64525699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09255784400005 meters Centerline goodness : 0.150160 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99573501e-01 2.55087186e-04 -2.92019112e-02 4.95264902e+00] [-2.83951054e-04 9.99999475e-01 -9.84281341e-04 6.47477812e-01] [ 2.92016448e-02 9.92153459e-04 9.99573049e-01 1.64461449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1225578440001 meters Centerline goodness : 0.149029 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99570160e-01 1.96117774e-04 -2.93164835e-02 4.95302470e+00] [-2.29603236e-04 9.99999325e-01 -1.13884400e-03 6.48324037e-01] [ 2.93162404e-02 1.14508563e-03 9.99569531e-01 1.64444308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15255784400006 meters Centerline goodness : 0.115802 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99568870e-01 1.33841386e-04 -2.93608081e-02 4.95316389e+00] [-1.70762854e-04 9.99999198e-01 -1.25500476e-03 6.48853766e-01] [ 2.93606166e-02 1.25947743e-03 9.99568091e-01 1.64439415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1825578440001 meters Centerline goodness : 0.119864 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99568160e-01 9.34816106e-05 -2.93850999e-02 4.95304378e+00] [-1.32462694e-04 9.99999114e-01 -1.32461567e-03 6.49100844e-01] [ 2.93849501e-02 1.32793608e-03 9.99567287e-01 1.64467262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21255784400006 meters Centerline goodness : 0.147310 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99567200e-01 -1.42194730e-05 -2.94178817e-02 4.95288426e+00] [-2.81730841e-05 9.99998962e-01 -1.44063225e-03 6.49395100e-01] [ 2.94178717e-02 1.44083753e-03 9.99566162e-01 1.64505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters Centerline goodness : 0.147000 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.65 [[ 9.99565139e-01 -4.79481410e-05 -2.94877967e-02 4.95302155e+00] [ 3.02086985e-06 9.99998839e-01 -1.52363127e-03 6.49943103e-01] [ 2.94878355e-02 1.52287962e-03 9.99563979e-01 1.64513453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27255784400006 meters Centerline goodness : 0.146424 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99562734e-01 -1.17937794e-04 -2.95690303e-02 4.95330919e+00] [ 6.78941971e-05 9.99998564e-01 -1.69343109e-03 6.50832485e-01] [ 2.95691876e-02 1.69068304e-03 9.99561306e-01 1.64499175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30255784400003 meters Centerline goodness : 0.119995 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99559815e-01 -2.09967980e-04 -2.96670373e-02 4.95376363e+00] [ 1.52602758e-04 9.99998115e-01 -1.93588593e-03 6.52012541e-01] [ 2.96673878e-02 1.93050650e-03 9.99557962e-01 1.64463416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33255784400006 meters Centerline goodness : 0.150644 Centerline is valid? [False, False] Translation: X:4.95, Y:0.65, Z:1.64 [[ 9.99561330e-01 -4.25862048e-04 -2.96136161e-02 4.95360446e+00] [ 3.50840926e-04 9.99996717e-01 -2.53848187e-03 6.54902807e-01] [ 2.96145999e-02 2.52697864e-03 9.99558197e-01 1.64454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36255784400004 meters Centerline goodness : 0.183567 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99564605e-01 -5.38471613e-04 -2.95010110e-02 4.95313454e+00] [ 4.55372711e-04 9.99995910e-01 -2.82346141e-03 6.56234405e-01] [ 2.95024107e-02 2.80879813e-03 9.99560763e-01 1.64477288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39255784400007 meters Centerline goodness : 0.160003 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99562818e-01 -7.49053814e-04 -2.95569235e-02 4.95318649e+00] [ 6.48329105e-04 9.99993951e-01 -3.41725742e-03 6.59278043e-01] [ 2.95593045e-02 3.39660084e-03 9.99557257e-01 1.64478872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42255784400004 meters Centerline goodness : 0.145996 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99559642e-01 -8.63659148e-04 -2.96610323e-02 4.95349971e+00] [ 7.53350592e-04 9.99992760e-01 -3.72994595e-03 6.60927756e-01] [ 2.96640390e-02 3.70595828e-03 9.99553055e-01 1.64467859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45255784400007 meters Centerline goodness : 0.165108 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99558111e-01 -1.01344718e-03 -2.97078275e-02 4.95375981e+00] [ 8.92019890e-04 9.99991196e-01 -4.10035159e-03 6.62757350e-01] [ 2.97117215e-02 4.07203972e-03 9.99550215e-01 1.64440063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48255784400004 meters Centerline goodness : 0.153342 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.64 [[ 9.99556131e-01 -1.17664619e-03 -2.97683848e-02 4.95402969e+00] [ 1.04329012e-03 9.99989354e-01 -4.49492409e-03 6.64622545e-01] [ 2.97733568e-02 4.46187187e-03 9.99546717e-01 1.64415557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51255784400007 meters Centerline goodness : 0.149877 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99550775e-01 -1.42319893e-03 -2.99369641e-02 4.95439217e+00] [ 1.26683069e-03 9.99985460e-01 -5.24156832e-03 6.69061825e-01] [ 2.99439886e-02 5.20128862e-03 9.99538045e-01 1.64411911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54255784400004 meters Centerline goodness : 0.152180 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99554322e-01 -1.54290828e-03 -2.98123585e-02 4.95385642e+00] [ 1.37631170e-03 9.99983329e-01 -5.60788403e-03 6.71313411e-01] [ 2.98205140e-02 5.56435362e-03 9.99539782e-01 1.64440413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5725578440001 meters Centerline goodness : 0.151746 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.64 [[ 9.99561409e-01 -1.65980097e-03 -2.95674532e-02 4.95287746e+00] [ 1.48518013e-03 9.99981333e-01 -5.92682925e-03 6.73160013e-01] [ 2.95767387e-02 5.88031681e-03 9.99545216e-01 1.64491899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60255784400005 meters Centerline goodness : 0.156782 Centerline is valid? [False, False] Translation: X:4.95, Y:0.67, Z:1.65 [[ 9.99568767e-01 -1.80695045e-03 -2.93089601e-02 4.95186832e+00] [ 1.62460164e-03 9.99979185e-01 -6.24422623e-03 6.74744561e-01] [ 2.93196331e-02 6.19391813e-03 9.99550896e-01 1.64549612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6325578440001 meters Centerline goodness : 0.153252 Centerline is valid? [False, False] Translation: X:4.97, Y:0.68, Z:1.64 [[ 9.99650747e-01 3.49670238e-03 -2.61945974e-02 4.97422285e+00] [-3.75015486e-03 9.99946571e-01 -9.63288547e-03 6.79484715e-01] [ 2.61595145e-02 9.72775496e-03 9.99610449e-01 1.64486033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66255784400005 meters Centerline goodness : 0.156595 Centerline is valid? [False, False] Translation: X:4.97, Y:0.68, Z:1.64 [[ 9.99646178e-01 3.39419432e-03 -2.63817880e-02 4.97479304e+00] [-3.65490682e-03 9.99944903e-01 -9.84036136e-03 6.80482631e-01] [ 2.63469344e-02 9.93330260e-03 9.99603506e-01 1.64472056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6925578440001 meters Centerline goodness : 0.155963 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99638424e-01 3.31643333e-03 -2.66837385e-02 4.97586190e+00] [-3.58433290e-03 9.99943592e-01 -9.99824766e-03 6.81211029e-01] [ 2.66490749e-02 1.00902759e-02 9.99593924e-01 1.64422439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72255784400005 meters Centerline goodness : 0.142385 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99629302e-01 3.23256244e-03 -2.70334945e-02 4.97711503e+00] [-3.50801542e-03 9.99942353e-01 -1.01481116e-02 6.81824448e-01] [ 2.69991317e-02 1.02391836e-02 9.99583016e-01 1.64362369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7525578440001 meters Centerline goodness : 0.160880 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624216e-01 3.23010462e-03 -2.72212088e-02 4.97758736e+00] [-3.50632021e-03 9.99942791e-01 -1.01054574e-02 6.81527578e-01] [ 2.71870098e-02 1.01971062e-02 9.99578354e-01 1.64363427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78255784400005 meters Centerline goodness : 0.157890 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624794e-01 3.25258077e-03 -2.71972619e-02 4.97734541e+00] [-3.52559859e-03 9.99943818e-01 -9.99651125e-03 6.80910810e-01] [ 2.71632195e-02 1.00886471e-02 9.99580101e-01 1.64395280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8125578440001 meters Centerline goodness : 0.148549 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624558e-01 3.28139705e-03 -2.72024879e-02 4.97726918e+00] [-3.55088597e-03 9.99945041e-01 -9.86439605e-03 6.80111238e-01] [ 2.71686239e-02 9.95728548e-03 9.99581272e-01 1.64409002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84255784400005 meters Centerline goodness : 0.164620 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99624213e-01 3.33395041e-03 -2.72087929e-02 4.97717634e+00] [-3.59811242e-03 9.99946814e-01 -9.66552276e-03 6.78981202e-01] [ 2.71751214e-02 9.75979088e-03 9.99583043e-01 1.64426014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8725578440001 meters Centerline goodness : 0.150906 Centerline is valid? [False, False] Translation: X:4.98, Y:0.68, Z:1.64 [[ 9.99623397e-01 3.39841311e-03 -2.72307547e-02 4.97720989e+00] [-3.65628762e-03 9.99948892e-01 -9.42578460e-03 6.77643613e-01] [ 2.71973303e-02 9.52179830e-03 9.99584734e-01 1.64434865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90255784400006 meters Centerline goodness : 0.153340 Centerline is valid? [False, False] Translation: X:5.00, Y:0.68, Z:1.65 [[ 9.99634043e-01 -4.82340887e-03 -2.66179311e-02 4.99733652e+00] [ 4.60400775e-03 9.99954974e-01 -8.29774534e-03 6.79763930e-01] [ 2.66567560e-02 8.17215957e-03 9.99611241e-01 1.64544792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9325578440001 meters Centerline goodness : 0.157697 Centerline is valid? [False, False] Translation: X:5.00, Y:0.68, Z:1.65 [[ 9.99636813e-01 -4.72389706e-03 -2.65316225e-02 4.99723926e+00] [ 4.51147919e-03 9.99957338e-01 -8.06037581e-03 6.78577977e-01] [ 2.65685670e-02 7.93775152e-03 9.99615478e-01 1.64530172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96255784400006 meters Centerline goodness : 0.155415 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99662542e-01 3.53157584e-03 -2.57357641e-02 5.01757632e+00] [-3.76410459e-03 9.99952483e-01 -8.99240198e-03 6.74693123e-01] [ 2.57027839e-02 9.08623953e-03 9.99628335e-01 1.64672087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99255784400003 meters Centerline goodness : 0.160045 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99660975e-01 3.60305426e-03 -2.57866678e-02 5.01786422e+00] [-3.83217856e-03 9.99953570e-01 -8.84148336e-03 6.73862919e-01] [ 2.57536142e-02 8.93730499e-03 9.99628369e-01 1.64646245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02255784400006 meters Centerline goodness : 0.122351 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99654235e-01 3.68529901e-03 -2.60351361e-02 5.01862928e+00] [-3.91268875e-03 9.99954600e-01 -8.68841947e-03 6.72907977e-01] [ 2.60019347e-02 8.78728271e-03 9.99623271e-01 1.64619081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05255784400003 meters Centerline goodness : 0.160035 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99650166e-01 3.74075906e-03 -2.61830734e-02 5.01911619e+00] [-3.96677392e-03 9.99955276e-01 -8.58548752e-03 6.72369825e-01] [ 2.61497861e-02 8.68634636e-03 9.99620296e-01 1.64598963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08255784400006 meters Centerline goodness : 0.109695 Centerline is valid? [False, False] Translation: X:5.00, Y:0.67, Z:1.64 [[ 9.99599426e-01 -4.48707865e-03 -2.79437718e-02 4.99913666e+00] [ 4.28497301e-03 9.99964259e-01 -7.28826901e-03 6.74146350e-01] [ 2.79754761e-02 7.16561121e-03 9.99582926e-01 1.64475877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11255784400004 meters Centerline goodness : 0.157581 Centerline is valid? [False, False] Translation: X:5.00, Y:0.67, Z:1.65 [[ 9.99607669e-01 -4.25756309e-03 -2.76835968e-02 4.99811273e+00] [ 4.07031774e-03 9.99968483e-01 -6.81660267e-03 6.72129331e-01] [ 2.77117464e-02 6.70124727e-03 9.99593494e-01 1.64538500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14255784400007 meters Centerline goodness : 0.145976 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99649934e-01 3.90820780e-03 -2.61674355e-02 5.01661610e+00] [-4.11716372e-03 9.99960032e-01 -7.93623228e-03 6.68258537e-01] [ 2.61353732e-02 8.04118969e-03 9.99626071e-01 1.64742917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17255784400004 meters Centerline goodness : 0.148672 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99654066e-01 3.98077797e-03 -2.59981159e-02 5.01592569e+00] [-4.18355324e-03 9.99961218e-01 -7.74988537e-03 6.67265442e-01] [ 2.59662571e-02 7.85596892e-03 9.99631951e-01 1.64785254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20255784400007 meters Centerline goodness : 0.156047 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99655002e-01 4.00768212e-03 -2.59579424e-02 5.01565765e+00] [-4.20738725e-03 9.99961938e-01 -7.64336875e-03 6.66508567e-01] [ 2.59263222e-02 7.74994693e-03 9.99633815e-01 1.64809976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23255784400004 meters Centerline goodness : 0.154891 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99657916e-01 -3.60030975e-03 -2.59053743e-02 5.03482979e+00] [ 3.43585608e-03 9.99973681e-01 -6.38995832e-03 6.70788332e-01] [ 2.59276984e-02 6.29876528e-03 9.99643977e-01 1.65008661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26255784400007 meters Centerline goodness : 0.156571 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99657950e-01 -3.53667617e-03 -2.59128178e-02 5.03491121e+00] [ 3.37417234e-03 9.99974385e-01 -6.31221891e-03 6.70649474e-01] [ 2.59344783e-02 6.22262550e-03 9.99644278e-01 1.64994938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29255784400004 meters Centerline goodness : 0.155773 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.65 [[ 9.99658916e-01 -3.45881550e-03 -2.58860672e-02 5.03489855e+00] [ 3.29876174e-03 9.99975195e-01 -6.22315926e-03 6.70518830e-01] [ 2.59069499e-02 6.13564468e-03 9.99645529e-01 1.64985661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3225578440001 meters Centerline goodness : 0.148162 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99658288e-01 -3.50597985e-03 -2.59039666e-02 5.03510569e+00] [ 3.34303190e-03 9.99974370e-01 -6.33109393e-03 6.70816783e-01] [ 2.59254994e-02 6.24233273e-03 9.99644388e-01 1.64956440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35255784400005 meters Centerline goodness : 0.144716 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99649458e-01 -3.54013743e-03 -2.62379203e-02 5.03606428e+00] [ 3.37282887e-03 9.99973716e-01 -6.41810892e-03 6.71173749e-01] [ 2.62599516e-02 6.32736309e-03 9.99635123e-01 1.64932710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3825578440001 meters Centerline goodness : 0.112809 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99643851e-01 -3.51442251e-03 -2.64540993e-02 5.03673653e+00] [ 3.34311336e-03 9.99973175e-01 -6.51715716e-03 6.72050594e-01] [ 2.64762937e-02 6.42639703e-03 9.99628785e-01 1.64905888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41255784400005 meters Centerline goodness : 0.112809 Centerline is valid? [False, False] Translation: X:5.04, Y:0.67, Z:1.65 [[ 9.99643851e-01 -3.51442251e-03 -2.64540993e-02 5.03673653e+00] [ 3.34311336e-03 9.99973175e-01 -6.51715716e-03 6.72050594e-01] [ 2.64762937e-02 6.42639703e-03 9.99628785e-01 1.64905888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4425578440001 meters Centerline goodness : 0.146003 Centerline is valid? [False, False] Translation: X:5.02, Y:0.67, Z:1.65 [[ 9.99638151e-01 4.86781758e-03 -2.64550818e-02 5.01660865e+00] [-5.06290791e-03 9.99960447e-01 -7.31242748e-03 6.67935312e-01] [ 2.64184399e-02 7.44372113e-03 9.99623258e-01 1.64765376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47255784400005 meters Centerline goodness : 0.147362 Centerline is valid? [False, False] Translation: X:5.01, Y:0.67, Z:1.65 [[ 0.99966834 0.00527152 -0.0252077 5.01304049] [-0.00546165 0.99995711 -0.00747957 0.67105341] [ 0.02516719 0.00761476 0.99965425 1.64835023] [ 0. 0. 0. 1. ]] SLAMing on 469.5025578440001 meters Centerline goodness : 0.086275 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.65 [[ 9.99681788e-01 -1.50449268e-03 -2.51805234e-02 5.02978171e+00] [ 1.34647425e-03 9.99979304e-01 -6.29120166e-03 6.80188388e-01] [ 2.51894673e-02 6.25529480e-03 9.99663124e-01 1.65069187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53255784400005 meters Centerline goodness : 0.143754 Centerline is valid? [False, False] Translation: X:5.03, Y:0.68, Z:1.65 [[ 9.99683916e-01 -1.59559315e-03 -2.50902973e-02 5.02948846e+00] [ 1.42432784e-03 9.99975576e-01 -6.84234812e-03 6.83393838e-01] [ 2.51006021e-02 6.80444855e-03 9.99661772e-01 1.65062964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5625578440001 meters Centerline goodness : 0.156739 Centerline is valid? [False, False] Translation: X:5.03, Y:0.69, Z:1.65 [[ 9.99682010e-01 -1.68990692e-03 -2.51599691e-02 5.02969593e+00] [ 1.50302551e-03 9.99971158e-01 -7.44478729e-03 6.86980990e-01] [ 2.51718244e-02 7.40460384e-03 9.99655716e-01 1.65037205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59255784400005 meters Centerline goodness : 0.097595 Centerline is valid? [False, False] Translation: X:5.03, Y:0.69, Z:1.65 [[ 9.99656629e-01 4.60754704e-04 -2.61994597e-02 5.03375960e+00] [-6.21933084e-04 9.99980931e-01 -6.14415771e-03 6.93773484e-01] [ 2.61961292e-02 6.15834229e-03 9.99637853e-01 1.64860096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6225578440001 meters Centerline goodness : 0.094485 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99657317e-01 3.09879574e-04 -2.61754059e-02 5.03348384e+00] [-4.82162686e-04 9.99978263e-01 -6.57581469e-03 6.96115432e-01] [ 2.61727992e-02 6.58618208e-03 9.99635737e-01 1.64882724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65255784400006 meters Centerline goodness : 0.099455 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99660728e-01 1.97614489e-04 -2.60459006e-02 5.03277898e+00] [-3.76717785e-04 9.99976318e-01 -6.87172113e-03 6.97766152e-01] [ 2.60439259e-02 6.87920171e-03 9.99637129e-01 1.64935632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6825578440001 meters Centerline goodness : 0.149423 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.65 [[ 0.99966332 -0.0078711 -0.02472449 5.0514817 ] [ 0.00772391 0.99995191 -0.00604303 0.7064737 ] [ 0.02477086 0.00585002 0.99967604 1.6513297 ] [ 0. 0. 0. 1. ]] SLAMing on 469.71255784400006 meters Centerline goodness : 0.147047 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99692368e-01 -2.29143928e-04 -2.48015501e-02 5.03250552e+00] [ 4.39527751e-05 9.99972119e-01 -7.46720606e-03 7.00699402e-01] [ 2.48025697e-02 7.46381881e-03 9.99664506e-01 1.64946267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters Centerline goodness : 0.145253 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99690618e-01 -3.42625990e-04 -2.48706840e-02 5.03289184e+00] [ 1.52082394e-04 9.99970628e-01 -7.66286057e-03 7.01402732e-01] [ 2.48725790e-02 7.65670742e-03 9.99661307e-01 1.64912719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77255784400006 meters Centerline goodness : 0.157504 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99687267e-01 -4.22249405e-04 -2.50037963e-02 5.03331791e+00] [ 2.26045724e-04 9.99969169e-01 -7.84926224e-03 7.02374498e-01] [ 2.50063398e-02 7.84115552e-03 9.99656541e-01 1.64898412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80255784400003 meters Centerline goodness : 0.172683 Centerline is valid? [False, False] Translation: X:5.03, Y:0.70, Z:1.65 [[ 9.99684438e-01 -5.07538966e-04 -2.51150769e-02 5.03356186e+00] [ 3.02333114e-04 9.99966549e-01 -8.17374677e-03 7.04385416e-01] [ 2.51183853e-02 8.16357433e-03 9.99651151e-01 1.64896499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83255784400006 meters Centerline goodness : 0.135679 Centerline is valid? [False, False] Translation: X:5.03, Y:0.71, Z:1.65 [[ 9.99682513e-01 -5.69317852e-04 -2.51902684e-02 5.03374401e+00] [ 3.59301627e-04 9.99965149e-01 -8.34093762e-03 7.05133493e-01] [ 2.51941392e-02 8.32923857e-03 9.99647878e-01 1.64895329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86255784400004 meters Centerline goodness : 0.153721 Centerline is valid? [False, False] Translation: X:5.03, Y:0.71, Z:1.65 [[ 9.99680392e-01 -6.64249679e-04 -2.52719793e-02 5.03393954e+00] [ 4.48678017e-04 9.99963477e-01 -8.53478077e-03 7.05872557e-01] [ 2.52767255e-02 8.52071400e-03 9.99644179e-01 1.64890130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89255784400007 meters Centerline goodness : 0.155543 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99610561e-01 -1.01633381e-03 -2.78871584e-02 4.98832466e+00] [ 7.69534632e-04 9.99960460e-01 -8.85922731e-03 7.03115921e-01] [ 2.78950597e-02 8.83431705e-03 9.99571819e-01 1.64898308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92255784400004 meters Centerline goodness : 0.155272 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99612247e-01 -1.06868816e-03 -2.78247066e-02 4.98822914e+00] [ 8.18550351e-04 9.99959168e-01 -8.99961215e-03 7.03882277e-01] [ 2.78331882e-02 8.97334660e-03 9.99572305e-01 1.64888070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95255784400007 meters Centerline goodness : 0.155176 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99611706e-01 -1.13137541e-03 -2.78416458e-02 4.98831441e+00] [ 8.81202940e-04 9.99959145e-01 -8.99617858e-03 7.03761793e-01] [ 2.78506864e-02 8.96815127e-03 9.99571864e-01 1.64884113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98255784400004 meters Centerline goodness : 0.156526 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99610041e-01 -1.13766268e-03 -2.79011134e-02 4.98849365e+00] [ 8.90367554e-04 9.99960228e-01 -8.87409342e-03 7.03008950e-01] [ 2.79100995e-02 8.84579064e-03 9.99571297e-01 1.64887871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01255784400007 meters Centerline goodness : 0.161358 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99605244e-01 -1.14799008e-03 -2.80720320e-02 4.98889278e+00] [ 9.03501342e-04 9.99961568e-01 -8.72046879e-03 7.01978563e-01] [ 2.80809641e-02 8.69166321e-03 9.99567864e-01 1.64895065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04255784400004 meters Centerline goodness : 0.152542 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99598084e-01 -1.13543874e-03 -2.83263343e-02 4.98964338e+00] [ 8.95037735e-04 9.99963490e-01 -8.49807372e-03 7.00592991e-01] [ 2.83349492e-02 8.46930507e-03 9.99562605e-01 1.64881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0725578440001 meters Centerline goodness : 0.134354 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99598030e-01 -1.40371127e-03 -2.83162278e-02 4.98951233e+00] [ 1.17321352e-03 9.99966058e-01 -8.15510101e-03 6.97664597e-01] [ 2.83267141e-02 8.11860192e-03 9.99565748e-01 1.64914711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10255784400005 meters Centerline goodness : 0.191391 Centerline is valid? [False, False] Translation: X:4.99, Y:0.70, Z:1.65 [[ 9.99600303e-01 -1.30744988e-03 -2.82404978e-02 4.98902739e+00] [ 1.08884387e-03 9.99969338e-01 -7.75486102e-03 6.95638312e-01] [ 2.82497709e-02 7.72101192e-03 9.99571076e-01 1.64971322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1325578440001 meters Centerline goodness : 0.154638 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99601493e-01 -1.15220141e-03 -2.82050908e-02 4.98870509e+00] [ 9.46482726e-04 9.99972863e-01 -7.30593623e-03 6.93547697e-01] [ 2.82127433e-02 7.27632913e-03 9.99575458e-01 1.65013946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16255784400005 meters Centerline goodness : 0.096784 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99588797e-01 -1.30571203e-03 -2.86449280e-02 4.99005206e+00] [ 1.10962243e-03 9.99975852e-01 -6.86035437e-03 6.89826113e-01] [ 2.86531940e-02 6.82574832e-03 9.99566108e-01 1.64988009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1925578440001 meters Centerline goodness : 0.132812 Centerline is valid? [False, False] Translation: X:4.99, Y:0.69, Z:1.65 [[ 9.99582776e-01 -1.21675895e-03 -2.88581526e-02 4.99075758e+00] [ 1.03138412e-03 9.99978746e-01 -6.43767114e-03 6.87385817e-01] [ 2.88653724e-02 6.40522135e-03 9.99562786e-01 1.64964109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22255784400005 meters Centerline goodness : 0.151614 Centerline is valid? [False, False] Translation: X:4.99, Y:0.68, Z:1.65 [[ 9.99582900e-01 -1.01933586e-03 -2.88615016e-02 4.99056943e+00] [ 8.50903463e-04 9.99982541e-01 -5.84756529e-03 6.84519104e-01] [ 2.88669583e-02 5.82056792e-03 9.99566316e-01 1.65001518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2525578440001 meters Centerline goodness : 0.163461 Centerline is valid? [False, False] Translation: X:4.94, Y:0.68, Z:1.65 [[ 9.99530863e-01 -1.55147340e-03 -3.05883297e-02 4.94292021e+00] [ 1.38499436e-03 9.99984119e-01 -5.46300350e-03 6.77876605e-01] [ 3.05963196e-02 5.41807594e-03 9.99517138e-01 1.65086433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28255784400005 meters Centerline goodness : 0.157640 Centerline is valid? [False, False] Translation: X:4.96, Y:0.68, Z:1.65 [[ 9.99526849e-01 -9.91524552e-03 -2.91164271e-02 4.96337028e+00] [ 9.79082715e-03 9.99942333e-01 -4.41259941e-03 6.78699147e-01] [ 2.91585001e-02 4.12543768e-03 9.99566287e-01 1.65201932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3125578440001 meters Centerline goodness : 0.138533 Centerline is valid? [False, False] Translation: X:4.96, Y:0.67, Z:1.65 [[ 0.99948608 -0.01372881 -0.02896708 4.96309155] [ 0.01351554 0.99988019 -0.00754534 0.67404279] [ 0.0290672 0.00714996 0.99955189 1.65212345] [ 0. 0. 0. 1. ]] SLAMing on 470.34255784400005 meters Centerline goodness : 0.148531 Centerline is valid? [False, False] Translation: X:4.94, Y:0.67, Z:1.65 [[ 0.99955721 -0.00552285 -0.02923842 4.94431712] [ 0.00528697 0.9999529 -0.00813887 0.66534493] [ 0.02928199 0.00798069 0.99953933 1.65005729] [ 0. 0. 0. 1. ]] SLAMing on 470.3725578440001 meters Centerline goodness : 0.143961 Centerline is valid? [False, False] Translation: X:4.95, Y:0.66, Z:1.65 [[ 9.99554272e-01 -5.00700094e-03 -2.94310647e-02 4.94525921e+00] [ 4.79142839e-03 9.99961210e-01 -7.39062650e-03 6.62622301e-01] [ 2.94669279e-02 7.24631545e-03 9.99539490e-01 1.64928751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40255784400006 meters Centerline goodness : 0.177931 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99559043e-01 -4.83999739e-03 -2.92966378e-02 4.94488997e+00] [ 4.63268091e-03 9.99963777e-01 -7.14020411e-03 6.61574227e-01] [ 2.93301352e-02 7.00133362e-03 9.99545259e-01 1.64934098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4325578440001 meters Centerline goodness : 0.143155 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99566496e-01 -4.72559383e-03 -2.90600996e-02 4.94419691e+00] [ 4.52620062e-03 9.99965790e-01 -6.92336489e-03 6.60475153e-01] [ 2.90918224e-02 6.78883174e-03 9.99553689e-01 1.64951151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46255784400006 meters Centerline goodness : 0.149062 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99571970e-01 -4.60034488e-03 -2.88914100e-02 4.94357474e+00] [ 4.40989527e-03 9.99968150e-01 -6.65217293e-03 6.59073372e-01] [ 2.89210921e-02 6.52191751e-03 9.99560421e-01 1.64981387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49255784400003 meters Centerline goodness : 0.148151 Centerline is valid? [False, False] Translation: X:4.94, Y:0.66, Z:1.65 [[ 9.99582727e-01 -4.32531376e-03 -2.85598255e-02 4.94246678e+00] [ 4.15530378e-03 9.99973310e-01 -6.00943564e-03 6.55789037e-01] [ 2.85850559e-02 5.88825331e-03 9.99574021e-01 1.65026054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52255784400006 meters Centerline goodness : 0.146613 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.65 [[ 9.99586225e-01 -4.15983012e-03 -2.84618226e-02 4.94199856e+00] [ 4.00226786e-03 9.99976363e-01 -5.59064592e-03 6.53563854e-01] [ 2.84844060e-02 5.47442081e-03 9.99579246e-01 1.65065281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55255784400003 meters Centerline goodness : 0.152563 Centerline is valid? [False, False] Translation: X:4.94, Y:0.65, Z:1.65 [[ 9.99586638e-01 -4.01863455e-03 -2.84675991e-02 4.94200235e+00] [ 3.87182660e-03 9.99978931e-01 -5.21026555e-03 6.51486633e-01] [ 2.84879375e-02 5.09789022e-03 9.99581137e-01 1.65068573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58255784400006 meters Centerline goodness : 0.150737 Centerline is valid? [False, False] Translation: X:4.96, Y:0.65, Z:1.65 [[ 9.99593936e-01 4.07352022e-03 -2.82023144e-02 4.96222623e+00] [-4.24903098e-03 9.99971962e-01 -6.16614616e-03 6.45822221e-01] [ 2.81764057e-02 6.28347481e-03 9.99583217e-01 1.65236650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61255784400004 meters Centerline goodness : 0.120972 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99594093e-01 4.24631175e-03 -2.81712428e-02 4.96228925e+00] [-4.41049106e-03 9.99973637e-01 -5.76832953e-03 6.43798543e-01] [ 2.81460060e-02 5.89023713e-03 9.99586468e-01 1.65215221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64255784400007 meters Centerline goodness : 0.148853 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99594338e-01 4.55352435e-03 -2.81145084e-02 4.96243497e+00] [-4.69683045e-03 9.99976303e-01 -5.03329718e-03 6.39963387e-01] [ 2.80909229e-02 5.16330444e-03 9.99592037e-01 1.65176928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67255784400004 meters Centerline goodness : 0.147457 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99591810e-01 4.67785424e-03 -2.81838748e-02 4.96271885e+00] [-4.81331814e-03 9.99977180e-01 -4.74050863e-03 6.38381022e-01] [ 2.81610562e-02 4.87423156e-03 9.99591515e-01 1.65159830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70255784400007 meters Centerline goodness : 0.141452 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99587277e-01 4.78537556e-03 -2.83262400e-02 4.96336681e+00] [-4.91574158e-03 9.99977637e-01 -4.53445994e-03 6.37323724e-01] [ 2.83039075e-02 4.67183294e-03 9.99588447e-01 1.65113153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73255784400004 meters Centerline goodness : 0.137864 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99581835e-01 4.91825637e-03 -2.84950078e-02 4.96412467e+00] [-5.04313770e-03 9.99977985e-01 -4.31236030e-03 6.36364911e-01] [ 2.84731712e-02 4.45426127e-03 9.99584633e-01 1.65058858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76255784400007 meters Centerline goodness : 0.146044 Centerline is valid? [False, False] Translation: X:4.96, Y:0.64, Z:1.65 [[ 9.99574464e-01 5.05447752e-03 -2.87287997e-02 4.96498038e+00] [-5.17302938e-03 9.99978403e-01 -4.05376164e-03 6.35189489e-01] [ 2.87076896e-02 4.20065154e-03 9.99579023e-01 1.65015747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79255784400004 meters Centerline goodness : 0.232933 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99542327e-01 -1.64544825e-03 -3.02064508e-02 4.98342885e+00] [ 1.56491000e-03 9.99995158e-01 -2.68970710e-03 6.38338935e-01] [ 3.02107304e-02 2.64120572e-03 9.99540062e-01 1.65241491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8225578440001 meters Centerline goodness : 0.120354 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99543207e-01 -1.57722578e-03 -3.01809632e-02 4.98329042e+00] [ 1.50198643e-03 9.99995708e-01 -2.51544912e-03 6.37404224e-01] [ 3.01848011e-02 2.46896869e-03 9.99541286e-01 1.65253064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85255784400005 meters Centerline goodness : 0.127815 Centerline is valid? [False, False] Translation: X:4.98, Y:0.64, Z:1.65 [[ 9.99546535e-01 -1.48544283e-03 -3.00751864e-02 4.98295416e+00] [ 1.41695178e-03 9.99996355e-01 -2.29851163e-03 6.36277822e-01] [ 3.00784911e-02 2.25485424e-03 9.99544996e-01 1.65264804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8825578440001 meters Centerline goodness : 0.147014 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99559445e-01 -1.28775563e-03 -2.96522777e-02 4.98179427e+00] [ 1.24039566e-03 9.99997926e-01 -1.61551701e-03 6.32855671e-01] [ 2.96542966e-02 1.57802473e-03 9.99558969e-01 1.65296972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.91255784400005 meters Centerline goodness : 0.170568 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99563523e-01 -1.15027270e-03 -2.95201571e-02 4.98125157e+00] [ 1.11855315e-03 9.99998779e-01 -1.09099582e-03 6.30171416e-01] [ 2.95213760e-02 1.05749976e-03 9.99563590e-01 1.65339975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9425578440001 meters Centerline goodness : 0.149879 Centerline is valid? [False, False] Translation: X:4.98, Y:0.63, Z:1.65 [[ 9.99568064e-01 -1.01310971e-03 -2.93710666e-02 4.98075721e+00] [ 9.98424807e-04 9.99999369e-01 -5.14639938e-04 6.27109439e-01] [ 2.93715695e-02 4.85092845e-04 9.99568445e-01 1.65370421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97255784400005 meters Centerline goodness : 0.287417 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.65 [[ 9.99555034e-01 -4.66101154e-03 -2.94619846e-02 4.98140533e+00] [ 4.56414518e-03 9.99983959e-01 -3.35423711e-03 6.21961373e-01] [ 2.94771461e-02 3.21827582e-03 9.99560274e-01 1.65330958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0025578440001 meters Centerline goodness : 0.123002 Centerline is valid? [False, False] Translation: X:4.98, Y:0.62, Z:1.65 [[ 9.99544674e-01 -4.57344185e-03 -2.98249472e-02 4.98252506e+00] [ 4.49261000e-03 9.99986053e-01 -2.77665764e-03 6.18305690e-01] [ 2.98372301e-02 2.64140150e-03 9.99551281e-01 1.65308527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03255784400005 meters Centerline goodness : 0.333809 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99536098e-01 -4.39780456e-03 -3.01371707e-02 4.98335821e+00] [ 4.33502993e-03 9.99988297e-01 -2.14798498e-03 6.14754137e-01] [ 3.01462644e-02 2.01634299e-03 9.99543464e-01 1.65308455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0625578440001 meters Centerline goodness : 0.141507 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99536069e-01 -4.17565023e-03 -3.01696934e-02 4.98342409e+00] [ 4.12892216e-03 9.99990178e-01 -1.61097408e-03 6.12209688e-01] [ 3.01761240e-02 1.48565838e-03 9.99543493e-01 1.65317504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.09255784400005 meters Centerline goodness : 0.138822 Centerline is valid? [False, False] Translation: X:4.98, Y:0.61, Z:1.65 [[ 9.99550469e-01 -3.85310512e-03 -2.97323779e-02 4.98222586e+00] [ 3.82069220e-03 9.99992043e-01 -1.14689080e-03 6.10480242e-01] [ 2.97365605e-02 1.03277697e-03 9.99557237e-01 1.65341030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1225578440001 meters Centerline goodness : 0.119240 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99574856e-01 4.59261704e-03 -2.87926208e-02 5.00255372e+00] [-4.66556082e-03 9.99986074e-01 -2.46675012e-03 6.08506607e-01] [ 2.87808910e-02 2.60003512e-03 9.99582363e-01 1.65480198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15255784400006 meters Centerline goodness : 0.134537 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99574166e-01 4.59045172e-03 -2.88169049e-02 5.00285730e+00] [-4.66962761e-03 9.99985504e-01 -2.68085542e-03 6.09660191e-01] [ 2.88041808e-02 2.81427804e-03 9.99581112e-01 1.65434211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1825578440001 meters Centerline goodness : 0.174403 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99572163e-01 4.64031739e-03 -2.88783536e-02 5.00338690e+00] [-4.72622346e-03 9.99984605e-01 -2.90721030e-03 6.11094452e-01] [ 2.88644187e-02 3.04245204e-03 9.99578706e-01 1.65364262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21255784400006 meters Centerline goodness : 0.137669 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.65 [[ 9.99568553e-01 4.96057082e-03 -2.89499573e-02 5.00413646e+00] [-5.05514275e-03 9.99982120e-01 -3.19446400e-03 6.13761053e-01] [ 2.89335933e-02 3.33943193e-03 9.99575758e-01 1.65253106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters Centerline goodness : 0.139274 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99570805e-01 4.82472869e-03 -2.88951262e-02 5.00416325e+00] [-4.92952206e-03 9.99981525e-01 -3.55654377e-03 6.15405270e-01] [ 2.88774330e-02 3.69745648e-03 9.99576122e-01 1.65219957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27255784400006 meters Centerline goodness : 0.138018 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99571012e-01 4.73216678e-03 -2.89032540e-02 5.00417370e+00] [-4.84443028e-03 9.99980987e-01 -3.81532344e-03 6.16664792e-01] [ 2.88846497e-02 3.95370651e-03 9.99574932e-01 1.65212111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30255784400003 meters Centerline goodness : 0.138018 Centerline is valid? [False, False] Translation: X:5.00, Y:0.62, Z:1.65 [[ 9.99571012e-01 4.73216678e-03 -2.89032540e-02 5.00417370e+00] [-4.84443028e-03 9.99980987e-01 -3.81532344e-03 6.16664792e-01] [ 2.88846497e-02 3.95370651e-03 9.99574932e-01 1.65212111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33255784400006 meters Centerline goodness : 0.134914 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99566004e-01 -2.16950510e-03 -2.93785168e-02 5.02154746e+00] [ 2.09771422e-03 9.99994739e-01 -2.47425244e-03 6.23823037e-01] [ 2.93837301e-02 2.41155089e-03 9.99565296e-01 1.65493163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36255784400004 meters Centerline goodness : 0.139539 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99572095e-01 -2.17854601e-03 -2.91698495e-02 5.02097591e+00] [ 2.10381422e-03 9.99994427e-01 -2.59239867e-03 6.24859188e-01] [ 2.91753346e-02 2.52992142e-03 9.99571108e-01 1.65497886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39255784400007 meters Centerline goodness : 0.118290 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99583911e-01 -2.28467200e-03 -2.87538806e-02 5.01992748e+00] [ 2.20753414e-03 9.99993880e-01 -2.71415219e-03 6.25625061e-01] [ 2.87599056e-02 2.64954768e-03 9.99582837e-01 1.65499401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42255784400004 meters Centerline goodness : 0.116625 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99583416e-01 -2.37271345e-03 -2.87639650e-02 5.01998697e+00] [ 2.29444525e-03 9.99993576e-01 -2.75375081e-03 6.25438807e-01] [ 2.87703141e-02 2.68660630e-03 9.99582438e-01 1.65498478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45255784400007 meters Centerline goodness : 0.122301 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99581294e-01 -2.46696375e-03 -2.88297014e-02 5.02016219e+00] [ 2.38666081e-03 9.99993177e-01 -2.81950254e-03 6.25356768e-01] [ 2.88364603e-02 2.74951528e-03 9.99580361e-01 1.65497714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48255784400004 meters Centerline goodness : 0.140349 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.65 [[ 9.99585659e-01 -2.57295110e-03 -2.86686292e-02 5.01980303e+00] [ 2.49177723e-03 9.99992786e-01 -2.86681827e-03 6.25545428e-01] [ 2.86757986e-02 2.79419460e-03 9.99584859e-01 1.65492713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51255784400007 meters Centerline goodness : 0.177114 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99584644e-01 -2.53990924e-03 -2.87069251e-02 5.01969989e+00] [ 2.46053844e-03 9.99993053e-01 -2.79985236e-03 6.25498609e-01] [ 2.87138371e-02 2.72805493e-03 9.99583950e-01 1.65522657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54255784400004 meters Centerline goodness : 0.125588 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99582373e-01 -2.50332220e-03 -2.87891185e-02 5.01993644e+00] [ 2.42679321e-03 9.99993429e-01 -2.69289369e-03 6.25079763e-01] [ 2.87956705e-02 2.62190382e-03 9.99581880e-01 1.65516795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5725578440001 meters Centerline goodness : 0.126761 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99577585e-01 -2.46220931e-03 -2.89584146e-02 5.02040151e+00] [ 2.38997415e-03 9.99993947e-01 -2.52879248e-03 6.24295819e-01] [ 2.89644657e-02 2.45851441e-03 9.99577418e-01 1.65510874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60255784400005 meters Centerline goodness : 0.121391 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99574739e-01 -2.40963399e-03 -2.90608813e-02 5.02066322e+00] [ 2.34462838e-03 9.99994673e-01 -2.27074515e-03 6.22824952e-01] [ 2.90661981e-02 2.20164252e-03 9.99575064e-01 1.65514458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6325578440001 meters Centerline goodness : 0.120364 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99578114e-01 -2.70148220e-03 -2.89187702e-02 5.02022351e+00] [ 2.64797439e-03 9.99994711e-01 -1.88841586e-03 6.18816323e-01] [ 2.89237188e-02 1.81104300e-03 9.99579981e-01 1.65543909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66255784400005 meters Centerline goodness : 0.135532 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99572505e-01 -2.60001258e-03 -2.91212467e-02 5.02067975e+00] [ 2.56008525e-03 9.99995731e-01 -1.40827252e-03 6.16081229e-01] [ 2.91247839e-02 1.33311762e-03 9.99574895e-01 1.65553684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6925578440001 meters Centerline goodness : 0.140144 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99564176e-01 -2.45999278e-03 -2.94178049e-02 5.02152894e+00] [ 2.43591374e-03 9.99996668e-01 -8.54328667e-04 6.12983065e-01] [ 2.94198086e-02 7.82297094e-04 9.99566838e-01 1.65540544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72255784400005 meters Centerline goodness : 0.129213 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99544929e-01 -2.46689802e-03 -3.00640898e-02 5.02372975e+00] [ 2.46118996e-03 9.99996946e-01 -2.26866613e-04 6.07677775e-01] [ 3.00645576e-02 1.52769937e-04 9.99547947e-01 1.65466053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7525578440001 meters Centerline goodness : 0.142848 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99540898e-01 -2.31957381e-03 -3.02094873e-02 5.02430191e+00] [ 2.32735510e-03 9.99997267e-01 2.22417898e-04 6.05185597e-01] [ 3.02088888e-02 -2.92623990e-04 9.99543565e-01 1.65437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78255784400005 meters Centerline goodness : 0.127322 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99542115e-01 -2.13277730e-03 -3.01829779e-02 5.02438615e+00] [ 2.15304716e-03 9.99997478e-01 6.39081608e-04 6.03249048e-01] [ 3.01815388e-02 -7.03774357e-04 9.99544186e-01 1.65417118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8125578440001 meters Centerline goodness : 0.145250 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99558610e-01 -1.69565601e-03 -2.96599110e-02 5.02283748e+00] [ 1.73807992e-03 9.99997503e-01 1.40462226e-03 6.00247736e-01] [ 2.96574552e-02 -1.45555357e-03 9.99559061e-01 1.65461856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84255784400005 meters Centerline goodness : 0.142832 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99561978e-01 -1.60727696e-03 -2.95511108e-02 5.02229671e+00] [ 1.65594435e-03 9.99997313e-01 1.62248954e-03 5.98975451e-01] [ 2.95484236e-02 -1.67071385e-03 9.99561954e-01 1.65504913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8725578440001 meters Centerline goodness : 0.133078 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99562434e-01 -1.62539656e-03 -2.95347178e-02 5.02220460e+00] [ 1.67424006e-03 9.99997271e-01 1.62911140e-03 5.98492948e-01] [ 2.95319893e-02 -1.67784676e-03 9.99562427e-01 1.65512009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90255784400006 meters Centerline goodness : 0.135323 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99554515e-01 6.72531435e-03 -2.90781834e-02 5.04243847e+00] [-6.72407285e-03 9.99977383e-01 1.40478516e-04 5.95507449e-01] [ 2.90784705e-02 5.51078887e-05 9.99577130e-01 1.65671664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9325578440001 meters Centerline goodness : 0.139196 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99556426e-01 -1.85703423e-03 -2.97237714e-02 5.02176834e+00] [ 1.89054750e-03 9.99997609e-01 1.09942691e-03 5.99701082e-01] [ 2.97216587e-02 -1.15513344e-03 9.99557546e-01 1.65519221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96255784400006 meters Centerline goodness : 0.137147 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99623639e-01 6.74343599e-03 -2.65914733e-02 5.04159033e+00] [-6.74295831e-03 9.99977260e-01 1.07633093e-04 6.00093841e-01] [ 2.65915944e-02 7.17126119e-05 9.99646378e-01 1.65567615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99255784400003 meters Centerline goodness : 0.134871 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99630824e-01 6.65878377e-03 -2.63415243e-02 5.04083823e+00] [-6.66217018e-03 9.99977807e-01 -4.07978980e-05 6.00607159e-01] [ 2.63406680e-02 2.16274554e-04 9.99653001e-01 1.65581979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02255784400006 meters Centerline goodness : 0.136428 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99635097e-01 6.56623593e-03 -2.62022437e-02 5.04046340e+00] [-6.57341521e-03 9.99978377e-01 -1.87869658e-04 6.01028591e-01] [ 2.62004435e-02 3.60039331e-04 9.99656645e-01 1.65582610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05255784400003 meters Centerline goodness : 0.142119 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99634407e-01 6.48940247e-03 -2.62476736e-02 5.04073375e+00] [-6.50066232e-03 9.99978811e-01 -3.43678030e-04 6.01666907e-01] [ 2.62448872e-02 5.14179647e-04 9.99655411e-01 1.65554463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08255784400006 meters Centerline goodness : 0.121702 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99629526e-01 6.43563873e-03 -2.64460354e-02 5.04146448e+00] [-6.45109740e-03 9.99979067e-01 -4.99259195e-04 6.02538074e-01] [ 2.64422687e-02 6.69680182e-04 9.99650118e-01 1.65513255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11255784400004 meters Centerline goodness : 0.121159 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.65 [[ 9.99619462e-01 6.35158989e-03 -2.68437641e-02 5.04297497e+00] [-6.37375605e-03 9.99979413e-01 -7.40263719e-04 6.03856594e-01] [ 2.68385097e-02 9.11077625e-04 9.99639367e-01 1.65428750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14255784400007 meters Centerline goodness : 0.142431 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.65 [[ 9.99610886e-01 -2.72016026e-03 -2.77610738e-02 5.02221961e+00] [ 2.72498215e-03 9.99996278e-01 1.35862487e-04 6.05876669e-01] [ 2.77606009e-02 -2.11458052e-04 9.99614578e-01 1.65306659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17255784400004 meters Centerline goodness : 0.122059 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99604786e-01 -2.73710190e-03 -2.79781904e-02 5.02260148e+00] [ 2.74903074e-03 9.99996146e-01 3.87906861e-04 6.04171584e-01] [ 2.79770208e-02 -4.64666460e-04 9.99608459e-01 1.65336572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20255784400007 meters Centerline goodness : 0.129387 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99598833e-01 -3.15899186e-03 -2.81459302e-02 5.02322068e+00] [ 3.18373214e-03 9.99994584e-01 8.34230337e-04 5.99807916e-01] [ 2.81431425e-02 -9.23504775e-04 9.99603477e-01 1.65328962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23255784400004 meters Centerline goodness : 0.130362 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99593829e-01 -3.06043266e-03 -2.83339049e-02 5.02392304e+00] [ 3.09816556e-03 9.99994371e-01 1.28791786e-03 5.97332982e-01] [ 2.83298038e-02 -1.37517787e-03 9.99597685e-01 1.65299418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26255784400007 meters Centerline goodness : 0.124098 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.65 [[ 9.99592579e-01 -2.96344941e-03 -2.83882650e-02 5.02427442e+00] [ 3.01123939e-03 9.99994120e-01 1.64083856e-03 5.95361615e-01] [ 2.83832355e-02 -1.72565391e-03 9.99595625e-01 1.65276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29255784400004 meters Centerline goodness : 0.124732 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.65 [[ 9.99594425e-01 -2.85907896e-03 -2.83339351e-02 5.02420381e+00] [ 2.91309359e-03 9.99994017e-01 1.86526362e-03 5.94201507e-01] [ 2.83284326e-02 -1.94704652e-03 9.99596773e-01 1.65266322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3225578440001 meters Centerline goodness : 0.133149 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.65 [[ 9.99603653e-01 -2.32546348e-03 -2.80558070e-02 5.02344419e+00] [ 2.38652427e-03 9.99994856e-01 2.14311667e-03 5.94428893e-01] [ 2.80506789e-02 -2.20922312e-03 9.99604061e-01 1.65270570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.35255784400005 meters Centerline goodness : 0.127315 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.65 [[ 9.99591453e-01 7.03942172e-03 -2.77015148e-02 5.04473347e+00] [-7.00300555e-03 9.99974483e-01 1.41138863e-03 5.93707950e-01] [ 2.77107433e-02 -1.21681815e-03 9.99615243e-01 1.65362747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3825578440001 meters Centerline goodness : 0.121483 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.65 [[ 9.99582320e-01 7.20813498e-03 -2.79862028e-02 5.04550686e+00] [-7.17913347e-03 9.99973584e-01 1.13661997e-03 5.95857757e-01] [ 2.79936564e-02 -9.35228539e-04 9.99607663e-01 1.65336052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.41255784400005 meters Centerline goodness : 0.125456 Centerline is valid? [False, False] Translation: X:5.00, Y:0.59, Z:1.65 [[ 9.99486403e-01 7.60329494e-03 -3.11306822e-02 5.00063323e+00] [-7.54860017e-03 9.99969753e-01 1.87409078e-03 5.94972759e-01] [ 3.11439898e-02 -1.63813518e-03 9.99513566e-01 1.65322776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4425578440001 meters Centerline goodness : 0.126675 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.65 [[ 9.99489929e-01 7.85205363e-03 -3.09552564e-02 5.00036051e+00] [-7.80818491e-03 9.99968333e-01 1.53779383e-03 5.97874883e-01] [ 3.09663510e-02 -1.29530508e-03 9.99519588e-01 1.65274018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.47255784400005 meters Centerline goodness : 0.124285 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99511739e-01 6.01952044e-04 -3.12397316e-02 5.01793301e+00] [-5.25171175e-04 9.99996822e-01 2.46594231e-03 6.04205763e-01] [ 3.12411167e-02 -2.44833208e-03 9.99508879e-01 1.65517703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5025578440001 meters Centerline goodness : 0.131742 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99515774e-01 5.12681172e-04 -3.11119695e-02 5.01737733e+00] [-4.39937004e-04 9.99997154e-01 2.34494116e-03 6.04460722e-01] [ 3.11130832e-02 -2.33011837e-03 9.99513155e-01 1.65555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.53255784400005 meters Centerline goodness : 0.133446 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99543860e-01 -7.96890276e-03 -2.91302090e-02 5.03683903e+00] [ 8.05632014e-03 9.99963386e-01 2.88478352e-03 6.09024195e-01] [ 2.91061539e-02 -3.11814995e-03 9.99571463e-01 1.65726718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5625578440001 meters Centerline goodness : 0.131602 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99546054e-01 -8.01027196e-03 -2.90434446e-02 5.03636212e+00] [ 8.10098687e-03 9.99962665e-01 3.00710038e-03 6.08401150e-01] [ 2.90182726e-02 -3.24101588e-03 9.99573627e-01 1.65769928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.59255784400005 meters Centerline goodness : 0.132922 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99541204e-01 -8.03706340e-03 -2.92025310e-02 5.03672417e+00] [ 8.13367112e-03 9.99961830e-01 3.19091506e-03 6.07326457e-01] [ 2.91757707e-02 -3.42697486e-03 9.99568422e-01 1.65780001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6225578440001 meters Centerline goodness : 0.126914 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99527885e-01 -8.09596359e-03 -2.96388592e-02 5.03793636e+00] [ 8.20097960e-03 9.99960512e-01 3.42334042e-03 6.05764631e-01] [ 2.96099736e-02 -3.66479189e-03 9.99554810e-01 1.65768684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.65255784400006 meters Centerline goodness : 0.128769 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99517550e-01 -8.56997907e-03 -2.98533481e-02 5.03837864e+00] [ 8.68273267e-03 9.99955645e-01 3.64933057e-03 6.02562628e-01] [ 2.98207493e-02 -3.90677859e-03 9.99547628e-01 1.65808587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6825578440001 meters Centerline goodness : 0.131465 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99580205e-01 -3.16067069e-03 -2.87997202e-02 5.01483489e+00] [ 3.18800763e-03 9.99994510e-01 9.03341547e-04 5.96666802e-01] [ 2.87967069e-02 -9.94776056e-04 9.99584794e-01 1.65796694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.71255784400006 meters Centerline goodness : 0.129004 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99582033e-01 -3.13409513e-03 -2.87391150e-02 5.01427593e+00] [ 3.16704246e-03 9.99994379e-01 1.10098109e-03 5.95348441e-01] [ 2.87355029e-02 -1.19153892e-03 9.99586340e-01 1.65864053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters Centerline goodness : 0.132641 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99583359e-01 -3.11724247e-03 -2.86948029e-02 5.01391041e+00] [ 3.15082993e-03 9.99994403e-01 1.12536576e-03 5.95219233e-01] [ 2.86911342e-02 -1.21530933e-03 9.99587586e-01 1.65901158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.77255784400006 meters Centerline goodness : 0.130770 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99585983e-01 -2.91452581e-03 -2.86246094e-02 5.01396166e+00] [ 2.94485676e-03 9.99995146e-01 1.01751185e-03 5.96858794e-01] [ 2.86215049e-02 -1.10138595e-03 9.99589714e-01 1.65859537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80255784400003 meters Centerline goodness : 0.130428 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99586614e-01 -2.91381492e-03 -2.86026254e-02 5.01416050e+00] [ 2.93611090e-03 9.99995418e-01 7.37540361e-04 5.98491020e-01] [ 2.86003453e-02 -8.21215953e-04 9.99590589e-01 1.65810310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.83255784400006 meters Centerline goodness : 0.134249 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99586935e-01 5.62764092e-03 -2.81831227e-02 5.03499769e+00] [-5.65605294e-03 9.99983573e-01 -9.28504060e-04 5.98536985e-01] [ 2.81774344e-02 1.08752576e-03 9.99602346e-01 1.65953661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86255784400004 meters Centerline goodness : 0.130410 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99582033e-01 -2.44110013e-03 -2.88062670e-02 5.01649153e+00] [ 2.45027230e-03 9.99996958e-01 2.83114122e-04 6.04276738e-01] [ 2.88054882e-02 -3.53578987e-04 9.99584973e-01 1.65733890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.89255784400007 meters Centerline goodness : 0.130191 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99581209e-01 -2.40273687e-03 -2.88380462e-02 5.01658877e+00] [ 2.40562919e-03 9.99997104e-01 6.56015534e-05 6.05747694e-01] [ 2.88378051e-02 -1.34947726e-04 9.99584095e-01 1.65720712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92255784400004 meters Centerline goodness : 0.139980 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99584645e-01 -2.25177753e-03 -2.87309330e-02 5.01592712e+00] [ 2.25314331e-03 9.99997462e-01 1.51629783e-05 6.06758473e-01] [ 2.87308259e-02 -7.98915898e-05 9.99587181e-01 1.65769772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.95255784400007 meters Centerline goodness : 0.134767 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99588801e-01 -2.21095980e-03 -2.85891642e-02 5.01532912e+00] [ 2.21646451e-03 9.99997531e-01 1.60856888e-04 6.05928320e-01] [ 2.85887379e-02 -2.24157611e-04 9.99591233e-01 1.65808661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98255784400004 meters Centerline goodness : 0.128019 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99590820e-01 -2.14019186e-03 -2.85238858e-02 5.01506956e+00] [ 2.15241755e-03 9.99997604e-01 3.97915020e-04 6.04584382e-01] [ 2.85229658e-02 -4.59147513e-04 9.99593032e-01 1.65826208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.01255784400007 meters Centerline goodness : 0.136193 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99588334e-01 -2.05895338e-03 -2.86168342e-02 5.01526437e+00] [ 2.07932870e-03 9.99997605e-01 6.82264668e-04 6.03041685e-01] [ 2.86153610e-02 -7.41487607e-04 9.99590222e-01 1.65836569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04255784400004 meters Centerline goodness : 0.139130 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99579819e-01 -1.83770613e-03 -2.89276489e-02 5.01634653e+00] [ 1.87257264e-03 9.99997553e-01 1.17825640e-03 6.00955894e-01] [ 2.89254128e-02 -1.23193044e-03 9.99580814e-01 1.65788889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0725578440001 meters Centerline goodness : 0.134984 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99576593e-01 -1.73569053e-03 -2.90451759e-02 5.01675936e+00] [ 1.77649267e-03 9.99997471e-01 1.37903604e-03 6.00157498e-01] [ 2.90427089e-02 -1.43005069e-03 9.99577149e-01 1.65768861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10255784400005 meters Centerline goodness : 0.130704 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99563688e-01 -1.63651438e-03 -2.94916194e-02 5.01824721e+00] [ 1.68521083e-03 9.99997257e-01 1.62641642e-03 5.98877983e-01] [ 2.94888769e-02 -1.67540639e-03 9.99563704e-01 1.65712889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1325578440001 meters Centerline goodness : 0.140546 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99561938e-01 -1.60675113e-03 -2.95525021e-02 5.01839335e+00] [ 1.65966949e-03 9.99997063e-01 1.76621389e-03 5.97962377e-01] [ 2.95495775e-02 -1.81448756e-03 9.99561669e-01 1.65715637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16255784400005 meters Centerline goodness : 0.110072 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99560060e-01 -1.52304704e-03 -2.96203707e-02 5.01825403e+00] [ 1.58308698e-03 9.99996740e-01 2.00363622e-03 5.96639192e-01] [ 2.96172225e-02 -2.04964637e-03 9.99559212e-01 1.65765469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1925578440001 meters Centerline goodness : 0.134362 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99565261e-01 -1.45860219e-03 -2.94475998e-02 5.01744291e+00] [ 1.52342416e-03 9.99996466e-01 2.17894959e-03 5.95810616e-01] [ 2.94443175e-02 -2.22286350e-03 9.99563950e-01 1.65824796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22255784400005 meters Centerline goodness : 0.134362 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99565261e-01 -1.45860219e-03 -2.94475998e-02 5.01744291e+00] [ 1.52342416e-03 9.99996466e-01 2.17894959e-03 5.95810616e-01] [ 2.94443175e-02 -2.22286350e-03 9.99563950e-01 1.65824796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2525578440001 meters Centerline goodness : 0.133916 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99572634e-01 -1.37252111e-03 -2.92004526e-02 5.01649820e+00] [ 1.44167086e-03 9.99996206e-01 2.34718411e-03 5.95272974e-01] [ 2.91971203e-02 -2.38827845e-03 9.99570820e-01 1.65876471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28255784400005 meters Centerline goodness : 0.123113 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99583037e-01 -1.33090418e-03 -2.88440651e-02 5.01503507e+00] [ 1.40102259e-03 9.99996112e-01 2.41087401e-03 5.95112330e-01] [ 2.88407444e-02 -2.45027995e-03 9.99581016e-01 1.65969201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3125578440001 meters Centerline goodness : 0.133257 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99585808e-01 -1.39687749e-03 -2.87447502e-02 5.01474826e+00] [ 1.46333745e-03 9.99996305e-01 2.29116703e-03 5.95453307e-01] [ 2.87414435e-02 -2.33228131e-03 9.99584158e-01 1.65974230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34255784400005 meters Centerline goodness : 0.131348 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99587689e-01 -1.44224398e-03 -2.86770453e-02 5.01453369e+00] [ 1.50496648e-03 9.99996522e-01 2.16573931e-03 5.95947115e-01] [ 2.86738220e-02 -2.20800434e-03 9.99586383e-01 1.65975445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3725578440001 meters Centerline goodness : 0.123233 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99590871e-01 -1.48626657e-03 -2.85636462e-02 5.01428900e+00] [ 1.54428010e-03 9.99996789e-01 2.00907471e-03 5.96786111e-01] [ 2.85605685e-02 -2.05236301e-03 9.99589957e-01 1.65969223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40255784400006 meters Centerline goodness : 0.131395 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99599349e-01 -1.49812468e-03 -2.82647792e-02 5.01364240e+00] [ 1.54596597e-03 9.99997409e-01 1.67083509e-03 5.98894691e-01] [ 2.82622028e-02 -1.71386205e-03 9.99599075e-01 1.65943914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4325578440001 meters Centerline goodness : 0.132315 Centerline is valid? [False, False] Translation: X:5.01, Y:0.60, Z:1.66 [[ 9.99596119e-01 -1.65576652e-03 -2.83700099e-02 5.01424891e+00] [ 1.69150585e-03 9.99997806e-01 1.23580481e-03 6.00877463e-01] [ 2.83679015e-02 -1.28329373e-03 9.99596726e-01 1.65882282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46255784400006 meters Centerline goodness : 0.131618 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.66 [[ 9.99584115e-01 -1.81041713e-03 -2.87805273e-02 5.01583781e+00] [ 1.83296620e-03 9.99998033e-01 7.57120376e-04 6.03170200e-01] [ 2.87791000e-02 -8.09559235e-04 9.99585468e-01 1.65779574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49255784400003 meters Centerline goodness : 0.134145 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99567713e-01 -1.87834237e-03 -2.93404088e-02 5.01784515e+00] [ 1.88958932e-03 9.99998151e-01 3.55604305e-04 6.05474802e-01] [ 2.93396866e-02 -4.10891905e-04 9.99569414e-01 1.65664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52255784400006 meters Centerline goodness : 0.134257 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99549863e-01 -1.93527860e-03 -2.99386973e-02 5.01972560e+00] [ 1.92610081e-03 9.99998089e-01 -3.35388606e-04 6.10022790e-01] [ 2.99392892e-02 2.77572686e-04 9.99551680e-01 1.65582395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.55255784400003 meters Centerline goodness : 0.126139 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99552865e-01 -2.09799409e-03 -2.98273059e-02 5.01923075e+00] [ 2.07692489e-03 9.99997571e-01 -7.37336946e-04 6.11946740e-01] [ 2.98287804e-02 6.75058183e-04 9.99554795e-01 1.65612048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58255784400006 meters Centerline goodness : 0.136495 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.66 [[ 9.99557090e-01 -2.29693686e-03 -2.96706411e-02 5.01868724e+00] [ 2.26179098e-03 9.99996700e-01 -1.21804151e-03 6.14145461e-01] [ 2.96733410e-02 1.15039324e-03 9.99558987e-01 1.65630072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.61255784400004 meters Centerline goodness : 0.136496 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99558750e-01 -2.48511969e-03 -2.95994916e-02 5.01864439e+00] [ 2.43591631e-03 9.99995591e-01 -1.69824786e-03 6.16433155e-01] [ 2.96035814e-02 1.62539662e-03 9.99560396e-01 1.65601559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64255784400007 meters Centerline goodness : 0.136238 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99553672e-01 -2.61369777e-03 -2.97594716e-02 5.01932920e+00] [ 2.54992934e-03 9.99994372e-01 -2.18054360e-03 6.19266180e-01] [ 2.97650034e-02 2.10368581e-03 9.99554710e-01 1.65544289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.67255784400004 meters Centerline goodness : 0.136186 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.65 [[ 9.99546068e-01 -2.88792813e-03 -2.99886254e-02 5.02009910e+00] [ 2.79909691e-03 9.99991571e-01 -3.00372150e-03 6.24070856e-01] [ 2.99970472e-02 2.91841695e-03 9.99545727e-01 1.65498566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70255784400007 meters Centerline goodness : 0.140529 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99549711e-01 -3.05110623e-03 -2.98507121e-02 5.01940076e+00] [ 2.95333942e-03 9.99990132e-01 -3.31873352e-03 6.25575019e-01] [ 2.98605433e-02 3.22907985e-03 9.99548859e-01 1.65549898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.73255784400004 meters Centerline goodness : 0.127341 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99557243e-01 -3.17407222e-03 -2.95845129e-02 5.01817108e+00] [ 3.07192316e-03 9.99989165e-01 -3.49759990e-03 6.26471892e-01] [ 2.95952939e-02 3.40516996e-03 9.99556163e-01 1.65637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76255784400007 meters Centerline goodness : 0.117912 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99578524e-01 -3.65123101e-03 -2.88000369e-02 5.01556478e+00] [ 3.54279899e-03 9.99986447e-01 -3.81512464e-03 6.27336230e-01] [ 2.88135764e-02 3.71148392e-03 9.99577912e-01 1.65749259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.79255784400004 meters Centerline goodness : 0.140473 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99570856e-01 -3.76832707e-03 -2.90500181e-02 5.01630327e+00] [ 3.65928118e-03 9.99986062e-01 -3.80597787e-03 6.26898146e-01] [ 2.90639554e-02 3.69804237e-03 9.99570713e-01 1.65738129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8225578440001 meters Centerline goodness : 0.143249 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99554651e-01 -3.90873686e-03 -2.95841276e-02 5.01804919e+00] [ 3.79789901e-03 9.99985561e-01 -3.80179551e-03 6.26301759e-01] [ 2.95985606e-02 3.68774486e-03 9.99555064e-01 1.65674918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.85255784400005 meters Centerline goodness : 0.138109 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.66 [[ 9.99546622e-01 -3.93072231e-03 -2.98512881e-02 5.01897266e+00] [ 3.82405669e-03 9.99986102e-01 -3.62948290e-03 6.25177707e-01] [ 2.98651397e-02 3.51368435e-03 9.99547761e-01 1.65635962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8825578440001 meters Centerline goodness : 0.140726 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99552414e-01 -3.83572202e-03 -2.96691608e-02 5.01828586e+00] [ 3.74162851e-03 9.99987796e-01 -3.22629295e-03 6.23438464e-01] [ 2.96811739e-02 3.11383793e-03 9.99554567e-01 1.65682508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.91255784400005 meters Centerline goodness : 0.140218 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.66 [[ 9.99596525e-01 4.32429680e-03 -2.80729049e-02 5.03759998e+00] [-4.45031690e-03 9.99980293e-01 -4.42810365e-03 6.20480168e-01] [ 2.80532032e-02 4.55125034e-03 9.99596070e-01 1.65823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9425578440001 meters Centerline goodness : 0.132091 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99593383e-01 -4.33067266e-03 -2.81835584e-02 5.01763405e+00] [ 4.23748162e-03 9.99985359e-01 -3.36546081e-03 6.23518998e-01] [ 2.81977205e-02 3.24466505e-03 9.99597099e-01 1.65650942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.97255784400005 meters Centerline goodness : 0.133185 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99589946e-01 -4.30818507e-03 -2.83086496e-02 5.01801115e+00] [ 4.21740888e-03 9.99985775e-01 -3.26558408e-03 6.22796372e-01] [ 2.83223156e-02 3.14485586e-03 9.99593896e-01 1.65640954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0025578440001 meters Centerline goodness : 0.141054 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99586797e-01 -4.28564150e-03 -2.84230150e-02 5.01833525e+00] [ 4.19718404e-03 9.99986164e-01 -3.17110792e-03 6.22159824e-01] [ 2.84362119e-02 3.05050099e-03 9.99590954e-01 1.65634355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.03255784400005 meters Centerline goodness : 0.141068 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99591053e-01 -4.21704944e-03 -2.82832748e-02 5.01792793e+00] [ 4.13559645e-03 9.99987133e-01 -2.93777753e-03 6.20861575e-01] [ 2.82952996e-02 2.81960792e-03 9.99595631e-01 1.65648192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0625578440001 meters Centerline goodness : 0.146551 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99594935e-01 -4.17466859e-03 -2.81520642e-02 5.01747363e+00] [ 4.09639007e-03 9.99987584e-01 -2.83766026e-03 6.20329002e-01] [ 2.81635610e-02 2.72118898e-03 9.99599624e-01 1.65668634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.09255784400005 meters Centerline goodness : 0.139421 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99595550e-01 -4.11745515e-03 -2.81386390e-02 5.01736457e+00] [ 4.04254451e-03 9.99988134e-01 -2.71856724e-03 6.19741051e-01] [ 2.81494987e-02 2.60371602e-03 9.99600333e-01 1.65678448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1225578440001 meters Centerline goodness : 0.132704 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99593132e-01 -4.07869807e-03 -2.82300288e-02 5.01764750e+00] [ 4.00651130e-03 9.99988560e-01 -2.61318284e-03 6.19149840e-01] [ 2.82403642e-02 2.49901569e-03 9.99598038e-01 1.65671667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.15255784400006 meters Centerline goodness : 0.138236 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.66 [[ 9.99582762e-01 -4.00078032e-03 -2.86058700e-02 5.01886402e+00] [ 3.94125727e-03 9.99989950e-01 -2.13687935e-03 6.16108074e-01] [ 2.86141317e-02 2.02324467e-03 9.99588484e-01 1.65630724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1825578440001 meters Centerline goodness : 0.139001 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99600892e-01 2.13563465e-03 -2.81690476e-02 5.04191612e+00] [-2.28003842e-03 9.99984420e-01 -5.09520462e-03 6.13115362e-01] [ 2.81577273e-02 5.15739759e-03 9.99590188e-01 1.65628494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.21255784400006 meters Centerline goodness : 0.117207 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99600622e-01 2.26563446e-03 -2.81684723e-02 5.04185148e+00] [-2.39669939e-03 9.99986456e-01 -4.62000286e-03 6.10435332e-01] [ 2.81576236e-02 4.68566910e-03 9.99592513e-01 1.65641731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters Centerline goodness : 0.143896 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.66 [[ 9.99602171e-01 2.41209215e-03 -2.81012651e-02 5.04158674e+00] [-2.52796346e-03 9.99988447e-01 -4.08855211e-03 6.07526318e-01] [ 2.80910785e-02 4.15796454e-03 9.99596720e-01 1.65663747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.27255784400006 meters Centerline goodness : 0.142359 Centerline is valid? [False, False] Translation: X:5.04, Y:0.60, Z:1.66 [[ 9.99606130e-01 2.83153381e-03 -2.79207420e-02 5.04095315e+00] [-2.91526852e-03 9.99991373e-01 -2.95876442e-03 6.02111149e-01] [ 2.79121233e-02 3.03899551e-03 9.99605761e-01 1.65698416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30255784400003 meters Centerline goodness : 0.138342 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99601794e-01 -4.66454346e-03 -2.78297502e-02 5.06055216e+00] [ 4.62025798e-03 9.99987956e-01 -1.65539101e-03 6.04817943e-01] [ 2.78371367e-02 1.52615120e-03 9.99611307e-01 1.65839651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.33255784400006 meters Centerline goodness : 0.138850 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99601938e-01 -4.50552688e-03 -2.78507680e-02 5.06082299e+00] [ 4.47073629e-03 9.99989146e-01 -1.31132169e-03 6.03164756e-01] [ 2.78563739e-02 1.18628626e-03 9.99611232e-01 1.65811369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36255784400004 meters Centerline goodness : 0.128571 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99604562e-01 -4.34566758e-03 -2.77819057e-02 5.06063566e+00] [ 4.31890832e-03 9.99990150e-01 -1.02312301e-03 6.01922150e-01] [ 2.77860782e-02 9.02730927e-04 9.99613485e-01 1.65811725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.39255784400007 meters Centerline goodness : 0.131004 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99610581e-01 -4.17860501e-03 -2.75903161e-02 5.06011601e+00] [ 4.15990457e-03 9.99991077e-01 -7.35152827e-04 6.00780078e-01] [ 2.75931418e-02 6.20093462e-04 9.99619044e-01 1.65821001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42255784400004 meters Centerline goodness : 0.131113 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99612888e-01 -3.81699473e-03 -2.75591040e-02 5.06013440e+00] [ 3.81628356e-03 9.99992715e-01 -7.84022026e-05 5.97835845e-01] [ 2.75592025e-02 -2.68015035e-05 9.99620173e-01 1.65806671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.45255784400007 meters Centerline goodness : 0.131064 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99607327e-01 -3.68196503e-03 -2.77783220e-02 5.06092948e+00] [ 3.69046517e-03 9.99993158e-01 2.54737403e-04 5.96171338e-01] [ 2.77771940e-02 -3.57152304e-04 9.99614076e-01 1.65768658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48255784400004 meters Centerline goodness : 0.137664 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99601555e-01 -3.53068810e-03 -2.80047318e-02 5.06170757e+00] [ 3.54964609e-03 9.99993503e-01 6.27272317e-04 5.94363271e-01] [ 2.80023352e-02 -7.26429271e-04 9.99607594e-01 1.65732879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.51255784400007 meters Centerline goodness : 0.116230 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99600574e-01 -3.32872534e-03 -2.80644386e-02 5.06199855e+00] [ 3.36086396e-03 9.99993749e-01 1.09808023e-03 5.92161854e-01] [ 2.80606080e-02 -1.19196239e-03 9.99605513e-01 1.65716808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54255784400004 meters Centerline goodness : 0.141365 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 9.99603591e-01 -3.15197112e-03 -2.79772373e-02 5.06178268e+00] [ 3.19748043e-03 9.99993637e-01 1.58206679e-03 5.89784844e-01] [ 2.79720726e-02 -1.67089631e-03 9.99607309e-01 1.65725128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5725578440001 meters Centerline goodness : 0.109482 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99627746e-01 -5.77556022e-03 -2.66648194e-02 5.05722762e+00] [ 5.76874501e-03 9.99983305e-01 -3.32506650e-04 5.83828863e-01] [ 2.66662946e-02 1.78560330e-04 9.99644375e-01 1.65888188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60255784400005 meters Centerline goodness : 0.128608 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99627337e-01 -5.60326985e-03 -2.67168743e-02 5.05732176e+00] [ 5.61125514e-03 9.99984232e-01 2.23923376e-04 5.80831009e-01] [ 2.67151983e-02 -3.73755126e-04 9.99643016e-01 1.65898990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6325578440001 meters Centerline goodness : 0.128335 Centerline is valid? [False, False] Translation: X:5.06, Y:0.58, Z:1.66 [[ 9.99625463e-01 -5.41882618e-03 -2.68248074e-02 5.05769044e+00] [ 5.44075488e-03 9.99984922e-01 7.44558404e-04 5.78241442e-01] [ 2.68203683e-02 -8.90226740e-04 9.99639873e-01 1.65886826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66255784400005 meters Centerline goodness : 0.150299 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99638687e-01 3.15047451e-03 -2.66940121e-02 5.07775508e+00] [-3.15244944e-03 9.99995031e-01 -3.19012141e-05 5.72778772e-01] [ 2.66937789e-02 1.16041211e-04 9.99643651e-01 1.66048922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6925578440001 meters Centerline goodness : 0.129405 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99631387e-01 3.39032681e-03 -2.69368717e-02 5.07858086e+00] [-3.37840020e-03 9.99994174e-01 4.88259138e-04 5.70424264e-01] [ 2.69383701e-02 -3.97075627e-04 9.99637017e-01 1.66017621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72255784400005 meters Centerline goodness : 0.135112 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99625547e-01 3.36608721e-03 -2.71557493e-02 5.07940596e+00] [-3.35395889e-03 9.99994254e-01 4.92156240e-04 5.69999057e-01] [ 2.71572499e-02 -4.00892684e-04 9.99631093e-01 1.65975673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7525578440001 meters Centerline goodness : 0.134503 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99623124e-01 3.33915067e-03 -2.72481373e-02 5.07978759e+00] [-3.32820050e-03 9.99994362e-01 4.47210887e-04 5.69940002e-01] [ 2.72494769e-02 -3.56355080e-04 9.99628601e-01 1.65947379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78255784400005 meters Centerline goodness : 0.134370 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99620467e-01 3.34694341e-03 -2.73444729e-02 5.08010434e+00] [-3.33595252e-03 9.99994336e-01 4.47550539e-04 5.69863852e-01] [ 2.73458159e-02 -3.56160815e-04 9.99625970e-01 1.65931246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8125578440001 meters Centerline goodness : 0.132934 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99624638e-01 3.40281868e-03 -2.71846403e-02 5.07948777e+00] [-3.39213555e-03 9.99994150e-01 4.39089976e-04 5.70230120e-01] [ 2.71859755e-02 -3.46711174e-04 9.99630333e-01 1.65957254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84255784400005 meters Centerline goodness : 0.135098 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99627917e-01 3.41115475e-03 -2.70627507e-02 5.07908292e+00] [-3.39978224e-03 9.99994112e-01 4.66228512e-04 5.70059568e-01] [ 2.70641817e-02 -3.74047577e-04 9.99633628e-01 1.65972522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8725578440001 meters Centerline goodness : 0.135312 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99629641e-01 3.42014587e-03 -2.69978413e-02 5.07880979e+00] [-3.40745795e-03 9.99994061e-01 5.15951967e-04 5.69826225e-01] [ 2.69994456e-02 -4.23766871e-04 9.99635359e-01 1.65989453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90255784400006 meters Centerline goodness : 0.136882 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99632219e-01 3.44232484e-03 -2.68993973e-02 5.07842777e+00] [-3.42801062e-03 9.99993957e-01 5.78234965e-04 5.69638870e-01] [ 2.69012253e-02 -4.85810881e-04 9.99637979e-01 1.66010079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9325578440001 meters Centerline goodness : 0.136908 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99636287e-01 3.47015619e-03 -2.67441882e-02 5.07793807e+00] [-3.45467737e-03 9.99993837e-01 6.24956297e-04 5.69762075e-01] [ 2.67461921e-02 -5.32336451e-04 9.99642115e-01 1.66021975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96255784400006 meters Centerline goodness : 0.133859 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99636367e-01 3.43440982e-03 -2.67458295e-02 5.07794418e+00] [-3.42070569e-03 9.99993994e-01 5.58120120e-04 5.70082212e-01] [ 2.67475857e-02 -4.66427558e-04 9.99642111e-01 1.66022582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99255784400003 meters Centerline goodness : 0.136753 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99634447e-01 3.38859004e-03 -2.68233113e-02 5.07806489e+00] [-3.37643621e-03 9.99994176e-01 4.98385762e-04 5.70306096e-01] [ 2.68248439e-02 -4.07636376e-04 9.99640066e-01 1.66036298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02255784400006 meters Centerline goodness : 0.114896 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99631334e-01 3.31898145e-03 -2.69477312e-02 5.07842792e+00] [-3.31022885e-03 9.99994453e-01 3.69402489e-04 5.70864342e-01] [ 2.69488077e-02 -2.80063145e-04 9.99636776e-01 1.66027287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.05255784400003 meters Centerline goodness : 0.136428 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99630078e-01 3.26442788e-03 -2.70009411e-02 5.07864783e+00] [-3.26013541e-03 9.99994665e-01 2.02994668e-04 5.71733080e-01] [ 2.70014597e-02 -1.14892852e-04 9.99635388e-01 1.66012736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08255784400006 meters Centerline goodness : 0.140520 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.66 [[ 9.99577389e-01 2.75698600e-03 -2.89386006e-02 5.03163751e+00] [-2.74368718e-03 9.99996111e-01 4.99250698e-04 5.70722833e-01] [ 2.89398645e-02 -4.19641241e-04 9.99581066e-01 1.66039143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.11255784400004 meters Centerline goodness : 0.140520 Centerline is valid? [False, False] Translation: X:5.03, Y:0.57, Z:1.66 [[ 9.99577389e-01 2.75698600e-03 -2.89386006e-02 5.03163751e+00] [-2.74368718e-03 9.99996111e-01 4.99250698e-04 5.70722833e-01] [ 2.89398645e-02 -4.19641241e-04 9.99581066e-01 1.66039143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14255784400007 meters Centerline goodness : 0.143374 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99609835e-01 -4.66082644e-03 -2.75400553e-02 5.05014375e+00] [ 4.70562754e-03 9.99987708e-01 1.56217607e-03 5.77078803e-01] [ 2.75324358e-02 -1.69115981e-03 9.99619480e-01 1.66183696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.17255784400004 meters Centerline goodness : 0.134074 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99659688e-01 3.70737188e-03 -2.58217515e-02 5.06923303e+00] [-3.70433478e-03 9.99993125e-01 1.65451430e-04 5.75800218e-01] [ 2.58221874e-02 -6.97427125e-05 9.99666549e-01 1.66306561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20255784400007 meters Centerline goodness : 0.136840 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99661999e-01 3.67657614e-03 -2.57365740e-02 5.06902081e+00] [-3.67539056e-03 9.99993241e-01 9.33698498e-05 5.76226035e-01] [ 2.57367433e-02 1.25367032e-06 9.99668755e-01 1.66303221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.23255784400004 meters Centerline goodness : 0.192276 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99656053e-01 3.56837985e-03 -2.59815849e-02 5.06989519e+00] [-3.57086041e-03 9.99993623e-01 -4.90784143e-05 5.76560983e-01] [ 2.59812441e-02 1.41838147e-04 9.99662420e-01 1.66258501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26255784400007 meters Centerline goodness : 0.161358 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99653799e-01 3.47418477e-03 -2.60808946e-02 5.07030818e+00] [-3.48003032e-03 9.99993929e-01 -1.78746002e-04 5.76904511e-01] [ 2.60801152e-02 2.69446424e-04 9.99659820e-01 1.66233874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.29255784400004 meters Centerline goodness : 0.137496 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99655813e-01 3.44753904e-03 -2.60071196e-02 5.07009910e+00] [-3.45429080e-03 9.99994011e-01 -2.14690643e-04 5.77019809e-01] [ 2.60062236e-02 3.04452903e-04 9.99661735e-01 1.66236336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3225578440001 meters Centerline goodness : 0.136405 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99661192e-01 3.45451441e-03 -2.57985774e-02 5.06935236e+00] [-3.46118960e-03 9.99993987e-01 -2.14092393e-04 5.77152483e-01] [ 2.57976827e-02 3.03313624e-04 9.99667138e-01 1.66270106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.35255784400005 meters Centerline goodness : 0.115692 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99699617e-01 -3.91430942e-03 -2.41940689e-02 5.08698377e+00] [ 3.94693257e-03 9.99991365e-01 1.30078828e-03 5.82062815e-01] [ 2.41887683e-02 -1.39588990e-03 9.99706434e-01 1.66517824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3825578440001 meters Centerline goodness : 0.116680 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99702278e-01 -3.90684769e-03 -2.40851166e-02 5.08660868e+00] [ 3.94063648e-03 9.99991317e-01 1.35558796e-03 5.81718269e-01] [ 2.40796114e-02 -1.45009506e-03 9.99708992e-01 1.66534573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.41255784400005 meters Centerline goodness : 0.137712 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99702383e-01 -3.90772592e-03 -2.40806143e-02 5.08657362e+00] [ 3.94232662e-03 9.99991264e-01 1.38956281e-03 5.81469974e-01] [ 2.40749738e-02 -1.48408290e-03 9.99709054e-01 1.66540589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4425578440001 meters Centerline goodness : 0.139626 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.67 [[ 9.99700337e-01 -3.91993436e-03 -2.41634248e-02 5.08702011e+00] [ 3.95371062e-03 9.99991273e-01 1.35020973e-03 5.81587878e-01] [ 2.41579211e-02 -1.44534031e-03 9.99707110e-01 1.66501803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.47255784400005 meters Centerline goodness : 0.141915 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99697227e-01 -3.92902411e-03 -2.42902600e-02 5.08744613e+00] [ 3.96033687e-03 9.99991388e-01 1.24113596e-03 5.82214276e-01] [ 2.42851744e-02 -1.33695779e-03 9.99704178e-01 1.66479625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5025578440001 meters Centerline goodness : 0.117941 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99698184e-01 -3.94702878e-03 -2.42479145e-02 5.08735030e+00] [ 3.97569582e-03 9.99991454e-01 1.13415270e-03 5.82868654e-01] [ 2.42432307e-02 -1.23021273e-03 9.99705333e-01 1.66473688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.53255784400005 meters Centerline goodness : 0.141863 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99700113e-01 -3.97855025e-03 -2.41630948e-02 5.08710394e+00] [ 4.00376517e-03 9.99991490e-01 9.95240904e-04 5.83617985e-01] [ 2.41589296e-02 -1.09168580e-03 9.99707534e-01 1.66477085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5625578440001 meters Centerline goodness : 0.116736 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99701879e-01 -4.00493984e-03 -2.40855590e-02 5.08704478e+00] [ 4.02376673e-03 9.99991636e-01 7.33253346e-04 5.85074017e-01] [ 2.40824209e-02 -8.29949419e-04 9.99709632e-01 1.66450132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.59255784400005 meters Centerline goodness : 0.137476 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99698968e-01 -4.01719155e-03 -2.42040475e-02 5.08760706e+00] [ 4.03194018e-03 9.99991715e-01 5.60574696e-04 5.86145036e-01] [ 2.42015950e-02 -6.57995217e-04 9.99706882e-01 1.66399459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6225578440001 meters Centerline goodness : 0.131341 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99695016e-01 -4.03613676e-03 -2.43635851e-02 5.08825719e+00] [ 4.04717233e-03 9.99991729e-01 4.03661404e-04 5.87102939e-01] [ 2.43617543e-02 -5.02141921e-04 9.99703082e-01 1.66352865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.65255784400006 meters Centerline goodness : 0.150852 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99692789e-01 -4.00613984e-03 -2.44597174e-02 5.08873697e+00] [ 4.01604519e-03 9.99991872e-01 3.55855790e-04 5.87579541e-01] [ 2.44580930e-02 -4.53977798e-04 9.99700753e-01 1.66308358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6825578440001 meters Centerline goodness : 0.150531 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99692182e-01 -3.97279910e-03 -2.44899703e-02 5.08880055e+00] [ 3.98434620e-03 9.99991973e-01 4.22725390e-04 5.87096017e-01] [ 2.44880943e-02 -5.20171788e-04 9.99699986e-01 1.66308509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.71255784400006 meters Centerline goodness : 0.142326 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:1.66 [[ 9.99694529e-01 -3.94480920e-03 -2.43985206e-02 5.08823858e+00] [ 3.96031840e-03 9.99991985e-01 5.87373656e-04 5.86071009e-01] [ 2.43960080e-02 -6.83820141e-04 9.99702139e-01 1.66362646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters Centerline goodness : 0.115845 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99696268e-01 -3.88857442e-03 -2.43361985e-02 5.08781172e+00] [ 3.90953013e-03 9.99992027e-01 8.13572653e-04 5.84778978e-01] [ 2.43328408e-02 -9.08468646e-04 9.99703500e-01 1.66407773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.77255784400006 meters Centerline goodness : 0.151419 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99696918e-01 -3.78750928e-03 -2.43254444e-02 5.08785048e+00] [ 3.81540693e-03 9.99992116e-01 1.10054019e-03 5.83402229e-01] [ 2.43210843e-02 -1.19301810e-03 9.99703487e-01 1.66399070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80255784400003 meters Centerline goodness : 0.141969 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99695065e-01 -3.70745417e-03 -2.44137787e-02 5.08816716e+00] [ 3.74202006e-03 9.99992060e-01 1.37030221e-03 5.82025963e-01] [ 2.44085045e-02 -1.46124121e-03 9.99701000e-01 1.66384048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.83255784400006 meters Centerline goodness : 0.152013 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99691888e-01 -3.63530469e-03 -2.45543054e-02 5.08873956e+00] [ 3.68293432e-03 9.99991423e-01 1.89482258e-03 5.78987784e-01] [ 2.45472065e-02 -1.98467065e-03 9.99696702e-01 1.66359919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86255784400004 meters Centerline goodness : 0.153776 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:1.66 [[ 9.99690680e-01 -3.52937627e-03 -2.46188601e-02 5.08885759e+00] [ 3.58553827e-03 9.99991069e-01 2.23748947e-03 5.77202152e-01] [ 2.46107432e-02 -2.32506924e-03 9.99694406e-01 1.66370074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.89255784400007 meters Centerline goodness : 0.129701 Centerline is valid? [False, False] Translation: X:5.11, Y:0.57, Z:1.67 [[ 9.99679170e-01 4.35251188e-03 -2.49522090e-02 5.10803407e+00] [-4.33154203e-03 9.99990219e-01 8.94388225e-04 5.72230478e-01] [ 2.49558577e-02 -7.86019737e-04 9.99688245e-01 1.66574080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92255784400004 meters Centerline goodness : 0.139963 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99621656e-01 -4.26719566e-03 -2.71723245e-02 5.08860197e+00] [ 4.33241489e-03 9.99987873e-01 2.34178872e-03 5.72814975e-01] [ 2.71620021e-02 -2.45862450e-03 9.99628021e-01 1.66426597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.95255784400007 meters Centerline goodness : 0.116151 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99620107e-01 -4.24892248e-03 -2.72321096e-02 5.08889774e+00] [ 4.31527191e-03 9.99987861e-01 2.37813641e-03 5.72596448e-01] [ 2.72216745e-02 -2.49474693e-03 9.99626309e-01 1.66400981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98255784400004 meters Centerline goodness : 0.116707 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99620144e-01 -4.19856213e-03 -2.72385567e-02 5.08880850e+00] [ 4.26642957e-03 9.99987937e-01 2.43395657e-03 5.72475397e-01] [ 2.72280090e-02 -2.54924340e-03 9.99625999e-01 1.66415449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.01255784400007 meters Centerline goodness : 0.109702 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99681115e-01 2.53556799e-03 -2.51244584e-02 5.07003314e+00] [-2.49613440e-03 9.99995603e-01 1.60076772e-03 5.66316891e-01] [ 2.51284068e-02 -1.53754324e-03 9.99683049e-01 1.66156903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04255784400004 meters Centerline goodness : 0.138380 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99690892e-01 2.61669872e-03 -2.47239320e-02 5.06856806e+00] [-2.57384300e-03 9.99995130e-01 1.76503355e-03 5.65666589e-01] [ 2.47284302e-02 -1.70085244e-03 9.99692759e-01 1.66235580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0725578440001 meters Centerline goodness : 0.154108 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99700941e-01 2.69386004e-03 -2.43058034e-02 5.06709302e+00] [-2.64713539e-03 9.99994587e-01 1.95433636e-03 5.64807650e-01] [ 2.43109365e-02 -1.88941114e-03 9.99702660e-01 1.66308255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10255784400005 meters Centerline goodness : 0.219954 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99708372e-01 2.74483564e-03 -2.39924314e-02 5.06623705e+00] [-2.69466246e-03 9.99994115e-01 2.12328905e-03 5.63681978e-01] [ 2.39981183e-02 -2.05801834e-03 9.99709885e-01 1.66323952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1325578440001 meters Centerline goodness : 0.136686 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99705925e-01 2.72595342e-03 -2.40963023e-02 5.06680178e+00] [-2.67587976e-03 9.99994194e-01 2.11006406e-03 5.63512192e-01] [ 2.41019143e-02 -2.04496474e-03 9.99707415e-01 1.66277408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16255784400005 meters Centerline goodness : 0.132511 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99702558e-01 2.69658400e-03 -2.42388968e-02 5.06760699e+00] [-2.64805148e-03 9.99994425e-01 2.03413277e-03 5.63773621e-01] [ 2.42442468e-02 -1.96934189e-03 9.99704125e-01 1.66203658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1925578440001 meters Centerline goodness : 0.108927 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99699741e-01 2.68224143e-03 -2.43563834e-02 5.06823277e+00] [-2.63540053e-03 9.99994616e-01 1.95504238e-03 5.64246531e-01] [ 2.43614962e-02 -1.89026654e-03 9.99701428e-01 1.66148355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22255784400005 meters Centerline goodness : 0.151795 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99702310e-01 2.69763877e-03 -2.42490196e-02 5.06791916e+00] [-2.65102675e-03 9.99994577e-01 1.95416464e-03 5.64406892e-01] [ 2.42541597e-02 -1.88929810e-03 9.99704039e-01 1.66153364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2525578440001 meters Centerline goodness : 0.153738 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99709951e-01 2.74415732e-03 -2.39266389e-02 5.06654501e+00] [-2.69851141e-03 9.99994478e-01 1.93982343e-03 5.64808202e-01] [ 2.39318299e-02 -1.87469448e-03 9.99711835e-01 1.66243933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28255784400005 meters Centerline goodness : 0.133011 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99708596e-01 2.65749634e-03 -2.39929318e-02 5.06694814e+00] [-2.61647742e-03 9.99995062e-01 1.74085656e-03 5.65633159e-01] [ 2.39974397e-02 -1.67757231e-03 9.99710612e-01 1.66204784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3125578440001 meters Centerline goodness : 0.138592 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99703533e-01 2.47768940e-03 -2.42220273e-02 5.06797876e+00] [-2.44458080e-03 9.99996037e-01 1.39639506e-03 5.66844994e-01] [ 2.42253911e-02 -1.33676837e-03 9.99705628e-01 1.66129189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34255784400005 meters Centerline goodness : 0.136582 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99691966e-01 2.24782744e-03 -2.47168156e-02 5.06986428e+00] [-2.23120562e-03 9.99997266e-01 7.00048279e-04 5.70194449e-01] [ 2.47183216e-02 -6.44684342e-04 9.99694248e-01 1.66006982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3725578440001 meters Centerline goodness : 0.136742 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99688826e-01 2.15233638e-03 -2.48519246e-02 5.07050463e+00] [-2.14549153e-03 9.99997653e-01 3.02086048e-04 5.72568518e-01] [ 2.48525165e-02 -2.48672453e-04 9.99691098e-01 1.65948278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40255784400006 meters Centerline goodness : 0.151731 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99689890e-01 2.04935758e-03 -2.48178008e-02 5.07056959e+00] [-2.05194962e-03 9.99997892e-01 -7.89771301e-05 5.74862855e-01] [ 2.48175866e-02 1.29877515e-04 9.99691988e-01 1.65917870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4325578440001 meters Centerline goodness : 0.115752 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99690618e-01 1.91372626e-03 -2.47993222e-02 5.07054243e+00] [-1.92518454e-03 9.99998051e-01 -4.38172952e-04 5.76728567e-01] [ 2.47984353e-02 4.85780661e-04 9.99692353e-01 1.65909350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46255784400006 meters Centerline goodness : 0.131143 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99688110e-01 1.76276944e-03 -2.49113336e-02 5.07085042e+00] [-1.78093035e-03 9.99998164e-01 -7.06854529e-04 5.77813160e-01] [ 2.49100418e-02 7.50999419e-04 9.99689415e-01 1.65902361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49255784400003 meters Centerline goodness : 0.115577 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99668394e-01 1.21436371e-03 -2.57221185e-02 5.07282366e+00] [-1.24385398e-03 9.99998587e-01 -1.13052570e-03 5.78272174e-01] [ 2.57207093e-02 1.16214537e-03 9.99668492e-01 1.65901161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52255784400006 meters Centerline goodness : 0.141065 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99663418e-01 1.11776220e-03 -2.59191138e-02 5.07326118e+00] [-1.14453603e-03 9.99998827e-01 -1.01816420e-03 5.77260558e-01] [ 2.59179453e-02 1.04748686e-03 9.99663525e-01 1.65912982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.55255784400003 meters Centerline goodness : 0.146386 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.66 [[ 9.99663591e-01 1.02319921e-03 -2.59163755e-02 5.07302344e+00] [-1.04431102e-03 9.99999134e-01 -8.01091007e-04 5.75640094e-01] [ 2.59155333e-02 8.27886269e-04 9.99663793e-01 1.65956967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58255784400006 meters Centerline goodness : 0.139750 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99668302e-01 9.55669136e-04 -2.57366200e-02 5.07234900e+00] [-9.70803834e-04 9.99999363e-01 -5.75572556e-04 5.74075850e-01] [ 2.57360535e-02 6.00366849e-04 9.99668593e-01 1.66002038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.61255784400004 meters Centerline goodness : 0.143890 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99682396e-01 3.21996971e-04 -2.51992622e-02 5.07063554e+00] [-3.30923260e-04 9.99999884e-01 -3.50058836e-04 5.70057086e-01] [ 2.51991466e-02 3.58286678e-04 9.99682387e-01 1.66090427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64255784400007 meters Centerline goodness : 0.136862 Centerline is valid? [False, False] Translation: X:5.09, Y:0.57, Z:1.66 [[ 9.99680796e-01 -7.87011007e-03 -2.40076652e-02 5.09126098e+00] [ 7.88652595e-03 9.99968727e-01 5.89169587e-04 5.71442000e-01] [ 2.40022776e-02 -7.78318597e-04 9.99711601e-01 1.66194020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.67255784400004 meters Centerline goodness : 0.144925 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.66 [[ 9.99717985e-01 -2.62267121e-03 -2.36023871e-02 5.06797021e+00] [ 2.57300809e-03 9.99994412e-01 -2.13427948e-03 5.65083699e-01] [ 2.36078527e-02 2.07294845e-03 9.99719147e-01 1.66170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70255784400007 meters Centerline goodness : 0.116824 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99715844e-01 -2.51002195e-03 -2.37050796e-02 5.06823414e+00] [ 2.47203003e-03 9.99995613e-01 -1.63185912e-03 5.62247615e-01] [ 2.37090716e-02 1.57279575e-03 9.99717663e-01 1.66176753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.73255784400004 meters Centerline goodness : 0.139179 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.66 [[ 9.99712488e-01 -2.36766319e-03 -2.38607588e-02 5.06869277e+00] [ 2.34211979e-03 9.99996654e-01 -1.09840874e-03 5.59180981e-01] [ 2.38632796e-02 1.04220818e-03 9.99714688e-01 1.66168471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76255784400007 meters Centerline goodness : 0.140249 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99712825e-01 -1.91998744e-03 -2.38868265e-02 5.06847875e+00] [ 1.92198837e-03 9.99998151e-01 6.08089851e-05 5.52969351e-01] [ 2.38866655e-02 -1.06701725e-04 9.99714667e-01 1.66221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.79255784400004 meters Centerline goodness : 0.139269 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99715021e-01 -1.64495548e-03 -2.38153650e-02 5.06821056e+00] [ 1.66084862e-03 9.99998411e-01 6.47583832e-04 5.50383530e-01] [ 2.38142620e-02 -6.86953000e-04 9.99716164e-01 1.66237767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8225578440001 meters Centerline goodness : 0.144278 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99716555e-01 -1.37684140e-03 -2.37679019e-02 5.06820699e+00] [ 1.40583515e-03 9.99998288e-01 1.20320375e-03 5.47927206e-01] [ 2.37662046e-02 -1.23627646e-03 9.99716779e-01 1.66223914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.85255784400005 meters Centerline goodness : 0.137106 Centerline is valid? [False, False] Translation: X:5.07, Y:0.55, Z:1.66 [[ 9.99717246e-01 -1.17712437e-03 -2.37495740e-02 5.06830436e+00] [ 1.21675335e-03 9.99997892e-01 1.65423670e-03 5.45641382e-01] [ 2.37475767e-02 -1.68266634e-03 9.99716570e-01 1.66208983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8825578440001 meters Centerline goodness : 0.134507 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.66 [[ 9.99699848e-01 7.28328163e-03 -2.33916190e-02 5.08786474e+00] [-7.27546759e-03 9.99973446e-01 4.19140993e-04 5.39411246e-01] [ 2.33940506e-02 -2.48830221e-04 9.99726291e-01 1.66394907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.91255784400005 meters Centerline goodness : 0.141155 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.66 [[ 9.99689448e-01 7.62953848e-03 -2.37233384e-02 5.08838056e+00] [-7.60827772e-03 9.99970570e-01 9.86327553e-04 5.36320143e-01] [ 2.37301655e-02 -8.05527500e-04 9.99718075e-01 1.66483202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9425578440001 meters Centerline goodness : 0.139959 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.67 [[ 9.99685753e-01 7.74554398e-03 -2.38411624e-02 5.08840515e+00] [-7.71875352e-03 9.99969471e-01 1.21552761e-03 5.34863650e-01] [ 2.38498495e-02 -1.03112158e-03 9.99715020e-01 1.66541770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.97255784400005 meters Centerline goodness : 0.126413 Centerline is valid? [False, False] Translation: X:5.09, Y:0.53, Z:1.67 [[ 9.99682379e-01 7.88921502e-03 -2.39353642e-02 5.08820441e+00] [-7.85659535e-03 9.99968076e-01 1.45655755e-03 5.33323834e-01] [ 2.39460911e-02 -1.26804444e-03 9.99712447e-01 1.66620621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0025578440001 meters Centerline goodness : 0.147542 Centerline is valid? [False, False] Translation: X:5.11, Y:0.53, Z:1.67 [[ 9.99740770e-01 7.12001471e-04 -2.27571210e-02 5.10701656e+00] [-6.45867642e-04 9.99995548e-01 2.91328973e-03 5.33610742e-01] [ 2.27590940e-02 -2.89783643e-03 9.99736778e-01 1.66717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.03255784400005 meters Centerline goodness : 0.147542 Centerline is valid? [False, False] Translation: X:5.11, Y:0.53, Z:1.67 [[ 9.99740770e-01 7.12001471e-04 -2.27571210e-02 5.10701656e+00] [-6.45867642e-04 9.99995548e-01 2.91328973e-03 5.33610742e-01] [ 2.27590940e-02 -2.89783643e-03 9.99736778e-01 1.66717234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0625578440001 meters Centerline goodness : 0.193372 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99672660e-01 5.82382149e-05 -2.55845430e-02 5.06171970e+00] [ 4.18224429e-05 9.99992353e-01 3.91042835e-03 5.27938179e-01] [ 2.55845751e-02 -3.91021832e-03 9.99665014e-01 1.66748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.09255784400005 meters Centerline goodness : 0.148087 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99669112e-01 1.08558146e-04 -2.57226583e-02 5.06227965e+00] [-4.03976004e-06 9.99991745e-01 4.06329802e-03 5.26913364e-01] [ 2.57228870e-02 -4.06184961e-03 9.99660860e-01 1.66719280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1225578440001 meters Centerline goodness : 0.144933 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99662257e-01 1.29356513e-04 -2.59876089e-02 5.06307825e+00] [-2.05374022e-05 9.99991232e-01 4.18756928e-03 5.25899854e-01] [ 2.59879227e-02 -4.18562124e-03 9.99653494e-01 1.66704034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.15255784400006 meters Centerline goodness : 0.132911 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99654472e-01 1.69256785e-04 -2.62851167e-02 5.06394042e+00] [-5.52586263e-05 9.99990591e-01 4.33765088e-03 5.24853523e-01] [ 2.62856036e-02 -4.33469962e-03 9.99645076e-01 1.66688000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1825578440001 meters Centerline goodness : 0.134043 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99649802e-01 2.36840037e-04 -2.64616146e-02 5.06459365e+00] [-1.17582026e-04 9.99989831e-01 4.50829556e-03 5.23918751e-01] [ 2.64624132e-02 -4.50360535e-03 9.99639664e-01 1.66655066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.21255784400006 meters Centerline goodness : 0.188299 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99650143e-01 4.62582409e-04 -2.64457600e-02 5.06494399e+00] [-3.34969317e-04 9.99988281e-01 4.82969147e-03 5.23179903e-01] [ 2.64476842e-02 -4.81914325e-03 9.99638583e-01 1.66594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2425578440001 meters Centerline goodness : 0.150195 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99651897e-01 4.99799964e-04 -2.63787026e-02 5.06485262e+00] [-3.71432517e-04 9.99988068e-01 4.87100456e-03 5.23126761e-01] [ 2.63808224e-02 -4.85951103e-03 9.99640154e-01 1.66582184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.27255784400006 meters Centerline goodness : 0.117566 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99653036e-01 4.71079031e-04 -2.63360065e-02 5.06478457e+00] [-3.44883634e-04 9.99988439e-01 4.79608074e-03 5.23530881e-01] [ 2.63379614e-02 -4.78533381e-03 9.99641642e-01 1.66574133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30255784400003 meters Centerline goodness : 0.135963 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99652291e-01 3.83615761e-04 -2.63657092e-02 5.06495573e+00] [-2.65328587e-04 9.99989886e-01 4.48975410e-03 5.25216767e-01] [ 2.63671649e-02 -4.48119739e-03 9.99642282e-01 1.66549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.33255784400006 meters Centerline goodness : 0.137201 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99654097e-01 3.01623209e-04 -2.62981942e-02 5.06489619e+00] [-1.90838020e-04 9.99991098e-01 4.21506190e-03 5.26785929e-01] [ 2.62992314e-02 -4.20858520e-03 9.99645256e-01 1.66525287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36255784400004 meters Centerline goodness : 0.129738 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99661396e-01 2.42070014e-04 -2.60198786e-02 5.06428215e+00] [-1.40130125e-04 9.99992309e-01 3.91952159e-03 5.28641732e-01] [ 2.60206272e-02 -3.91454825e-03 9.99653742e-01 1.66507975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.39255784400007 meters Centerline goodness : 0.121254 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99668815e-01 1.02612166e-04 -2.57342243e-02 5.06356879e+00] [-1.18557121e-05 9.99993781e-01 3.52681090e-03 5.30726982e-01] [ 2.57344261e-02 -3.52533777e-03 9.99662599e-01 1.66502485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42255784400004 meters Centerline goodness : 0.176837 Centerline is valid? [False, False] Translation: X:5.04, Y:0.53, Z:1.66 [[ 9.99658472e-01 7.25410543e-03 -2.51061266e-02 5.04385174e+00] [-7.20533940e-03 9.99971976e-01 2.03231563e-03 5.27346850e-01] [ 2.51201657e-02 -1.85072337e-03 9.99682726e-01 1.66296897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.45255784400007 meters Centerline goodness : 0.135228 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99649133e-01 8.13482805e-04 -2.64754615e-02 5.06030923e+00] [-7.58622363e-04 9.99997545e-01 2.08210233e-03 5.38275545e-01] [ 2.64770902e-02 -2.06128691e-03 9.99647295e-01 1.66580459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48255784400004 meters Centerline goodness : 0.081232 Centerline is valid? [False, False] Translation: X:5.02, Y:0.54, Z:1.67 [[ 9.99564908e-01 -2.14618468e-04 -2.94949050e-02 5.01526808e+00] [ 2.85394743e-04 9.99997090e-01 2.39542141e-03 5.37830720e-01] [ 2.94943050e-02 -2.40279688e-03 9.99562060e-01 1.66601167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.51255784400007 meters Centerline goodness : 0.135173 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99607987e-01 1.34419445e-03 -2.79654249e-02 5.05957140e+00] [-1.28976918e-03 9.99997239e-01 1.96410977e-03 5.44883913e-01] [ 2.79679878e-02 -1.92727087e-03 9.99606961e-01 1.66648110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54255784400004 meters Centerline goodness : 0.108094 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99609627e-01 1.16018870e-03 -2.79150037e-02 5.05957267e+00] [-1.11921929e-03 9.99998274e-01 1.48322829e-03 5.47431432e-01] [ 2.79166763e-02 -1.45140627e-03 9.99609200e-01 1.66621173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5725578440001 meters Centerline goodness : 0.133529 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99611717e-01 1.00519393e-03 -2.78460870e-02 5.05946933e+00] [-9.74990935e-04 9.99998922e-01 1.09819695e-03 5.49340908e-01] [ 2.78471609e-02 -1.07062086e-03 9.99611619e-01 1.66603148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60255784400005 meters Centerline goodness : 0.105162 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612844e-01 7.44192925e-04 -2.78138113e-02 5.05919513e+00] [-7.29911441e-04 9.99999597e-01 5.23616608e-04 5.51857658e-01] [ 2.78141897e-02 -5.03112267e-04 9.99612984e-01 1.66627347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6325578440001 meters Centerline goodness : 0.138819 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612829e-01 5.99667707e-04 -2.78178498e-02 5.05913326e+00] [-5.92466444e-04 9.99999789e-01 2.67113492e-04 5.52931840e-01] [ 2.78180041e-02 -2.50528931e-04 9.99612973e-01 1.66635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66255784400005 meters Centerline goodness : 0.153686 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99612703e-01 5.06437685e-04 -2.78242405e-02 5.05900662e+00] [-5.02902891e-04 9.99999865e-01 1.34037764e-04 5.53388924e-01] [ 2.78243046e-02 -1.19992960e-04 9.99612822e-01 1.66655232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6925578440001 meters Centerline goodness : 0.150446 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.67 [[ 9.99606083e-01 -7.32915033e-03 -2.70917219e-02 5.07804139e+00] [ 7.36611628e-03 9.99972070e-01 1.26492569e-03 5.57925857e-01] [ 2.70816944e-02 -1.46398819e-03 9.99632152e-01 1.66888570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72255784400005 meters Centerline goodness : 0.137910 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99650020e-01 -3.80129521e-04 -2.64517010e-02 5.05879691e+00] [ 3.90581040e-04 9.99999848e-01 3.89951554e-04 5.50224502e-01] [ 2.64515487e-02 -4.00146612e-04 9.99650016e-01 1.66717000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7525578440001 meters Centerline goodness : 0.139934 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99639186e-01 -4.73621143e-04 -2.68565355e-02 5.05974233e+00] [ 4.90322033e-04 9.99999691e-01 6.15273768e-04 5.48423196e-01] [ 2.68562358e-02 -6.28220120e-04 9.99639109e-01 1.66733581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78255784400005 meters Centerline goodness : 0.141993 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99626932e-01 -5.10070176e-04 -2.73081691e-02 5.06104166e+00] [ 5.35400317e-04 9.99999433e-01 9.20262713e-04 5.46185411e-01] [ 2.73076842e-02 -9.34540195e-04 9.99626639e-01 1.66710209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8125578440001 meters Centerline goodness : 0.110382 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99617973e-01 -5.43759629e-04 -2.76335193e-02 5.06193862e+00] [ 5.77256869e-04 9.99999108e-01 1.20423308e-03 5.44032906e-01] [ 2.76328398e-02 -1.21972467e-03 9.99617396e-01 1.66703881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84255784400005 meters Centerline goodness : 0.145288 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99615115e-01 -4.43322534e-04 -2.77385015e-02 5.06237222e+00] [ 4.87889402e-04 9.99998601e-01 1.59993167e-03 5.41824008e-01] [ 2.77377534e-02 -1.61284920e-03 9.99613933e-01 1.66678634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8725578440001 meters Centerline goodness : 0.141900 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99618591e-01 -2.27721946e-04 -2.76155844e-02 5.06240828e+00] [ 2.88535779e-04 9.99997542e-01 2.19819149e-03 5.38945509e-01] [ 2.76150159e-02 -2.20532116e-03 9.99616200e-01 1.66631532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90255784400006 meters Centerline goodness : 0.137273 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99619047e-01 -1.43610540e-04 -2.75996500e-02 5.06237760e+00] [ 2.09981176e-04 9.99997093e-01 2.40188049e-03 5.37990047e-01] [ 2.75992249e-02 -2.40676089e-03 9.99616171e-01 1.66631304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9325578440001 meters Centerline goodness : 0.140487 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99616310e-01 -9.62982524e-05 -2.76987823e-02 5.06256166e+00] [ 1.66889102e-04 9.99996744e-01 2.54621768e-03 5.37159194e-01] [ 2.76984469e-02 -2.54986335e-03 9.99613072e-01 1.66643367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96255784400006 meters Centerline goodness : 0.141114 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99611343e-01 -6.36366351e-05 -2.78775668e-02 5.06298879e+00] [ 1.38091905e-04 9.99996429e-01 2.66887807e-03 5.36360955e-01] [ 2.78772974e-02 -2.67169046e-03 9.99607782e-01 1.66647384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9925578440001 meters Centerline goodness : 0.128816 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99610947e-01 1.03554687e-04 -2.78916503e-02 5.06284225e+00] [-1.71687614e-05 9.99995203e-01 3.09741831e-03 5.34385167e-01] [ 2.78918372e-02 -3.09573438e-03 9.99606153e-01 1.66674165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02255784400006 meters Centerline goodness : 0.134104 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99614928e-01 2.16589557e-04 -2.77479599e-02 5.06228993e+00] [-1.22250964e-04 9.99994207e-01 3.40149023e-03 5.32977355e-01] [ 2.77485359e-02 -3.39678819e-03 9.99609164e-01 1.66705828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.05255784400003 meters Centerline goodness : 0.141917 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99619919e-01 2.81612236e-04 -2.75669871e-02 5.06174401e+00] [-1.81947156e-04 9.99993439e-01 3.61781960e-03 5.31796071e-01] [ 2.75678250e-02 -3.61142880e-03 9.99613412e-01 1.66724285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08255784400006 meters Centerline goodness : 0.143728 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99622053e-01 3.24790175e-04 -2.74890001e-02 5.06145606e+00] [-2.19600872e-04 9.99992643e-01 3.82952855e-03 5.30502280e-01] [ 2.74900417e-02 -3.82204459e-03 9.99614771e-01 1.66744004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.11255784400004 meters Centerline goodness : 0.139444 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99616079e-01 3.24520442e-04 -2.77053974e-02 5.06201156e+00] [-2.14920667e-04 9.99992141e-01 3.95878594e-03 5.29383835e-01] [ 2.77064644e-02 -3.95131162e-03 9.99608293e-01 1.66741730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14255784400007 meters Centerline goodness : 0.171026 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99612218e-01 3.17660958e-04 -2.78444351e-02 5.06241376e+00] [-2.07579560e-04 9.99992152e-01 3.95624478e-03 5.29343232e-01] [ 2.78454734e-02 -3.94893068e-03 9.99604440e-01 1.66732309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.17255784400004 meters Centerline goodness : 0.115402 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99610588e-01 3.33069325e-04 -2.79027101e-02 5.06266755e+00] [-2.21538364e-04 9.99991975e-01 4.00013322e-03 5.29076164e-01] [ 2.79038185e-02 -3.99239400e-03 9.99602640e-01 1.66714816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20255784400007 meters Centerline goodness : 0.137801 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99608672e-01 3.53564515e-04 -2.79710105e-02 5.06289297e+00] [-2.40725159e-04 9.99991821e-01 4.03741818e-03 5.28847109e-01] [ 2.79722092e-02 -4.02910490e-03 9.99600581e-01 1.66705579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.23255784400004 meters Centerline goodness : 0.154044 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99604868e-01 3.62329314e-04 -2.81065048e-02 5.06335151e+00] [-2.47885949e-04 9.99991666e-01 4.07515249e-03 5.28565399e-01] [ 2.81077471e-02 -4.06657506e-03 9.99596627e-01 1.66687172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26255784400007 meters Centerline goodness : 0.107734 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99599806e-01 4.24709902e-04 -2.82851036e-02 5.06396577e+00] [-3.05392668e-04 9.99991038e-01 4.22256342e-03 5.27765192e-01] [ 2.82866435e-02 -4.21223551e-03 9.99590978e-01 1.66663325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.29255784400004 meters Centerline goodness : 0.140526 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99598801e-01 4.74406452e-04 -2.83198048e-02 5.06417096e+00] [-3.51278411e-04 9.99990466e-01 4.35258826e-03 5.27045908e-01] [ 2.83215997e-02 -4.34089387e-03 9.99589438e-01 1.66646324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3225578440001 meters Centerline goodness : 0.132944 Centerline is valid? [False, False] Translation: X:5.04, Y:0.52, Z:1.66 [[ 9.99580783e-01 7.76851634e-03 -2.78909984e-02 5.04461734e+00] [-7.67630279e-03 9.99964717e-01 3.41176322e-03 5.20021884e-01] [ 2.79165186e-02 -3.19623320e-03 9.99605148e-01 1.66442189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.35255784400005 meters Centerline goodness : 0.151151 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99662708e-01 7.37379012e-03 -2.49017537e-02 5.08347548e+00] [-7.30945298e-03 9.99969711e-01 2.67367594e-03 5.20080512e-01] [ 2.49207146e-02 -2.49075593e-03 9.99686328e-01 1.66618958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3825578440001 meters Centerline goodness : 0.127581 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99664025e-01 7.40393558e-03 -2.48398765e-02 5.08323602e+00] [-7.33610800e-03 9.99969112e-01 2.82061144e-03 5.19273095e-01] [ 2.48599929e-02 -2.63743577e-03 9.99687464e-01 1.66634431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.41255784400005 meters Centerline goodness : 0.281430 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99663381e-01 7.47396410e-03 -2.48448035e-02 5.08336806e+00] [-7.40226985e-03 9.99968173e-01 2.97640179e-03 5.18613787e-01] [ 2.48662583e-02 -2.79149193e-03 9.99686889e-01 1.66619791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4425578440001 meters Centerline goodness : 0.118569 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99663345e-01 7.53883663e-03 -2.48266365e-02 5.08356552e+00] [-7.46396232e-03 9.99967317e-01 3.10717470e-03 5.18196252e-01] [ 2.48492496e-02 -2.92082358e-03 9.99686943e-01 1.66585052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.47255784400005 meters Centerline goodness : 0.136816 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99657804e-01 7.68117147e-03 -2.50055074e-02 5.08425640e+00] [-7.60257718e-03 9.99965862e-01 3.23663254e-03 5.17777034e-01] [ 2.50295149e-02 -3.04541868e-03 9.99682074e-01 1.66561832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5025578440001 meters Centerline goodness : 0.160461 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99654905e-01 7.69746656e-03 -2.51161224e-02 5.08448063e+00] [-7.61977791e-03 9.99965889e-01 3.18741982e-03 5.17873915e-01] [ 2.51398007e-02 -2.99494058e-03 9.99679459e-01 1.66574593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.53255784400005 meters Centerline goodness : 0.149835 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99675246e-01 5.33917365e-04 -2.54778008e-02 5.10329939e+00] [-4.23500810e-04 9.99990497e-01 4.33903285e-03 5.26256861e-01] [ 2.54798754e-02 -4.32683387e-03 9.99665971e-01 1.66731007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5625578440001 meters Centerline goodness : 0.134371 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99675622e-01 5.20521176e-04 -2.54632976e-02 5.10326705e+00] [-4.13140927e-04 9.99991001e-01 4.22213891e-03 5.27015037e-01] [ 2.54652662e-02 -4.21024941e-03 9.99666842e-01 1.66726194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.59255784400005 meters Centerline goodness : 0.150836 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99679568e-01 5.37926173e-04 -2.53075618e-02 5.10280147e+00] [-4.33321192e-04 9.99991342e-01 4.13865131e-03 5.27704214e-01] [ 2.53095689e-02 -4.12635885e-03 9.99671145e-01 1.66736027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6225578440001 meters Centerline goodness : 0.135278 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99685581e-01 5.46573501e-04 -2.50686993e-02 5.10210917e+00] [-4.44783253e-04 9.99991635e-01 4.06584812e-03 5.28274193e-01] [ 2.50707119e-02 -4.05341960e-03 9.99677463e-01 1.66746027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.65255784400006 meters Centerline goodness : 0.130331 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99694245e-01 5.61132316e-04 -2.47204688e-02 5.10117776e+00] [-4.63772946e-04 9.99992115e-01 3.94396832e-03 5.29244756e-01] [ 2.47224870e-02 -3.93129775e-03 9.99686623e-01 1.66752294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6825578440001 meters Centerline goodness : 0.129273 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99695628e-01 5.29047100e-04 -2.46651702e-02 5.10110335e+00] [-4.31909983e-04 9.99992132e-01 3.94339122e-03 5.29052879e-01] [ 2.46670624e-02 -3.93153783e-03 9.99687991e-01 1.66742424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.71255784400006 meters Centerline goodness : 0.186020 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99691006e-01 4.74239697e-04 -2.48529234e-02 5.10168100e+00] [-3.75270932e-04 9.99991983e-01 3.98669072e-03 5.28542518e-01] [ 2.48546148e-02 -3.97613228e-03 9.99683169e-01 1.66727299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7425578440001 meters Centerline goodness : 0.149449 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99685465e-01 4.39575752e-04 -2.50754402e-02 5.10243007e+00] [-3.37326091e-04 9.99991613e-01 4.08176583e-03 5.27774808e-01] [ 2.50770241e-02 -4.07202337e-03 9.99677229e-01 1.66697891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.77255784400006 meters Centerline goodness : 0.137761 Centerline is valid? [False, False] Translation: X:5.10, Y:0.53, Z:1.67 [[ 9.99673307e-01 3.01014684e-04 -2.55575405e-02 5.10379032e+00] [-1.91120254e-04 9.99990727e-01 4.30221667e-03 5.25936913e-01] [ 2.55585985e-02 -4.29592661e-03 9.99664095e-01 1.66677605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80255784400003 meters Centerline goodness : 0.137539 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99672715e-01 3.71628031e-04 -2.55797536e-02 5.10366136e+00] [-2.54900086e-04 9.99989541e-01 4.56640374e-03 5.24537184e-01] [ 2.55811831e-02 -4.55838895e-03 9.99662355e-01 1.66709705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.83255784400006 meters Centerline goodness : 0.141674 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99672454e-01 4.34467091e-04 -2.55889836e-02 5.10355327e+00] [-3.12565836e-04 9.99988586e-01 4.76762491e-03 5.23449933e-01] [ 2.55907629e-02 -4.75806506e-03 9.99661179e-01 1.66733168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86255784400004 meters Centerline goodness : 0.132731 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99669295e-01 5.01386489e-04 -2.57108890e-02 5.10389475e+00] [-3.74006934e-04 9.99987635e-01 4.95887332e-03 5.22444522e-01] [ 2.57130574e-02 -4.94761734e-03 9.99657121e-01 1.66730214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.89255784400007 meters Centerline goodness : 0.139402 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99665421e-01 5.56127928e-04 -2.58599330e-02 5.10459430e+00] [-4.23143416e-04 9.99986661e-01 5.14768035e-03 5.21381102e-01] [ 2.58624508e-02 -5.13501559e-03 9.99652322e-01 1.66680365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92255784400004 meters Centerline goodness : 0.139402 Centerline is valid? [False, False] Translation: X:5.10, Y:0.52, Z:1.67 [[ 9.99665421e-01 5.56127928e-04 -2.58599330e-02 5.10459430e+00] [-4.23143416e-04 9.99986661e-01 5.14768035e-03 5.21381102e-01] [ 2.58624508e-02 -5.13501559e-03 9.99652322e-01 1.66680365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.95255784400007 meters Centerline goodness : 0.137973 Centerline is valid? [False, False] Translation: X:5.11, Y:0.52, Z:1.67 [[ 9.99656273e-01 6.54721768e-04 -2.62089307e-02 5.10632555e+00] [-5.08664398e-04 9.99984307e-01 5.57908826e-03 5.18465235e-01] [ 2.62121721e-02 -5.56383902e-03 9.99640918e-01 1.66560423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98255784400004 meters Centerline goodness : 0.117685 Centerline is valid? [False, False] Translation: X:5.11, Y:0.52, Z:1.67 [[ 9.99652966e-01 7.83569715e-04 -2.63312318e-02 5.10664517e+00] [-6.26714651e-04 9.99982015e-01 5.96472142e-03 5.16301218e-01] [ 2.63354319e-02 -5.94614929e-03 9.99635478e-01 1.66563832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.01255784400007 meters Centerline goodness : 0.094063 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99651945e-01 9.36506420e-04 -2.63649552e-02 5.10654261e+00] [-7.68090908e-04 9.99979242e-01 6.39725762e-03 5.14015381e-01] [ 2.63703990e-02 -6.37478034e-03 9.99631914e-01 1.66596706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04255784400004 meters Centerline goodness : 0.137806 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99653216e-01 1.10477908e-03 -2.63102175e-02 5.10625545e+00] [-9.25609807e-04 9.99976308e-01 6.82107962e-03 5.11892047e-01] [ 2.63171299e-02 -6.79436118e-03 9.99630554e-01 1.66626004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0725578440001 meters Centerline goodness : 0.133808 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99656810e-01 1.36539558e-03 -2.61610042e-02 5.10560216e+00] [-1.17049790e-03 9.99971460e-01 7.46379686e-03 5.08557799e-01] [ 2.61704486e-02 -7.43061396e-03 9.99629878e-01 1.66678931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10255784400005 meters Centerline goodness : 0.134692 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99657843e-01 1.45670944e-03 -2.61165628e-02 5.10558457e+00] [-1.25695151e-03 9.99969845e-01 7.66349235e-03 5.07567470e-01] [ 2.61269388e-02 -7.62804298e-03 9.99629529e-01 1.66670035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1325578440001 meters Centerline goodness : 0.187134 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99660606e-01 1.57191247e-03 -2.60038992e-02 5.10542097e+00] [-1.36838166e-03 9.99968308e-01 7.84287801e-03 5.06934010e-01] [ 2.60154034e-02 -7.80463292e-03 9.99631075e-01 1.66650536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16255784400005 meters Centerline goodness : 0.154143 Centerline is valid? [False, False] Translation: X:5.11, Y:0.51, Z:1.67 [[ 9.99665032e-01 1.73278535e-03 -2.58228926e-02 5.10512845e+00] [-1.52649987e-03 9.99966786e-01 8.00604571e-03 5.06648540e-01] [ 2.58359077e-02 -7.96394529e-03 9.99634474e-01 1.66624338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1925578440001 meters Centerline goodness : 0.140034 Centerline is valid? [False, False] Translation: X:5.13, Y:0.50, Z:1.67 [[ 0.99963372 0.01087298 -0.02478299 5.12527097] [-0.01070107 0.99991783 0.0070586 0.50417089] [ 0.0248577 -0.00679081 0.99966793 1.66720734] [ 0. 0. 0. 1. ]] SLAMing on 479.22255784400005 meters Centerline goodness : 0.100808 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99955384 0.01019001 -0.02807649 5.08218246] [-0.00999839 0.99992581 0.00695696 0.5022078 ] [ 0.0281453 -0.00667314 0.99958157 1.66787257] [ 0. 0. 0. 1. ]] SLAMing on 479.2525578440001 meters Centerline goodness : 0.092239 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99954499 0.0101444 -0.02840607 5.08316898] [-0.00995769 0.99992793 0.00670692 0.50314839] [ 0.02847206 -0.00642101 0.99957397 1.66774892] [ 0. 0. 0. 1. ]] SLAMing on 479.28255784400005 meters Centerline goodness : 0.093593 Centerline is valid? [False, False] Translation: X:5.08, Y:0.50, Z:1.67 [[ 0.99954042 0.01018622 -0.02855137 5.08358987] [-0.01000206 0.99992829 0.00658559 0.50398518] [ 0.02861641 -0.00629699 0.99957063 1.66767352] [ 0. 0. 0. 1. ]] SLAMing on 479.3125578440001 meters Centerline goodness : 0.179683 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99954445 0.01017138 -0.02841524 5.08327946] [-0.00999302 0.99992951 0.00641201 0.50520165] [ 0.02847846 -0.00612514 0.99957564 1.66761131] [ 0. 0. 0. 1. ]] SLAMing on 479.34255784400005 meters Centerline goodness : 0.126610 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99956488 0.0101296 -0.02770256 5.08124371] [-0.009965 0.9999319 0.00607352 0.50744544] [ 0.0277622 -0.00579482 0.99959776 1.66800511] [ 0. 0. 0. 1. ]] SLAMing on 479.3725578440001 meters Centerline goodness : 0.126316 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.99957285 0.00998659 -0.02746594 5.08046638] [-0.00983279 0.99993524 0.00572913 0.50914333] [ 0.02752138 -0.00545661 0.99960632 1.6682001 ] [ 0. 0. 0. 1. ]] SLAMing on 479.40255784400006 meters Centerline goodness : 0.126499 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 0.999578 0.00986021 -0.02732387 5.08004023] [-0.00971656 0.99993829 0.00538536 0.51109884] [ 0.02737528 -0.0051176 0.99961213 1.66822905] [ 0. 0. 0. 1. ]] SLAMing on 479.4325578440001 meters Centerline goodness : 0.222663 Centerline is valid? [False, False] Translation: X:5.08, Y:0.51, Z:1.67 [[ 9.99584225e-01 9.77236885e-03 -2.71270609e-02 5.07952863e+00] [-9.63769136e-03 9.99940597e-01 5.09100823e-03 5.12941350e-01] [ 2.71752007e-02 -4.82744928e-03 9.99619030e-01 1.66809330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46255784400006 meters Centerline goodness : 0.121219 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99582696e-01 9.48374130e-03 -2.72853842e-02 5.08034236e+00] [-9.37280387e-03 9.99947292e-01 4.19084686e-03 5.17751948e-01] [ 2.73236909e-02 -3.93335745e-03 9.99618900e-01 1.66728424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4925578440001 meters Centerline goodness : 0.124080 Centerline is valid? [False, False] Translation: X:5.06, Y:0.52, Z:1.67 [[ 9.99601689e-01 1.63705464e-04 -2.82212005e-02 5.06002937e+00] [-2.74183900e-05 9.99988337e-01 4.82956371e-03 5.23430021e-01] [ 2.82216620e-02 -4.82686626e-03 9.99590036e-01 1.66579456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52255784400006 meters Centerline goodness : 0.122762 Centerline is valid? [False, False] Translation: X:5.08, Y:0.52, Z:1.67 [[ 9.99591385e-01 8.60954521e-03 -2.72569077e-02 5.07957016e+00] [-8.53201466e-03 9.99959222e-01 2.95946197e-03 5.23711372e-01] [ 2.72812758e-02 -2.72569635e-03 9.99624081e-01 1.66718588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.55255784400003 meters Centerline goodness : 0.091088 Centerline is valid? [False, False] Translation: X:5.06, Y:0.53, Z:1.67 [[ 9.99636245e-01 -4.87207718e-04 -2.69655395e-02 5.05899033e+00] [ 5.90223288e-04 9.99992558e-01 3.81243992e-03 5.28878585e-01] [ 2.69634814e-02 -3.82696882e-03 9.99629094e-01 1.66566935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58255784400006 meters Centerline goodness : 0.123121 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99653445e-01 7.76370797e-03 -2.51538352e-02 5.07800789e+00] [-7.71378929e-03 9.99968083e-01 2.08096088e-03 5.28755526e-01] [ 2.51691884e-02 -1.88620832e-03 9.99681426e-01 1.66706551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.61255784400004 meters Centerline goodness : 0.156371 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99655210e-01 7.68247353e-03 -2.51085721e-02 5.07773298e+00] [-7.63643282e-03 9.99968981e-01 1.92903732e-03 5.29536984e-01] [ 2.51226131e-02 -1.73663228e-03 9.99682869e-01 1.66729478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64255784400007 meters Centerline goodness : 0.172473 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99650595e-01 7.44311425e-03 -2.53631167e-02 5.07859986e+00] [-7.40415260e-03 9.99971261e-01 1.62972020e-03 5.30756714e-01] [ 2.53745180e-02 -1.44135838e-03 9.99676976e-01 1.66686622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.67255784400004 meters Centerline goodness : 0.130462 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99646428e-01 7.32807962e-03 -2.55600933e-02 5.07931473e+00] [-7.29211349e-03 9.99972287e-01 1.50004667e-03 5.31215638e-01] [ 2.55703775e-02 -1.31312919e-03 9.99672162e-01 1.66655554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70255784400007 meters Centerline goodness : 0.129102 Centerline is valid? [False, False] Translation: X:5.08, Y:0.53, Z:1.67 [[ 9.99642288e-01 7.19964869e-03 -2.57577379e-02 5.07994350e+00] [-7.16675063e-03 9.99973381e-01 1.36929930e-03 5.31380607e-01] [ 2.57669108e-02 -1.18421021e-03 9.99667277e-01 1.66636682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.73255784400004 meters Centerline goodness : 0.133052 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99651682e-01 -2.59520159e-03 -2.62636569e-02 5.05889815e+00] [ 2.64069730e-03 9.99995072e-01 1.69773391e-03 5.36068609e-01] [ 2.62591215e-02 -1.76649693e-03 9.99653609e-01 1.66527327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76255784400007 meters Centerline goodness : 0.111829 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.67 [[ 9.99650811e-01 -2.65077031e-03 -2.62912264e-02 5.05898821e+00] [ 2.69138108e-03 9.99995239e-01 1.50938514e-03 5.37277742e-01] [ 2.62871002e-02 -1.57961779e-03 9.99653186e-01 1.66519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.79255784400004 meters Centerline goodness : 0.130964 Centerline is valid? [False, False] Translation: X:5.08, Y:0.54, Z:1.67 [[ 9.99665519e-01 6.06036496e-03 -2.51420423e-02 5.07948930e+00] [-6.05604034e-03 9.99981631e-01 2.48147484e-04 5.37437126e-01] [ 2.51430844e-02 -9.58032612e-05 9.99683858e-01 1.66575727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8225578440001 meters Centerline goodness : 0.130465 Centerline is valid? [False, False] Translation: X:5.06, Y:0.54, Z:1.66 [[ 9.99670953e-01 -2.88689247e-03 -2.54882548e-02 5.05925443e+00] [ 2.91551946e-03 9.99995160e-01 1.08605387e-03 5.43574849e-01] [ 2.54849962e-02 -1.16000801e-03 9.99674532e-01 1.66407280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.85255784400005 meters Centerline goodness : 0.129056 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99671532e-01 -3.09679492e-03 -2.54408562e-02 5.05909527e+00] [ 3.11147481e-03 9.99995015e-01 5.37454538e-04 5.46178477e-01] [ 2.54390650e-02 -6.16436585e-04 9.99676185e-01 1.66405187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8825578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 479.91255784400005 meters Centerline goodness : 0.120111 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99671250e-01 4.76054497e-04 -2.56352293e-02 5.05929665e+00] [-3.90792379e-04 9.99994376e-01 3.33088160e-03 5.51959035e-01] [ 2.56366708e-02 -3.31976852e-03 9.99665814e-01 1.66425603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9425578440001 meters Centerline goodness : 0.134218 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99675540e-01 3.52766893e-04 -2.54694175e-02 5.05883153e+00] [-2.74934101e-04 9.99995282e-01 3.05936847e-03 5.53312538e-01] [ 2.54703766e-02 -3.05137341e-03 9.99670920e-01 1.66428628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.97255784400005 meters Centerline goodness : 0.126077 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99675023e-01 2.17491368e-04 -2.54911771e-02 5.05877770e+00] [-1.42883072e-04 9.99995701e-01 2.92861306e-03 5.53621424e-01] [ 2.54917045e-02 -2.92401908e-03 9.99670757e-01 1.66446708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0025578440001 meters Centerline goodness : 0.125878 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99668745e-01 -1.46002914e-06 -2.57371219e-02 5.05938186e+00] [ 7.45445397e-05 9.99995968e-01 2.83869437e-03 5.53272680e-01] [ 2.57370140e-02 -2.83967260e-03 9.99664715e-01 1.66448781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.03255784400005 meters Centerline goodness : 0.124222 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99650351e-01 -7.12057218e-04 -2.64323504e-02 5.06141098e+00] [ 7.82377013e-04 9.99996182e-01 2.65012209e-03 5.51931573e-01] [ 2.64303624e-02 -2.66987554e-03 9.99647092e-01 1.66415586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0625578440001 meters Centerline goodness : 0.130423 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99644228e-01 -7.02762974e-04 -2.66631679e-02 5.06198793e+00] [ 7.80428548e-04 9.99995483e-01 2.90254681e-03 5.50574475e-01] [ 2.66610077e-02 -2.92232286e-03 9.99640261e-01 1.66419405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.09255784400005 meters Centerline goodness : 0.129833 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99645644e-01 -7.06036990e-04 -2.66099274e-02 5.06167250e+00] [ 7.88392205e-04 9.99994932e-01 3.08454133e-03 5.49477650e-01] [ 2.66076147e-02 -3.10442736e-03 9.99641134e-01 1.66453766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1225578440001 meters Centerline goodness : 0.128280 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.67 [[ 9.99648805e-01 -6.88554260e-04 -2.64913548e-02 5.06110868e+00] [ 7.73322841e-04 9.99994614e-01 3.18974638e-03 5.48829863e-01] [ 2.64890158e-02 -3.20911253e-03 9.99643953e-01 1.66501115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.15255784400006 meters Centerline goodness : 0.126664 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99653670e-01 -6.44667358e-04 -2.63082406e-02 5.06079073e+00] [ 7.23968778e-04 9.99995223e-01 3.00490514e-03 5.50113877e-01] [ 2.63061778e-02 -3.02291079e-03 9.99649362e-01 1.66477511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1825578440001 meters Centerline goodness : 0.136579 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99647929e-01 -5.79777937e-04 -2.65270115e-02 5.06175054e+00] [ 6.53134534e-04 9.99995987e-01 2.75677396e-03 5.51899600e-01] [ 2.65253067e-02 -2.77312908e-03 9.99644296e-01 1.66403218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.21255784400006 meters Centerline goodness : 0.125188 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:1.66 [[ 9.99642044e-01 -4.95142539e-04 -2.67495664e-02 5.06274186e+00] [ 5.60308584e-04 9.99996894e-01 2.42871290e-03 5.54068288e-01] [ 2.67482807e-02 -2.44283154e-03 9.99639216e-01 1.66323610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2425578440001 meters Centerline goodness : 0.125155 Centerline is valid? [False, False] Translation: X:5.06, Y:0.56, Z:1.66 [[ 9.99634053e-01 -5.02438577e-04 -2.70464099e-02 5.06375982e+00] [ 5.55648290e-04 9.99997925e-01 1.95986889e-03 5.56524009e-01] [ 2.70453690e-02 -1.97417997e-03 9.99632258e-01 1.66265719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.27255784400006 meters Centerline goodness : 0.126935 Centerline is valid? [False, False] Translation: X:5.06, Y:0.56, Z:1.66 [[ 9.99630992e-01 -5.86614313e-04 -2.71575963e-02 5.06413425e+00] [ 6.26368315e-04 9.99998745e-01 1.45534251e-03 5.58975039e-01] [ 2.71567085e-02 -1.47181614e-03 9.99630105e-01 1.66236220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30255784400003 meters Centerline goodness : 0.125483 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99614040e-01 9.65509865e-03 -2.60489855e-02 5.08430619e+00] [-9.63398842e-03 9.99953154e-01 9.35785631e-04 5.60932156e-01] [ 2.60568003e-02 -6.84468832e-04 9.99660230e-01 1.66376109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.33255784400006 meters Centerline goodness : 0.123357 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99623658e-01 9.68591875e-03 -2.56656317e-02 5.08326649e+00] [-9.67057283e-03 9.99952978e-01 7.21973658e-04 5.62738778e-01] [ 2.56714178e-02 -4.73500589e-04 9.99670323e-01 1.66381697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36255784400004 meters Centerline goodness : 0.136528 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99632115e-01 9.62336390e-03 -2.53579516e-02 5.08246820e+00] [-9.61330933e-03 9.99953657e-01 5.18385495e-04 5.63870408e-01] [ 2.53617651e-02 -2.74420956e-04 9.99678301e-01 1.66385936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.39255784400007 meters Centerline goodness : 0.122985 Centerline is valid? [False, False] Translation: X:5.08, Y:0.56, Z:1.66 [[ 9.99638024e-01 9.52878341e-03 -2.51599383e-02 5.08193964e+00] [-9.52276680e-03 9.99954593e-01 3.58941540e-04 5.64377520e-01] [ 2.51622161e-02 -1.19219388e-04 9.99683374e-01 1.66390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42255784400004 meters Centerline goodness : 0.126242 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99640354e-01 9.46511586e-03 -2.50913283e-02 5.08153641e+00] [-9.46286419e-03 9.99955204e-01 2.08476837e-04 5.65066361e-01] [ 2.50921775e-02 2.90339722e-05 9.99685141e-01 1.66421236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.45255784400007 meters Centerline goodness : 0.123435 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99642190e-01 9.48324662e-03 -2.50111878e-02 5.08133135e+00] [-9.48218514e-03 9.99955030e-01 1.61041624e-04 5.65699095e-01] [ 2.50115903e-02 7.61767122e-05 9.99687158e-01 1.66417497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48255784400004 meters Centerline goodness : 0.135374 Centerline is valid? [False, False] Translation: X:5.08, Y:0.57, Z:1.66 [[ 9.99643998e-01 9.46220920e-03 -2.49468026e-02 5.08120368e+00] [-9.46286300e-03 9.99955222e-01 9.18473969e-05 5.66163133e-01] [ 2.49465546e-02 1.44253476e-04 9.99688776e-01 1.66409552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.51255784400007 meters Centerline goodness : 0.123719 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99711714e-01 1.32649870e-03 -2.39735063e-02 5.10111482e+00] [-1.32304592e-03 9.99999112e-01 1.59885433e-04 5.71630089e-01] [ 2.39736971e-02 -1.28121290e-04 9.99712581e-01 1.66523706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54255784400004 meters Centerline goodness : 0.117368 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99712634e-01 1.26752057e-03 -2.39383102e-02 5.10098687e+00] [-1.26677446e-03 9.99999197e-01 4.63320638e-05 5.72122172e-01] [ 2.39383497e-02 -1.59943094e-05 9.99713437e-01 1.66527097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5725578440001 meters Centerline goodness : 0.119188 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99650017e-01 6.86784268e-04 -2.64456423e-02 5.05483549e+00] [-6.61287183e-04 9.99999308e-01 9.72865329e-04 5.69240145e-01] [ 2.64462922e-02 -9.55036678e-04 9.99649779e-01 1.66550023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60255784400005 meters Centerline goodness : 0.124573 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:1.67 [[ 9.99705651e-01 2.21964930e-03 -2.41595690e-02 5.09912021e+00] [-2.19736392e-03 9.99997136e-01 9.48933080e-04 5.74272389e-01] [ 2.41616061e-02 -8.95566397e-04 9.99707665e-01 1.66568342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6325578440001 meters Centerline goodness : 0.125380 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99645476e-01 1.39774097e-03 -2.65888950e-02 5.05303830e+00] [-1.35981404e-03 9.99998032e-01 1.44444774e-03 5.71686953e-01] [ 2.65908616e-02 -1.40777969e-03 9.99645409e-01 1.66559681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66255784400005 meters Centerline goodness : 0.114337 Centerline is valid? [False, False] Translation: X:5.05, Y:0.57, Z:1.67 [[ 9.99649724e-01 1.15248720e-03 -2.64405210e-02 5.05263762e+00] [-1.12902901e-03 9.99998956e-01 9.02117362e-04 5.73946951e-01] [ 2.64415330e-02 -8.71949256e-04 9.99649981e-01 1.66558874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6925578440001 meters Centerline goodness : 0.142711 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.67 [[ 9.99647294e-01 1.04237911e-03 -2.65367958e-02 5.05299064e+00] [-1.02770579e-03 9.99999311e-01 5.66574554e-04 5.75684057e-01] [ 2.65373681e-02 -5.39102701e-04 9.99647677e-01 1.66531538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72255784400005 meters Centerline goodness : 0.128401 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99643162e-01 9.71308786e-04 -2.66946766e-02 5.05369146e+00] [-9.66290504e-04 9.99999513e-01 2.00887201e-04 5.77968194e-01] [ 2.66948587e-02 -1.75020704e-04 9.99643613e-01 1.66471598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7525578440001 meters Centerline goodness : 0.132512 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99644165e-01 9.11801459e-04 -2.66591688e-02 5.05381358e+00] [-9.16479994e-04 9.99999567e-01 -1.63276450e-04 5.80233092e-01] [ 2.66590084e-02 1.87650946e-04 9.99644568e-01 1.66429755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78255784400005 meters Centerline goodness : 0.122076 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.66 [[ 9.99654870e-01 6.70049171e-04 -2.62619801e-02 5.05273854e+00] [-6.97891362e-04 9.99999204e-01 -1.05101977e-03 5.84707108e-01] [ 2.62612549e-02 1.06898504e-03 9.99654542e-01 1.66426826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8125578440001 meters Centerline goodness : 0.122780 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99653562e-01 4.45197692e-04 -2.63165019e-02 5.05285226e+00] [-4.87871125e-04 9.99998577e-01 -1.61514819e-03 5.87235724e-01] [ 2.63157453e-02 1.62742770e-03 9.99652356e-01 1.66421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84255784400005 meters Centerline goodness : 0.122780 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99653562e-01 4.45197692e-04 -2.63165019e-02 5.05285226e+00] [-4.87871125e-04 9.99998577e-01 -1.61514819e-03 5.87235724e-01] [ 2.63157453e-02 1.62742770e-03 9.99652356e-01 1.66421172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8725578440001 meters Centerline goodness : 0.123708 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99652804e-01 2.79063356e-04 -2.63475529e-02 5.05305407e+00] [-3.35339678e-04 9.99997672e-01 -2.13152790e-03 5.89955777e-01] [ 2.63468967e-02 2.13962322e-03 9.99650570e-01 1.66387402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90255784400006 meters Centerline goodness : 0.121822 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 9.99652049e-01 1.34911017e-04 -2.63773247e-02 5.05333439e+00] [-2.05310403e-04 9.99996424e-01 -2.66624577e-03 5.93120954e-01] [ 2.63768707e-02 2.67073359e-03 9.99648502e-01 1.66342037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9325578440001 meters Centerline goodness : 0.127041 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99646134e-01 -1.62662738e-04 -2.66003660e-02 5.05458444e+00] [ 6.75596527e-05 9.99993603e-01 -3.57611442e-03 5.98434468e-01] [ 2.66007775e-02 3.57305185e-03 9.99639751e-01 1.66223732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96255784400006 meters Centerline goodness : 0.123469 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99639365e-01 -4.15985859e-04 -2.68508349e-02 5.05535217e+00] [ 3.09227343e-04 9.99992032e-01 -3.98001478e-03 5.99909720e-01] [ 2.68522765e-02 3.97027644e-03 9.99631528e-01 1.66199384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9925578440001 meters Centerline goodness : 0.127400 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99634006e-01 -6.39879342e-04 -2.70452208e-02 5.05577712e+00] [ 5.24479040e-04 9.99990730e-01 -4.27381708e-03 6.00830163e-01] [ 2.70477048e-02 4.25806824e-03 9.99625075e-01 1.66207274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02255784400006 meters Centerline goodness : 0.140244 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99633165e-01 -7.89683031e-04 -2.70723271e-02 5.05569502e+00] [ 6.68943043e-04 9.99989792e-01 -4.46867081e-03 6.01638698e-01] [ 2.70755796e-02 4.44892171e-03 9.99623489e-01 1.66229119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.05255784400003 meters Centerline goodness : 0.137507 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.66 [[ 9.99635553e-01 -8.96617935e-04 -2.69806949e-02 5.05502220e+00] [ 7.70955965e-04 9.99988810e-01 -4.66751915e-03 6.02766110e-01] [ 2.69845780e-02 4.64501716e-03 9.99625058e-01 1.66297956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08255784400006 meters Centerline goodness : 0.127081 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99641432e-01 -1.00452453e-03 -2.67581458e-02 5.05410611e+00] [ 8.73750742e-04 9.99987621e-01 -4.89849530e-03 6.04071917e-01] [ 2.67627352e-02 4.87335891e-03 9.99629935e-01 1.66351192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.11255784400004 meters Centerline goodness : 0.161678 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99650043e-01 -1.27519690e-03 -2.64228181e-02 5.05279602e+00] [ 1.12972228e-03 9.99984127e-01 -5.51984027e-03 6.07254314e-01] [ 2.64294376e-02 5.48805812e-03 9.99635617e-01 1.66418099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14255784400007 meters Centerline goodness : 0.126210 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.67 [[ 9.99604697e-01 -8.45664940e-03 -2.68129430e-02 5.07164003e+00] [ 8.33500103e-03 9.99954473e-01 -4.64545101e-03 6.15451007e-01] [ 2.68510072e-02 4.42012874e-03 9.99629674e-01 1.66617201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.17255784400004 meters Centerline goodness : 0.131616 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99645138e-01 -1.05465894e-03 -2.66174113e-02 5.05322782e+00] [ 8.93782367e-04 9.99981268e-01 -6.05520904e-03 6.11892786e-01] [ 2.66232988e-02 6.02927010e-03 9.99627354e-01 1.66346636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20255784400007 meters Centerline goodness : 0.136312 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99629332e-01 -1.51978272e-03 -2.71825264e-02 5.05506467e+00] [ 1.33651129e-03 9.99976264e-01 -6.75914941e-03 6.14353869e-01] [ 2.71921536e-02 6.72031425e-03 9.99607635e-01 1.66273046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.23255784400004 meters Centerline goodness : 0.137095 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99620509e-01 -1.64504887e-03 -2.74978512e-02 5.05586440e+00] [ 1.45553928e-03 9.99975064e-01 -6.91039215e-03 6.14848683e-01] [ 2.75085334e-02 6.86774552e-03 9.99597977e-01 1.66269178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26255784400007 meters Centerline goodness : 0.131586 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99617655e-01 -1.73673372e-03 -2.75957969e-02 5.05597332e+00] [ 1.54566822e-03 9.99974699e-01 -6.94354074e-03 6.14832075e-01] [ 2.76071577e-02 6.89823196e-03 9.99595048e-01 1.66287453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.29255784400004 meters Centerline goodness : 0.130939 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.66 [[ 9.99620994e-01 -1.82592595e-03 -2.74687956e-02 5.05543021e+00] [ 1.63869977e-03 9.99975285e-01 -6.83692633e-03 6.14024021e-01] [ 2.74806004e-02 6.78932199e-03 9.99599281e-01 1.66326590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3225578440001 meters Centerline goodness : 0.133807 Centerline is valid? [False, False] Translation: X:5.03, Y:0.61, Z:1.66 [[ 9.99655128e-01 3.68874098e-03 -2.60003484e-02 5.03355833e+00] [-3.93187466e-03 9.99948966e-01 -9.30625764e-03 6.08911591e-01] [ 2.59646932e-02 9.40527829e-03 9.99618615e-01 1.66172617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.35255784400005 meters Centerline goodness : 0.138772 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99657075e-01 -4.31104087e-03 -2.58292140e-02 5.05355469e+00] [ 4.09829350e-03 9.99957289e-01 -8.28397828e-03 6.13013118e-01] [ 2.58638233e-02 8.17528180e-03 9.99632046e-01 1.66342805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3825578440001 meters Centerline goodness : 0.137582 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99668285e-01 -4.53064093e-03 -2.53533739e-02 5.05224693e+00] [ 4.32542333e-03 9.99957488e-01 -8.14328695e-03 6.11761428e-01] [ 2.53891904e-02 8.03092162e-03 9.99645384e-01 1.66366576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.41255784400005 meters Centerline goodness : 0.134688 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99673319e-01 -4.52353155e-03 -2.51553568e-02 5.05156432e+00] [ 4.32433342e-03 9.99958909e-01 -7.96748489e-03 6.10752515e-01] [ 2.51903643e-02 7.85610192e-03 9.99651803e-01 1.66399860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4425578440001 meters Centerline goodness : 0.134769 Centerline is valid? [False, False] Translation: X:5.05, Y:0.61, Z:1.66 [[ 9.99671658e-01 -4.50595316e-03 -2.52244546e-02 5.05160584e+00] [ 4.31100332e-03 9.99960461e-01 -7.77765740e-03 6.09642803e-01] [ 2.52585030e-02 7.66636096e-03 9.99651557e-01 1.66418507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.47255784400005 meters Centerline goodness : 0.139747 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99656950e-01 2.92664550e-03 -2.60272389e-02 5.03285018e+00] [-3.15485096e-03 9.99956906e-01 -8.73121093e-03 6.02285164e-01] [ 2.60005641e-02 8.81032775e-03 9.99623103e-01 1.66229463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5025578440001 meters Centerline goodness : 0.137263 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99654889e-01 2.95418120e-03 -2.61031713e-02 5.03307986e+00] [-3.17926232e-03 9.99958090e-01 -8.58546002e-03 6.01490925e-01] [ 2.60767143e-02 8.66548592e-03 9.99622386e-01 1.66224268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.53255784400005 meters Centerline goodness : 0.135194 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99654990e-01 3.03263442e-03 -2.60902878e-02 5.03306422e+00] [-3.25115564e-03 9.99959959e-01 -8.33723905e-03 6.00255197e-01] [ 2.60639593e-02 8.41918621e-03 9.99624823e-01 1.66220405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5625578440001 meters Centerline goodness : 0.134427 Centerline is valid? [False, False] Translation: X:5.05, Y:0.60, Z:1.66 [[ 9.99650489e-01 -4.90081076e-03 -2.59784752e-02 5.05221381e+00] [ 4.71983788e-03 9.99964200e-01 -7.02300885e-03 6.03754083e-01] [ 2.60119636e-02 6.89794004e-03 9.99637833e-01 1.66395327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.59255784400005 meters Centerline goodness : 0.126492 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99666290e-01 2.72253038e-03 -2.56884375e-02 5.03302502e+00] [-2.92821201e-03 9.99963931e-01 -7.97256168e-03 5.97295640e-01] [ 2.56658054e-02 8.04512235e-03 9.99638206e-01 1.66152878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6225578440001 meters Centerline goodness : 0.125923 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99663402e-01 2.77577024e-03 -2.57949103e-02 5.03351115e+00] [-2.97921430e-03 9.99964735e-01 -7.85190378e-03 5.96848690e-01] [ 2.57722056e-02 7.92610942e-03 9.99636419e-01 1.66116898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.65255784400006 meters Centerline goodness : 0.131008 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99658315e-01 2.80795013e-03 -2.59878731e-02 5.03443159e+00] [-3.01224373e-03 9.99964845e-01 -7.82530630e-03 5.96932797e-01] [ 2.59649864e-02 7.90091432e-03 9.99631630e-01 1.66043683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6825578440001 meters Centerline goodness : 0.125000 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99659029e-01 2.77257739e-03 -2.59641695e-02 5.03417044e+00] [-2.97773451e-03 9.99964627e-01 -7.86622048e-03 5.96952695e-01] [ 2.59414414e-02 7.94085274e-03 9.99631924e-01 1.66074472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.71255784400006 meters Centerline goodness : 0.198814 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99664289e-01 2.72769597e-03 -2.57656681e-02 5.03335925e+00] [-2.93092537e-03 9.99964868e-01 -7.85313523e-03 5.96674213e-01] [ 2.57433419e-02 7.92601609e-03 9.99637163e-01 1.66118114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7425578440001 meters Centerline goodness : 0.100067 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99668907e-01 2.71979803e-03 -2.55867141e-02 5.03272016e+00] [-2.91952500e-03 9.99965537e-01 -7.77177023e-03 5.96247238e-01] [ 2.55646947e-02 7.84389810e-03 9.99642396e-01 1.66140180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.77255784400006 meters Centerline goodness : 0.133835 Centerline is valid? [False, False] Translation: X:5.03, Y:0.60, Z:1.66 [[ 9.99660979e-01 2.58128013e-03 -2.59087818e-02 5.03381954e+00] [-2.78062675e-03 9.99966787e-01 -7.66109608e-03 5.95327305e-01] [ 2.58881459e-02 7.73054146e-03 9.99634955e-01 1.66088528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80255784400003 meters Centerline goodness : 0.139601 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99651088e-01 2.48487658e-03 -2.62969013e-02 5.03509079e+00] [-2.68524067e-03 9.99967615e-01 -7.58673625e-03 5.94494296e-01] [ 2.62771976e-02 7.65470266e-03 9.99625387e-01 1.66037656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.83255784400006 meters Centerline goodness : 0.140601 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99640137e-01 2.40147499e-03 -2.67175836e-02 5.03636514e+00] [-2.60227616e-03 9.99968612e-01 -7.48346432e-03 5.93451820e-01] [ 2.66987737e-02 7.55029783e-03 9.99615010e-01 1.66001038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86255784400004 meters Centerline goodness : 0.138847 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99633961e-01 2.32641633e-03 -2.69542632e-02 5.03700896e+00] [-2.52655969e-03 9.99969475e-01 -7.39361926e-03 5.92502315e-01] [ 2.69362398e-02 7.45901446e-03 9.99609325e-01 1.65989692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.89255784400007 meters Centerline goodness : 0.182419 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99627730e-01 2.13573912e-03 -2.71999955e-02 5.03762937e+00] [-2.33350897e-03 9.99971059e-01 -7.24128653e-03 5.90890083e-01] [ 2.71837428e-02 7.30206225e-03 9.99603784e-01 1.65985612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92255784400004 meters Centerline goodness : 0.140547 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99625410e-01 2.18497324e-03 -2.72812419e-02 5.03783102e+00] [-2.37963755e-03 9.99971927e-01 -7.10503773e-03 5.90373923e-01] [ 2.72649518e-02 7.16729572e-03 9.99602547e-01 1.65984541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.95255784400007 meters Centerline goodness : 0.132730 Centerline is valid? [False, False] Translation: X:5.04, Y:0.59, Z:1.66 [[ 9.99622706e-01 2.21411265e-03 -2.73778036e-02 5.03813925e+00] [-2.40744574e-03 9.99972386e-01 -7.03072890e-03 5.90126245e-01] [ 2.73614807e-02 7.09398682e-03 9.99600433e-01 1.65971908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98255784400004 meters Centerline goodness : 0.138222 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.99959803 -0.00563084 -0.02778615 5.05867361] [ 0.00546163 0.9999661 -0.00616187 0.59430577] [ 0.02781991 0.00600763 0.9995949 1.66126724] [ 0. 0. 0. 1. ]] SLAMing on 482.01255784400007 meters Centerline goodness : 0.157268 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.9995977 -0.00554763 -0.02781462 5.05840527] [ 0.00538713 0.99996843 -0.00584174 0.59275364] [ 0.02784615 0.00568955 0.99959603 1.66176646] [ 0. 0. 0. 1. ]] SLAMing on 482.04255784400004 meters Centerline goodness : 0.142415 Centerline is valid? [False, False] Translation: X:5.06, Y:0.59, Z:1.66 [[ 0.99960816 -0.00545829 -0.02745417 5.05695628] [ 0.00530596 0.99997014 -0.00561816 0.59183011] [ 0.02748401 0.00547029 0.99960728 1.66263375] [ 0. 0. 0. 1. ]] SLAMing on 482.0725578440001 meters Centerline goodness : 0.137207 Centerline is valid? [False, False] Translation: X:5.05, Y:0.59, Z:1.66 [[ 0.99962463 -0.00557943 -0.02682307 5.05470601] [ 0.00543196 0.99996975 -0.00556748 0.59121224] [ 0.02685332 0.00541969 0.99962469 1.66356736] [ 0. 0. 0. 1. ]] SLAMing on 482.10255784400005 meters Centerline goodness : 0.150751 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99677313e-01 2.70443761e-03 -2.52577977e-02 5.07377490e+00] [-2.87507575e-03 9.99973274e-01 -6.72199018e-03 5.87021032e-01] [ 2.52389434e-02 6.79243916e-03 9.99658371e-01 1.66499492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1325578440001 meters Centerline goodness : 0.144973 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99673500e-01 2.62523531e-03 -2.54165477e-02 5.07419597e+00] [-2.80152864e-03 9.99972249e-01 -6.90304169e-03 5.87919070e-01] [ 2.53977202e-02 6.97199303e-03 9.99653113e-01 1.66496642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16255784400005 meters Centerline goodness : 0.166299 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.66 [[ 9.99673396e-01 2.57820200e-03 -2.54254582e-02 5.07434141e+00] [-2.75778561e-03 9.99971482e-01 -7.03060811e-03 5.88667612e-01] [ 2.54066068e-02 7.09842985e-03 9.99651998e-01 1.66476831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1925578440001 meters Centerline goodness : 0.162675 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99673660e-01 2.50663143e-03 -2.54222306e-02 5.07414260e+00] [-2.69285544e-03 9.99969775e-01 -7.29365506e-03 5.90193158e-01] [ 2.54031797e-02 7.35973324e-03 9.99650195e-01 1.66508725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22255784400005 meters Centerline goodness : 0.159980 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99676223e-01 2.45183792e-03 -2.53266293e-02 5.07369578e+00] [-2.64427668e-03 9.99967869e-01 -7.56758333e-03 5.91959478e-01] [ 2.53072611e-02 7.63210374e-03 9.99650586e-01 1.66540388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2525578440001 meters Centerline goodness : 0.127622 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.67 [[ 9.99678058e-01 2.36514101e-03 -2.52623561e-02 5.07332824e+00] [-2.56568518e-03 9.99965432e-01 -7.90899836e-03 5.93997882e-01] [ 2.52427769e-02 7.97126737e-03 9.99649569e-01 1.66574648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28255784400005 meters Centerline goodness : 0.158877 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99677999e-01 2.06877320e-03 -2.52906731e-02 5.07332095e+00] [-2.28806097e-03 9.99960015e-01 -8.64483665e-03 5.97536290e-01] [ 2.52717777e-02 8.69991961e-03 9.99642761e-01 1.66591431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3125578440001 meters Centerline goodness : 0.039567 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99678799e-01 1.93714095e-03 -2.52694845e-02 5.07328815e+00] [-2.16359154e-03 9.99957722e-01 -8.93716427e-03 5.98853668e-01] [ 2.52511036e-02 8.98896649e-03 9.99640726e-01 1.66587109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34255784400005 meters Centerline goodness : 0.176575 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:1.67 [[ 0.99965503 -0.00543214 -0.02569652 5.09199745] [ 0.00523207 0.99995553 -0.00784677 0.60456593] [ 0.025738 0.00770961 0.99963899 1.66837485] [ 0. 0. 0. 1. ]] SLAMing on 482.3725578440001 meters Centerline goodness : 0.099017 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.67 [[ 0.99965371 -0.00551378 -0.02573049 5.09211997] [ 0.00530883 0.99995369 -0.0080266 0.60573721] [ 0.02577355 0.00788722 0.99963669 1.66827627] [ 0. 0. 0. 1. ]] SLAMing on 482.40255784400006 meters Centerline goodness : 0.119831 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:1.67 [[ 0.99965249 -0.00553713 -0.02577278 5.09257229] [ 0.00532688 0.99995203 -0.00821921 0.60732551] [ 0.02581706 0.00807907 0.99963404 1.66768252] [ 0. 0. 0. 1. ]] SLAMing on 482.4325578440001 meters Centerline goodness : 0.154023 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.67 [[ 9.99663798e-01 3.15887731e-03 -2.57354323e-02 5.07353863e+00] [-3.40346261e-03 9.99949408e-01 -9.46558277e-03 6.03723458e-01] [ 2.57042297e-02 9.54999000e-03 9.99623974e-01 1.66585561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46255784400006 meters Centerline goodness : 0.091999 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.67 [[ 9.99662303e-01 3.02963751e-03 -2.58089538e-02 5.07366841e+00] [-3.28433375e-03 9.99946272e-01 -9.83185553e-03 6.05487608e-01] [ 2.57777802e-02 9.91330055e-03 9.99618544e-01 1.66595125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4925578440001 meters Centerline goodness : 0.088835 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:1.67 [[ 9.99662994e-01 2.84678278e-03 -2.58029792e-02 5.07370195e+00] [-3.11711698e-03 9.99940615e-01 -1.04426999e-02 6.08516603e-01] [ 2.57717188e-02 1.05196115e-02 9.99612503e-01 1.66598345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52255784400006 meters Centerline goodness : 0.148183 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:1.67 [[ 0.99964051 0.00641116 -0.02603376 5.07469211] [-0.00662024 0.99994646 -0.00795277 0.61546971] [ 0.02598138 0.00812226 0.99962943 1.66551878] [ 0. 0. 0. 1. ]] SLAMing on 482.55255784400003 meters Centerline goodness : 0.161829 Centerline is valid? [False, False] Translation: X:5.10, Y:0.62, Z:1.67 [[ 9.99588131e-01 1.73093442e-03 -2.86456293e-02 5.09532425e+00] [-1.89126140e-03 9.99982695e-01 -5.57076205e-03 6.24429535e-01] [ 2.86354910e-02 5.62264400e-03 9.99574107e-01 1.66734525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58255784400006 meters Centerline goodness : 0.257996 Centerline is valid? [False, False] Translation: X:5.10, Y:0.63, Z:1.67 [[ 9.99573558e-01 1.69518968e-03 -2.91518143e-02 5.09679989e+00] [-1.87721116e-03 9.99978908e-01 -6.21768202e-03 6.28244362e-01] [ 2.91406593e-02 6.26975465e-03 9.99555657e-01 1.66699828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.61255784400004 meters Centerline goodness : 0.125281 Centerline is valid? [False, False] Translation: X:5.10, Y:0.63, Z:1.67 [[ 9.99566347e-01 1.48280690e-03 -2.94094942e-02 5.09750546e+00] [-1.68713191e-03 9.99974606e-01 -6.92398980e-03 6.31882152e-01] [ 2.93984805e-02 6.97060489e-03 9.99543466e-01 1.66687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64255784400007 meters Centerline goodness : 0.145555 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99560009e-01 1.14407158e-03 -2.96391469e-02 5.09810334e+00] [-1.37595231e-03 9.99968600e-01 -7.80424781e-03 6.35990545e-01] [ 2.96292876e-02 7.84159607e-03 9.99530197e-01 1.66680783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.67255784400004 meters Centerline goodness : 0.142107 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561094e-01 1.03569707e-03 -2.96065191e-02 5.09794434e+00] [-1.27445425e-03 9.99966813e-01 -8.04661246e-03 6.37101862e-01] [ 2.95972027e-02 8.08081291e-03 9.99529242e-01 1.66692116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70255784400007 meters Centerline goodness : 0.145882 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561299e-01 9.42869246e-04 -2.96027063e-02 5.09781656e+00] [-1.18684579e-03 9.99965468e-01 -8.22520866e-03 6.37889608e-01] [ 2.95939288e-02 8.25673410e-03 9.99527901e-01 1.66710710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.73255784400004 meters Centerline goodness : 0.145882 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99561299e-01 9.42869246e-04 -2.96027063e-02 5.09781656e+00] [-1.18684579e-03 9.99965468e-01 -8.22520866e-03 6.37889608e-01] [ 2.95939288e-02 8.25673410e-03 9.99527901e-01 1.66710710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76255784400007 meters Centerline goodness : 0.160031 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99559043e-01 8.35639210e-04 -2.96820021e-02 5.09789380e+00] [-1.08531608e-03 9.99964159e-01 -8.39661156e-03 6.38466916e-01] [ 2.96739218e-02 8.42512337e-03 9.99524125e-01 1.66727704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.79255784400004 meters Centerline goodness : 0.133871 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99553464e-01 7.89064023e-04 -2.98705573e-02 5.09834133e+00] [-1.04299869e-03 9.99963445e-01 -8.48654322e-03 6.38904000e-01] [ 2.98627690e-02 8.51390862e-03 9.99517748e-01 1.66731253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8225578440001 meters Centerline goodness : 0.235800 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99549554e-01 7.92791432e-04 -3.00010151e-02 5.09869563e+00] [-1.04941416e-03 9.99962991e-01 -8.53902300e-03 6.39420782e-01] [ 2.99931352e-02 8.56666012e-03 9.99513394e-01 1.66730199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.85255784400005 meters Centerline goodness : 0.155823 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99546701e-01 7.72410581e-04 -3.00964409e-02 5.09887850e+00] [-1.03801991e-03 9.99960647e-01 -8.81064959e-03 6.41186041e-01] [ 3.00884511e-02 8.83789644e-03 9.99508167e-01 1.66742955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8825578440001 meters Centerline goodness : 0.162110 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99542719e-01 7.24494955e-04 -3.02295880e-02 5.09923341e+00] [-9.97414270e-04 9.99958875e-01 -9.01411594e-03 6.42177760e-01] [ 3.02218141e-02 9.04014538e-03 9.99502335e-01 1.66739487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.91255784400005 meters Centerline goodness : 0.101345 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99534866e-01 6.73819484e-04 -3.04892973e-02 5.09991610e+00] [-9.56349812e-04 9.99956734e-01 -9.25290762e-03 6.43407819e-01] [ 3.04817434e-02 9.27776221e-03 9.99492264e-01 1.66731671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9425578440001 meters Centerline goodness : 0.159840 Centerline is valid? [False, False] Translation: X:5.10, Y:0.64, Z:1.67 [[ 9.99528150e-01 7.13171508e-04 -3.07077822e-02 5.10050413e+00] [-1.00226968e-03 9.99955316e-01 -9.40012917e-03 6.44526841e-01] [ 3.06997061e-02 9.42647120e-03 9.99484202e-01 1.66720869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.97255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 483.0025578440001 meters Centerline goodness : 0.124992 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99556468e-01 1.33941087e-03 -2.97501689e-02 5.09784388e+00] [-1.62246848e-03 9.99953630e-01 -9.49238645e-03 6.47559837e-01] [ 2.97360751e-02 9.53644498e-03 9.99512292e-01 1.66764948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.03255784400005 meters Centerline goodness : 0.175101 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99560784e-01 1.25108896e-03 -2.96086697e-02 5.09740137e+00] [-1.54284811e-03 9.99950464e-01 -9.83304830e-03 6.49304713e-01] [ 2.95949010e-02 9.87441115e-03 9.99513200e-01 1.66777940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0625578440001 meters Centerline goodness : 0.155867 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99563202e-01 1.21832559e-03 -2.95283197e-02 5.09716719e+00] [-1.51932745e-03 9.99947096e-01 -1.01733750e-02 6.51373985e-01] [ 2.95143631e-02 1.02137945e-02 9.99512171e-01 1.66781139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.09255784400005 meters Centerline goodness : 0.085438 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.67 [[ 9.99564307e-01 1.15818906e-03 -2.94933046e-02 5.09705427e+00] [-1.46942686e-03 9.99943443e-01 -1.05333428e-02 6.53479361e-01] [ 2.94794369e-02 1.05720917e-02 9.99509477e-01 1.66783580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1225578440001 meters Centerline goodness : 0.266335 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99502993e-01 2.00274619e-03 -3.14603964e-02 5.04911925e+00] [-2.32111637e-03 9.99946436e-01 -1.00864539e-02 6.56397596e-01] [ 3.14385106e-02 1.01544641e-02 9.99454104e-01 1.66897065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.15255784400006 meters Centerline goodness : 0.147668 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950142 -0.00572311 -0.03105074 5.06799363] [ 0.00543897 0.99994263 -0.00922762 0.66277024] [ 0.03110177 0.00905413 0.99947521 1.670904 ] [ 0. 0. 0. 1. ]] SLAMing on 483.1825578440001 meters Centerline goodness : 0.148010 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950191 -0.00577702 -0.03102517 5.06783702] [ 0.00548798 0.99994082 -0.0093932 0.66363188] [ 0.0310776 0.00921826 0.99947447 1.6710334 ] [ 0. 0. 0. 1. ]] SLAMing on 483.21255784400006 meters Centerline goodness : 0.161109 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 0.99950288 -0.00575596 -0.03099779 5.06774116] [ 0.00546615 0.99994063 -0.00942617 0.66403647] [ 0.03105021 0.00925204 0.999475 1.67105384] [ 0. 0. 0. 1. ]] SLAMing on 483.2425578440001 meters Centerline goodness : 0.156553 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99494589e-01 2.28645668e-03 -3.17070708e-02 5.04797254e+00] [-2.62158440e-03 9.99941101e-01 -1.05319539e-02 6.58983694e-01] [ 3.16811225e-02 1.06097537e-02 9.99441714e-01 1.66928918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.27255784400006 meters Centerline goodness : 0.149004 Centerline is valid? [False, False] Translation: X:5.05, Y:0.66, Z:1.67 [[ 9.99487571e-01 2.25251494e-03 -3.19299535e-02 5.04864889e+00] [-2.59029584e-03 9.99941083e-01 -1.05413956e-02 6.58719806e-01] [ 3.19043276e-02 1.06187019e-02 9.99434519e-01 1.66910891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30255784400003 meters Centerline goodness : 0.127502 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 9.99438373e-01 -5.34949358e-03 -3.30805336e-02 5.06820336e+00] [ 5.02924349e-03 9.99939756e-01 -9.75656497e-03 6.63303029e-01] [ 3.31307334e-02 9.58471536e-03 9.99405067e-01 1.67102256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.33255784400006 meters Centerline goodness : 0.170645 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:1.67 [[ 9.99439060e-01 -5.34837952e-03 -3.30599347e-02 5.06803615e+00] [ 5.02341811e-03 9.99938329e-01 -9.90472041e-03 6.64400136e-01] [ 3.31108701e-02 9.73309059e-03 9.99404291e-01 1.67117060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36255784400004 meters Centerline goodness : 0.161548 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 9.99447373e-01 -5.35241084e-03 -3.28070128e-02 5.06718440e+00] [ 5.02528186e-03 9.99936914e-01 -1.00456699e-02 6.65358706e-01] [ 3.28587117e-02 9.87525391e-03 9.99411219e-01 1.67150027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.39255784400007 meters Centerline goodness : 0.161644 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.9994518 -0.0054238 -0.03266004 5.06665967] [ 0.00509169 0.99993457 -0.0102433 0.66632378] [ 0.03271346 0.01007139 0.99941403 1.67172338] [ 0. 0. 0. 1. ]] SLAMing on 483.42255784400004 meters Centerline goodness : 0.263129 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.99945061 -0.00548437 -0.03268639 5.06673611] [ 0.00514642 0.99993252 -0.01041452 0.66714393] [ 0.0327413 0.01024058 0.9994114 1.67168054] [ 0. 0. 0. 1. ]] SLAMing on 483.45255784400007 meters Centerline goodness : 0.116455 Centerline is valid? [False, False] Translation: X:5.07, Y:0.67, Z:1.67 [[ 0.99944488 -0.00549021 -0.03286006 5.06742032] [ 0.00514803 0.99993174 -0.01048891 0.6676339 ] [ 0.0329154 0.01031392 0.99940492 1.67127287] [ 0. 0. 0. 1. ]] SLAMing on 483.48255784400004 meters Centerline goodness : 0.168627 Centerline is valid? [False, False] Translation: X:5.03, Y:0.67, Z:1.67 [[ 9.99325056e-01 -4.85211699e-03 -3.64127534e-02 5.02514956e+00] [ 4.50781360e-03 9.99944411e-01 -9.53172050e-03 6.65585496e-01] [ 3.64569783e-02 9.36114522e-03 9.99291378e-01 1.66975517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.51255784400007 meters Centerline goodness : 0.160982 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99321556e-01 -4.82506921e-03 -3.65122794e-02 5.02544979e+00] [ 4.48423583e-03 9.99945662e-01 -9.41090250e-03 6.64881141e-01] [ 3.65557036e-02 9.24078806e-03 9.99288891e-01 1.66971265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54255784400004 meters Centerline goodness : 0.164400 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99318023e-01 -4.76948622e-03 -3.66161288e-02 5.02579007e+00] [ 4.43497484e-03 9.99947739e-01 -9.21142385e-03 6.63704191e-01] [ 3.66581489e-02 9.04275027e-03 9.99286950e-01 1.66958784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5725578440001 meters Centerline goodness : 0.171519 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99312943e-01 -4.69692908e-03 -3.67638618e-02 5.02616208e+00] [ 4.36909828e-03 9.99950022e-01 -8.99246887e-03 6.62554623e-01] [ 3.68042614e-02 8.82566561e-03 9.99283520e-01 1.66958648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60255784400005 meters Centerline goodness : 0.172713 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99312367e-01 -4.58573903e-03 -3.67935284e-02 5.02614485e+00] [ 4.26745111e-03 9.99952835e-01 -8.72452524e-03 6.61347974e-01] [ 3.68318014e-02 8.56151139e-03 9.99284804e-01 1.66972128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6325578440001 meters Centerline goodness : 0.173869 Centerline is valid? [False, False] Translation: X:5.03, Y:0.66, Z:1.67 [[ 9.99319497e-01 -4.28652947e-03 -3.66356258e-02 5.02546600e+00] [ 3.99078196e-03 9.99958890e-01 -8.14199351e-03 6.59189336e-01] [ 3.66690206e-02 7.99024806e-03 9.99295521e-01 1.67017923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66255784400005 meters Centerline goodness : 0.175669 Centerline is valid? [False, False] Translation: X:5.00, Y:0.65, Z:1.67 [[ 9.99318104e-01 4.06174941e-03 -3.66991832e-02 5.00456767e+00] [-4.38563723e-03 9.99952107e-01 -8.74929005e-03 6.53281659e-01] [ 3.66618882e-02 8.90427324e-03 9.99288057e-01 1.66897535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6925578440001 meters Centerline goodness : 0.169489 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99333923e-01 -3.59307734e-03 -3.63152969e-02 5.02372855e+00] [ 3.31633028e-03 9.99965024e-01 -7.67804036e-03 6.57553387e-01] [ 3.63416146e-02 7.55249267e-03 9.99310886e-01 1.67092894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72255784400005 meters Centerline goodness : 0.109394 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99332336e-01 -3.54111718e-03 -3.63640382e-02 5.02384019e+00] [ 3.26553028e-03 9.99965520e-01 -7.63515529e-03 6.57489392e-01] [ 3.63898213e-02 7.51130971e-03 9.99309442e-01 1.67091194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7525578440001 meters Centerline goodness : 0.169310 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99331301e-01 -3.47201065e-03 -3.63991278e-02 5.02401692e+00] [ 3.19722693e-03 9.99965973e-01 -7.60467589e-03 6.57577776e-01] [ 3.64242928e-02 7.48321437e-03 9.99308397e-01 1.67076099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78255784400005 meters Centerline goodness : 0.168345 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99326004e-01 -3.33520040e-03 -3.65569970e-02 5.02452518e+00] [ 3.06051109e-03 9.99966683e-01 -7.56738747e-03 6.57592973e-01] [ 3.65810178e-02 7.45040399e-03 9.99302917e-01 1.67051275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8125578440001 meters Centerline goodness : 0.168095 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99322216e-01 -3.29619175e-03 -3.66639164e-02 5.02483411e+00] [ 3.02284248e-03 9.99967242e-01 -7.50847584e-03 6.57258087e-01] [ 3.66874648e-02 7.39255748e-03 9.99299445e-01 1.67043828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84255784400005 meters Centerline goodness : 0.131302 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99321593e-01 -3.20154797e-03 -3.66892925e-02 5.02480650e+00] [ 2.93488329e-03 9.99968903e-01 -7.31974237e-03 6.56427114e-01] [ 3.67115861e-02 7.20709781e-03 9.99299914e-01 1.67057771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8725578440001 meters Centerline goodness : 0.132112 Centerline is valid? [False, False] Translation: X:5.02, Y:0.66, Z:1.67 [[ 9.99322875e-01 -3.09357426e-03 -3.66636322e-02 5.02469352e+00] [ 2.83511758e-03 9.99970781e-01 -7.09929689e-03 6.55417613e-01] [ 3.66845231e-02 6.99054407e-03 9.99302446e-01 1.67066266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90255784400006 meters Centerline goodness : 0.136016 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99323185e-01 -2.95394711e-03 -3.66666993e-02 5.02487237e+00] [ 2.71272367e-03 9.99974363e-01 -6.62682289e-03 6.52603065e-01] [ 3.66853345e-02 6.52287113e-03 9.99305578e-01 1.67044729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9325578440001 meters Centerline goodness : 0.129020 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99323350e-01 -2.87118910e-03 -3.66687712e-02 5.02499557e+00] [ 2.64103169e-03 9.99976519e-01 -6.32355651e-03 6.50802126e-01] [ 3.66860662e-02 6.22243429e-03 9.99307467e-01 1.67028613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96255784400006 meters Centerline goodness : 0.131544 Centerline is valid? [False, False] Translation: X:5.01, Y:0.64, Z:1.67 [[ 9.99340427e-01 4.54452531e-03 -3.60285742e-02 5.00640248e+00] [-4.81477028e-03 9.99960898e-01 -7.41763961e-03 6.43461093e-01] [ 3.59934557e-02 7.58621644e-03 9.99323231e-01 1.66763082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9925578440001 meters Centerline goodness : 0.129417 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347221e-01 -2.88901359e-03 -3.60108958e-02 5.02463021e+00] [ 2.67776128e-03 9.99978932e-01 -5.91319433e-03 6.46925366e-01] [ 3.60272204e-02 5.81290574e-03 9.99333903e-01 1.67016673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02255784400006 meters Centerline goodness : 0.126865 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99356448e-01 -2.62349187e-03 -3.57743915e-02 5.02362612e+00] [ 2.42728257e-03 9.99981780e-01 -5.52695865e-03 6.45731723e-01] [ 3.57882396e-02 5.43656721e-03 9.99344608e-01 1.67082330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.05255784400003 meters Centerline goodness : 0.132158 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355603e-01 -2.60038786e-03 -3.57996612e-02 5.02385930e+00] [ 2.40488146e-03 9.99981966e-01 -5.50310243e-03 6.45619162e-01] [ 3.58133258e-02 5.41346230e-03 9.99343835e-01 1.67055814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08255784400006 meters Centerline goodness : 0.129479 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99350964e-01 -2.59045136e-03 -3.59296525e-02 5.02441015e+00] [ 2.39202470e-03 9.99981657e-01 -5.56453066e-03 6.45896370e-01] [ 3.59434081e-02 5.47497446e-03 9.99338829e-01 1.67018350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.11255784400004 meters Centerline goodness : 0.128276 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99349052e-01 -2.61077410e-03 -3.59813196e-02 5.02463727e+00] [ 2.40564319e-03 9.99980614e-01 -5.74315361e-03 6.46850309e-01] [ 3.59956162e-02 5.65285691e-03 9.99335960e-01 1.66999252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14255784400007 meters Centerline goodness : 0.137228 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355288e-01 -2.58365104e-03 -3.58096886e-02 5.02409779e+00] [ 2.37401621e-03 9.99979804e-01 -5.89542126e-03 6.47932708e-01] [ 3.58241971e-02 5.80660762e-03 9.99341238e-01 1.67011537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.17255784400004 meters Centerline goodness : 0.129148 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99364967e-01 -2.50239008e-03 -3.55443499e-02 5.02328462e+00] [ 2.29105731e-03 9.99979465e-01 -5.98509399e-03 6.48908509e-01] [ 3.55585970e-02 5.89985912e-03 9.99350178e-01 1.67029400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20255784400007 meters Centerline goodness : 0.131791 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99375166e-01 -2.51923963e-03 -3.52552172e-02 5.02228263e+00] [ 2.30443233e-03 9.99978542e-01 -6.13223104e-03 6.49625002e-01] [ 3.52699093e-02 6.04715615e-03 9.99359528e-01 1.67066187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.23255784400004 meters Centerline goodness : 0.123252 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99367418e-01 -2.52776473e-03 -3.54735748e-02 5.02291486e+00] [ 2.31263714e-03 9.99978695e-01 -6.10416838e-03 6.49194175e-01] [ 3.54882490e-02 6.01826948e-03 9.99351972e-01 1.67053545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26255784400007 meters Centerline goodness : 0.131261 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99355674e-01 -2.49180921e-03 -3.58054030e-02 5.02382808e+00] [ 2.27863737e-03 9.99979444e-01 -5.99319600e-03 6.48592107e-01] [ 3.58196009e-02 5.90774690e-03 9.99340810e-01 1.67041049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.29255784400004 meters Centerline goodness : 0.134366 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347913e-01 -2.41397332e-03 -3.60266782e-02 5.02445459e+00] [ 2.20511015e-03 9.99980539e-01 -5.83606707e-03 6.48047663e-01] [ 3.60400652e-02 5.75281865e-03 9.99333787e-01 1.67028387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3225578440001 meters Centerline goodness : 0.138258 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99343181e-01 -2.35368453e-03 -3.61616830e-02 5.02466264e+00] [ 2.14905227e-03 9.99981465e-01 -5.69664228e-03 6.47446824e-01] [ 3.61744208e-02 5.61518727e-03 9.99329716e-01 1.67050012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.35255784400005 meters Centerline goodness : 0.128978 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99347057e-01 -2.41869579e-03 -3.60501014e-02 5.02380804e+00] [ 2.21956648e-03 9.99982065e-01 -5.56268008e-03 6.46116568e-01] [ 3.60629093e-02 5.47903236e-03 9.99334502e-01 1.67143349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3825578440001 meters Centerline goodness : 0.123433 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99350761e-01 -2.36674543e-03 -3.59507293e-02 5.02324125e+00] [ 2.17484793e-03 9.99983184e-01 -5.37596050e-03 6.45091791e-01] [ 3.59628483e-02 5.29428284e-03 9.99339104e-01 1.67193244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.41255784400005 meters Centerline goodness : 0.142320 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99354618e-01 -2.23408080e-03 -3.58518726e-02 5.02284150e+00] [ 2.05144895e-03 9.99984737e-01 -5.13004497e-03 6.44223040e-01] [ 3.58627863e-02 5.05318584e-03 9.99343948e-01 1.67215794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4425578440001 meters Centerline goodness : 0.130409 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99359066e-01 -2.11410540e-03 -3.57349751e-02 5.02243735e+00] [ 1.94001979e-03 9.99986086e-01 -4.90554733e-03 6.43428211e-01] [ 3.57448487e-02 4.83307664e-03 9.99349262e-01 1.67232364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.47255784400005 meters Centerline goodness : 0.133320 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99362995e-01 -2.02504931e-03 -3.56300788e-02 5.02212006e+00] [ 1.85788097e-03 9.99987115e-01 -4.72425914e-03 6.42654357e-01] [ 3.56391865e-02 4.65505332e-03 9.99353881e-01 1.67245390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5025578440001 meters Centerline goodness : 0.131674 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99361317e-01 -1.97122810e-03 -3.56801483e-02 5.02214613e+00] [ 1.80659929e-03 9.99987577e-01 -4.64566906e-03 6.42161044e-01] [ 3.56888627e-02 4.57824222e-03 9.99352463e-01 1.67259083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.53255784400005 meters Centerline goodness : 0.136767 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99354653e-01 -1.88229885e-03 -3.58710735e-02 5.02259589e+00] [ 1.71771732e-03 9.99987860e-01 -4.61840651e-03 6.42286240e-01] [ 3.58793312e-02 4.55380968e-03 9.99345754e-01 1.67258640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5625578440001 meters Centerline goodness : 0.138425 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99353201e-01 -1.85776357e-03 -3.59127937e-02 5.02283045e+00] [ 1.69087791e-03 9.99987634e-01 -4.67678292e-03 6.42752347e-01] [ 3.59210380e-02 4.61303383e-03 9.99343984e-01 1.67238611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.59255784400005 meters Centerline goodness : 0.132762 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99351334e-01 -1.84747135e-03 -3.59652425e-02 5.02296827e+00] [ 1.67536213e-03 9.99987004e-01 -4.81498117e-03 6.43618083e-01] [ 3.59736706e-02 4.75160305e-03 9.99341442e-01 1.67235405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6225578440001 meters Centerline goodness : 0.135708 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99352139e-01 -1.87412533e-03 -3.59414705e-02 5.02290737e+00] [ 1.69449531e-03 9.99985926e-01 -5.02765858e-03 6.44670204e-01] [ 3.59503871e-02 4.96349870e-03 9.99341250e-01 1.67228924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.65255784400006 meters Centerline goodness : 0.135708 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99352139e-01 -1.87412533e-03 -3.59414705e-02 5.02290737e+00] [ 1.69449531e-03 9.99985926e-01 -5.02765858e-03 6.44670204e-01] [ 3.59503871e-02 4.96349870e-03 9.99341250e-01 1.67228924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6825578440001 meters Centerline goodness : 0.138109 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99367605e-01 -1.74989884e-03 -3.55151667e-02 5.02162161e+00] [ 1.56475650e-03 9.99985046e-01 -5.24017577e-03 6.46267368e-01] [ 3.55238053e-02 5.18128932e-03 9.99355399e-01 1.67253651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.71255784400006 meters Centerline goodness : 0.125313 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99378665e-01 -1.66955039e-03 -3.52064946e-02 5.02061250e+00] [ 1.48548556e-03 9.99985096e-01 -5.25365967e-03 6.46808059e-01] [ 3.52147411e-02 5.19809665e-03 9.99366250e-01 1.67284930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7425578440001 meters Centerline goodness : 0.155099 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99386432e-01 -1.60263558e-03 -3.49884286e-02 5.01977205e+00] [ 1.42246821e-03 9.99985605e-01 -5.17362724e-03 6.46753470e-01] [ 3.49962164e-02 5.12068294e-03 9.99374326e-01 1.67328280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.77255784400006 meters Centerline goodness : 0.133558 Centerline is valid? [False, False] Translation: X:5.02, Y:0.65, Z:1.67 [[ 9.99387812e-01 -1.56611452e-03 -3.49506614e-02 5.01967156e+00] [ 1.39062237e-03 9.99986308e-01 -5.04488394e-03 6.46080686e-01] [ 3.49580837e-02 4.99319235e-03 9.99376306e-01 1.67329495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80255784400003 meters Centerline goodness : 0.135895 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99376663e-01 -1.58860477e-03 -3.52670175e-02 5.02059214e+00] [ 1.41657231e-03 9.99986980e-01 -4.90244962e-03 6.44872163e-01] [ 3.52743464e-02 4.84943546e-03 9.99365901e-01 1.67311590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.83255784400006 meters Centerline goodness : 0.142479 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99355420e-01 -1.81684864e-03 -3.58530833e-02 5.02226573e+00] [ 1.65648761e-03 9.99988494e-01 -4.50192413e-03 6.41434426e-01] [ 3.58608501e-02 4.43963209e-03 9.99346931e-01 1.67288793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86255784400004 meters Centerline goodness : 0.133865 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99360219e-01 -1.60735266e-03 -3.57291085e-02 5.02193539e+00] [ 1.46689710e-03 9.99991095e-01 -3.95699036e-03 6.39008028e-01] [ 3.57351506e-02 3.90204783e-03 9.99353678e-01 1.67295570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.89255784400007 meters Centerline goodness : 0.139665 Centerline is valid? [False, False] Translation: X:5.02, Y:0.64, Z:1.67 [[ 9.99364803e-01 -1.44224065e-03 -3.56077277e-02 5.02153439e+00] [ 1.32053983e-03 9.99993207e-01 -3.44110215e-03 6.36440482e-01] [ 3.56124487e-02 3.39189495e-03 9.99359919e-01 1.67315001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92255784400004 meters Centerline goodness : 0.138770 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.67 [[ 9.99366145e-01 -1.34704208e-03 -3.55737796e-02 5.02149492e+00] [ 1.24033162e-03 9.99994666e-01 -3.02159263e-03 6.33915598e-01] [ 3.55776600e-02 2.97555409e-03 9.99362485e-01 1.67319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.95255784400007 meters Centerline goodness : 0.125685 Centerline is valid? [False, False] Translation: X:5.02, Y:0.63, Z:1.67 [[ 9.99358004e-01 -1.26069686e-03 -3.58048919e-02 5.02214002e+00] [ 1.16653415e-03 9.99995807e-01 -2.65065264e-03 6.31692867e-01] [ 3.58080834e-02 2.60718330e-03 9.99355284e-01 1.67314544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98255784400004 meters Centerline goodness : 0.150255 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99325846e-01 -8.68008252e-04 -3.67028707e-02 5.02507858e+00] [ 7.96905531e-04 9.99997778e-01 -1.95183723e-03 6.28984596e-01] [ 3.67044834e-02 1.92127267e-03 9.99324317e-01 1.67204167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.01255784400007 meters Centerline goodness : 0.125848 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99318215e-01 -7.21424896e-04 -3.69131951e-02 5.02603196e+00] [ 6.59185875e-04 9.99998341e-01 -1.69823408e-03 6.27949645e-01] [ 3.69143590e-02 1.67274360e-03 9.99317033e-01 1.67138269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04255784400004 meters Centerline goodness : 0.147449 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99314561e-01 -6.39425192e-04 -3.70135010e-02 5.02650531e+00] [ 5.83279247e-04 9.99998663e-01 -1.52768288e-03 6.26879791e-01] [ 3.70144283e-02 1.50504654e-03 9.99313598e-01 1.67110133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0725578440001 meters Centerline goodness : 0.150132 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99319104e-01 -5.97797835e-04 -3.68913282e-02 5.02607601e+00] [ 5.46457550e-04 9.99998868e-01 -1.40173022e-03 6.25862029e-01] [ 3.68921244e-02 1.38061624e-03 9.99318300e-01 1.67129121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10255784400005 meters Centerline goodness : 0.128958 Centerline is valid? [False, False] Translation: X:5.03, Y:0.63, Z:1.67 [[ 9.99329280e-01 -4.93309571e-04 -3.66162173e-02 5.02506668e+00] [ 4.47697290e-04 9.99999114e-01 -1.25387403e-03 6.25232528e-01] [ 3.66168034e-02 1.23664005e-03 9.99328615e-01 1.67177208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1325578440001 meters Centerline goodness : 0.124449 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99339991e-01 -3.26071305e-04 -3.63246006e-02 5.02410521e+00] [ 2.87616894e-04 9.99999393e-01 -1.06385321e-03 6.24746453e-01] [ 3.63249254e-02 1.05270349e-03 9.99339478e-01 1.67212068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16255784400005 meters Centerline goodness : 0.212660 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99342419e-01 -1.26938696e-04 -3.62589663e-02 5.02404187e+00] [ 9.46305963e-05 9.99999597e-01 -8.92752305e-04 6.24524244e-01] [ 3.62590650e-02 8.88734040e-04 9.99342029e-01 1.67190022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1925578440001 meters Centerline goodness : 0.162843 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99339437e-01 -1.26304335e-04 -3.63410665e-02 5.02437668e+00] [ 9.47882109e-05 9.99999618e-01 -8.68953300e-04 6.24222850e-01] [ 3.63411624e-02 8.64934598e-04 9.99339067e-01 1.67169128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22255784400005 meters Centerline goodness : 0.158192 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99345740e-01 2.12437404e-05 -3.61675516e-02 5.02381768e+00] [-3.91785026e-05 9.99999877e-01 -4.95171255e-04 6.22405830e-01] [ 3.61675367e-02 4.96264275e-04 9.99345617e-01 1.67188936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2525578440001 meters Centerline goodness : 0.132914 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99353662e-01 1.20527924e-04 -3.59477898e-02 5.02284549e+00] [-1.29875392e-04 9.99999958e-01 -2.57693998e-04 6.21397322e-01] [ 3.59477573e-02 2.62196174e-04 9.99353636e-01 1.67257381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28255784400005 meters Centerline goodness : 0.166104 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99358000e-01 1.89427839e-04 -3.58266923e-02 5.02214862e+00] [-1.90665109e-04 9.99999981e-01 -3.11183216e-05 6.20233036e-01] [ 3.58266857e-02 3.79292438e-05 9.99358018e-01 1.67318517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3125578440001 meters Centerline goodness : 0.133590 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.67 [[ 9.99366964e-01 5.42796727e-03 -3.51597437e-02 4.99936893e+00] [-5.53562333e-03 9.99980282e-01 -2.96529013e-03 6.14619015e-01] [ 3.51429549e-02 3.15804410e-03 9.99377306e-01 1.67258406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34255784400005 meters Centerline goodness : 0.137959 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99369080e-01 -2.41128278e-03 -3.54348447e-02 5.01907979e+00] [ 2.34450703e-03 9.99995397e-01 -1.92589644e-03 6.17551346e-01] [ 3.54393255e-02 1.84160411e-03 9.99370133e-01 1.67464887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3725578440001 meters Centerline goodness : 0.135967 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99365089e-01 -2.29484566e-03 -3.55549172e-02 5.01926311e+00] [ 2.24306165e-03 9.99996365e-01 -1.49627145e-03 6.15284857e-01] [ 3.55582217e-02 1.41556958e-03 9.99366604e-01 1.67491885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40255784400006 meters Centerline goodness : 0.131404 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99380384e-01 -2.12169783e-03 -3.51332792e-02 5.01776344e+00] [ 2.10216633e-03 9.99997615e-01 -5.92856182e-04 6.10378646e-01] [ 3.51344533e-02 5.18632842e-04 9.99382460e-01 1.67579530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4325578440001 meters Centerline goodness : 0.132584 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99381628e-01 -1.95151162e-03 -3.51077317e-02 5.01755289e+00] [ 1.95116264e-03 9.99998096e-01 -4.42012649e-05 6.07570870e-01] [ 3.51077511e-02 -2.43269624e-05 9.99383533e-01 1.67608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46255784400006 meters Centerline goodness : 0.130702 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99372994e-01 -1.82899195e-03 -3.53592117e-02 5.01816835e+00] [ 1.84701401e-03 9.99998180e-01 4.77026761e-04 6.04521811e-01] [ 3.53582749e-02 -5.42036621e-04 9.99374554e-01 1.67620099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4925578440001 meters Centerline goodness : 0.127764 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99366658e-01 -1.69822247e-03 -3.55443141e-02 5.01873176e+00] [ 1.73553319e-03 9.99997975e-01 1.01886843e-03 6.01494407e-01] [ 3.55425118e-02 -1.07991147e-03 9.99367582e-01 1.67613629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52255784400006 meters Centerline goodness : 0.135866 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99361967e-01 -1.37380136e-03 -3.56899255e-02 5.01912867e+00] [ 1.45052410e-03 9.99996693e-01 2.12389919e-03 5.95605336e-01] [ 3.56868897e-02 -2.17431317e-03 9.99360655e-01 1.67624360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.55255784400003 meters Centerline goodness : 0.129956 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99360496e-01 -1.14168926e-03 -3.57392812e-02 5.01920375e+00] [ 1.23749503e-03 9.99995700e-01 2.65867951e-03 5.93143490e-01] [ 3.57360921e-02 -2.70120646e-03 9.99357611e-01 1.67638455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58255784400006 meters Centerline goodness : 0.132367 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99360065e-01 -9.67220819e-04 -3.57564577e-02 5.01922151e+00] [ 1.07619217e-03 9.99994835e-01 3.02847828e-03 5.91422105e-01] [ 3.57533438e-02 -3.06502108e-03 9.99355945e-01 1.67647966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.61255784400004 meters Centerline goodness : 0.267152 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99361297e-01 -8.37844657e-04 -3.57252873e-02 5.01907360e+00] [ 9.53760217e-04 9.99994336e-01 3.22771753e-03 5.90561485e-01] [ 3.57223806e-02 -3.25972933e-03 9.99356436e-01 1.67664901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64255784400007 meters Centerline goodness : 0.133063 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99364091e-01 -6.74747949e-04 -3.56505081e-02 5.01897469e+00] [ 7.89590583e-04 9.99994545e-01 3.20736541e-03 5.91007396e-01] [ 3.56481495e-02 -3.23347513e-03 9.99359172e-01 1.67649989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.67255784400004 meters Centerline goodness : 0.038857 Centerline is valid? [False, False] Translation: X:5.02, Y:0.59, Z:1.68 [[ 9.99365994e-01 -3.12780111e-04 -3.56021379e-02 5.01895402e+00] [ 4.26235378e-04 9.99994855e-01 3.17920909e-03 5.92229739e-01] [ 3.56009604e-02 -3.19236834e-03 9.99360986e-01 1.67620493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70255784400007 meters Centerline goodness : 0.131456 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.68 [[ 9.99363832e-01 4.08142941e-03 -3.54298373e-02 5.01887057e+00] [-3.85431877e-03 9.99971602e-01 6.47608767e-03 5.96917977e-01] [ 3.54552628e-02 -6.33540990e-03 9.99351183e-01 1.67543980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.73255784400004 meters Centerline goodness : 0.173752 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.67 [[ 9.99369905e-01 4.53032264e-03 -3.52032687e-02 5.01841021e+00] [-4.31318201e-03 9.99971218e-01 6.24169180e-03 5.99852482e-01] [ 3.52305324e-02 -6.08592083e-03 9.99360681e-01 1.67497310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76255784400007 meters Centerline goodness : 0.139542 Centerline is valid? [False, False] Translation: X:5.02, Y:0.60, Z:1.67 [[ 9.99371769e-01 4.60100133e-03 -3.51411156e-02 5.01835247e+00] [-4.40404937e-03 9.99974171e-01 5.67995274e-03 6.03316300e-01] [ 3.51663414e-02 -5.52162121e-03 9.99366219e-01 1.67457844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.79255784400004 meters Centerline goodness : 0.146484 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99350838e-01 4.50761512e-03 -3.57433100e-02 5.02019684e+00] [-4.34772546e-03 9.99980198e-01 4.54974057e-03 6.09796490e-01] [ 3.57631107e-02 -4.39138495e-03 9.99350647e-01 1.67358772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8225578440001 meters Centerline goodness : 0.145482 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99347616e-01 4.26616094e-03 -3.58628214e-02 5.02068801e+00] [-4.12530942e-03 9.99983488e-01 4.00058779e-03 6.12201171e-01] [ 3.58792964e-02 -3.85003263e-03 9.99348715e-01 1.67315679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.85255784400005 meters Centerline goodness : 0.145482 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99347616e-01 4.26616094e-03 -3.58628214e-02 5.02068801e+00] [-4.12530942e-03 9.99983488e-01 4.00058779e-03 6.12201171e-01] [ 3.58792964e-02 -3.85003263e-03 9.99348715e-01 1.67315679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8825578440001 meters Centerline goodness : 0.144093 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99354242e-01 4.01410652e-03 -3.57069519e-02 5.02000738e+00] [-3.89063143e-03 9.99986212e-01 3.52682454e-03 6.14684239e-01] [ 3.57206166e-02 -3.38562447e-03 9.99356080e-01 1.67345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.91255784400005 meters Centerline goodness : 0.148972 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99362298e-01 3.93046510e-03 -3.54901210e-02 5.01920233e+00] [-3.81215552e-03 9.99986951e-01 3.40064527e-03 6.15456673e-01] [ 3.55030240e-02 -3.26318281e-03 9.99364241e-01 1.67384833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9425578440001 meters Centerline goodness : 0.151078 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99364427e-01 3.80364256e-03 -3.54439619e-02 5.01876785e+00] [-3.68823136e-03 9.99987684e-01 3.32097476e-03 6.15730289e-01] [ 3.54561572e-02 -3.18813851e-03 9.99366147e-01 1.67438802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.97255784400005 meters Centerline goodness : 0.157382 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99356228e-01 3.64825373e-03 -3.56906052e-02 5.01923349e+00] [-3.53536558e-03 9.99988548e-01 3.22556425e-03 6.15872077e-01] [ 3.57019641e-02 -3.09730839e-03 9.99357682e-01 1.67471782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0025578440001 meters Centerline goodness : 0.156160 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99307667e-01 2.86161522e-03 -3.70944471e-02 5.02319302e+00] [-2.76551132e-03 9.99992686e-01 2.64184082e-03 6.16435037e-01] [ 3.71017357e-02 -2.53742667e-03 9.99308272e-01 1.67414178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.03255784400005 meters Centerline goodness : 0.153600 Centerline is valid? [False, False] Translation: X:5.02, Y:0.62, Z:1.67 [[ 9.99295432e-01 2.76681789e-03 -3.74297360e-02 5.02408637e+00] [-2.66699216e-03 9.99992753e-01 2.71668375e-03 6.15597716e-01] [ 3.74369814e-02 -2.61494484e-03 9.99295569e-01 1.67414077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0625578440001 meters Centerline goodness : 0.119625 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.67 [[ 9.99293936e-01 2.75529025e-03 -3.74704929e-02 5.02389372e+00] [-2.64877270e-03 9.99992310e-01 2.89205063e-03 6.14526594e-01] [ 3.74781732e-02 -2.79075784e-03 9.99293550e-01 1.67464583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.09255784400005 meters Centerline goodness : 0.157265 Centerline is valid? [False, False] Translation: X:5.02, Y:0.61, Z:1.68 [[ 9.99298253e-01 2.78593923e-03 -3.73528996e-02 5.02325210e+00] [-2.67210781e-03 9.99991634e-01 3.09703537e-03 6.13501658e-01] [ 3.73612153e-02 -2.99505106e-03 9.99297338e-01 1.67527012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1225578440001 meters Centerline goodness : 0.145088 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.68 [[ 9.99314079e-01 -4.81538735e-03 -3.67176132e-02 5.04248637e+00] [ 4.97863178e-03 9.99978120e-01 4.35580721e-03 6.17901589e-01] [ 3.66958349e-02 -4.53562294e-03 9.99316188e-01 1.67735766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.15255784400006 meters Centerline goodness : 0.132326 Centerline is valid? [False, False] Translation: X:5.04, Y:0.62, Z:1.68 [[ 9.99305348e-01 -4.77877685e-03 -3.69592257e-02 5.04321638e+00] [ 4.95405211e-03 9.99976907e-01 4.65226929e-03 6.16206861e-01] [ 3.69361401e-02 -4.83213551e-03 9.99305945e-01 1.67727589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1825578440001 meters Centerline goodness : 0.133267 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99303681e-01 -4.71551151e-03 -3.70123965e-02 5.04326552e+00] [ 4.89938572e-03 9.99976096e-01 4.87878147e-03 6.14927626e-01] [ 3.69885058e-02 -5.05672229e-03 9.99302897e-01 1.67748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.21255784400006 meters Centerline goodness : 0.129338 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99304647e-01 -4.64590545e-03 -3.69951162e-02 5.04295312e+00] [ 4.83955973e-03 9.99975044e-01 5.14676103e-03 6.13328577e-01] [ 3.69702816e-02 -5.32222228e-03 9.99302193e-01 1.67797342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2425578440001 meters Centerline goodness : 0.134031 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99306814e-01 -4.56625489e-03 -3.69464601e-02 5.04260002e+00] [ 4.77010567e-03 9.99973874e-01 5.43119716e-03 6.11766287e-01] [ 3.69206946e-02 -5.60367085e-03 9.99302487e-01 1.67839937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.27255784400006 meters Centerline goodness : 0.132057 Centerline is valid? [False, False] Translation: X:5.04, Y:0.61, Z:1.68 [[ 9.99304670e-01 -4.44518143e-03 -3.70191336e-02 5.04261233e+00] [ 4.66089275e-03 9.99972648e-01 5.74276132e-03 6.10254474e-01] [ 3.69925934e-02 -5.91131042e-03 9.99298056e-01 1.67870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30255784400003 meters Centerline goodness : 0.131980 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99261627e-01 3.61704964e-03 -3.82507104e-02 5.06269901e+00] [-3.42796268e-03 9.99981585e-01 5.00778855e-03 6.03183809e-01] [ 3.82681195e-02 -4.87296893e-03 9.99255626e-01 1.68092871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.33255784400006 meters Centerline goodness : 0.121133 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99259399e-01 3.69390777e-03 -3.83015489e-02 5.06294915e+00] [-3.49711769e-03 9.99980346e-01 5.20363931e-03 6.02097345e-01] [ 3.83200179e-02 -5.06584046e-03 9.99252677e-01 1.68074842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36255784400004 meters Centerline goodness : 0.121982 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99258088e-01 3.75658561e-03 -3.83296506e-02 5.06296445e+00] [-3.55413209e-03 9.99979380e-01 5.34867675e-03 6.01302834e-01] [ 3.83489530e-02 -5.20847986e-03 9.99250834e-01 1.68086419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.39255784400007 meters Centerline goodness : 0.134362 Centerline is valid? [False, False] Translation: X:5.06, Y:0.60, Z:1.68 [[ 9.99260739e-01 3.79680787e-03 -3.82564956e-02 5.06273996e+00] [-3.59201647e-03 9.99978858e-01 5.42042771e-03 6.00936471e-01] [ 3.82762671e-02 -5.27900264e-03 9.99253251e-01 1.68092701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42255784400004 meters Centerline goodness : 0.133868 Centerline is valid? [False, False] Translation: X:5.11, Y:0.60, Z:1.68 [[ 9.99328998e-01 4.94545794e-03 -3.62918161e-02 5.10686486e+00] [-4.76105160e-03 9.99975323e-01 5.16587474e-03 6.04619727e-01] [ 3.63164681e-02 -4.98962122e-03 9.99327883e-01 1.68184794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.45255784400007 meters Centerline goodness : 0.131830 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332378e-01 4.92436716e-03 -3.62015057e-02 5.10674100e+00] [-4.74687983e-03 9.99976298e-01 4.98707786e-03 6.05687815e-01] [ 3.62252059e-02 -4.81190418e-03 9.99332067e-01 1.68161046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48255784400004 meters Centerline goodness : 0.134276 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99331448e-01 4.98018945e-03 -3.62195272e-02 5.10713488e+00] [-4.82269299e-03 9.99978538e-01 4.43445314e-03 6.09109436e-01] [ 3.62408343e-02 -4.25681282e-03 9.99334019e-01 1.68091068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.51255784400007 meters Centerline goodness : 0.135414 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332160e-01 4.82540285e-03 -3.62208352e-02 5.10729891e+00] [-4.68434245e-03 9.99981115e-01 3.97830838e-03 6.11262547e-01] [ 3.62393481e-02 -3.80598071e-03 9.99335892e-01 1.68055980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54255784400004 meters Centerline goodness : 0.135414 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99332160e-01 4.82540285e-03 -3.62208352e-02 5.10729891e+00] [-4.68434245e-03 9.99981115e-01 3.97830838e-03 6.11262547e-01] [ 3.62393481e-02 -3.80598071e-03 9.99335892e-01 1.68055980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5725578440001 meters Centerline goodness : 0.131016 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99336986e-01 4.64153314e-03 -3.61115575e-02 5.10697856e+00] [-4.51740650e-03 9.99983608e-01 3.51814390e-03 6.13405461e-01] [ 3.61272952e-02 -3.35268073e-03 9.99341572e-01 1.68053950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60255784400005 meters Centerline goodness : 0.126219 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99341746e-01 4.51995463e-03 -3.59950560e-02 5.10646587e+00] [-4.40690876e-03 9.99985107e-01 3.21931496e-03 6.14893846e-01] [ 3.60090711e-02 -3.05856890e-03 9.99346783e-01 1.68083358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6325578440001 meters Centerline goodness : 0.129796 Centerline is valid? [False, False] Translation: X:5.11, Y:0.62, Z:1.68 [[ 9.99342535e-01 4.35357801e-03 -3.59936567e-02 5.10613719e+00] [-4.24890040e-03 9.99986521e-01 2.98420435e-03 6.16052232e-01] [ 3.60061635e-02 -2.82930888e-03 9.99347563e-01 1.68125810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66255784400005 meters Centerline goodness : 0.129473 Centerline is valid? [False, False] Translation: X:5.11, Y:0.62, Z:1.68 [[ 9.99333698e-01 4.21116652e-03 -3.62550014e-02 5.10682298e+00] [-4.10621251e-03 9.99987162e-01 2.96885715e-03 6.15629964e-01] [ 3.62670383e-02 -2.81800826e-03 9.99338161e-01 1.68126477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6925578440001 meters Centerline goodness : 0.130208 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99321735e-01 3.98645487e-03 -3.66084331e-02 5.10769257e+00] [-3.88145837e-03 9.99988149e-01 2.93871936e-03 6.14939222e-01] [ 3.66197143e-02 -2.79463202e-03 9.99325366e-01 1.68133812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72255784400005 meters Centerline goodness : 0.141536 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99324785e-01 3.81848992e-03 -3.65430436e-02 5.10737119e+00] [-3.71009253e-03 9.99988516e-01 3.03364574e-03 6.13762197e-01] [ 3.65542078e-02 -2.89601930e-03 9.99327475e-01 1.68167574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7525578440001 meters Centerline goodness : 0.129559 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99330411e-01 3.82022761e-03 -3.63886765e-02 5.10664320e+00] [-3.70430030e-03 9.99987849e-01 3.25269461e-03 6.12547298e-01] [ 3.64006604e-02 -3.11572205e-03 9.99332419e-01 1.68227204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78255784400005 meters Centerline goodness : 0.136054 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99331067e-01 3.82793968e-03 -3.63698555e-02 5.10635701e+00] [-3.70962669e-03 9.99987608e-01 3.31997614e-03 6.12276852e-01] [ 3.63821134e-02 -3.18283671e-03 9.99332883e-01 1.68270028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8125578440001 meters Centerline goodness : 0.121886 Centerline is valid? [False, False] Translation: X:5.11, Y:0.61, Z:1.68 [[ 9.99320186e-01 3.73803405e-03 -3.66768796e-02 5.10736795e+00] [-3.62899479e-03 9.99988797e-01 3.03909219e-03 6.13831302e-01] [ 3.66878290e-02 -2.90392597e-03 9.99322556e-01 1.68229878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84255784400005 meters Centerline goodness : 0.127313 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.68 [[ 9.99213259e-01 3.36730326e-03 -3.95161353e-02 5.06278219e+00] [-3.23910891e-03 9.99989284e-01 3.30767685e-03 6.12660871e-01] [ 3.95268498e-02 -3.17707750e-03 9.99213458e-01 1.68162816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8725578440001 meters Centerline goodness : 0.122039 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.68 [[ 9.99212829e-01 3.33219443e-03 -3.95299680e-02 5.06262705e+00] [-3.21559421e-03 9.99990291e-01 3.01288098e-03 6.14403189e-01] [ 3.95396237e-02 -2.88339699e-03 9.99213843e-01 1.68184345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90255784400006 meters Centerline goodness : 0.124195 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99243428e-01 3.51226752e-03 -3.87328812e-02 5.06035148e+00] [-3.40501103e-03 9.99990185e-01 2.83475301e-03 6.16385275e-01] [ 3.87424574e-02 -2.70072243e-03 9.99245579e-01 1.68224379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9325578440001 meters Centerline goodness : 0.170223 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99250736e-01 3.46256415e-03 -3.85483659e-02 5.05986814e+00] [-3.36236567e-03 9.99990799e-01 2.66382028e-03 6.17300681e-01] [ 3.85572348e-02 -2.53221068e-03 9.99253185e-01 1.68225159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96255784400006 meters Centerline goodness : 0.152331 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99253398e-01 3.42076385e-03 -3.84830527e-02 5.05978707e+00] [-3.32441936e-03 9.99991179e-01 2.56726847e-03 6.17743663e-01] [ 3.84914952e-02 -2.43741794e-03 9.99255955e-01 1.68209255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9925578440001 meters Centerline goodness : 0.123196 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99253078e-01 3.40213119e-03 -3.84930087e-02 5.05993911e+00] [-3.30843774e-03 9.99991408e-01 2.49747611e-03 6.18190016e-01] [ 3.85011748e-02 -2.36825897e-03 9.99255748e-01 1.68188174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02255784400006 meters Centerline goodness : 0.154678 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99248477e-01 3.37725330e-03 -3.86144380e-02 5.06027508e+00] [-3.28527501e-03 9.99991614e-01 2.44517179e-03 6.18551921e-01] [ 3.86223721e-02 -2.31647514e-03 9.99251193e-01 1.68183054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.05255784400003 meters Centerline goodness : 0.115234 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99250826e-01 3.38610995e-03 -3.85528366e-02 5.06000977e+00] [-3.29435619e-03 9.99991589e-01 2.44322698e-03 6.18734231e-01] [ 3.85607853e-02 -2.31438980e-03 9.99253576e-01 1.68199214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08255784400006 meters Centerline goodness : 0.155681 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99260755e-01 3.38192763e-03 -3.82949841e-02 5.05895461e+00] [-3.28905913e-03 9.99991496e-01 2.48782343e-03 6.18405774e-01] [ 3.83030721e-02 -2.36002986e-03 9.99263381e-01 1.68265108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.11255784400004 meters Centerline goodness : 0.147444 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99265503e-01 3.33429266e-03 -3.81750753e-02 5.05869224e+00] [-3.24479307e-03 9.99991841e-01 2.40616878e-03 6.18596084e-01] [ 3.81827867e-02 -2.28053124e-03 9.99268169e-01 1.68260300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14255784400007 meters Centerline goodness : 0.133577 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99272521e-01 3.24824860e-03 -3.79983938e-02 5.05810720e+00] [-3.16747147e-03 9.99992595e-01 2.18581197e-03 6.19618544e-01] [ 3.80052125e-02 -2.06386301e-03 9.99275410e-01 1.68277241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.17255784400004 meters Centerline goodness : 0.148376 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99283866e-01 3.21870868e-03 -3.77013859e-02 5.05728256e+00] [-3.14755524e-03 9.99993152e-01 1.94649269e-03 6.21062198e-01] [ 3.77073929e-02 -1.82643155e-03 9.99287154e-01 1.68284494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20255784400007 meters Centerline goodness : 0.155911 Centerline is valid? [False, False] Translation: X:5.06, Y:0.62, Z:1.68 [[ 9.99286322e-01 3.12435997e-03 -3.76441828e-02 5.05718759e+00] [-3.07109272e-03 9.99994200e-01 1.47276132e-03 6.23757167e-01] [ 3.76485658e-02 -1.35610147e-03 9.99290121e-01 1.68268771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.23255784400004 meters Centerline goodness : 0.133596 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99279066e-01 3.02660426e-03 -3.78442601e-02 5.05798432e+00] [-2.99436581e-03 9.99995104e-01 9.08522841e-04 6.26915032e-01] [ 3.78468245e-02 -7.94548298e-04 9.99283236e-01 1.68210716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26255784400007 meters Centerline goodness : 0.134837 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99272077e-01 2.82295097e-03 -3.80440118e-02 5.05895210e+00] [-2.81743976e-03 9.99996011e-01 1.98475979e-04 6.30446347e-01] [ 3.80444203e-02 -9.11447919e-05 9.99276045e-01 1.68123292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.29255784400004 meters Centerline goodness : 0.136048 Centerline is valid? [False, False] Translation: X:5.06, Y:0.63, Z:1.68 [[ 9.99267824e-01 2.57046564e-03 -3.81733910e-02 5.05955643e+00] [-2.59171962e-03 9.99996513e-01 -5.07299682e-04 6.33818141e-01] [ 3.81719539e-02 6.05862976e-04 9.99271002e-01 1.68066491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3225578440001 meters Centerline goodness : 0.122910 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99264020e-01 2.19174920e-03 -3.82964115e-02 5.06008355e+00] [-2.25019871e-03 9.99996368e-01 -1.48320343e-03 6.38743280e-01] [ 3.82930216e-02 1.56828636e-03 9.99265323e-01 1.68014058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.35255784400005 meters Centerline goodness : 0.148848 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99255722e-01 2.02633850e-03 -3.85213775e-02 5.06078709e+00] [-2.09882398e-03 9.99996102e-01 -1.84134822e-03 6.40505160e-01] [ 3.85174961e-02 1.92082733e-03 9.99256080e-01 1.67986755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3825578440001 meters Centerline goodness : 0.148641 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99244647e-01 1.87598857e-03 -3.88151403e-02 5.06166761e+00] [-1.95738644e-03 9.99995964e-01 -2.05916851e-03 6.41377227e-01] [ 3.88111207e-02 2.13358934e-03 9.99244287e-01 1.67963556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.41255784400005 meters Centerline goodness : 0.124124 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99238095e-01 1.71329437e-03 -3.89909568e-02 5.06194979e+00] [-1.80029784e-03 9.99995967e-01 -2.19637387e-03 6.41571188e-01] [ 3.89870366e-02 2.26489578e-03 9.99237150e-01 1.67992910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4425578440001 meters Centerline goodness : 0.123385 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99248085e-01 1.59885254e-03 -3.87389649e-02 5.06084380e+00] [-1.68607596e-03 9.99996117e-01 -2.21900219e-03 6.41365219e-01] [ 3.87352666e-02 2.28265053e-03 9.99246901e-01 1.68071578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.47255784400005 meters Centerline goodness : 0.156746 Centerline is valid? [False, False] Translation: X:5.06, Y:0.64, Z:1.68 [[ 9.99268693e-01 1.50189768e-03 -3.82076275e-02 5.05898633e+00] [-1.58773649e-03 9.99996283e-01 -2.21639699e-03 6.41212207e-01] [ 3.82041567e-02 2.27543977e-03 9.99267364e-01 1.68163052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5025578440001 meters Centerline goodness : 0.121300 Centerline is valid? [False, False] Translation: X:5.08, Y:0.64, Z:1.68 [[ 9.99394680e-01 -4.76594604e-03 -3.44609837e-02 5.07828737e+00] [ 4.77641383e-03 9.99988568e-01 2.21439152e-04 6.44494986e-01] [ 3.44595344e-02 -3.85905030e-04 9.99406019e-01 1.68222585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.53255784400005 meters Centerline goodness : 0.153401 Centerline is valid? [False, False] Translation: X:5.08, Y:0.64, Z:1.68 [[ 9.99397470e-01 -4.76253349e-03 -3.43804586e-02 5.07807581e+00] [ 4.77263594e-03 9.99988588e-01 2.11781332e-04 6.44766706e-01] [ 3.43790576e-02 -3.75739139e-04 9.99408795e-01 1.68226100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5625578440001 meters Centerline goodness : 0.121618 Centerline is valid? [False, False] Translation: X:5.08, Y:0.65, Z:1.68 [[ 9.99391960e-01 -4.83726865e-03 -3.45298447e-02 5.07866428e+00] [ 4.84268096e-03 9.99988271e-01 7.31107869e-05 6.45298695e-01] [ 3.45290860e-02 -2.40283354e-04 9.99403664e-01 1.68190574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.59255784400005 meters Centerline goodness : 0.121648 Centerline is valid? [False, False] Translation: X:5.08, Y:0.65, Z:1.68 [[ 9.99379315e-01 -4.96934308e-03 -3.48753444e-02 5.07973710e+00] [ 4.96550721e-03 9.99987652e-01 -1.96601081e-04 6.46355366e-01] [ 3.48758908e-02 2.33052802e-05 9.99391651e-01 1.68154867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6225578440001 meters Centerline goodness : 0.119487 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99367262e-01 3.09023790e-03 -3.54334076e-02 5.10031962e+00] [-3.15327596e-03 9.99993544e-01 -1.72331198e-03 6.45090584e-01] [ 3.54278534e-02 1.83395289e-03 9.99370554e-01 1.68339010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.65255784400006 meters Centerline goodness : 0.126027 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99363506e-01 2.99438440e-03 -3.55473837e-02 5.10070709e+00] [-3.06894915e-03 9.99993203e-01 -2.04323721e-03 6.46843120e-01] [ 3.55410238e-02 2.15102981e-03 9.99365903e-01 1.68316027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6825578440001 meters Centerline goodness : 0.117962 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99362329e-01 2.80826825e-03 -3.55956353e-02 5.10090691e+00] [-2.90536400e-03 9.99992198e-01 -2.67631121e-03 6.50356625e-01] [ 3.55878418e-02 2.77802288e-03 9.99362691e-01 1.68296404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.71255784400006 meters Centerline goodness : 0.121306 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99361080e-01 2.64535680e-03 -3.56431494e-02 5.10120201e+00] [-2.75690265e-03 9.99991454e-01 -3.08073267e-03 6.52283447e-01] [ 3.56346951e-02 3.17702902e-03 9.99359833e-01 1.68260965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7425578440001 meters Centerline goodness : 0.120735 Centerline is valid? [False, False] Translation: X:5.10, Y:0.65, Z:1.68 [[ 9.99363646e-01 2.51467643e-03 -3.55806062e-02 5.10111616e+00] [-2.63909043e-03 9.99990566e-01 -3.45014723e-03 6.54268373e-01] [ 3.55715945e-02 3.54185216e-03 9.99360854e-01 1.68245003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.77255784400006 meters Centerline goodness : 0.154236 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99371649e-01 2.43456809e-03 -3.53607070e-02 5.10033896e+00] [-2.56820711e-03 9.99989729e-01 -3.73437898e-03 6.55987776e-01] [ 3.53512522e-02 3.82284610e-03 9.99367637e-01 1.68277484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80255784400003 meters Centerline goodness : 0.146882 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99383727e-01 2.32025456e-03 -3.50254498e-02 5.09906689e+00] [-2.46384510e-03 9.99988735e-01 -4.05700071e-03 6.57723958e-01] [ 3.50156420e-02 4.14079777e-03 9.99378186e-01 1.68339429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.83255784400006 meters Centerline goodness : 0.129996 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99389624e-01 2.20401569e-03 -3.48643319e-02 5.09819405e+00] [-2.35695598e-03 9.99987777e-01 -4.34623576e-03 6.59190398e-01] [ 3.48543266e-02 4.42575662e-03 9.99382604e-01 1.68408227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86255784400004 meters Centerline goodness : 0.129974 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99395573e-01 2.01158551e-03 -3.47050669e-02 5.09765994e+00] [-2.17841265e-03 9.99986251e-01 -4.76985391e-03 6.61154524e-01] [ 3.46949948e-02 4.84257284e-03 9.99386215e-01 1.68424442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.89255784400007 meters Centerline goodness : 0.239321 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99397111e-01 1.95216281e-03 -3.46641576e-02 5.09755829e+00] [-2.12216061e-03 9.99985899e-01 -4.86802236e-03 6.61531483e-01] [ 3.46541657e-02 4.93865039e-03 9.99387161e-01 1.68426526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92255784400004 meters Centerline goodness : 0.231851 Centerline is valid? [False, False] Translation: X:5.10, Y:0.66, Z:1.68 [[ 9.99401256e-01 1.90020715e-03 -3.45473267e-02 5.09724864e+00] [-2.07247999e-03 9.99985594e-01 -4.95144885e-03 6.61830660e-01] [ 3.45374202e-02 5.02008284e-03 9.99390797e-01 1.68429310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.95255784400007 meters Centerline goodness : 0.151852 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99398900e-01 -5.59417671e-03 -3.42132206e-02 5.11596965e+00] [ 5.47239275e-03 9.99978357e-01 -3.65216549e-03 6.67476718e-01] [ 3.42329110e-02 3.46274200e-03 9.99407883e-01 1.68641144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98255784400004 meters Centerline goodness : 0.155038 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99399809e-01 -5.55760601e-03 -3.41926201e-02 5.11584205e+00] [ 5.43841278e-03 9.99978811e-01 -3.57795210e-03 6.67206762e-01] [ 3.42117804e-02 3.38985106e-03 9.99408857e-01 1.68653141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.01255784400007 meters Centerline goodness : 0.125633 Centerline is valid? [False, False] Translation: X:5.12, Y:0.67, Z:1.69 [[ 9.99398847e-01 -5.49748912e-03 -3.42304238e-02 5.11594117e+00] [ 5.38369624e-03 9.99979675e-01 -3.41560374e-03 6.66319446e-01] [ 3.42485052e-02 3.22926423e-03 9.99408131e-01 1.68656336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04255784400004 meters Centerline goodness : 0.128760 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99382468e-01 -5.54278486e-03 -3.46981184e-02 5.11749453e+00] [ 5.44064341e-03 9.99980586e-01 -3.03744480e-03 6.62888406e-01] [ 3.47142807e-02 2.84678899e-03 9.99393223e-01 1.68612973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0725578440001 meters Centerline goodness : 0.124635 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99381186e-01 -5.36712196e-03 -3.47626141e-02 5.11769329e+00] [ 5.28148919e-03 9.99982789e-01 -2.55471741e-03 6.60383711e-01] [ 3.47757273e-02 2.36953814e-03 9.99392332e-01 1.68612375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10255784400005 meters Centerline goodness : 0.151335 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.69 [[ 9.99379073e-01 -5.13150903e-03 -3.48587938e-02 5.11817871e+00] [ 5.06510003e-03 9.99985186e-01 -1.99312793e-03 6.57713718e-01] [ 3.48685051e-02 1.81532707e-03 9.99390260e-01 1.68578538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1325578440001 meters Centerline goodness : 0.126509 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99371848e-01 -4.89644612e-03 -3.50989297e-02 5.11896802e+00] [ 4.84941726e-03 9.99987226e-01 -1.42490067e-03 6.54919663e-01] [ 3.51054584e-02 1.25379626e-03 9.99382827e-01 1.68558550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16255784400005 meters Centerline goodness : 0.132599 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99364233e-01 -4.67174874e-03 -3.53455099e-02 5.11970120e+00] [ 4.64370014e-03 9.99988835e-01 -8.75606399e-04 6.52031036e-01] [ 3.53492059e-02 7.10915768e-04 9.99374769e-01 1.68548966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1925578440001 meters Centerline goodness : 0.124865 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99359511e-01 -4.49859915e-03 -3.55011347e-02 5.12010120e+00] [ 4.48568568e-03 9.99989841e-01 -4.43388494e-04 6.49637886e-01] [ 3.55027686e-02 2.83857577e-04 9.99369538e-01 1.68555898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22255784400005 meters Centerline goodness : 0.121586 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99364987e-01 -4.07940068e-03 -3.53974770e-02 5.11980640e+00] [ 4.08692223e-03 9.99991639e-01 1.40134599e-04 6.47326976e-01] [ 3.53966094e-02 -2.84712347e-04 9.99373303e-01 1.68563456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2525578440001 meters Centerline goodness : 0.121740 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.69 [[ 9.99361649e-01 -3.93261461e-03 -3.55081489e-02 5.12038241e+00] [ 3.94096848e-03 9.99992221e-01 1.65278509e-04 6.47721720e-01] [ 3.55072227e-02 -3.05109499e-04 9.99369373e-01 1.68512984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28255784400005 meters Centerline goodness : 0.121762 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99351734e-01 -3.80690487e-03 -3.57997022e-02 5.12153752e+00] [ 3.81158629e-03 9.99992734e-01 6.25189279e-05 6.48628413e-01] [ 3.57992040e-02 -1.98932053e-04 9.99358983e-01 1.68432650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3125578440001 meters Centerline goodness : 0.137262 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99341806e-01 -3.67424424e-03 -3.60895380e-02 5.12259699e+00] [ 3.67294803e-03 9.99993249e-01 -1.02215682e-04 6.49936758e-01] [ 3.60896700e-02 -3.04065935e-05 9.99348555e-01 1.68367837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34255784400005 meters Centerline goodness : 0.119392 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99339740e-01 -3.48256378e-03 -3.61656688e-02 5.12281712e+00] [ 3.47534399e-03 9.99993927e-01 -2.62493929e-04 6.51517167e-01] [ 3.61663633e-02 1.36632475e-04 9.99345774e-01 1.68344250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3725578440001 meters Centerline goodness : 0.119033 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:1.68 [[ 9.99350006e-01 6.54219868e-04 -3.60435493e-02 5.12209469e+00] [-5.35441587e-04 9.99994395e-01 3.30496442e-03 6.53883784e-01] [ 3.60455094e-02 -3.28351700e-03 9.99344755e-01 1.68382518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40255784400006 meters Centerline goodness : 0.121638 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99365149e-01 7.28094230e-04 -3.56197682e-02 5.12092527e+00] [-6.21296004e-04 9.99995279e-01 3.00926213e-03 6.56037056e-01] [ 3.56217910e-02 -2.98522127e-03 9.99360884e-01 1.68384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4325578440001 meters Centerline goodness : 0.121223 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99378293e-01 6.70830167e-04 -3.52502029e-02 5.11994213e+00] [-5.79512377e-04 9.99996450e-01 2.60071399e-03 6.58395318e-01] [ 3.52518224e-02 -2.57866918e-03 9.99375135e-01 1.68375933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46255784400006 meters Centerline goodness : 0.121223 Centerline is valid? [False, False] Translation: X:5.12, Y:0.66, Z:1.68 [[ 9.99378293e-01 6.70830167e-04 -3.52502029e-02 5.11994213e+00] [-5.79512377e-04 9.99996450e-01 2.60071399e-03 6.58395318e-01] [ 3.52518224e-02 -2.57866918e-03 9.99375135e-01 1.68375933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4925578440001 meters Centerline goodness : 0.119197 Centerline is valid? [False, False] Translation: X:5.14, Y:0.66, Z:1.69 [[ 9.99385354e-01 9.06157923e-03 -3.38644527e-02 5.13966589e+00] [-9.03531461e-03 9.99958750e-01 9.28535544e-04 6.60031981e-01] [ 3.38714697e-02 -6.21988840e-04 9.99426004e-01 1.68543179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52255784400006 meters Centerline goodness : 0.144481 Centerline is valid? [False, False] Translation: X:5.09, Y:0.66, Z:1.69 [[ 9.99315694e-01 9.04121114e-03 -3.58664157e-02 5.09256445e+00] [-9.00200446e-03 9.99958694e-01 1.25447022e-03 6.58817924e-01] [ 3.58762762e-02 -9.30742148e-04 9.99355806e-01 1.68555732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.55255784400003 meters Centerline goodness : 0.118289 Centerline is valid? [False, False] Translation: X:5.11, Y:0.67, Z:1.69 [[ 9.99394865e-01 2.18683998e-03 -3.47148717e-02 5.10907816e+00] [-2.10644448e-03 9.99995015e-01 2.35228545e-03 6.71711322e-01] [ 3.47198427e-02 -2.27773705e-03 9.99394489e-01 1.68799660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58255784400006 meters Centerline goodness : 0.140013 Centerline is valid? [False, False] Translation: X:5.11, Y:0.67, Z:1.69 [[ 9.99403080e-01 1.96563346e-03 -3.44908560e-02 5.10815697e+00] [-1.90425519e-03 9.99996545e-01 1.81231144e-03 6.74466258e-01] [ 3.44942991e-02 -1.74555024e-03 9.99403370e-01 1.68843716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.61255784400004 meters Centerline goodness : 0.145147 Centerline is valid? [False, False] Translation: X:5.11, Y:0.68, Z:1.69 [[ 9.99409288e-01 1.73120166e-03 -3.43231409e-02 5.10735986e+00] [-1.68739403e-03 9.99997725e-01 1.30525495e-03 6.76926782e-01] [ 3.43253224e-02 -1.24656726e-03 9.99409935e-01 1.68895661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64255784400007 meters Centerline goodness : 0.143838 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99418003e-01 -6.04785023e-03 -3.35719983e-02 5.12569506e+00] [ 6.11886756e-03 9.99979253e-01 2.01303568e-03 6.86068303e-01] [ 3.35591273e-02 -2.21728671e-03 9.99434274e-01 1.69112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.67255784400004 meters Centerline goodness : 0.144529 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99413864e-01 -6.55169384e-03 -3.36006581e-02 5.12529751e+00] [ 6.59182830e-03 9.99977686e-01 1.08381625e-03 6.90491657e-01] [ 3.35928075e-02 -1.30467076e-03 9.99434751e-01 1.69167789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70255784400007 meters Centerline goodness : 0.149438 Centerline is valid? [False, False] Translation: X:5.13, Y:0.69, Z:1.69 [[ 9.99403335e-01 -6.77434087e-03 -3.38686158e-02 5.12604943e+00] [ 6.79863374e-03 9.99976708e-01 6.02154871e-04 6.92883520e-01] [ 3.38637478e-02 -8.32055901e-04 9.99426112e-01 1.69150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.73255784400004 meters Centerline goodness : 0.152666 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99394237e-01 -6.98696076e-03 -3.40931224e-02 5.12676786e+00] [ 6.99585716e-03 9.99975519e-01 1.41659618e-04 6.95299272e-01] [ 3.40912980e-02 -3.80084420e-04 9.99418650e-01 1.69119379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76255784400007 meters Centerline goodness : 0.146643 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99394034e-01 -7.20240370e-03 -3.40542125e-02 5.12668713e+00] [ 7.19542435e-03 9.99974059e-01 -3.27497909e-04 6.97671745e-01] [ 3.40556879e-02 8.22649459e-05 9.99419933e-01 1.69110374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.79255784400004 meters Centerline goodness : 0.143834 Centerline is valid? [False, False] Translation: X:5.13, Y:0.70, Z:1.69 [[ 9.99392489e-01 -7.43998978e-03 -3.40484901e-02 5.12655344e+00] [ 7.41690599e-03 9.99972171e-01 -8.04223569e-04 6.99884161e-01] [ 3.40535260e-02 5.51200544e-04 9.99419858e-01 1.69123665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8225578440001 meters Centerline goodness : 0.109295 Centerline is valid? [False, False] Translation: X:5.11, Y:0.70, Z:1.69 [[ 9.99398717e-01 2.64957300e-04 -3.46718164e-02 5.10699271e+00] [-3.45075471e-04 9.99997284e-01 -2.30479423e-03 6.96574563e-01] [ 3.46711116e-02 2.31537279e-03 9.99396094e-01 1.69009107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.85255784400005 meters Centerline goodness : 0.129261 Centerline is valid? [False, False] Translation: X:5.13, Y:0.71, Z:1.69 [[ 9.99353261e-01 -7.11298522e-03 -3.52486287e-02 5.12559925e+00] [ 7.06330120e-03 9.99973878e-01 -1.53385638e-03 7.05726798e-01] [ 3.52586182e-02 1.28389270e-03 9.99377397e-01 1.69243861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8825578440001 meters Centerline goodness : 0.150726 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99244082e-01 -7.53093233e-03 -3.81385683e-02 5.08093713e+00] [ 7.46969703e-03 9.99970574e-01 -1.74784149e-03 7.07305115e-01] [ 3.81506089e-02 1.46163672e-03 9.99270932e-01 1.69202567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.91255784400005 meters Centerline goodness : 0.120552 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99244807e-01 -7.68866086e-03 -3.80880580e-02 5.08074527e+00] [ 7.61506186e-03 9.99968848e-01 -2.07703750e-03 7.08929248e-01] [ 3.81028411e-02 1.78542602e-03 9.99272228e-01 1.69210092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9425578440001 meters Centerline goodness : 0.101996 Centerline is valid? [False, False] Translation: X:5.08, Y:0.71, Z:1.69 [[ 9.99245697e-01 -7.83774532e-03 -3.80342813e-02 5.08051527e+00] [ 7.75435076e-03 9.99967198e-01 -2.33964175e-03 7.10102218e-01] [ 3.80513712e-02 2.04294579e-03 9.99273696e-01 1.69225490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.97255784400005 meters Centerline goodness : 0.115154 Centerline is valid? [False, False] Translation: X:5.10, Y:0.71, Z:1.69 [[ 9.99293428e-01 -2.86850987e-04 -3.75840746e-02 5.09933952e+00] [ 1.41300541e-04 9.99992481e-01 -3.87526179e-03 7.08836868e-01] [ 3.75849036e-02 3.86721299e-03 9.99285955e-01 1.69418494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0025578440001 meters Centerline goodness : 0.155005 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:1.69 [[ 9.99182855e-01 -1.22015750e-03 -4.03996810e-02 5.05493141e+00] [ 1.04262352e-03 9.99989709e-01 -4.41521791e-03 7.06902691e-01] [ 4.04046525e-02 4.36948838e-03 9.99173845e-01 1.69302854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.03255784400005 meters Centerline goodness : 0.161442 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99155661e-01 -1.55165587e-03 -4.10555335e-02 5.05682741e+00] [ 1.35584271e-03 9.99987576e-01 -4.79688506e-03 7.08064239e-01] [ 4.10624665e-02 4.73717002e-03 9.99145351e-01 1.69262985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0625578440001 meters Centerline goodness : 0.161624 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99146522e-01 -1.61188081e-03 -4.12750517e-02 5.05737888e+00] [ 1.41480840e-03 9.99987463e-01 -4.80337876e-03 7.07892068e-01] [ 4.12822767e-02 4.74088289e-03 9.99136276e-01 1.69266768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.09255784400005 meters Centerline goodness : 0.165417 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99144641e-01 -1.66428734e-03 -4.13184736e-02 5.05736731e+00] [ 1.46750011e-03 9.99987439e-01 -4.79256716e-03 7.07672742e-01] [ 4.13259308e-02 4.72783293e-03 9.99134533e-01 1.69287615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1225578440001 meters Centerline goodness : 0.158694 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99139971e-01 -1.70711612e-03 -4.14295046e-02 5.05761661e+00] [ 1.51049862e-03 9.99987451e-01 -4.77667188e-03 7.07434794e-01] [ 4.14371390e-02 4.70998460e-03 9.99130011e-01 1.69295755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.15255784400006 meters Centerline goodness : 0.156103 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:1.69 [[ 9.99137556e-01 -1.71651499e-03 -4.14873146e-02 5.05787904e+00] [ 1.52270587e-03 9.99987783e-01 -4.70267589e-03 7.06887640e-01] [ 4.14948800e-02 4.63544712e-03 9.99127964e-01 1.69280811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1825578440001 meters Centerline goodness : 0.157267 Centerline is valid? [False, False] Translation: X:5.04, Y:0.70, Z:1.69 [[ 0.99910605 0.00590384 -0.04185981 5.03942469] [-0.00616521 0.99996228 -0.00611766 0.70040649] [ 0.04182212 0.00637026 0.99910476 1.69028566] [ 0. 0. 0. 1. ]] SLAMing on 489.21255784400006 meters Centerline goodness : 0.156563 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99105431e-01 -2.13451776e-03 -4.22348400e-02 5.05900228e+00] [ 1.91671922e-03 9.99984660e-01 -5.19666777e-03 7.04267601e-01] [ 4.22452845e-02 5.11106666e-03 9.99094196e-01 1.69207031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2425578440001 meters Centerline goodness : 0.157150 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99101619e-01 -2.03887628e-03 -4.23296305e-02 5.05930269e+00] [ 1.83134948e-03 9.99986117e-01 -4.94083560e-03 7.03021711e-01] [ 4.23391166e-02 4.85887650e-03 9.99091483e-01 1.69197489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.27255784400006 meters Centerline goodness : 0.150008 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99097503e-01 -1.79917821e-03 -4.24375190e-02 5.05952301e+00] [ 1.61669125e-03 9.99989301e-01 -4.33406036e-03 7.00139308e-01] [ 4.24448627e-02 4.26154052e-03 9.99089722e-01 1.69210440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30255784400003 meters Centerline goodness : 0.155893 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99100847e-01 -1.63886363e-03 -4.23652174e-02 5.05928438e+00] [ 1.47410962e-03 9.99991231e-01 -3.91984492e-03 6.98099625e-01] [ 4.23712700e-02 3.85386941e-03 9.99094502e-01 1.69223083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.33255784400006 meters Centerline goodness : 0.123819 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:1.69 [[ 9.99102655e-01 -1.48840037e-03 -4.23281193e-02 5.05913030e+00] [ 1.34187740e-03 9.99993010e-01 -3.48980048e-03 6.95802816e-01] [ 4.23330177e-02 3.42986978e-03 9.99097669e-01 1.69236010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36255784400004 meters Centerline goodness : 0.138902 Centerline is valid? [False, False] Translation: X:5.01, Y:0.69, Z:1.69 [[ 9.98989989e-01 -2.06930545e-03 -4.48856397e-02 5.01365376e+00] [ 1.91745552e-03 9.99992293e-01 -3.42583135e-03 6.89277199e-01] [ 4.48923829e-02 3.33630501e-03 9.98986258e-01 1.69186158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.39255784400007 meters Centerline goodness : 0.114129 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98981094e-01 -1.80410594e-03 -4.50945571e-02 5.01417690e+00] [ 1.68773782e-03 9.99995148e-01 -2.61847604e-03 6.84930010e-01] [ 4.50990622e-02 2.53970027e-03 9.98979291e-01 1.69193203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42255784400004 meters Centerline goodness : 0.140988 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98982645e-01 -1.65082774e-03 -4.50660533e-02 5.01408531e+00] [ 1.55082777e-03 9.99996258e-01 -2.25383698e-03 6.83179628e-01] [ 4.50696053e-02 2.18165434e-03 9.98981467e-01 1.69200195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.45255784400007 meters Centerline goodness : 0.142113 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.98991926e-01 -1.51858293e-03 -4.48645369e-02 5.01344026e+00] [ 1.43272453e-03 9.99997081e-01 -1.94581868e-03 6.81610435e-01] [ 4.48673608e-02 1.87957863e-03 9.98991185e-01 1.69224383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48255784400004 meters Centerline goodness : 0.113720 Centerline is valid? [False, False] Translation: X:5.01, Y:0.68, Z:1.69 [[ 9.99000141e-01 -1.41127313e-03 -4.46847509e-02 5.01272226e+00] [ 1.33828307e-03 9.99997721e-01 -1.66331770e-03 6.80005940e-01] [ 4.46869965e-02 1.60185377e-03 9.98999753e-01 1.69268622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.51255784400007 meters Centerline goodness : 0.152981 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99012506e-01 6.39904895e-03 -4.39666248e-02 4.99333266e+00] [-6.51579563e-03 9.99975615e-01 -2.51255161e-03 6.72516651e-01] [ 4.39494747e-02 2.79654803e-03 9.99029841e-01 1.69021613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54255784400004 meters Centerline goodness : 0.149188 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99012380e-01 6.72587252e-03 -4.39206950e-02 4.99362450e+00] [-6.81226314e-03 9.99975144e-01 -1.81759118e-03 6.69425222e-01] [ 4.39073784e-02 2.11499542e-03 9.99033367e-01 1.68964407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5725578440001 meters Centerline goodness : 0.138265 Centerline is valid? [False, False] Translation: X:4.99, Y:0.67, Z:1.69 [[ 9.99011239e-01 6.91587704e-03 -4.39171298e-02 4.99374592e+00] [-6.97982777e-03 9.99974792e-01 -1.30299251e-03 6.66784161e-01] [ 4.39070114e-02 1.60823817e-03 9.99034328e-01 1.68946519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60255784400005 meters Centerline goodness : 0.119808 Centerline is valid? [False, False] Translation: X:4.99, Y:0.66, Z:1.69 [[ 9.99054741e-01 4.67319595e-03 -4.32178756e-02 4.99097124e+00] [-4.81691390e-03 9.99983208e-01 -3.22188890e-03 6.63115980e-01] [ 4.32020934e-02 3.42702016e-03 9.99060476e-01 1.69042311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6325578440001 meters Centerline goodness : 0.130259 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99083763e-01 -3.34180796e-03 -4.26669381e-02 5.01082862e+00] [ 3.25073193e-03 9.99992288e-01 -2.20378371e-03 6.64358882e-01] [ 4.26739737e-02 2.06306574e-03 9.99086921e-01 1.69206077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66255784400005 meters Centerline goodness : 0.105929 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99083830e-01 -3.16079016e-03 -4.26791577e-02 5.01089518e+00] [ 3.08968889e-03 9.99993727e-01 -1.73180825e-03 6.61862055e-01] [ 4.26843639e-02 1.59835630e-03 9.99087329e-01 1.69205637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6925578440001 meters Centerline goodness : 0.117921 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99080886e-01 -3.00330615e-03 -4.27593735e-02 5.01115939e+00] [ 2.94662548e-03 9.99994695e-01 -1.38853814e-03 6.60213423e-01] [ 4.27633168e-02 1.26126606e-03 9.99084435e-01 1.69196831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72255784400005 meters Centerline goodness : 0.120680 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99081601e-01 -2.68393040e-03 -4.27638898e-02 5.01162539e+00] [ 2.64567194e-03 9.99996048e-01 -9.51214697e-04 6.58630058e-01] [ 4.27662737e-02 8.37201880e-04 9.99084754e-01 1.69124922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7525578440001 meters Centerline goodness : 0.163328 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078739e-01 -2.59929806e-03 -4.28359258e-02 5.01206667e+00] [ 2.56131842e-03 9.99996277e-01 -9.41490085e-04 6.58742246e-01] [ 4.28382135e-02 8.30906281e-04 9.99081677e-01 1.69080320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78255784400005 meters Centerline goodness : 0.125241 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99075895e-01 -2.56677801e-03 -4.29041630e-02 5.01243204e+00] [ 2.52702782e-03 9.99996326e-01 -9.80697350e-04 6.59052352e-01] [ 4.29065226e-02 8.71371069e-04 9.99078711e-01 1.69046721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8125578440001 meters Centerline goodness : 0.141827 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99073202e-01 -2.52198233e-03 -4.29694798e-02 5.01281914e+00] [ 2.48038289e-03 9.99996402e-01 -1.02140358e-03 6.59515129e-01] [ 4.29719011e-02 9.13876182e-04 9.99075863e-01 1.69004729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84255784400005 meters Centerline goodness : 0.145939 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99070146e-01 -2.50439128e-03 -4.30415066e-02 5.01304829e+00] [ 2.45832730e-03 9.99996348e-01 -1.12311853e-03 6.60343126e-01] [ 4.30441621e-02 1.01626408e-03 9.99072654e-01 1.68989449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8725578440001 meters Centerline goodness : 0.145465 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99069658e-01 -2.52533803e-03 -4.30516014e-02 5.01306818e+00] [ 2.47375967e-03 9.99996157e-01 -1.25129134e-03 6.61152768e-01] [ 4.30545959e-02 1.14362790e-03 9.99072066e-01 1.68988077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90255784400006 meters Centerline goodness : 0.143743 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078769e-01 -2.56061524e-03 -4.28375655e-02 5.01245577e+00] [ 2.50530630e-03 9.99995958e-01 -1.34476724e-03 6.61538190e-01] [ 4.28408358e-02 1.23620718e-03 9.99081145e-01 1.68994203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9325578440001 meters Centerline goodness : 0.145266 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99079401e-01 -2.54184591e-03 -4.28239478e-02 5.01234440e+00] [ 2.49063629e-03 9.99996118e-01 -1.24912891e-03 6.60983506e-01] [ 4.28269566e-02 1.14132009e-03 9.99081853e-01 1.69006834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96255784400006 meters Centerline goodness : 0.138508 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99077269e-01 -2.47359029e-03 -4.28776434e-02 5.01235501e+00] [ 2.43074228e-03 9.99996493e-01 -1.05141650e-03 6.60142606e-01] [ 4.28800938e-02 9.46221823e-04 9.99079778e-01 1.69028300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9925578440001 meters Centerline goodness : 0.121966 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99067157e-01 -2.44145567e-03 -4.31144528e-02 5.01292047e+00] [ 2.40624129e-03 9.99996728e-01 -8.68642290e-04 6.59206565e-01] [ 4.31164324e-02 7.64088207e-04 9.99069762e-01 1.69037523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02255784400006 meters Centerline goodness : 0.147133 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99051255e-01 -2.41521860e-03 -4.34828295e-02 5.01385067e+00] [ 2.38790687e-03 9.99996918e-01 -6.80034013e-04 6.58093576e-01] [ 4.34843379e-02 5.75555887e-04 9.99053943e-01 1.69038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.05255784400003 meters Centerline goodness : 0.147728 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99040386e-01 -2.41250659e-03 -4.37319982e-02 5.01432226e+00] [ 2.39324596e-03 9.99997015e-01 -4.92774667e-04 6.56791874e-01] [ 4.37330564e-02 3.87640366e-04 9.99043177e-01 1.69065299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08255784400006 meters Centerline goodness : 0.148767 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99053972e-01 -2.35596887e-03 -4.34236271e-02 5.01331047e+00] [ 2.34022531e-03 9.99997176e-01 -4.13388610e-04 6.56612246e-01] [ 4.34244784e-02 3.11376461e-04 9.99056664e-01 1.69101841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.11255784400004 meters Centerline goodness : 0.140230 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99075014e-01 -2.31542096e-03 -4.29389816e-02 5.01176261e+00] [ 2.29854862e-03 9.99997261e-01 -4.42305032e-04 6.57062346e-01] [ 4.29398881e-02 3.43198569e-04 9.99077599e-01 1.69154102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14255784400007 meters Centerline goodness : 0.147356 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99086865e-01 -2.32461236e-03 -4.26618420e-02 5.01096249e+00] [ 2.30247144e-03 9.99997188e-01 -5.68115430e-04 6.57883556e-01] [ 4.26630427e-02 4.69368991e-04 9.99089408e-01 1.69166723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.17255784400004 meters Centerline goodness : 0.132550 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99088128e-01 -2.37538668e-03 -4.26294475e-02 5.01120088e+00] [ 2.34525967e-03 9.99996964e-01 -7.56715686e-04 6.58806995e-01] [ 4.26311156e-02 6.56048534e-04 9.99090665e-01 1.69113116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20255784400007 meters Centerline goodness : 0.143485 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99082939e-01 -2.40848178e-03 -4.27490419e-02 5.01179597e+00] [ 2.37312098e-03 9.99996799e-01 -8.77899888e-04 6.59388107e-01] [ 4.27510195e-02 7.75646152e-04 9.99085456e-01 1.69063733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.23255784400004 meters Centerline goodness : 0.107227 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99078752e-01 -2.37963945e-03 -4.28483897e-02 5.01217958e+00] [ 2.34564829e-03 9.99996893e-01 -8.43548474e-04 6.59223399e-01] [ 4.28502640e-02 7.42264105e-04 9.99081230e-01 1.69043985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26255784400007 meters Centerline goodness : 0.332860 Centerline is valid? [False, False] Translation: X:5.01, Y:0.66, Z:1.69 [[ 9.99088087e-01 -2.25849400e-03 -4.26367583e-02 5.01111278e+00] [ 2.24527113e-03 9.99997415e-01 -3.58013249e-04 6.56577610e-01] [ 4.26374566e-02 2.61955690e-04 9.99090576e-01 1.69126489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.29255784400004 meters Centerline goodness : 0.118712 Centerline is valid? [False, False] Translation: X:5.01, Y:0.65, Z:1.69 [[ 9.99092549e-01 -2.12214216e-03 -4.25391053e-02 5.01048984e+00] [ 2.12835500e-03 9.99997730e-01 1.00761051e-04 6.54244738e-01] [ 4.25387949e-02 -1.91207933e-04 9.99094797e-01 1.69191814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3225578440001 meters Centerline goodness : 0.167333 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99127287e-01 3.65556224e-03 -4.16088977e-02 5.03286972e+00] [-3.77348010e-03 9.99989083e-01 -2.75577120e-03 6.51330608e-01] [ 4.15983696e-02 2.91037655e-03 9.99130174e-01 1.69223408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.35255784400005 meters Centerline goodness : 0.167333 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99127287e-01 3.65556224e-03 -4.16088977e-02 5.03286972e+00] [-3.77348010e-03 9.99989083e-01 -2.75577120e-03 6.51330608e-01] [ 4.15983696e-02 2.91037655e-03 9.99130174e-01 1.69223408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3825578440001 meters Centerline goodness : 0.216090 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99119931e-01 3.78537529e-03 -4.17736180e-02 5.03356444e+00] [-3.88178559e-03 9.99989986e-01 -2.22705068e-03 6.48247314e-01] [ 4.17647695e-02 2.38724695e-03 9.99124619e-01 1.69185963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.41255784400005 meters Centerline goodness : 0.219702 Centerline is valid? [False, False] Translation: X:5.03, Y:0.65, Z:1.69 [[ 9.99108042e-01 3.92733952e-03 -4.20439923e-02 5.03458466e+00] [-4.00266177e-03 9.99990532e-01 -1.70747873e-03 6.45202525e-01] [ 4.20368884e-02 1.87424361e-03 9.99114301e-01 1.69141347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4425578440001 meters Centerline goodness : 0.131379 Centerline is valid? [False, False] Translation: X:5.04, Y:0.64, Z:1.69 [[ 9.99100978e-01 4.11058152e-03 -4.21940517e-02 5.03501216e+00] [-4.16411536e-03 9.99990633e-01 -1.18094179e-03 6.42373252e-01] [ 4.21888021e-02 1.35558100e-03 9.99108737e-01 1.69136548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.47255784400005 meters Centerline goodness : 0.116785 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99208815e-01 -3.13764837e-03 -3.96471769e-02 5.05356524e+00] [ 3.17332099e-03 9.99994615e-01 8.36852394e-04 6.40945758e-01] [ 3.96443377e-02 -9.62003508e-04 9.99213391e-01 1.69348196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5025578440001 meters Centerline goodness : 0.139996 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99216482e-01 -2.92454835e-03 -3.94698463e-02 5.05279109e+00] [ 2.97846611e-03 9.99994710e-01 1.30731567e-03 6.38772302e-01] [ 3.94658142e-02 -1.42385096e-03 9.99219907e-01 1.69399868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.53255784400005 meters Centerline goodness : 0.118314 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:1.69 [[ 9.99215581e-01 -2.78110077e-03 -3.95030132e-02 5.05292445e+00] [ 2.84908989e-03 9.99994555e-01 1.66492060e-03 6.36850303e-01] [ 3.94981678e-02 -1.77616224e-03 9.99218064e-01 1.69395575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5625578440001 meters Centerline goodness : 0.129781 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99208948e-01 -2.64585754e-03 -3.96796885e-02 5.05362235e+00] [ 2.72899834e-03 9.99994193e-01 2.04128100e-03 6.34803670e-01] [ 3.96740571e-02 -2.14795205e-03 9.99210366e-01 1.69357541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.59255784400005 meters Centerline goodness : 0.132308 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99199068e-01 -2.48238791e-03 -3.99381966e-02 5.05451199e+00] [ 2.58179295e-03 9.99993696e-01 2.43758730e-03 6.32817991e-01] [ 3.99318938e-02 -2.53874712e-03 9.99199179e-01 1.69321836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6225578440001 meters Centerline goodness : 0.139537 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99195758e-01 -2.27138251e-03 -4.00334704e-02 5.05485597e+00] [ 2.39018049e-03 9.99992881e-01 2.91985336e-03 6.30567275e-01] [ 4.00265532e-02 -3.01319231e-03 9.99194073e-01 1.69307649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.65255784400006 meters Centerline goodness : 0.137198 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:1.69 [[ 9.99198373e-01 -1.95945951e-03 -3.99846566e-02 5.05449773e+00] [ 2.11666340e-03 9.99990195e-01 3.88965025e-03 6.25609124e-01] [ 3.99766430e-02 -3.97116625e-03 9.99192723e-01 1.69355920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6825578440001 meters Centerline goodness : 0.142364 Centerline is valid? [False, False] Translation: X:5.05, Y:0.62, Z:1.69 [[ 9.99196133e-01 -1.87731431e-03 -4.00445165e-02 5.05454056e+00] [ 2.05789434e-03 9.99987898e-01 4.46873860e-03 6.22189772e-01] [ 4.00356426e-02 -4.54755371e-03 9.99187904e-01 1.69382151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.71255784400006 meters Centerline goodness : 0.131613 Centerline is valid? [False, False] Translation: X:5.05, Y:0.62, Z:1.69 [[ 9.99189900e-01 -1.89187415e-03 -4.01990530e-02 5.05485474e+00] [ 2.09586064e-03 9.99985139e-01 5.03287349e-03 6.18475688e-01] [ 4.01889340e-02 -5.11304797e-03 9.99179016e-01 1.69403761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7425578440001 meters Centerline goodness : 0.135487 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99176377e-01 -1.90829694e-03 -4.05330140e-02 5.05574054e+00] [ 2.13541027e-03 9.99982260e-01 5.56061316e-03 6.14958248e-01] [ 4.05216837e-02 -5.64258793e-03 9.99162727e-01 1.69404142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.77255784400006 meters Centerline goodness : 0.143002 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99150365e-01 -1.93406182e-03 -4.11680387e-02 5.05746541e+00] [ 2.18436866e-03 9.99979397e-01 6.03601197e-03 6.11714820e-01] [ 4.11555165e-02 -6.12080973e-03 9.99134005e-01 1.69387952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80255784400003 meters Centerline goodness : 0.135042 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99138177e-01 -1.83922040e-03 -4.14671061e-02 5.05835477e+00] [ 2.11408805e-03 9.99976079e-01 6.58569387e-03 6.08568974e-01] [ 4.14540017e-02 -6.66768328e-03 9.99118165e-01 1.69373474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.83255784400006 meters Centerline goodness : 0.137780 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:1.69 [[ 9.99130146e-01 -5.43158751e-03 -4.13454881e-02 5.05772435e+00] [ 5.58722400e-03 9.99977731e-01 3.64966984e-03 6.05143580e-01] [ 4.13247439e-02 -3.87750166e-03 9.99138244e-01 1.69427568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86255784400004 meters Centerline goodness : 0.137301 Centerline is valid? [False, False] Translation: X:5.08, Y:0.60, Z:1.70 [[ 9.99180585e-01 2.09378590e-03 -4.04199862e-02 5.07525964e+00] [-2.01460191e-03 9.99995971e-01 1.99966308e-03 5.98594918e-01] [ 4.04240103e-02 -1.91659435e-03 9.99180777e-01 1.69713960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.89255784400007 meters Centerline goodness : 0.116408 Centerline is valid? [False, False] Translation: X:5.07, Y:0.60, Z:1.70 [[ 9.99193518e-01 2.08820630e-03 -4.00992868e-02 5.07404646e+00] [-1.99311375e-03 9.99995107e-01 2.41125824e-03 5.95802232e-01] [ 4.01041258e-02 -2.32939117e-03 9.99192791e-01 1.69782614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92255784400004 meters Centerline goodness : 0.136434 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99206499e-01 -1.61742955e-03 -3.97964370e-02 5.07299124e+00] [ 1.59506870e-03 9.99998552e-01 -5.93625830e-04 5.91919298e-01] [ 3.97973395e-02 5.29676736e-04 9.99207632e-01 1.69828473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.95255784400007 meters Centerline goodness : 0.138848 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99203138e-01 -1.48254348e-03 -3.98859792e-02 5.07334587e+00] [ 1.48485982e-03 9.99998897e-01 2.84496353e-05 5.88684021e-01] [ 3.98858930e-02 -8.76520527e-05 9.99204237e-01 1.69810616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98255784400004 meters Centerline goodness : 0.160210 Centerline is valid? [False, False] Translation: X:5.07, Y:0.59, Z:1.70 [[ 9.99195172e-01 -1.43367407e-03 -4.00868286e-02 5.07406729e+00] [ 1.45795882e-03 9.99998771e-01 5.76576101e-04 5.85431734e-01] [ 4.00859527e-02 -6.34557001e-04 9.99196034e-01 1.69778784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.01255784400007 meters Centerline goodness : 0.142941 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.70 [[ 9.99178928e-01 -1.52960581e-03 -4.04861663e-02 5.07522095e+00] [ 1.57141988e-03 9.99998264e-01 1.00099571e-03 5.82100086e-01] [ 4.04845649e-02 -1.06379459e-03 9.99179598e-01 1.69758791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04255784400004 meters Centerline goodness : 0.141494 Centerline is valid? [False, False] Translation: X:5.08, Y:0.58, Z:1.70 [[ 9.99173481e-01 -5.10768886e-03 -4.03270014e-02 5.07514607e+00] [ 5.03242701e-03 9.99985402e-01 -1.96758191e-03 5.79104220e-01] [ 4.03364625e-02 1.76301298e-03 9.99184598e-01 1.69701303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0725578440001 meters Centerline goodness : 0.128611 Centerline is valid? [False, False] Translation: X:5.07, Y:0.58, Z:1.70 [[ 9.99183578e-01 -5.17216263e-03 -4.00677579e-02 5.07417023e+00] [ 5.11483929e-03 9.99985744e-01 -1.53304000e-03 5.76480935e-01] [ 4.00751158e-02 1.32684825e-03 9.99195789e-01 1.69727337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10255784400005 meters Centerline goodness : 0.141547 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99209592e-01 -5.36863087e-03 -3.93874175e-02 5.07205359e+00] [ 5.34338093e-03 9.99985446e-01 -7.46310893e-04 5.72506500e-01] [ 3.93908509e-02 5.35259028e-04 9.99223736e-01 1.69730089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1325578440001 meters Centerline goodness : 0.116389 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99219979e-01 -5.38456192e-03 -3.91208279e-02 5.07138974e+00] [ 5.37581629e-03 9.99985496e-01 -3.28745158e-04 5.70504707e-01] [ 3.91220307e-02 1.18182346e-04 9.99234433e-01 1.69703521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16255784400005 meters Centerline goodness : 0.144826 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99226399e-01 -5.50921477e-03 -3.89390785e-02 5.07089497e+00] [ 5.51368574e-03 9.99984799e-01 7.42992462e-06 5.68524295e-01] [ 3.89384457e-02 -2.22122019e-04 9.99241586e-01 1.69679025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1925578440001 meters Centerline goodness : 0.117862 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:1.70 [[ 9.99234009e-01 -5.61424717e-03 -3.87282253e-02 5.07042139e+00] [ 5.63488562e-03 9.99984034e-01 4.23768812e-04 5.66359685e-01] [ 3.87252278e-02 -6.41673329e-04 9.99249691e-01 1.69627901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22255784400005 meters Centerline goodness : 0.039170 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.70 [[ 9.99243376e-01 -5.65019791e-03 -3.84805152e-02 5.06966965e+00] [ 5.68806210e-03 9.99983440e-01 8.74573399e-04 5.64318204e-01] [ 3.84749364e-02 -1.09279124e-03 9.99258968e-01 1.69606683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2525578440001 meters Centerline goodness : 0.144256 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:1.70 [[ 9.99226349e-01 -5.90729357e-03 -3.88819791e-02 5.07068144e+00] [ 5.96702123e-03 9.99981189e-01 1.42025665e-03 5.61391078e-01] [ 3.88728578e-02 -1.65116747e-03 9.99242801e-01 1.69522539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28255784400005 meters Centerline goodness : 0.183793 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99155739e-01 2.89430595e-04 -4.10819463e-02 5.08757751e+00] [-2.90014083e-04 9.99999958e-01 -8.24333801e-06 5.54883665e-01] [ 4.10819421e-02 2.01507215e-05 9.99155780e-01 1.69825204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3125578440001 meters Centerline goodness : 0.116740 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99148618e-01 2.55128179e-04 -4.12549978e-02 5.08799876e+00] [-2.45416349e-04 9.99999941e-01 2.40474091e-04 5.53233775e-01] [ 4.12550567e-02 -2.30144705e-04 9.99148621e-01 1.69820958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 491.3725578440001 meters Centerline goodness : 0.036112 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132784e-01 1.35902746e-04 -4.16372713e-02 5.08867543e+00] [-1.03031225e-04 9.99999681e-01 7.91618353e-04 5.50022503e-01] [ 4.16373657e-02 -7.86641910e-04 9.99132479e-01 1.69851345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40255784400006 meters Centerline goodness : 0.123113 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99127123e-01 8.87069951e-05 -4.17730075e-02 5.08896777e+00] [-3.99463460e-05 9.99999317e-01 1.16810974e-03 5.48040410e-01] [ 4.17730825e-02 -1.16542144e-03 9.99126444e-01 1.69855313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4325578440001 meters Centerline goodness : 0.138331 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132797e-01 5.76983435e-05 -4.16371320e-02 5.08860815e+00] [-6.70514612e-06 9.99999250e-01 1.22484346e-03 5.47462998e-01] [ 4.16371714e-02 -1.22350209e-03 9.99132048e-01 1.69855068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46255784400006 meters Centerline goodness : 0.038890 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132629e-01 6.18926056e-05 -4.16411540e-02 5.08854017e+00] [-7.88795204e-06 9.99999159e-01 1.29706884e-03 5.47291001e-01] [ 4.16411993e-02 -1.29561534e-03 9.99131789e-01 1.69863415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4925578440001 meters Centerline goodness : 0.170743 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99131212e-01 1.32624490e-04 -4.16749665e-02 5.08876193e+00] [-7.61399783e-05 9.99999076e-01 1.35694263e-03 5.47409627e-01] [ 4.16751080e-02 -1.35259060e-03 9.99130300e-01 1.69835400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52255784400006 meters Centerline goodness : 0.114762 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99125953e-01 1.70683760e-04 -4.18007366e-02 5.08907734e+00] [-1.12044785e-04 9.99999006e-01 1.40516037e-03 5.47457148e-01] [ 4.18009349e-02 -1.39924864e-03 9.99124979e-01 1.69830493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.55255784400003 meters Centerline goodness : 0.211354 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99120040e-01 1.80915771e-04 -4.19417917e-02 5.08951272e+00] [-1.22081741e-04 9.99999005e-01 1.40531137e-03 5.47575699e-01] [ 4.19420042e-02 -1.39895443e-03 9.99119068e-01 1.69812841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58255784400006 meters Centerline goodness : 0.126105 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99116532e-01 1.73655741e-04 -4.20252899e-02 5.08954827e+00] [-1.13547034e-04 9.99998967e-01 1.43268120e-03 5.47277979e-01] [ 4.20254953e-02 -1.42664363e-03 9.99115520e-01 1.69832048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.61255784400004 meters Centerline goodness : 0.115660 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99125060e-01 2.23625420e-04 -4.18218122e-02 5.08845777e+00] [-1.56843230e-04 9.99998708e-01 1.60010114e-03 5.46599526e-01] [ 4.18221160e-02 -1.59214168e-03 9.99123804e-01 1.69915725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64255784400007 meters Centerline goodness : 0.154939 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99132736e-01 2.20735964e-04 -4.16380547e-02 5.08767875e+00] [-1.54335316e-04 9.99998711e-01 1.59791837e-03 5.46679900e-01] [ 4.16383538e-02 -1.59010633e-03 9.99131482e-01 1.69960576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.67255784400004 meters Centerline goodness : 0.159625 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99136640e-01 1.99870614e-04 -4.15443793e-02 5.08725894e+00] [-1.35235198e-04 9.99998776e-01 1.55862067e-03 5.47016061e-01] [ 4.15446400e-02 -1.55165675e-03 9.99135444e-01 1.69984830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70255784400007 meters Centerline goodness : 0.125154 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99134721e-01 1.97711204e-04 -4.15905079e-02 5.08743852e+00] [-1.33725453e-04 9.99998803e-01 1.54124649e-03 5.47290420e-01] [ 4.15907629e-02 -1.53435118e-03 9.99133552e-01 1.69969743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.73255784400004 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99127514e-01 1.82562509e-04 -4.17633578e-02 5.08811130e+00] [-1.18520293e-04 9.99998813e-01 1.53592549e-03 5.47472062e-01] [ 4.17635887e-02 -1.52963561e-03 9.99126350e-01 1.69929906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76255784400007 meters Centerline goodness : 0.138362 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99126041e-01 2.22214802e-04 -4.17983879e-02 5.08825950e+00] [-1.55294008e-04 9.99998701e-01 1.60427781e-03 5.47387816e-01] [ 4.17986901e-02 -1.59638469e-03 9.99124778e-01 1.69914460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.79255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 491.8225578440001 meters Centerline goodness : 0.095362 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:1.70 [[ 9.99135436e-01 6.08975512e-05 -4.15737523e-02 5.08706727e+00] [ 1.12281452e-05 9.99998495e-01 1.73464971e-03 5.46164801e-01] [ 4.15737954e-02 -1.73361679e-03 9.99133932e-01 1.69999662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.85255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 491.8825578440001 meters Centerline goodness : 0.090481 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99121594e-01 -1.09690770e-04 -4.19049864e-02 5.08810610e+00] [ 1.91777433e-04 9.99998071e-01 1.95486084e-03 5.44369704e-01] [ 4.19046911e-02 -1.96118011e-03 9.99119688e-01 1.69953756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.91255784400005 meters Centerline goodness : 0.090395 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99092100e-01 -3.22749604e-04 -4.26013025e-02 5.09047928e+00] [ 4.23199596e-04 9.99997152e-01 2.34891148e-03 5.41425792e-01] [ 4.26004231e-02 -2.36480775e-03 9.99089391e-01 1.69834514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9425578440001 meters Centerline goodness : 0.169474 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99103256e-01 -2.68290179e-04 -4.23392474e-02 5.08970643e+00] [ 3.82667436e-04 9.99996300e-01 2.69336615e-03 5.39509304e-01] [ 4.23383681e-02 -2.70715274e-03 9.99099662e-01 1.69847268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.97255784400005 meters Centerline goodness : 0.168632 Centerline is valid? [False, False] Translation: X:5.09, Y:0.54, Z:1.70 [[ 9.99120927e-01 -2.19706761e-04 -4.19204514e-02 5.08834117e+00] [ 3.46001763e-04 9.99995424e-01 3.00549832e-03 5.37714366e-01] [ 4.19195992e-02 -3.01736082e-03 9.99116431e-01 1.69889043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0025578440001 meters Centerline goodness : 0.098469 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99035744e-01 -1.28367691e-03 -4.38854654e-02 5.04105468e+00] [ 1.42364895e-03 9.99993999e-01 3.15838009e-03 5.37423564e-01] [ 4.38811477e-02 -3.21781210e-03 9.99031576e-01 1.69898180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.03255784400005 meters Centerline goodness : 0.141230 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99031929e-01 -1.25631870e-03 -4.39730301e-02 5.04122071e+00] [ 1.40254615e-03 9.99993589e-01 3.29469530e-03 5.36539786e-01] [ 4.39686090e-02 -3.35318001e-03 9.99027286e-01 1.69903990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0625578440001 meters Centerline goodness : 0.140888 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.99019553e-01 -1.23878516e-03 -4.42537830e-02 5.04224158e+00] [ 1.38765897e-03 9.99993481e-01 3.33353099e-03 5.36282032e-01] [ 4.42493650e-02 -3.39167180e-03 9.99014760e-01 1.69852578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.09255784400005 meters Centerline goodness : 0.227388 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98976354e-01 -9.60065747e-04 -4.52252334e-02 5.04521787e+00] [ 1.11366554e-03 9.99993697e-01 3.37125618e-03 5.37434655e-01] [ 4.52217118e-02 -3.41817100e-03 9.98971127e-01 1.69763142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1225578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 492.15255784400006 meters Centerline goodness : 0.280524 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.98978416e-01 3.16185674e-03 -4.50791137e-02 5.04433216e+00] [-2.84109335e-03 9.99970203e-01 7.17786041e-03 5.38247100e-01] [ 4.51004658e-02 -7.04245365e-03 9.98957633e-01 1.69837065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1825578440001 meters Centerline goodness : 0.090115 Centerline is valid? [False, False] Translation: X:5.04, Y:0.54, Z:1.70 [[ 9.98982421e-01 3.07525100e-03 -4.49962730e-02 5.04408597e+00] [-2.76957686e-03 9.99972675e-01 6.85408702e-03 5.39905322e-01] [ 4.50161215e-02 -6.72249182e-03 9.98963641e-01 1.69849080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.21255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 492.2425578440001 meters Centerline goodness : 0.177307 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98959018e-01 2.77962243e-03 -4.55319071e-02 5.04598156e+00] [-2.50655520e-03 9.99978537e-01 6.05326830e-03 5.43734596e-01] [ 4.55477556e-02 -5.93283872e-03 9.98944545e-01 1.69761008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.27255784400006 meters Centerline goodness : 0.177307 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98959018e-01 2.77962243e-03 -4.55319071e-02 5.04598156e+00] [-2.50655520e-03 9.99978537e-01 6.05326830e-03 5.43734596e-01] [ 4.55477556e-02 -5.93283872e-03 9.98944545e-01 1.69761008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30255784400003 meters Centerline goodness : 0.096662 Centerline is valid? [False, False] Translation: X:5.05, Y:0.54, Z:1.70 [[ 9.98955811e-01 2.71766983e-03 -4.56059412e-02 5.04630496e+00] [-2.45192928e-03 9.99979696e-01 5.88181367e-03 5.44756383e-01] [ 4.56210001e-02 -5.76384941e-03 9.98942192e-01 1.69741079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.33255784400006 meters Centerline goodness : 0.089477 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98950560e-01 2.64580927e-03 -4.57250381e-02 5.04661467e+00] [-2.38535260e-03 9.99980625e-01 5.74977519e-03 5.45398473e-01] [ 4.57393650e-02 -5.63467080e-03 9.98937516e-01 1.69735400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36255784400004 meters Centerline goodness : 0.108692 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98946238e-01 2.53438338e-03 -4.58256551e-02 5.04687255e+00] [-2.28205310e-03 9.99981951e-01 5.55778804e-03 5.46124453e-01] [ 4.58389136e-02 -5.44735487e-03 9.98933992e-01 1.69732177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.39255784400007 meters Centerline goodness : 0.135435 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98940937e-01 2.40214248e-03 -4.59481619e-02 5.04715768e+00] [-2.15757299e-03 9.99983245e-01 5.37158058e-03 5.46776700e-01] [ 4.59602954e-02 -5.26675523e-03 9.98929383e-01 1.69731920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42255784400004 meters Centerline goodness : 0.034957 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98942177e-01 2.33393323e-03 -4.59247183e-02 5.04709163e+00] [-2.09524118e-03 9.99984050e-01 5.24491430e-03 5.47387656e-01] [ 4.59362271e-02 -5.14314275e-03 9.98931134e-01 1.69728157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.45255784400007 meters Centerline goodness : 0.091994 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98952447e-01 2.11851960e-03 -4.57112703e-02 5.04643964e+00] [-1.90051768e-03 9.99986616e-01 4.81204001e-03 5.49449312e-01] [ 4.57208529e-02 -4.72012407e-03 9.98943104e-01 1.69746203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48255784400004 meters Centerline goodness : 0.094744 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98960610e-01 1.95371598e-03 -4.55399016e-02 5.04593018e+00] [-1.75181212e-03 9.99988461e-01 4.47304718e-03 5.50943496e-01] [ 4.55481152e-02 -4.38862058e-03 9.98952506e-01 1.69758992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.51255784400007 meters Centerline goodness : 0.181510 Centerline is valid? [False, False] Translation: X:5.05, Y:0.55, Z:1.70 [[ 9.98969073e-01 1.77802132e-03 -4.53610964e-02 5.04547893e+00] [-1.59701577e-03 9.99990619e-01 4.02625361e-03 5.53120036e-01] [ 4.53678297e-02 -3.94966046e-03 9.98962542e-01 1.69761046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54255784400004 meters Centerline goodness : 0.348733 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98972446e-01 1.61658140e-03 -4.52928187e-02 5.04546204e+00] [-1.45647797e-03 9.99992575e-01 3.56763041e-03 5.55573307e-01] [ 4.52982498e-02 -3.49799648e-03 9.98967383e-01 1.69741893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5725578440001 meters Centerline goodness : 0.156531 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98973735e-01 1.35365455e-03 -4.52729994e-02 5.04561352e+00] [-1.23327687e-03 9.99995630e-01 2.68675447e-03 5.61796726e-01] [ 4.52764385e-02 -2.62816300e-03 9.98971039e-01 1.69718497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60255784400005 meters Centerline goodness : 0.089134 Centerline is valid? [False, False] Translation: X:5.05, Y:0.56, Z:1.70 [[ 9.98979552e-01 1.13644132e-03 -4.51504476e-02 5.04523099e+00] [-1.03956156e-03 9.99997107e-01 2.16913238e-03 5.64308903e-01] [ 4.51527821e-02 -2.11998222e-03 9.98977844e-01 1.69732533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6325578440001 meters Centerline goodness : 0.123088 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98986053e-01 9.09315452e-04 -4.50115523e-02 5.04471216e+00] [-8.35097065e-04 9.99998261e-01 1.66765078e-03 5.66595535e-01] [ 4.50129904e-02 -1.62837086e-03 9.98985075e-01 1.69759950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 492.6925578440001 meters Centerline goodness : 0.094164 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98998609e-01 5.07588343e-04 -4.47383774e-02 5.04394213e+00] [-4.75155319e-04 9.99999617e-01 7.35579767e-04 5.71304045e-01] [ 4.47387336e-02 -7.13585486e-04 9.98998467e-01 1.69773739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72255784400005 meters Centerline goodness : 0.092471 Centerline is valid? [False, False] Translation: X:5.04, Y:0.57, Z:1.70 [[ 9.98998903e-01 3.40308873e-04 -4.47333896e-02 5.04411867e+00] [-3.26664188e-04 9.99999898e-01 3.12332088e-04 5.73608951e-01] [ 4.47334913e-02 -2.97406617e-04 9.98998912e-01 1.69746220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7525578440001 meters Centerline goodness : 0.094472 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98998244e-01 -5.92075561e-06 -4.47493966e-02 5.04437383e+00] [-1.37421898e-05 9.99999904e-01 -4.39093708e-04 5.77234190e-01] [ 4.47493949e-02 4.39268798e-04 9.98998147e-01 1.69715881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78255784400005 meters Centerline goodness : 0.125333 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98996195e-01 -2.68247815e-04 -4.47943217e-02 5.04442956e+00] [ 2.29882776e-04 9.99999602e-01 -8.61620163e-04 5.78858321e-01] [ 4.47945350e-02 8.50457821e-04 9.98995859e-01 1.69722686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8125578440001 meters Centerline goodness : 0.110059 Centerline is valid? [False, False] Translation: X:5.04, Y:0.58, Z:1.70 [[ 9.98991345e-01 -4.78850781e-04 -4.49005854e-02 5.04474792e+00] [ 4.23319084e-04 9.99999134e-01 -1.24627029e-03 5.80512929e-01] [ 4.49011433e-02 1.22600596e-03 9.98990683e-01 1.69713022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84255784400005 meters Centerline goodness : 0.099952 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.70 [[ 9.98984516e-01 -6.50571712e-04 -4.50501336e-02 5.04539453e+00] [ 5.77243187e-04 9.99998487e-01 -1.64069929e-03 5.82585805e-01] [ 4.50511329e-02 1.61302830e-03 9.98983380e-01 1.69667470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8725578440001 meters Centerline goodness : 0.154853 Centerline is valid? [False, False] Translation: X:5.05, Y:0.58, Z:1.70 [[ 9.98975532e-01 -7.99895312e-04 -4.52465004e-02 5.04640137e+00] [ 7.08425253e-04 9.99997673e-01 -2.03759307e-03 5.84988428e-01] [ 4.52480250e-02 2.00345186e-03 9.98973775e-01 1.69594620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90255784400006 meters Centerline goodness : 0.087905 Centerline is valid? [False, False] Translation: X:5.00, Y:0.59, Z:1.69 [[ 9.98824395e-01 -4.93383017e-04 -4.84725108e-02 5.00313093e+00] [ 4.15298838e-04 9.99998600e-01 -1.62095411e-03 5.94341220e-01] [ 4.84732427e-02 1.59891793e-03 9.98823202e-01 1.69429685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9325578440001 meters Centerline goodness : 0.143217 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98821579e-01 -7.99595542e-04 -4.85264184e-02 5.00320737e+00] [ 6.90619554e-04 9.99997202e-01 -2.26242929e-03 5.97279216e-01] [ 4.85280916e-02 2.22624991e-03 9.98819337e-01 1.69442891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96255784400006 meters Centerline goodness : 0.156729 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98823897e-01 -1.06779632e-03 -4.84735329e-02 5.00296859e+00] [ 9.30352538e-04 9.99995483e-01 -2.85791331e-03 6.00069487e-01] [ 4.84763657e-02 2.80945463e-03 9.98820379e-01 1.69461161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9925578440001 meters Centerline goodness : 0.139981 Centerline is valid? [False, False] Translation: X:5.00, Y:0.60, Z:1.69 [[ 9.98822039e-01 -1.32858067e-03 -4.85053455e-02 5.00307392e+00] [ 1.16253968e-03 9.99993369e-01 -3.45119900e-03 6.02898340e-01] [ 4.85096090e-02 3.39074424e-03 9.98816961e-01 1.69462188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02255784400006 meters Centerline goodness : 0.092332 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98816494e-01 -1.56503097e-03 -4.86123612e-02 5.00359666e+00] [ 1.37256329e-03 9.99991089e-01 -3.99236255e-03 6.05603572e-01] [ 4.86181761e-02 3.92091402e-03 9.98809741e-01 1.69427491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.05255784400003 meters Centerline goodness : 0.109755 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98811577e-01 -1.77028213e-03 -4.87062619e-02 5.00420670e+00] [ 1.55561801e-03 9.99988912e-01 -4.44487457e-03 6.07949237e-01] [ 4.87135905e-02 4.36382384e-03 9.98803255e-01 1.69371403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08255784400006 meters Centerline goodness : 0.095109 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98796372e-01 -2.11400110e-03 -4.90034535e-02 5.00540604e+00] [ 1.86707351e-03 9.99985332e-01 -5.08420984e-03 6.11200391e-01] [ 4.90134827e-02 4.98659729e-03 9.98785669e-01 1.69303294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.11255784400004 meters Centerline goodness : 0.097708 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98793592e-01 -2.25939613e-03 -4.90536030e-02 5.00550499e+00] [ 2.00075352e-03 9.99983841e-01 -5.32111415e-03 6.12205362e-01] [ 4.90648328e-02 5.21655055e-03 9.98781973e-01 1.69306641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14255784400007 meters Centerline goodness : 0.126690 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98792951e-01 -2.42326512e-03 -4.90588229e-02 5.00546647e+00] [ 2.15407464e-03 9.99982338e-01 -5.53922302e-03 6.12938502e-01] [ 4.90713794e-02 5.42686054e-03 9.98780531e-01 1.69309263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.17255784400004 meters Centerline goodness : 0.145962 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98796271e-01 -2.55506593e-03 -4.89844945e-02 5.00528883e+00] [ 2.28048420e-03 9.99981379e-01 -5.66055111e-03 6.13173206e-01] [ 4.89980454e-02 5.54202897e-03 9.98783499e-01 1.69306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20255784400007 meters Centerline goodness : 0.095430 Centerline is valid? [False, False] Translation: X:5.01, Y:0.61, Z:1.69 [[ 9.98801338e-01 -2.59807738e-03 -4.88787941e-02 5.00501163e+00] [ 2.32470109e-03 9.99981342e-01 -5.64895979e-03 6.12994460e-01] [ 4.88925586e-02 5.52856001e-03 9.98788743e-01 1.69299826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.23255784400004 meters Centerline goodness : 0.097189 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98811660e-01 -2.60839518e-03 -4.86668634e-02 5.00434626e+00] [ 2.34151211e-03 9.99981912e-01 -5.54008186e-03 6.12344323e-01] [ 4.86804339e-02 5.41954432e-03 9.98799702e-01 1.69312457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26255784400007 meters Centerline goodness : 0.165579 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98846978e-01 -2.96168898e-03 -4.79159945e-02 5.00207193e+00] [ 2.70007213e-03 9.99981099e-01 -5.52371122e-03 6.10658268e-01] [ 4.79314483e-02 5.38796562e-03 9.98836096e-01 1.69362627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.29255784400004 meters Centerline goodness : 0.148877 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98845789e-01 -2.92621417e-03 -4.79429657e-02 5.00213868e+00] [ 2.67324402e-03 9.99982170e-01 -5.33975033e-03 6.09493613e-01] [ 4.79577361e-02 5.20542388e-03 9.98835802e-01 1.69356795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3225578440001 meters Centerline goodness : 0.153185 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98841479e-01 -2.86295519e-03 -4.80364808e-02 5.00257720e+00] [ 2.61825172e-03 9.99983279e-01 -5.15626653e-03 6.08519694e-01] [ 4.80504397e-02 5.02452129e-03 9.98832273e-01 1.69320380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.35255784400005 meters Centerline goodness : 0.096875 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98840842e-01 -2.77213799e-03 -4.80550450e-02 5.00277333e+00] [ 2.53725802e-03 9.99984540e-01 -4.94803809e-03 6.07603332e-01] [ 4.80680187e-02 4.82037448e-03 9.98832433e-01 1.69293153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3825578440001 meters Centerline goodness : 0.138809 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98842831e-01 -2.68334167e-03 -4.80187349e-02 5.00260715e+00] [ 2.45578417e-03 9.99985477e-01 -4.79730020e-03 6.07021691e-01] [ 4.80309103e-02 4.67382526e-03 9.98834915e-01 1.69304294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.41255784400005 meters Centerline goodness : 0.153483 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98866850e-01 -2.36031747e-03 -4.75336154e-02 5.00085933e+00] [ 2.14019289e-03 9.99986752e-01 -4.68128652e-03 6.07447224e-01] [ 4.75440351e-02 4.57425081e-03 9.98858669e-01 1.69395961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4425578440001 meters Centerline goodness : 0.096563 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98873118e-01 -2.36256611e-03 -4.74016072e-02 5.00012031e+00] [ 2.12989667e-03 9.99985439e-01 -4.95837997e-03 6.09050138e-01] [ 4.74126314e-02 4.85183194e-03 9.98863605e-01 1.69469794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.47255784400005 meters Centerline goodness : 0.146865 Centerline is valid? [False, False] Translation: X:5.00, Y:0.61, Z:1.69 [[ 9.98874131e-01 -2.42461306e-03 -4.73771272e-02 4.99996751e+00] [ 2.17691543e-03 9.99983696e-01 -5.27910904e-03 6.10715772e-01] [ 4.73891545e-02 5.17002946e-03 9.98863123e-01 1.69490523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5025578440001 meters Centerline goodness : 0.148866 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.69 [[ 9.98735200e-01 -1.72206450e-03 -5.02497207e-02 4.95496489e+00] [ 1.47466825e-03 9.99986612e-01 -4.95999491e-03 6.15841603e-01] [ 5.02575894e-02 4.87961984e-03 9.98724368e-01 1.69377269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.53255784400005 meters Centerline goodness : 0.096589 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98720532e-01 -1.79324607e-03 -5.05379341e-02 4.95607484e+00] [ 1.53049685e-03 9.99985114e-01 -5.23726882e-03 6.17399963e-01] [ 5.05465735e-02 5.15321976e-03 9.98708410e-01 1.69323261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5625578440001 meters Centerline goodness : 0.096514 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98712680e-01 -1.86980309e-03 -5.06900970e-02 4.95691190e+00] [ 1.59461731e-03 9.99983775e-01 -5.46868613e-03 6.18835513e-01] [ 5.06994999e-02 5.38081488e-03 9.98699458e-01 1.69254348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.59255784400005 meters Centerline goodness : 0.148936 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98712838e-01 -1.96924859e-03 -5.06832341e-02 4.95713998e+00] [ 1.68377960e-03 9.99982482e-01 -5.67449574e-03 6.20162744e-01] [ 5.06935207e-02 5.58185234e-03 9.98698658e-01 1.69211354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6225578440001 meters Centerline goodness : 0.148403 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98720497e-01 -2.05177452e-03 -5.05287945e-02 4.95672189e+00] [ 1.76521123e-03 9.99982110e-01 -5.71525973e-03 6.20192509e-01] [ 5.05396169e-02 5.61875304e-03 9.98706251e-01 1.69209006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.65255784400006 meters Centerline goodness : 0.151596 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98718475e-01 -2.16826210e-03 -5.05638917e-02 4.95697768e+00] [ 1.87859349e-03 9.99981557e-01 -5.77558549e-03 6.20210672e-01] [ 5.05754821e-02 5.67319493e-03 9.98704128e-01 1.69178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6825578440001 meters Centerline goodness : 0.154117 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98705026e-01 -2.25557852e-03 -5.08250239e-02 4.95806271e+00] [ 1.96339943e-03 9.99981264e-01 -5.79791930e-03 6.20118345e-01] [ 5.08371493e-02 5.69062132e-03 9.98690743e-01 1.69106145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.71255784400006 meters Centerline goodness : 0.154278 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98676077e-01 -2.38158815e-03 -5.13850286e-02 4.96030015e+00] [ 2.08191924e-03 9.99980519e-01 -5.88457029e-03 6.20792928e-01] [ 5.13980421e-02 5.76980010e-03 9.98661580e-01 1.68975576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7425578440001 meters Centerline goodness : 0.151916 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98677908e-01 -2.42667428e-03 -5.13473285e-02 4.96035489e+00] [ 2.12338426e-03 9.99979982e-01 -5.96036365e-03 6.21222637e-01] [ 5.13607645e-02 5.84345339e-03 9.98663069e-01 1.68952064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.77255784400006 meters Centerline goodness : 0.152102 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98681853e-01 -2.48649864e-03 -5.12676681e-02 4.96006123e+00] [ 2.17844713e-03 9.99979243e-01 -6.06369323e-03 6.21674277e-01] [ 5.12816813e-02 5.94401649e-03 9.98666540e-01 1.68965471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80255784400003 meters Centerline goodness : 0.151821 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98686200e-01 -2.56576658e-03 -5.11790073e-02 4.95981228e+00] [ 2.25099434e-03 9.99978202e-01 -6.20710875e-03 6.22204220e-01] [ 5.11938177e-02 6.08375020e-03 9.98670206e-01 1.68970173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.83255784400006 meters Centerline goodness : 0.151331 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98686275e-01 -2.60626344e-03 -5.11755028e-02 4.95985313e+00] [ 2.28577173e-03 9.99977415e-01 -6.32012782e-03 6.22744234e-01] [ 5.11908189e-02 6.19484939e-03 9.98669677e-01 1.68963109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86255784400004 meters Centerline goodness : 0.153003 Centerline is valid? [False, False] Translation: X:4.96, Y:0.62, Z:1.69 [[ 9.98684067e-01 -2.65498179e-03 -5.12160666e-02 4.96002512e+00] [ 2.32676577e-03 9.99976382e-01 -6.46701713e-03 6.23498752e-01] [ 5.12320267e-02 6.33933917e-03 9.98666657e-01 1.68955237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.89255784400007 meters Centerline goodness : 0.151872 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98691304e-01 -2.74529724e-03 -5.10699687e-02 4.95948064e+00] [ 2.40189614e-03 9.99974102e-01 -6.78428762e-03 6.25095660e-01] [ 5.10872710e-02 6.65274430e-03 9.98672034e-01 1.68990189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92255784400004 meters Centerline goodness : 0.151843 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98695490e-01 -2.74198967e-03 -5.09882288e-02 4.95907829e+00] [ 2.39490640e-03 9.99973554e-01 -6.86697589e-03 6.25623969e-01] [ 5.10057095e-02 6.73590582e-03 9.98675646e-01 1.69026452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.95255784400007 meters Centerline goodness : 0.167435 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98695276e-01 -2.78821871e-03 -5.09899065e-02 4.95891696e+00] [ 2.43293623e-03 9.99972341e-01 -7.02844328e-03 6.26364543e-01] [ 5.10080930e-02 6.89521791e-03 9.98674437e-01 1.69058957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98255784400004 meters Centerline goodness : 0.151392 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98688980e-01 -2.81696613e-03 -5.11115105e-02 4.95915625e+00] [ 2.45282546e-03 9.99971174e-01 -7.18576253e-03 6.27093228e-01] [ 5.11302792e-02 7.05097424e-03 9.98667101e-01 1.69076453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.01255784400007 meters Centerline goodness : 0.150860 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98681589e-01 -2.77218964e-03 -5.12581666e-02 4.95960244e+00] [ 2.40207783e-03 9.99970610e-01 -7.28073765e-03 6.27819578e-01] [ 5.12768437e-02 7.14801254e-03 9.98658896e-01 1.69071367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04255784400004 meters Centerline goodness : 0.150314 Centerline is valid? [False, False] Translation: X:4.96, Y:0.63, Z:1.69 [[ 9.98725214e-01 9.26202034e-05 -5.04770986e-02 4.95535054e+00] [-3.32842493e-04 9.99988660e-01 -4.75065017e-03 6.29225701e-01] [ 5.04760862e-02 4.76139503e-03 9.98713920e-01 1.69315027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0725578440001 meters Centerline goodness : 0.151853 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98735113e-01 1.71227882e-04 -5.02806579e-02 4.95439537e+00] [-4.09287074e-04 9.99988756e-01 -4.72434979e-03 6.29325678e-01] [ 5.02792836e-02 4.73895325e-03 9.98723954e-01 1.69389182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10255784400005 meters Centerline goodness : 0.164160 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98738005e-01 2.18935790e-04 -5.02229885e-02 4.95398330e+00] [-4.54944638e-04 9.99988909e-01 -4.68783610e-03 6.29133367e-01] [ 5.02214051e-02 4.70476875e-03 9.98727028e-01 1.69430924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1325578440001 meters Centerline goodness : 0.156147 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98739891e-01 2.79012784e-04 -5.01851772e-02 4.95362452e+00] [-5.09289254e-04 9.99989401e-01 -4.57580664e-03 6.28476782e-01] [ 5.01833686e-02 4.59559940e-03 9.98729448e-01 1.69470430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16255784400005 meters Centerline goodness : 0.156147 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.69 [[ 9.98739891e-01 2.79012784e-04 -5.01851772e-02 4.95362452e+00] [-5.09289254e-04 9.99989401e-01 -4.57580664e-03 6.28476782e-01] [ 5.01833686e-02 4.59559940e-03 9.98729448e-01 1.69470430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1925578440001 meters Centerline goodness : 0.153270 Centerline is valid? [False, False] Translation: X:4.97, Y:0.63, Z:1.70 [[ 9.98775837e-01 -7.31127007e-03 -4.89221123e-02 4.97258142e+00] [ 7.16892255e-03 9.99969546e-01 -3.08451098e-03 6.29523693e-01] [ 4.89431741e-02 2.73001620e-03 9.98797834e-01 1.69724333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22255784400005 meters Centerline goodness : 0.118752 Centerline is valid? [False, False] Translation: X:4.93, Y:0.63, Z:1.70 [[ 9.98656820e-01 -6.22782580e-03 -5.14370493e-02 4.92638457e+00] [ 6.12734884e-03 9.99979000e-01 -2.11085805e-03 6.31727370e-01] [ 5.14491152e-02 1.79285005e-03 9.98674008e-01 1.69655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2525578440001 meters Centerline goodness : 0.111034 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98653321e-01 1.80055430e-03 -5.18488357e-02 4.94535214e+00] [-1.95472900e-03 9.99993818e-01 -2.92298642e-03 6.25891997e-01] [ 5.18432522e-02 3.02040052e-03 9.98650667e-01 1.69865463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28255784400005 meters Centerline goodness : 0.166159 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98652285e-01 1.80711331e-03 -5.18685667e-02 4.94543232e+00] [-1.95993580e-03 9.99993887e-01 -2.89562856e-03 6.25535031e-01] [ 5.18630169e-02 2.99338513e-03 9.98649722e-01 1.69861254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3125578440001 meters Centerline goodness : 0.149969 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98654199e-01 1.73657617e-03 -5.18341150e-02 4.94515000e+00] [-1.89250129e-03 9.99993831e-01 -2.95922683e-03 6.25324138e-01] [ 5.18286563e-02 3.05334043e-03 9.98651324e-01 1.69893793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34255784400005 meters Centerline goodness : 0.164530 Centerline is valid? [False, False] Translation: X:4.94, Y:0.63, Z:1.70 [[ 9.98655945e-01 1.73673916e-03 -5.18004618e-02 4.94484671e+00] [-1.89151791e-03 9.99993892e-01 -2.93910617e-03 6.25130924e-01] [ 5.17950409e-02 3.03313735e-03 9.98653130e-01 1.69917957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3725578440001 meters Centerline goodness : 0.152968 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.70 [[ 9.98623293e-01 5.45831422e-03 -5.21701507e-02 4.94614551e+00] [-5.41620516e-03 9.99984882e-01 9.48493946e-04 6.24412397e-01] [ 5.21745392e-02 -6.64623909e-04 9.98637760e-01 1.69855750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40255784400006 meters Centerline goodness : 0.111381 Centerline is valid? [False, False] Translation: X:4.95, Y:0.62, Z:1.70 [[ 9.98617871e-01 5.46171511e-03 -5.22734814e-02 4.94664066e+00] [-5.42227968e-03 9.99984898e-01 8.96195025e-04 6.24938204e-01] [ 5.22775867e-02 -6.11514932e-04 9.98632405e-01 1.69819771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4325578440001 meters Centerline goodness : 0.152670 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98619608e-01 5.34781469e-03 -5.22520814e-02 4.94655145e+00] [-5.32100791e-03 9.99985631e-01 6.52127376e-04 6.26029303e-01] [ 5.22548180e-02 -3.73193446e-04 9.98633714e-01 1.69828516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46255784400006 meters Centerline goodness : 0.168673 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98619431e-01 5.17855551e-03 -5.22724990e-02 4.94657874e+00] [-5.17159623e-03 9.99986591e-01 2.68393419e-04 6.27769260e-01] [ 5.22731879e-02 2.30937460e-06 9.98632822e-01 1.69838205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4925578440001 meters Centerline goodness : 0.145477 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98613475e-01 4.98935118e-03 -5.24045308e-02 4.94715023e+00] [-5.00549258e-03 9.99987457e-01 -1.76773665e-04 6.29924982e-01] [ 5.24029915e-02 4.38839053e-04 9.98625923e-01 1.69806210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52255784400006 meters Centerline goodness : 0.146018 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98603929e-01 4.81226800e-03 -5.26026071e-02 4.94806935e+00] [-4.85030073e-03 9.99988060e-01 -5.95385437e-04 6.32023704e-01] [ 5.25991139e-02 8.49692700e-04 9.98615347e-01 1.69744930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.55255784400003 meters Centerline goodness : 0.254570 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98589278e-01 4.50259822e-03 -5.29072792e-02 4.94961302e+00] [-4.56968165e-03 9.99988901e-01 -1.14704165e-03 6.34493460e-01] [ 5.29015274e-02 1.38719291e-03 9.98598770e-01 1.69628847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58255784400006 meters Centerline goodness : 0.150969 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98581591e-01 4.33064492e-03 -5.30664779e-02 4.95017340e+00] [-4.40676999e-03 9.99989422e-01 -1.31759784e-03 6.34917154e-01] [ 5.30602106e-02 1.54958071e-03 9.98590113e-01 1.69599293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.61255784400004 meters Centerline goodness : 0.160031 Centerline is valid? [False, False] Translation: X:4.95, Y:0.63, Z:1.70 [[ 9.98577443e-01 4.18923365e-03 -5.31558131e-02 4.95043147e+00] [-4.26959303e-03 9.99989908e-01 -1.39830279e-03 6.34957972e-01] [ 5.31494188e-02 1.62326732e-03 9.98585251e-01 1.69590076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64255784400007 meters Centerline goodness : 0.155172 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98546866e-01 -4.12970076e-03 -5.37317540e-02 4.93048651e+00] [ 4.11476866e-03 9.99991459e-01 -3.88525114e-04 6.41171918e-01] [ 5.37328995e-02 1.66866798e-04 9.98555330e-01 1.69399507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.67255784400004 meters Centerline goodness : 0.158024 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98545559e-01 -4.15278936e-03 -5.37542596e-02 4.93056902e+00] [ 4.13836869e-03 9.99991365e-01 -3.79575891e-04 6.41211390e-01] [ 5.37553717e-02 1.56568876e-04 9.98554122e-01 1.69389524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70255784400007 meters Centerline goodness : 0.152249 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98550993e-01 -4.16628329e-03 -5.36521740e-02 4.93037991e+00] [ 4.15315751e-03 9.99991312e-01 -3.56137114e-04 6.41105168e-01] [ 5.36531917e-02 1.32795139e-04 9.98559621e-01 1.69375040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.73255784400004 meters Centerline goodness : 0.155217 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98561001e-01 -4.34114565e-03 -5.34516678e-02 4.92972393e+00] [ 4.32464380e-03 9.99990559e-01 -4.24383748e-04 6.40574812e-01] [ 5.34530054e-02 1.92613637e-04 9.98570348e-01 1.69394397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76255784400007 meters Centerline goodness : 0.153348 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98562005e-01 -4.33527651e-03 -5.34333875e-02 4.92955131e+00] [ 4.32237483e-03 9.99990595e-01 -3.57013744e-04 6.40159029e-01] [ 5.34344327e-02 1.25541231e-04 9.98571352e-01 1.69409805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.79255784400004 meters Centerline goodness : 0.144505 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98561748e-01 -4.27455554e-03 -5.34430930e-02 4.92948855e+00] [ 4.26575146e-03 9.99990863e-01 -2.78805777e-04 6.40007051e-01] [ 5.34437965e-02 5.04298317e-05 9.98570858e-01 1.69422965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8225578440001 meters Centerline goodness : 0.253659 Centerline is valid? [False, False] Translation: X:4.93, Y:0.64, Z:1.69 [[ 9.98562451e-01 -4.21781455e-03 -5.34344573e-02 4.92947963e+00] [ 4.21085355e-03 9.99991105e-01 -2.42854322e-04 6.40131830e-01] [ 5.34350063e-02 1.75005321e-05 9.98571329e-01 1.69424916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.85255784400005 meters Centerline goodness : 0.151405 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98573249e-01 4.48475803e-03 -5.32104688e-02 4.90780754e+00] [-4.53551680e-03 9.99989367e-01 -8.33208039e-04 6.37754699e-01] [ 5.32061663e-02 1.07335623e-03 9.98582972e-01 1.69206927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8825578440001 meters Centerline goodness : 0.156298 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98570659e-01 4.50190445e-03 -5.32576009e-02 4.90788408e+00] [-4.55231127e-03 9.99989298e-01 -8.25200422e-04 6.37788547e-01] [ 5.32533159e-02 1.06646611e-03 9.98580466e-01 1.69216427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.91255784400005 meters Centerline goodness : 0.155555 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98563360e-01 4.54715106e-03 -5.33904478e-02 4.90787915e+00] [-4.59485866e-03 9.99989146e-01 -7.70845628e-04 6.37376605e-01] [ 5.33863632e-02 1.01505976e-03 9.98573415e-01 1.69270208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9425578440001 meters Centerline goodness : 0.155446 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98566243e-01 4.58901772e-03 -5.33329009e-02 4.90746407e+00] [-4.63235423e-03 9.99989033e-01 -6.88977561e-04 6.36943734e-01] [ 5.33291543e-02 9.35046625e-04 9.98576550e-01 1.69309141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.97255784400005 meters Centerline goodness : 0.155390 Centerline is valid? [False, False] Translation: X:4.91, Y:0.64, Z:1.69 [[ 9.98573403e-01 4.65991282e-03 -5.31925225e-02 4.90669211e+00] [-4.69577150e-03 9.99988824e-01 -5.49170858e-04 6.36299669e-01] [ 5.31893690e-02 7.98167344e-04 9.98584125e-01 1.69368020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0025578440001 meters Centerline goodness : 0.150682 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98583234e-01 4.88231893e-03 -5.29876145e-02 4.90564517e+00] [-4.89437381e-03 9.99988018e-01 -9.77435807e-05 6.34547964e-01] [ 5.29865024e-02 3.56946294e-04 9.98595165e-01 1.69441359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.03255784400005 meters Centerline goodness : 0.124187 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98584970e-01 5.03554193e-03 -5.29405483e-02 4.90549248e+00] [-5.02880601e-03 9.99987322e-01 2.60442829e-04 6.32936041e-01] [ 5.29411886e-02 6.15345360e-06 9.98597632e-01 1.69439473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0625578440001 meters Centerline goodness : 0.179551 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.69 [[ 9.98593150e-01 5.16415430e-03 -5.27735884e-02 4.90507521e+00] [-5.13830603e-03 9.99986603e-01 6.25462766e-04 6.31029357e-01] [ 5.27761114e-02 -3.53415986e-04 9.98606307e-01 1.69429433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.09255784400005 meters Centerline goodness : 0.153548 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.69 [[ 9.98599662e-01 5.32247756e-03 -5.26344609e-02 4.90473468e+00] [-5.27138646e-03 9.99985491e-01 1.10945560e-03 6.28430136e-01] [ 5.26396023e-02 -8.30445404e-04 9.98613230e-01 1.69419941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1225578440001 meters Centerline goodness : 0.151578 Centerline is valid? [False, False] Translation: X:4.90, Y:0.63, Z:1.69 [[ 9.98601642e-01 5.45110060e-03 -5.25837023e-02 4.90452974e+00] [-5.37476299e-03 9.99984287e-01 1.59303725e-03 6.25617612e-01] [ 5.25915599e-02 -1.30818468e-03 9.98615249e-01 1.69418456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.15255784400006 meters Centerline goodness : 0.153303 Centerline is valid? [False, False] Translation: X:4.90, Y:0.62, Z:1.69 [[ 9.98597222e-01 5.61962625e-03 -5.26498660e-02 4.90471414e+00] [-5.51388568e-03 9.99982480e-01 2.15341241e-03 6.22687598e-01] [ 5.26610449e-02 -1.86008631e-03 9.98610712e-01 1.69401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1825578440001 meters Centerline goodness : 0.148275 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.70 [[ 9.98572868e-01 -2.48066838e-03 -5.33486035e-02 4.92667902e+00] [ 2.68858700e-03 9.99989067e-01 3.82594405e-03 6.18530882e-01] [ 5.33385293e-02 -3.96391629e-03 9.98568620e-01 1.69620677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.21255784400006 meters Centerline goodness : 0.149113 Centerline is valid? [False, False] Translation: X:4.93, Y:0.62, Z:1.70 [[ 9.98579215e-01 -2.24537478e-03 -5.32401210e-02 4.92634444e+00] [ 2.48394319e-03 9.99987168e-01 4.41524293e-03 6.15657652e-01] [ 5.32295239e-02 -4.54121525e-03 9.98571978e-01 1.69620321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2425578440001 meters Centerline goodness : 0.148840 Centerline is valid? [False, False] Translation: X:4.93, Y:0.61, Z:1.70 [[ 9.98590008e-01 -2.02736603e-03 -5.30460800e-02 4.92573488e+00] [ 2.29552790e-03 9.99984891e-01 4.99482383e-03 6.12632032e-01] [ 5.30351522e-02 -5.10954992e-03 9.98579574e-01 1.69631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.27255784400006 meters Centerline goodness : 0.147740 Centerline is valid? [False, False] Translation: X:4.92, Y:0.61, Z:1.70 [[ 9.98606130e-01 -1.78929225e-03 -5.27503107e-02 4.92476803e+00] [ 2.08722556e-03 9.99982178e-01 5.59344348e-03 6.09476162e-01] [ 5.27393623e-02 -5.69574875e-03 9.98592068e-01 1.69657017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30255784400003 meters Centerline goodness : 0.144162 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98617586e-01 -1.32098493e-03 -5.25468610e-02 4.92358517e+00] [ 1.67703534e-03 9.99975931e-01 6.73234984e-03 6.03257847e-01] [ 5.25367029e-02 -6.81116588e-03 9.98595765e-01 1.69738489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.33255784400006 meters Centerline goodness : 0.148261 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98611181e-01 -1.05617190e-03 -5.26744030e-02 4.92389078e+00] [ 1.44358659e-03 9.99972186e-01 7.31739058e-03 6.00461743e-01] [ 5.26652095e-02 -7.38326811e-03 9.98584930e-01 1.69735196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36255784400004 meters Centerline goodness : 0.145770 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98602575e-01 -8.05106066e-04 -5.28417387e-02 4.92427753e+00] [ 1.22234403e-03 9.99968330e-01 7.86414933e-03 5.97797489e-01] [ 5.28337338e-02 -7.91775056e-03 9.98571933e-01 1.69736272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.39255784400007 meters Centerline goodness : 0.148843 Centerline is valid? [False, False] Translation: X:4.95, Y:0.59, Z:1.70 [[ 0.99861418 0.00563869 -0.05232518 4.94553941] [-0.00535782 0.99997049 0.00550652 0.59069848] [ 0.05235469 -0.00521854 0.99861492 1.69817284] [ 0. 0. 0. 1. ]] SLAMing on 495.42255784400004 meters Centerline goodness : 0.150178 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99848881 0.00589104 -0.0546388 4.89880572] [-0.00557271 0.99996661 0.00597671 0.59172128] [ 0.05467218 -0.00566319 0.9984883 1.69801833] [ 0. 0. 0. 1. ]] SLAMing on 495.45255784400007 meters Centerline goodness : 0.144316 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99847307 0.00649954 -0.05485696 4.89929374] [-0.00613249 0.99995769 0.00685673 0.58822168] [ 0.05489921 -0.00650985 0.99847068 1.69812282] [ 0. 0. 0. 1. ]] SLAMing on 495.48255784400004 meters Centerline goodness : 0.142396 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99846659 0.00667109 -0.0549543 4.89958616] [-0.00628869 0.99995482 0.00712845 0.58697185] [ 0.05499937 -0.00677193 0.99846342 1.69812816] [ 0. 0. 0. 1. ]] SLAMing on 495.51255784400007 meters Centerline goodness : 0.144864 Centerline is valid? [False, False] Translation: X:4.90, Y:0.59, Z:1.70 [[ 0.99846652 0.00677769 -0.05494244 4.89947701] [-0.00638922 0.99995336 0.00724308 0.58632153] [ 0.05498897 -0.00688093 0.99846325 1.69828386] [ 0. 0. 0. 1. ]] SLAMing on 495.54255784400004 meters Centerline goodness : 0.137310 Centerline is valid? [False, False] Translation: X:4.88, Y:0.59, Z:1.70 [[ 9.98466232e-01 5.43522491e-04 -5.53614270e-02 4.87607986e+00] [ 3.65869715e-06 9.99951160e-01 9.88321762e-03 5.89609855e-01] [ 5.53640949e-02 -9.86826161e-03 9.98417465e-01 1.69822462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5725578440001 meters Centerline goodness : 0.335728 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840285 0.00984968 -0.05563032 4.89745645] [-0.00932891 0.99991027 0.00961333 0.58402486] [ 0.05572001 -0.00907901 0.99840515 1.7000398 ] [ 0. 0. 0. 1. ]] SLAMing on 495.60255784400005 meters Centerline goodness : 0.147422 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.9983939 0.0099034 -0.05578124 4.89785488] [-0.00938098 0.99990973 0.00961952 0.58423391] [ 0.05587147 -0.00908079 0.99839667 1.70005426] [ 0. 0. 0. 1. ]] SLAMing on 495.6325578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 495.66255784400005 meters Centerline goodness : 0.130668 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99839332 0.01004391 -0.05576654 4.89763885] [-0.00951129 0.99990666 0.00980811 0.58359582] [ 0.05585985 -0.00926194 0.99839566 1.70031566] [ 0. 0. 0. 1. ]] SLAMing on 495.6925578440001 meters Centerline goodness : 0.136221 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840296 0.01004606 -0.05559323 4.89693279] [-0.00951198 0.99990612 0.00986316 0.58303371] [ 0.0556871 -0.0093186 0.99840478 1.7006876 ] [ 0. 0. 0. 1. ]] SLAMing on 495.72255784400005 meters Centerline goodness : 0.132692 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99841298 0.00995626 -0.05542915 4.8962796 ] [-0.00942761 0.99990763 0.00979065 0.58282252] [ 0.05552151 -0.00925254 0.99841462 1.70105608] [ 0. 0. 0. 1. ]] SLAMing on 495.7525578440001 meters Centerline goodness : 0.132840 Centerline is valid? [False, False] Translation: X:4.90, Y:0.58, Z:1.70 [[ 0.99840393 0.00989971 -0.05560206 4.89698087] [-0.00937791 0.99990958 0.00963764 0.58366731] [ 0.05569245 -0.00910082 0.99840649 1.70066001] [ 0. 0. 0. 1. ]] SLAMing on 495.78255784400005 meters Centerline goodness : 0.092741 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.70 [[ 9.98327127e-01 3.17168240e-03 -5.77311632e-02 4.91734132e+00] [-2.56559272e-03 9.99940849e-01 1.05695771e-02 5.89600065e-01] [ 5.77612717e-02 -1.04037809e-02 9.98276213e-01 1.70331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8125578440001 meters Centerline goodness : 0.118241 Centerline is valid? [False, False] Translation: X:4.92, Y:0.59, Z:1.70 [[ 9.98312751e-01 3.11616328e-03 -5.79822457e-02 4.91847070e+00] [-2.52610542e-03 9.99944307e-01 1.02470416e-02 5.91754769e-01] [ 5.80109479e-02 -1.00832830e-02 9.98265024e-01 1.70267825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84255784400005 meters Centerline goodness : 0.148252 Centerline is valid? [False, False] Translation: X:4.92, Y:0.60, Z:1.70 [[ 9.98296090e-01 2.94743671e-03 -5.82771815e-02 4.91941981e+00] [-2.39449090e-03 9.99951476e-01 9.55576046e-03 5.95511055e-01] [ 5.83025187e-02 -9.39993412e-03 9.98254706e-01 1.70241948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8725578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 495.90255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 495.9325578440001 meters Centerline goodness : 0.115995 Centerline is valid? [False, False] Translation: X:4.91, Y:0.60, Z:1.70 [[ 9.98346831e-01 4.80424760e-03 -5.72758632e-02 4.91459136e+00] [-4.21010308e-03 9.99936120e-01 1.04895432e-02 6.02802537e-01] [ 5.73225988e-02 -1.02310649e-02 9.98303283e-01 1.70489663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 495.9925578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 496.02255784400006 meters Centerline goodness : 0.136684 Centerline is valid? [False, False] Translation: X:4.91, Y:0.61, Z:1.71 [[ 0.99837437 0.00686381 -0.05658187 4.91118024] [-0.00624041 0.99991795 0.01118694 0.61362403] [ 0.05665402 -0.01081566 0.99833529 1.70679224] [ 0. 0. 0. 1. ]] SLAMing on 496.05255784400003 meters Centerline goodness : 0.137033 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99839827 0.00674236 -0.05617323 4.90992839] [-0.00615245 0.99992417 0.01066797 0.61665556] [ 0.0562409 -0.01030528 0.99836404 1.70718046] [ 0. 0. 0. 1. ]] SLAMing on 496.08255784400006 meters Centerline goodness : 0.137033 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99839827 0.00674236 -0.05617323 4.90992839] [-0.00615245 0.99992417 0.01066797 0.61665556] [ 0.0562409 -0.01030528 0.99836404 1.70718046] [ 0. 0. 0. 1. ]] SLAMing on 496.11255784400004 meters Centerline goodness : 0.137942 Centerline is valid? [False, False] Translation: X:4.91, Y:0.62, Z:1.71 [[ 0.99841131 0.00660327 -0.05595761 4.90924426] [-0.00604761 0.99993077 0.01009359 0.61997458] [ 0.05602039 -0.00973915 0.99838212 1.70748156] [ 0. 0. 0. 1. ]] SLAMing on 496.14255784400007 meters Centerline goodness : 0.138089 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.71 [[ 0.9984106 0.0065085 -0.05598142 4.90959139] [-0.00600551 0.99994012 0.00914848 0.62596894] [ 0.05603761 -0.00879775 0.9983899 1.70721637] [ 0. 0. 0. 1. ]] SLAMing on 496.17255784400004 meters Centerline goodness : 0.136051 Centerline is valid? [False, False] Translation: X:4.91, Y:0.63, Z:1.71 [[ 0.99841141 0.00629655 -0.05599111 4.90973354] [-0.00582473 0.99994618 0.00858594 0.62867383] [ 0.05604216 -0.00824616 0.99839435 1.70709994] [ 0. 0. 0. 1. ]] SLAMing on 496.20255784400007 meters Centerline goodness : 0.140167 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.71 [[ 9.98459462e-01 -3.96219276e-04 -5.54846531e-02 4.88650450e+00] [ 9.83333739e-04 9.99943814e-01 1.05546638e-02 6.35311182e-01] [ 5.54773537e-02 -1.05929639e-02 9.98403752e-01 1.70622643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.23255784400004 meters Centerline goodness : 0.140343 Centerline is valid? [False, False] Translation: X:4.89, Y:0.64, Z:1.71 [[ 9.98474035e-01 -4.71690445e-04 -5.52211812e-02 4.88581278e+00] [ 1.03332134e-03 9.99948030e-01 1.01424596e-02 6.37699209e-01] [ 5.52135273e-02 -1.01840438e-02 9.98422632e-01 1.70630673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26255784400007 meters Centerline goodness : 0.086037 Centerline is valid? [False, False] Translation: X:4.88, Y:0.64, Z:1.71 [[ 9.98524556e-01 -3.27563022e-04 -5.43010426e-02 4.88340967e+00] [ 8.49473957e-04 9.99953667e-01 9.58863286e-03 6.41606689e-01] [ 5.42953858e-02 -9.62061269e-03 9.98478570e-01 1.70663880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.29255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 496.3225578440001 meters Centerline goodness : 0.088790 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98535183e-01 -2.81816654e-05 -5.41062607e-02 4.88273001e+00] [ 5.23593711e-04 9.99958073e-01 9.14212612e-03 6.45270716e-01] [ 5.41037345e-02 -9.15706427e-03 9.98493332e-01 1.70692790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.35255784400005 meters Centerline goodness : 0.245185 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98535750e-01 3.92046652e-05 -5.40957911e-02 4.88267751e+00] [ 4.39158772e-04 9.99960910e-01 8.83098032e-03 6.47579956e-01] [ 5.40940227e-02 -8.84180620e-03 9.98496700e-01 1.70697534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3825578440001 meters Centerline goodness : 0.344160 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98538120e-01 6.54895150e-05 -5.40520052e-02 4.88264059e+00] [ 3.96756396e-04 9.99963445e-01 8.54109862e-03 6.49621273e-01] [ 5.40505887e-02 -8.55005803e-03 9.98501593e-01 1.70687995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.41255784400005 meters Centerline goodness : 0.406806 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98542654e-01 5.19117095e-05 -5.39681822e-02 4.88252682e+00] [ 3.94511624e-04 9.99965797e-01 8.26128656e-03 6.51350566e-01] [ 5.39667652e-02 -8.27053809e-03 9.98508481e-01 1.70676454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4425578440001 meters Centerline goodness : 0.038656 Centerline is valid? [False, False] Translation: X:4.88, Y:0.65, Z:1.71 [[ 9.98542875e-01 2.84778997e-04 -5.39633780e-02 4.88279180e+00] [ 1.41941567e-04 9.99968756e-01 7.90359789e-03 6.54171829e-01] [ 5.39639427e-02 -7.89974100e-03 9.98511636e-01 1.70633963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.47255784400005 meters Centerline goodness : 0.092199 Centerline is valid? [False, False] Translation: X:4.88, Y:0.66, Z:1.71 [[ 9.98531174e-01 2.56191757e-04 -5.41795928e-02 4.88348879e+00] [ 1.52826087e-04 9.99971524e-01 7.54501931e-03 6.56211554e-01] [ 5.41799830e-02 -7.54221705e-03 9.98502701e-01 1.70607831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5025578440001 meters Centerline goodness : 0.414217 Centerline is valid? [False, False] Translation: X:4.84, Y:0.66, Z:1.70 [[ 9.98374141e-01 1.32604570e-03 -5.69852227e-02 4.83861724e+00] [-8.53058049e-04 9.99964994e-01 8.32370501e-03 6.58895713e-01] [ 5.69942655e-02 -8.26156014e-03 9.98340323e-01 1.70452173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.53255784400005 meters Centerline goodness : 0.141968 Centerline is valid? [False, False] Translation: X:4.88, Y:0.66, Z:1.71 [[ 9.98430294e-01 2.62850362e-03 -5.59467595e-02 4.88445425e+00] [-2.15665413e-03 9.99961611e-01 8.49260804e-03 6.62687739e-01] [ 5.59669347e-02 -8.35861933e-03 9.98397634e-01 1.70614675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5625578440001 meters Centerline goodness : 0.038091 Centerline is valid? [False, False] Translation: X:4.89, Y:0.67, Z:1.71 [[ 0.99839846 0.00631228 -0.05621981 4.88524476] [-0.0056878 0.99992042 0.01126079 0.66778834] [ 0.05628641 -0.01092299 0.99835491 1.70600127] [ 0. 0. 0. 1. ]] SLAMing on 496.59255784400005 meters Centerline goodness : 0.181585 Centerline is valid? [False, False] Translation: X:4.89, Y:0.67, Z:1.71 [[ 0.9983965 0.0062266 -0.05626424 4.88527863] [-0.00563257 0.99992678 0.01071018 0.6709495 ] [ 0.05632681 -0.0103761 0.99835847 1.70608 ] [ 0. 0. 0. 1. ]] SLAMing on 496.6225578440001 meters Centerline goodness : 0.038307 Centerline is valid? [False, False] Translation: X:4.91, Y:0.67, Z:1.71 [[ 0.99835438 0.01483633 -0.05539332 4.90622532] [-0.01432749 0.99985154 0.00957185 0.67128312] [ 0.05552711 -0.00876245 0.99841873 1.70759125] [ 0. 0. 0. 1. ]] SLAMing on 496.65255784400006 meters Centerline goodness : 0.085759 Centerline is valid? [False, False] Translation: X:4.91, Y:0.67, Z:1.71 [[ 0.99835892 0.01465702 -0.05535911 4.90610962] [-0.01418222 0.99985928 0.00895989 0.67461821] [ 0.05548265 -0.00816008 0.99842631 1.70763652] [ 0. 0. 0. 1. ]] SLAMing on 496.6825578440001 meters Centerline goodness : 0.092915 Centerline is valid? [False, False] Translation: X:4.91, Y:0.68, Z:1.71 [[ 0.9983871 0.01455093 -0.05487677 4.90501206] [-0.01412888 0.99986761 0.0080711 0.68060601] [ 0.05498695 -0.00728274 0.99846051 1.70747168] [ 0. 0. 0. 1. ]] SLAMing on 496.71255784400006 meters Centerline goodness : 0.041394 Centerline is valid? [False, False] Translation: X:4.90, Y:0.68, Z:1.71 [[ 0.99839545 0.01430627 -0.05478927 4.90488407] [-0.01391705 0.99987518 0.00747908 0.68344522] [ 0.05488943 -0.00670457 0.99846993 1.70730873] [ 0. 0. 0. 1. ]] SLAMing on 496.7425578440001 meters Centerline goodness : 0.085005 Centerline is valid? [False, False] Translation: X:4.91, Y:0.69, Z:1.71 [[ 0.99839643 0.01407985 -0.0548299 4.90522955] [-0.01371971 0.9998818 0.00693931 0.68607182] [ 0.05492113 -0.00617593 0.9984716 1.70690797] [ 0. 0. 0. 1. ]] SLAMing on 496.77255784400006 meters Centerline goodness : 0.084771 Centerline is valid? [False, False] Translation: X:4.89, Y:0.69, Z:1.70 [[ 0.99842538 0.00543486 -0.05583211 4.88514435] [-0.00502921 0.99995995 0.00740345 0.69338167] [ 0.05587012 -0.00711101 0.99841272 1.70493081] [ 0. 0. 0. 1. ]] SLAMing on 496.80255784400003 meters Centerline goodness : 0.138445 Centerline is valid? [False, False] Translation: X:4.89, Y:0.70, Z:1.70 [[ 9.98414172e-01 5.24768824e-03 -5.60499966e-02 4.88576915e+00] [-4.86701758e-03 9.99964171e-01 6.92597532e-03 6.95814077e-01] [ 5.60843337e-02 -6.64219560e-03 9.98403941e-01 1.70476388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.83255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 496.86255784400004 meters Centerline goodness : 0.138028 Centerline is valid? [False, False] Translation: X:4.89, Y:0.70, Z:1.71 [[ 9.98420097e-01 4.84284841e-03 -5.59808590e-02 4.88527380e+00] [-4.52848592e-03 9.99973266e-01 5.74102637e-03 7.04683657e-01] [ 5.60071654e-02 -5.47844757e-03 9.98415336e-01 1.70510905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.89255784400007 meters Centerline goodness : 0.105801 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98426183e-01 4.64882460e-03 -5.58886961e-02 4.88499187e+00] [-4.36025953e-03 9.99976533e-01 5.28404225e-03 7.06928577e-01] [ 5.59119491e-02 -5.03203691e-03 9.98423023e-01 1.70513228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92255784400004 meters Centerline goodness : 0.095769 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98429604e-01 4.48473859e-03 -5.58409665e-02 4.88482546e+00] [-4.21614827e-03 9.99978975e-01 4.92679605e-03 7.08615079e-01] [ 5.58618879e-02 -4.68362523e-03 9.98427520e-01 1.70518087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.95255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 496.98255784400004 meters Centerline goodness : 0.092717 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98444718e-01 4.21385389e-03 -5.55912626e-02 4.88357947e+00] [-3.98532829e-03 9.99983150e-01 4.22103946e-03 7.12300824e-01] [ 5.56081128e-02 -3.99292513e-03 9.98444688e-01 1.70604433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.01255784400007 meters Centerline goodness : 0.103708 Centerline is valid? [False, False] Translation: X:4.88, Y:0.71, Z:1.71 [[ 9.98459896e-01 4.09829218e-03 -5.53266659e-02 4.88268838e+00] [-3.88755075e-03 9.99984775e-01 3.91612727e-03 7.13876065e-01] [ 5.53418730e-02 -3.69501080e-03 9.98460627e-01 1.70635986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04255784400004 meters Centerline goodness : 0.092287 Centerline is valid? [False, False] Translation: X:4.88, Y:0.72, Z:1.71 [[ 9.98493874e-01 4.14730114e-03 -5.47063297e-02 4.88103881e+00] [-3.96450828e-03 9.99986192e-01 3.44944802e-03 7.17049341e-01] [ 5.47198803e-02 -3.22736902e-03 9.98496529e-01 1.70648486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0725578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.10255784400005 meters Centerline goodness : 0.096617 Centerline is valid? [False, False] Translation: X:4.88, Y:0.72, Z:1.71 [[ 9.98472078e-01 4.31263064e-03 -5.50900302e-02 4.88214973e+00] [-4.15902258e-03 9.99987138e-01 2.90265333e-03 7.20931607e-01] [ 5.51018397e-02 -2.66909762e-03 9.98477172e-01 1.70611067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1325578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.16255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.1925578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.22255784400005 meters Centerline goodness : 0.090812 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.71 [[ 9.98482054e-01 1.49641475e-02 -5.30062476e-02 4.90296997e+00] [-1.48162146e-02 9.99885168e-01 3.18273378e-03 7.27123949e-01] [ 5.30477877e-02 -2.39255063e-03 9.98589109e-01 1.70690395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2525578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.28255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.3125578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.34255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.3725578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.40255784400006 meters Centerline goodness : 0.085698 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98459130e-01 6.30156044e-03 -5.51330752e-02 4.88514467e+00] [-6.11303715e-03 9.99974880e-01 3.58739992e-03 7.35300203e-01] [ 5.51542965e-02 -3.24484167e-03 9.98472571e-01 1.70352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4325578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.46255784400006 meters Centerline goodness : 0.127977 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98447358e-01 6.11569643e-03 -5.53666945e-02 4.88616633e+00] [-5.95698765e-03 9.99977663e-01 3.03108657e-03 7.38541432e-01] [ 5.53839950e-02 -2.69656167e-03 9.98461487e-01 1.70278980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4925578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.52255784400006 meters Centerline goodness : 0.090899 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98425670e-01 5.96721184e-03 -5.57725185e-02 4.88767357e+00] [-5.81943742e-03 9.99979114e-01 2.81162674e-03 7.39173831e-01] [ 5.57881312e-02 -2.48263563e-03 9.98439543e-01 1.70203404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.55255784400003 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.58255784400006 meters Centerline goodness : 0.204378 Centerline is valid? [False, False] Translation: X:4.89, Y:0.74, Z:1.70 [[ 9.98419880e-01 5.97736266e-03 -5.58749851e-02 4.88776675e+00] [-5.81893805e-03 9.99978577e-01 2.99760582e-03 7.37992626e-01] [ 5.58917058e-02 -2.66773617e-03 9.98433273e-01 1.70224675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.61255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.64255784400007 meters Centerline goodness : 0.176910 Centerline is valid? [False, False] Translation: X:4.88, Y:0.74, Z:1.70 [[ 9.98479992e-01 5.98297714e-03 -5.47896762e-02 4.88462547e+00] [-5.80539542e-03 9.99977369e-01 3.39973837e-03 7.35672460e-01] [ 5.48087768e-02 -3.07649501e-03 9.98492130e-01 1.70305254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.67255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.70255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.73255784400004 meters Centerline goodness : 0.090299 Centerline is valid? [False, False] Translation: X:4.89, Y:0.73, Z:1.70 [[ 9.98458949e-01 6.85809045e-03 -5.50698993e-02 4.88578852e+00] [-6.64298216e-03 9.99969578e-01 4.08820131e-03 7.34295884e-01] [ 5.50962612e-02 -3.71607283e-03 9.98474132e-01 1.70226689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76255784400007 meters Centerline goodness : 0.048173 Centerline is valid? [False, False] Translation: X:4.89, Y:0.73, Z:1.70 [[ 9.98472060e-01 6.93532518e-03 -5.48219512e-02 4.88507278e+00] [-6.72406303e-03 9.99969244e-01 4.03712014e-03 7.34805791e-01] [ 5.48482639e-02 -3.66232541e-03 9.98487985e-01 1.70237026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.79255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 497.8225578440001 meters Centerline goodness : 0.123056 Centerline is valid? [False, False] Translation: X:4.88, Y:0.74, Z:1.70 [[ 9.98493696e-01 7.06739721e-03 -5.44094766e-02 4.88398001e+00] [-6.86272169e-03 9.99968659e-01 3.94768294e-03 7.35099515e-01] [ 5.44356712e-02 -3.56833943e-03 9.98510904e-01 1.70234118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.85255784400005 meters Centerline goodness : 0.176850 Centerline is valid? [False, False] Translation: X:4.88, Y:0.73, Z:1.70 [[ 9.98497073e-01 7.10315741e-03 -5.43428003e-02 4.88380272e+00] [-6.89504846e-03 9.99968164e-01 4.01608979e-03 7.34591514e-01] [ 5.43695972e-02 -3.63535766e-03 9.98514262e-01 1.70230256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8825578440001 meters Centerline goodness : 0.136903 Centerline is valid? [False, False] Translation: X:4.88, Y:0.73, Z:1.70 [[ 9.98502506e-01 7.31926485e-03 -5.42141505e-02 4.88336791e+00] [-7.08861775e-03 9.99964994e-01 4.44544541e-03 7.32662233e-01] [ 5.42447901e-02 -4.05448500e-03 9.98519436e-01 1.70244187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.91255784400005 meters Centerline goodness : 0.126482 Centerline is valid? [False, False] Translation: X:4.90, Y:0.74, Z:1.70 [[ 9.98561149e-01 -4.02073311e-04 -5.36234082e-02 4.90265430e+00] [ 7.15241555e-04 9.99982802e-01 5.82107784e-03 7.36229903e-01] [ 5.36201455e-02 -5.85105587e-03 9.98544263e-01 1.70425017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9425578440001 meters Centerline goodness : 0.134665 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98556955e-01 -2.55374498e-04 -5.37023512e-02 4.90299140e+00] [ 5.85513984e-04 9.99981028e-01 6.13193651e-03 7.34813343e-01] [ 5.36997664e-02 -6.15453133e-03 9.98538160e-01 1.70405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.97255784400005 meters Centerline goodness : 0.134665 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98556955e-01 -2.55374498e-04 -5.37023512e-02 4.90299140e+00] [ 5.85513984e-04 9.99981028e-01 6.13193651e-03 7.34813343e-01] [ 5.36997664e-02 -6.15453133e-03 9.98538160e-01 1.70405235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0025578440001 meters Centerline goodness : 0.140193 Centerline is valid? [False, False] Translation: X:4.90, Y:0.73, Z:1.70 [[ 9.98544665e-01 -3.94831645e-06 -5.39310014e-02 4.90413253e+00] [ 3.74816672e-04 9.99976354e-01 6.86660650e-03 7.30546788e-01] [ 5.39296991e-02 -6.87682752e-03 9.98521055e-01 1.70332574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.03255784400005 meters Centerline goodness : 0.084686 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98519098e-01 5.57974554e-03 -5.41154015e-02 4.92569337e+00] [-5.37576524e-03 9.99977890e-01 3.91418910e-03 7.26519956e-01] [ 5.41360452e-02 -3.61748088e-03 9.98527016e-01 1.70481650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0625578440001 meters Centerline goodness : 0.129441 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 9.98511557e-01 5.78987325e-03 -5.42323557e-02 4.92595909e+00] [-5.55878444e-03 9.99974821e-01 4.41096384e-03 7.24090336e-01] [ 5.42565291e-02 -4.10293240e-03 9.98518600e-01 1.70490659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.09255784400005 meters Centerline goodness : 0.117803 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.71 [[ 9.98508075e-01 5.98355628e-03 -5.42754145e-02 4.92597920e+00] [-5.72869472e-03 9.99971829e-01 4.85007410e-03 7.22003011e-01] [ 5.43029062e-02 -4.53191088e-03 9.98514224e-01 1.70508344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1225578440001 meters Centerline goodness : 0.132402 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.71 [[ 0.99849651 0.00625004 -0.05445786 4.92646921] [-0.00595952 0.99996714 0.00549547 0.71850353] [ 0.05449042 -0.00516267 0.99850095 1.70508539] [ 0. 0. 0. 1. ]] SLAMing on 498.15255784400006 meters Centerline goodness : 0.142988 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.9984943 0.00629956 -0.05449269 4.92672796] [-0.00600052 0.99996604 0.00564961 0.71747484] [ 0.05452643 -0.00531412 0.99849819 1.70481185] [ 0. 0. 0. 1. ]] SLAMing on 498.1825578440001 meters Centerline goodness : 0.133120 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849528 0.00634021 -0.05447 4.92675048] [-0.00603768 0.99996543 0.0057169 0.71703775] [ 0.05450436 -0.00537942 0.99849904 1.70467354] [ 0. 0. 0. 1. ]] SLAMing on 498.21255784400006 meters Centerline goodness : 0.119058 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849701 0.00645017 -0.05442538 4.92663012] [-0.00614103 0.99996406 0.00584539 0.71672931] [ 0.05446113 -0.00550237 0.99850073 1.70465987] [ 0. 0. 0. 1. ]] SLAMing on 498.2425578440001 meters Centerline goodness : 0.136127 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99850119 0.00672113 -0.05431568 4.92663539] [-0.00640153 0.99996117 0.00605601 0.71667705] [ 0.05435428 -0.00569923 0.99850545 1.70421426] [ 0. 0. 0. 1. ]] SLAMing on 498.27255784400006 meters Centerline goodness : 0.133219 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849956 0.00671555 -0.05434644 4.92698157] [-0.0063985 0.99996149 0.00600589 0.71683163] [ 0.05438468 -0.00564915 0.99850408 1.70377764] [ 0. 0. 0. 1. ]] SLAMing on 498.30255784400003 meters Centerline goodness : 0.144056 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849486 0.0066717 -0.05443804 4.92749966] [-0.00636031 0.99996242 0.00589135 0.71722567] [ 0.0544753 -0.00553624 0.99849977 1.70330783] [ 0. 0. 0. 1. ]] SLAMing on 498.33255784400006 meters Centerline goodness : 0.128149 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849282 0.00661087 -0.05448292 4.92781265] [-0.00630812 0.99996371 0.00572678 0.71789535] [ 0.05451881 -0.00537447 0.99849828 1.70292644] [ 0. 0. 0. 1. ]] SLAMing on 498.36255784400004 meters Centerline goodness : 0.133857 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99849829 0.00658124 -0.05438617 4.9276254 ] [-0.00628917 0.99996488 0.00553959 0.71900352] [ 0.05442072 -0.00518923 0.99850461 1.70278062] [ 0. 0. 0. 1. ]] SLAMing on 498.39255784400007 meters Centerline goodness : 0.127953 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 0.99850955 0.0065408 -0.05418388 4.92705849] [-0.00626266 0.99996634 0.00530145 0.72044962] [ 0.05421673 -0.00495421 0.9985169 1.70281094] [ 0. 0. 0. 1. ]] SLAMing on 498.42255784400004 meters Centerline goodness : 0.131567 Centerline is valid? [False, False] Translation: X:4.93, Y:0.72, Z:1.70 [[ 9.98521158e-01 6.58110142e-03 -5.39646755e-02 4.92659334e+00] [-6.33177167e-03 9.99968482e-01 4.78991150e-03 7.23863855e-01] [ 5.39944976e-02 -4.44113597e-03 9.98531357e-01 1.70252137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.45255784400007 meters Centerline goodness : 0.121514 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98520708e-01 6.44720531e-03 -5.39891631e-02 4.92674196e+00] [-6.22025358e-03 9.99971103e-01 4.37063625e-03 7.26000120e-01] [ 5.40157813e-02 -4.02834452e-03 9.98531956e-01 1.70227108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48255784400004 meters Centerline goodness : 0.142585 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98522175e-01 6.31952635e-03 -5.39771187e-02 4.92679575e+00] [-6.11038487e-03 9.99973175e-01 4.03878617e-03 7.27724330e-01] [ 5.40011940e-02 -3.70299658e-03 9.98534005e-01 1.70206251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.51255784400007 meters Centerline goodness : 0.119693 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98525595e-01 6.15327077e-03 -5.39330451e-02 4.92669960e+00] [-5.96566578e-03 9.99975585e-01 3.63878145e-03 7.29838818e-01] [ 5.39541188e-02 -3.31166989e-03 9.98537924e-01 1.70197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54255784400004 meters Centerline goodness : 0.170713 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98528626e-01 6.10360408e-03 -5.38825483e-02 4.92649735e+00] [-5.91773957e-03 9.99975980e-01 3.60831322e-03 7.29698532e-01] [ 5.39032778e-02 -3.28414115e-03 9.98540761e-01 1.70209256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5725578440001 meters Centerline goodness : 0.145061 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98536752e-01 6.10693195e-03 -5.37313651e-02 4.92598650e+00] [-5.91487724e-03 9.99975540e-01 3.73264807e-03 7.28790017e-01] [ 5.37528459e-02 -3.40937185e-03 9.98548450e-01 1.70231450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60255784400005 meters Centerline goodness : 0.142759 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98546521e-01 6.16240170e-03 -5.35431596e-02 4.92539498e+00] [-5.96004271e-03 9.99974484e-01 3.93821638e-03 7.27669039e-01] [ 5.35660622e-02 -3.61337275e-03 9.98557770e-01 1.70253975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6325578440001 meters Centerline goodness : 0.139262 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98549652e-01 6.24614823e-03 -5.34750260e-02 4.92529073e+00] [-6.02915994e-03 9.99972928e-01 4.21811075e-03 7.26247959e-01] [ 5.34999253e-02 -3.88958353e-03 9.98560278e-01 1.70247911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66255784400005 meters Centerline goodness : 0.141592 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98537202e-01 6.28890020e-03 -5.37020050e-02 4.92606285e+00] [-6.06482157e-03 9.99972214e-01 4.33457743e-03 7.25610578e-01] [ 5.37277726e-02 -4.00254374e-03 9.98547598e-01 1.70222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6925578440001 meters Centerline goodness : 0.135479 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98527988e-01 6.32491219e-03 -5.38688457e-02 4.92678738e+00] [-6.09816756e-03 9.99971846e-01 4.37252992e-03 7.25557283e-01] [ 5.38949850e-02 -4.03759225e-03 9.98538446e-01 1.70177740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72255784400005 meters Centerline goodness : 0.130350 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98524796e-01 6.34050524e-03 -5.39261430e-02 4.92716501e+00] [-6.11583536e-03 9.99971922e-01 4.33025500e-03 7.25989397e-01] [ 5.39520849e-02 -3.99406358e-03 9.98535538e-01 1.70141868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7525578440001 meters Centerline goodness : 0.132326 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98531701e-01 6.33251276e-03 -5.37990854e-02 4.92684976e+00] [-6.11231662e-03 9.99972261e-01 4.25648853e-03 7.26452787e-01] [ 5.38245473e-02 -3.92140169e-03 9.98542709e-01 1.70136771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78255784400005 meters Centerline goodness : 0.126355 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98546153e-01 6.24150652e-03 -5.35408715e-02 4.92586555e+00] [-6.02985577e-03 9.99973359e-01 4.11369758e-03 7.26578426e-01] [ 5.35651207e-02 -3.78487316e-03 9.98557185e-01 1.70177912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8125578440001 meters Centerline goodness : 0.129310 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98540437e-01 6.19260465e-03 -5.36530353e-02 4.92620958e+00] [-5.98457955e-03 9.99973943e-01 4.03702445e-03 7.26791657e-01] [ 5.36766370e-02 -3.71004130e-03 9.98551478e-01 1.70164755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84255784400005 meters Centerline goodness : 0.137813 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98533005e-01 6.20234914e-03 -5.37900487e-02 4.92686940e+00] [-5.99504058e-03 9.99973971e-01 4.01453094e-03 7.27087934e-01] [ 5.38135481e-02 -3.68616812e-03 9.98544197e-01 1.70114175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8725578440001 meters Centerline goodness : 0.139623 Centerline is valid? [False, False] Translation: X:4.93, Y:0.73, Z:1.70 [[ 9.98526617e-01 6.20833908e-03 -5.39077984e-02 4.92744656e+00] [-6.00142788e-03 9.99973994e-01 3.99927563e-03 7.27370453e-01] [ 5.39312253e-02 -3.66985940e-03 9.98537909e-01 1.70069931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90255784400006 meters Centerline goodness : 0.129462 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98528506e-01 -1.92433580e-03 -5.41952064e-02 4.94800031e+00] [ 2.17814517e-03 9.99986934e-01 4.62456747e-03 7.31943575e-01] [ 5.41855991e-02 -4.73580747e-03 9.98519651e-01 1.70186864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9325578440001 meters Centerline goodness : 0.131569 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98525120e-01 -1.90777552e-03 -5.42581252e-02 4.94824985e+00] [ 2.16838288e-03 9.99986393e-01 4.74463909e-03 7.31014532e-01] [ 5.42483352e-02 -4.85529371e-03 9.98515671e-01 1.70177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96255784400006 meters Centerline goodness : 0.130398 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98520819e-01 -1.89073131e-03 -5.43378291e-02 4.94849198e+00] [ 2.15854332e-03 9.99985810e-01 4.87038153e-03 7.30181885e-01] [ 5.43278495e-02 -4.98046792e-03 9.98510731e-01 1.70172415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9925578440001 meters Centerline goodness : 0.121674 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98514549e-01 -1.85152196e-03 -5.44542666e-02 4.94883971e+00] [ 2.12677437e-03 9.99985252e-01 4.99723012e-03 7.29463786e-01] [ 5.44442111e-02 -5.10561892e-03 9.98503761e-01 1.70167398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02255784400006 meters Centerline goodness : 0.134148 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98508888e-01 -1.78344127e-03 -5.45602405e-02 4.94899639e+00] [ 2.07011256e-03 9.99984347e-01 5.19815220e-03 7.28391384e-01] [ 5.45501159e-02 -5.30334702e-03 9.98496950e-01 1.70187701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.05255784400003 meters Centerline goodness : 0.122748 Centerline is valid? [False, False] Translation: X:4.95, Y:0.73, Z:1.70 [[ 9.98508147e-01 -1.69192022e-03 -5.45767145e-02 4.94882798e+00] [ 1.99351855e-03 9.99983040e-01 5.47216868e-03 7.26840098e-01] [ 5.45665304e-02 -5.57280471e-03 9.98494586e-01 1.70225162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08255784400006 meters Centerline goodness : 0.116957 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98523153e-01 -1.56201507e-03 -5.43053690e-02 4.94768131e+00] [ 1.89191027e-03 9.99980066e-01 6.02393981e-03 7.23650158e-01] [ 5.42948770e-02 -6.11778426e-03 9.98506204e-01 1.70304993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.11255784400004 meters Centerline goodness : 0.139167 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98529531e-01 -1.39809961e-03 -5.41924355e-02 4.94737379e+00] [ 1.74895806e-03 9.99977814e-01 6.42742255e-03 7.21709692e-01] [ 5.41822470e-02 -6.51275152e-03 9.98509824e-01 1.70314671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14255784400007 meters Centerline goodness : 0.140442 Centerline is valid? [False, False] Translation: X:4.95, Y:0.72, Z:1.70 [[ 9.98537284e-01 -1.27414431e-03 -5.40524706e-02 4.94700025e+00] [ 1.64165487e-03 9.99975835e-01 6.75528916e-03 7.19999638e-01] [ 5.40425573e-02 -6.83414359e-03 9.98515246e-01 1.70326203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.17255784400004 meters Centerline goodness : 0.168079 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98605694e-01 5.01758558e-03 -5.25498892e-02 4.96853209e+00] [-4.81147715e-03 9.99980232e-01 4.04792308e-03 7.16416046e-01] [ 5.25691612e-02 -3.78943645e-03 9.98610096e-01 1.70387237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20255784400007 meters Centerline goodness : 0.130069 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98601374e-01 5.07539988e-03 -5.26263891e-02 4.96890764e+00] [-4.86176858e-03 9.99979418e-01 4.18661901e-03 7.15654377e-01] [ 5.26465547e-02 -3.92490617e-03 9.98605495e-01 1.70361421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.23255784400004 meters Centerline goodness : 0.135613 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98588717e-01 5.11955984e-03 -5.28617521e-02 4.96965736e+00] [-4.90365869e-03 9.99979102e-01 4.21315234e-03 7.15686565e-01] [ 5.28822169e-02 -3.94799040e-03 9.98592952e-01 1.70333352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26255784400007 meters Centerline goodness : 0.132916 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98582887e-01 5.15149175e-03 -5.29686705e-02 4.97002671e+00] [-4.93744473e-03 9.99979112e-01 4.17107567e-03 7.16158824e-01] [ 5.29890513e-02 -3.90363490e-03 9.98587463e-01 1.70312721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.29255784400004 meters Centerline goodness : 0.131636 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98685029e-01 6.15561924e-03 -5.08951936e-02 5.01449818e+00] [-5.93383217e-03 9.99972235e-01 4.50767460e-03 7.19670962e-01] [ 5.09215280e-02 -4.19974360e-03 9.98693827e-01 1.70455399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3225578440001 meters Centerline goodness : 0.138919 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98691416e-01 6.13298816e-03 -5.07724524e-02 5.01425631e+00] [-5.91600559e-03 9.99972719e-01 4.42280870e-03 7.20088583e-01] [ 5.07981924e-02 -4.11665097e-03 9.98700454e-01 1.70443810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.35255784400005 meters Centerline goodness : 0.144995 Centerline is valid? [False, False] Translation: X:5.01, Y:0.72, Z:1.70 [[ 9.98708283e-01 6.07062731e-03 -5.04471296e-02 5.01348140e+00] [-5.86456741e-03 9.99973849e-01 4.23168788e-03 7.21015297e-01] [ 5.04714994e-02 -3.93037114e-03 9.98717768e-01 1.70428468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3825578440001 meters Centerline goodness : 0.132503 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98583488e-01 6.13062803e-03 -5.28529425e-02 4.96689846e+00] [-5.89731960e-03 9.99972172e-01 4.56912028e-03 7.18413396e-01] [ 5.28794833e-02 -4.25095737e-03 9.98591853e-01 1.70362032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.41255784400005 meters Centerline goodness : 0.131219 Centerline is valid? [False, False] Translation: X:4.97, Y:0.72, Z:1.70 [[ 9.98589537e-01 6.10011941e-03 -5.27420596e-02 4.96656054e+00] [-5.87653942e-03 9.99973083e-01 4.39316237e-03 7.19641533e-01] [ 5.27674388e-02 -4.07702519e-03 9.98598506e-01 1.70364664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4425578440001 meters Centerline goodness : 0.136753 Centerline is valid? [False, False] Translation: X:4.96, Y:0.72, Z:1.70 [[ 9.98620154e-01 6.04874589e-03 -5.21651286e-02 4.96492125e+00] [-5.84872345e-03 9.99974951e-01 3.98621206e-03 7.22065222e-01] [ 5.21879335e-02 -3.67561229e-03 9.98630517e-01 1.70385108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.47255784400005 meters Centerline goodness : 0.136186 Centerline is valid? [False, False] Translation: X:4.96, Y:0.72, Z:1.70 [[ 9.98628479e-01 5.91185081e-03 -5.20212566e-02 4.96446559e+00] [-5.73138027e-03 9.99977032e-01 3.61766474e-03 7.23803732e-01] [ 5.20414488e-02 -3.31454943e-03 9.98639425e-01 1.70391543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5025578440001 meters Centerline goodness : 0.139282 Centerline is valid? [False, False] Translation: X:4.96, Y:0.73, Z:1.70 [[ 9.98632051e-01 5.79448916e-03 -5.19658641e-02 4.96434389e+00] [-5.63412799e-03 9.99978906e-01 3.23185502e-03 7.25802483e-01] [ 5.19834949e-02 -2.93465168e-03 9.98643632e-01 1.70378057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.53255784400005 meters Centerline goodness : 0.137129 Centerline is valid? [False, False] Translation: X:4.96, Y:0.73, Z:1.70 [[ 9.98625653e-01 5.67334750e-03 -5.21019915e-02 4.96490111e+00] [-5.53640048e-03 9.99980831e-01 2.77239324e-03 7.28352911e-01] [ 5.21167215e-02 -2.48012552e-03 9.98637921e-01 1.70331878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5625578440001 meters Centerline goodness : 0.138550 Centerline is valid? [False, False] Translation: X:4.97, Y:0.73, Z:1.70 [[ 9.98615503e-01 5.56346789e-03 -5.23079828e-02 4.96573747e+00] [-5.45015626e-03 9.99982483e-01 2.30863221e-03 7.31009650e-01] [ 5.23199106e-02 -2.02034924e-03 9.98628332e-01 1.70272979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.59255784400005 meters Centerline goodness : 0.138174 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98590021e-01 5.30402257e-03 -5.28189190e-02 4.96749352e+00] [-5.23274512e-03 9.99985203e-01 1.48766830e-03 7.35280950e-01] [ 5.28260281e-02 -1.20918278e-03 9.98602999e-01 1.70180369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6225578440001 meters Centerline goodness : 0.154729 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98580858e-01 5.12599911e-03 -5.30093749e-02 4.96797915e+00] [-5.07127752e-03 9.99986460e-01 1.16675675e-03 7.36551569e-01] [ 5.30146379e-02 -8.96275704e-04 9.98593333e-01 1.70172901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.65255784400006 meters Centerline goodness : 0.139027 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98571583e-01 5.01426701e-03 -5.31944599e-02 4.96824547e+00] [-4.96813009e-03 9.99987159e-01 9.99523230e-04 7.37211467e-01] [ 5.31987887e-02 -7.33818497e-04 9.98583672e-01 1.70202831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6825578440001 meters Centerline goodness : 0.137435 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98566894e-01 4.98841866e-03 -5.32848402e-02 4.96821231e+00] [-4.94359462e-03 9.99987307e-01 9.72986315e-04 7.37519349e-01] [ 5.32890175e-02 -7.08173273e-04 9.98578880e-01 1.70240694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.71255784400006 meters Centerline goodness : 0.139945 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98562193e-01 4.92888798e-03 -5.33783837e-02 4.96835883e+00] [-4.88834272e-03 9.99987656e-01 8.90115119e-04 7.38000226e-01] [ 5.33821121e-02 -6.27903472e-04 9.98573961e-01 1.70258183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7425578440001 meters Centerline goodness : 0.141727 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98557983e-01 4.86157685e-03 -5.34632572e-02 4.96879333e+00] [-4.82494370e-03 9.99988028e-01 8.14252752e-04 7.38340484e-01] [ 5.34665757e-02 -5.55121379e-04 9.98569485e-01 1.70229898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.77255784400006 meters Centerline goodness : 0.166412 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98543464e-01 4.62990606e-03 -5.37541998e-02 4.96977463e+00] [-4.60197222e-03 9.99989204e-01 6.43424966e-04 7.38357075e-01] [ 5.37565985e-02 -3.95112461e-04 9.98553991e-01 1.70195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80255784400003 meters Centerline goodness : 0.141050 Centerline is valid? [False, False] Translation: X:4.97, Y:0.74, Z:1.70 [[ 9.98538598e-01 4.63569423e-03 -5.38440183e-02 4.96991840e+00] [-4.60329885e-03 9.99989141e-01 7.25657404e-04 7.37933771e-01] [ 5.38467976e-02 -4.76736819e-04 9.98549095e-01 1.70208855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.83255784400006 meters Centerline goodness : 0.108620 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98546969e-01 -3.38919031e-03 -5.37816261e-02 4.98991715e+00] [ 3.49879976e-03 9.99991990e-01 1.94402340e-03 7.42518862e-01] [ 5.37746066e-02 -2.12936982e-03 9.98550829e-01 1.70457411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86255784400004 meters Centerline goodness : 0.122366 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98541134e-01 -3.38888784e-03 -5.38898771e-02 4.99012929e+00] [ 3.50231929e-03 9.99991846e-01 2.01057556e-03 7.41974207e-01] [ 5.38826241e-02 -2.19638196e-03 9.98544861e-01 1.70473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.89255784400007 meters Centerline goodness : 0.122366 Centerline is valid? [False, False] Translation: X:4.99, Y:0.74, Z:1.70 [[ 9.98541134e-01 -3.38888784e-03 -5.38898771e-02 4.99012929e+00] [ 3.50231929e-03 9.99991846e-01 2.01057556e-03 7.41974207e-01] [ 5.38826241e-02 -2.19638196e-03 9.98544861e-01 1.70473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92255784400004 meters Centerline goodness : 0.173949 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98398762e-01 2.40953835e-03 -5.65164159e-02 5.00633711e+00] [-2.37558647e-03 9.99996955e-01 6.67919646e-04 7.38008642e-01] [ 5.65178532e-02 -5.32590514e-04 9.98401447e-01 1.70869370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.95255784400007 meters Centerline goodness : 0.119202 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98406071e-01 2.38379191e-03 -5.63882597e-02 5.00611007e+00] [-2.35259127e-03 9.99997041e-01 6.19693615e-04 7.38178303e-01] [ 5.63895701e-02 -4.86047340e-04 9.98408724e-01 1.70854066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98255784400004 meters Centerline goodness : 0.100028 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98422077e-01 2.41076036e-03 -5.61029854e-02 5.00526571e+00] [-2.38190098e-03 9.99996994e-01 5.81263017e-04 7.38686208e-01] [ 5.61042180e-02 -4.46714073e-04 9.98424818e-01 1.70866995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.01255784400007 meters Centerline goodness : 0.137002 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98442303e-01 2.41622223e-03 -5.57416300e-02 5.00402694e+00] [-2.39171296e-03 9.99997012e-01 5.06400795e-04 7.39338809e-01] [ 5.57426870e-02 -3.72293997e-04 9.98445098e-01 1.70909964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04255784400004 meters Centerline goodness : 0.145477 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98456703e-01 2.36620270e-03 -5.54852502e-02 5.00274547e+00] [-2.34608188e-03 9.99997156e-01 4.27767499e-04 7.39588609e-01] [ 5.54861046e-02 -2.96934387e-04 9.98459415e-01 1.71000614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0725578440001 meters Centerline goodness : 0.142508 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98450794e-01 2.38428196e-03 -5.55907182e-02 5.00294894e+00] [-2.36089780e-03 9.99997095e-01 4.86317876e-04 7.39233707e-01] [ 5.55917163e-02 -3.54320465e-04 9.98453522e-01 1.71008456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10255784400005 meters Centerline goodness : 0.174127 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98447161e-01 2.42738869e-03 -5.56540641e-02 5.00316327e+00] [-2.39885439e-03 9.99996955e-01 5.79507411e-04 7.38866782e-01] [ 5.56553014e-02 -4.45101533e-04 9.98449943e-01 1.70999754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1325578440001 meters Centerline goodness : 0.140137 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98446262e-01 2.47905426e-03 -5.56679175e-02 5.00329759e+00] [-2.44453820e-03 9.99996775e-01 6.88120506e-04 7.38427257e-01] [ 5.56694439e-02 -5.50968995e-04 9.98449102e-01 1.70987352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16255784400005 meters Centerline goodness : 0.159354 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98434691e-01 2.49254967e-03 -5.58744643e-02 5.00436454e+00] [-2.45243782e-03 9.99996684e-01 7.86448818e-04 7.37595424e-01] [ 5.58762392e-02 -6.48189133e-04 9.98437492e-01 1.70909033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1925578440001 meters Centerline goodness : 0.169657 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98424916e-01 2.48380125e-03 -5.60492408e-02 5.00502610e+00] [-2.44503520e-03 9.99996722e-01 7.60207416e-04 7.37643818e-01] [ 5.60509452e-02 -6.21967659e-04 9.98427716e-01 1.70875126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22255784400005 meters Centerline goodness : 0.133663 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98422553e-01 2.49280161e-03 -5.60909285e-02 5.00515791e+00] [-2.45905327e-03 9.99996752e-01 6.70683708e-04 7.38384156e-01] [ 5.60924182e-02 -5.31695159e-04 9.98425439e-01 1.70865547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2525578440001 meters Centerline goodness : 0.143464 Centerline is valid? [False, False] Translation: X:5.01, Y:0.74, Z:1.71 [[ 9.98420498e-01 2.52906218e-03 -5.61258629e-02 5.00520058e+00] [-2.50576220e-03 9.99996743e-01 4.85508705e-04 7.39861450e-01] [ 5.61269080e-02 -3.44103777e-04 9.98423583e-01 1.70862674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28255784400005 meters Centerline goodness : 0.139891 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98431241e-01 2.50654127e-03 -5.59354556e-02 5.00451538e+00] [-2.49737194e-03 9.99996854e-01 2.33827081e-04 7.41470086e-01] [ 5.59358657e-02 -9.37686255e-05 9.98434359e-01 1.70884664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3125578440001 meters Centerline goodness : 0.136564 Centerline is valid? [False, False] Translation: X:5.00, Y:0.74, Z:1.71 [[ 9.98461998e-01 2.57646504e-03 -5.53805076e-02 5.00261262e+00] [-2.58939866e-03 9.99996634e-01 -1.61785981e-04 7.44326431e-01] [ 5.53799044e-02 3.04939366e-04 9.98465309e-01 1.70943382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34255784400005 meters Centerline goodness : 0.126350 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98465194e-01 2.45997658e-03 -5.53281649e-02 5.00232494e+00] [-2.49142249e-03 9.99996772e-01 -4.99384162e-04 7.46083243e-01] [ 5.53267578e-02 6.36463538e-04 9.98468099e-01 1.70953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3725578440001 meters Centerline goodness : 0.143368 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98463512e-01 2.30314841e-03 -5.53652548e-02 5.00242444e+00] [-2.35621297e-03 9.99996825e-01 -8.93188019e-04 7.48039893e-01] [ 5.53630219e-02 1.02226798e-03 9.98465768e-01 1.70946737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40255784400006 meters Centerline goodness : 0.137128 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98462647e-01 2.14460083e-03 -5.53872116e-02 5.00247237e+00] [-2.21757658e-03 9.99996752e-01 -1.25612956e-03 7.49770129e-01] [ 5.53843378e-02 1.37702383e-03 9.98464160e-01 1.70939225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4325578440001 meters Centerline goodness : 0.136509 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98452669e-01 1.97757510e-03 -5.55729864e-02 5.00296632e+00] [-2.07130769e-03 9.99996528e-01 -1.62910922e-03 7.51442965e-01] [ 5.55695718e-02 1.74169721e-03 9.98453298e-01 1.70927681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46255784400006 meters Centerline goodness : 0.138325 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98447581e-01 1.82566107e-03 -5.56695127e-02 5.00330775e+00] [-1.93734019e-03 9.99996218e-01 -1.95220790e-03 7.52966166e-01] [ 5.56657381e-02 2.05702804e-03 9.98447342e-01 1.70907250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4925578440001 meters Centerline goodness : 0.138688 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98433020e-01 1.51414850e-03 -5.59393543e-02 5.00382902e+00] [-1.64623066e-03 9.99995965e-01 -2.31516182e-03 7.54180325e-01] [ 5.59356231e-02 2.40362309e-03 9.98431484e-01 1.70931906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52255784400006 meters Centerline goodness : 0.141419 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98427228e-01 1.45204341e-03 -5.60442901e-02 5.00386568e+00] [-1.58044651e-03 9.99996227e-01 -2.24684627e-03 7.53634620e-01] [ 5.60408162e-02 2.33188749e-03 9.98425755e-01 1.70971315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.55255784400003 meters Centerline goodness : 0.156095 Centerline is valid? [False, False] Translation: X:5.00, Y:0.75, Z:1.71 [[ 9.98419980e-01 1.37875777e-03 -5.61750980e-02 5.00396164e+00] [-1.50091871e-03 9.99996600e-01 -2.13251346e-03 7.52778793e-01] [ 5.61719668e-02 2.21345831e-03 9.98418655e-01 1.71013933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58255784400006 meters Centerline goodness : 0.154045 Centerline is valid? [False, False] Translation: X:5.02, Y:0.76, Z:1.71 [[ 9.98394330e-01 -6.95013774e-03 -5.62179437e-02 5.02389689e+00] [ 6.90268897e-03 9.99975637e-01 -1.03815406e-03 7.56800751e-01] [ 5.62237894e-02 6.48432146e-04 9.98417981e-01 1.71262894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.61255784400004 meters Centerline goodness : 0.128681 Centerline is valid? [False, False] Translation: X:5.04, Y:0.76, Z:1.71 [[ 9.98353017e-01 -1.68423308e-02 -5.48414929e-02 5.04430550e+00] [ 1.68122970e-02 9.99858154e-01 -1.00898705e-03 7.57457716e-01] [ 5.48507075e-02 8.53137991e-05 9.98494563e-01 1.71409085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64255784400007 meters Centerline goodness : 0.101933 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98559272e-01 -1.04152467e-02 -5.26393614e-02 5.02703721e+00] [ 1.03402734e-02 9.99945099e-01 -1.69642886e-03 7.48693803e-01] [ 5.26541401e-02 1.14967938e-03 9.98612147e-01 1.71116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.67255784400004 meters Centerline goodness : 0.106738 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98568777e-01 -1.02422315e-02 -5.24928010e-02 5.02662517e+00] [ 1.01904398e-02 9.99947290e-01 -1.25420421e-03 7.46706147e-01] [ 5.25028799e-02 7.17484438e-04 9.98620515e-01 1.71132104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70255784400007 meters Centerline goodness : 0.131719 Centerline is valid? [False, False] Translation: X:5.03, Y:0.75, Z:1.71 [[ 9.98569026e-01 -1.01118749e-02 -5.25133364e-02 5.02664942e+00] [ 1.00755039e-02 9.99948783e-01 -9.57298704e-04 7.45338246e-01] [ 5.25203269e-02 4.26830510e-04 9.98619764e-01 1.71141883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.73255784400004 meters Centerline goodness : 0.149761 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98570374e-01 -1.00107613e-02 -5.25070807e-02 5.02663084e+00] [ 9.98679370e-03 9.99949872e-01 -7.18820496e-04 7.44129537e-01] [ 5.25116446e-02 1.93415469e-04 9.98620293e-01 1.71145125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76255784400007 meters Centerline goodness : 0.175741 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98566634e-01 -9.94105978e-03 -5.25913744e-02 5.02701750e+00] [ 9.92573683e-03 9.99950586e-01 -5.52541969e-04 7.43094257e-01] [ 5.25942685e-02 2.97418327e-05 9.98615963e-01 1.71120813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.79255784400004 meters Centerline goodness : 0.273469 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98550123e-01 -9.86469680e-03 -5.29182374e-02 5.02792516e+00] [ 9.85362682e-03 9.99951341e-01 -4.70093684e-04 7.42501081e-01] [ 5.29202998e-02 -5.20244576e-05 9.98598738e-01 1.71103928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8225578440001 meters Centerline goodness : 0.129960 Centerline is valid? [False, False] Translation: X:5.03, Y:0.74, Z:1.71 [[ 9.98549872e-01 -9.81922672e-03 -5.29314306e-02 5.02788782e+00] [ 9.80584060e-03 9.99951790e-01 -5.12596442e-04 7.43040804e-01] [ 5.29339121e-02 -7.18406029e-06 9.98598018e-01 1.71107938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.85255784400005 meters Centerline goodness : 0.145529 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:1.71 [[ 9.98646037e-01 -1.32414729e-03 -5.20032608e-02 5.04842190e+00] [ 1.25146995e-03 9.99998194e-01 -1.43009097e-03 7.42243366e-01] [ 5.20050605e-02 1.36307416e-03 9.98645891e-01 1.71272908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8825578440001 meters Centerline goodness : 0.133743 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:1.71 [[ 9.98654929e-01 -1.33094224e-03 -5.18320498e-02 5.04792758e+00] [ 1.24745536e-03 9.99997872e-01 -1.64303684e-03 7.43620896e-01] [ 5.18341263e-02 1.57616867e-03 9.98654464e-01 1.71272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.91255784400005 meters Centerline goodness : 0.138894 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98705528e-01 -1.12186237e-03 -5.08528159e-02 5.04525467e+00] [ 1.03128839e-03 9.99997835e-01 -1.80730452e-03 7.45489381e-01] [ 5.08547334e-02 1.75252109e-03 9.98704523e-01 1.71294071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9425578440001 meters Centerline goodness : 0.163119 Centerline is valid? [False, False] Translation: X:5.07, Y:0.74, Z:1.71 [[ 9.98767984e-01 7.14043075e-03 -4.91073093e-02 5.06520840e+00] [-7.29422180e-03 9.99969036e-01 -2.95323761e-03 7.44958378e-01] [ 4.90847013e-02 3.30779878e-03 9.98789142e-01 1.71446375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.97255784400005 meters Centerline goodness : 0.132624 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98929197e-01 8.24998921e-04 -4.62577377e-02 5.04803160e+00] [-9.24281996e-04 9.99997315e-01 -2.12495403e-03 7.50098201e-01] [ 4.62558604e-02 2.16543382e-03 9.98927278e-01 1.71075531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0025578440001 meters Centerline goodness : 0.148428 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98928144e-01 7.25178522e-04 -4.62821529e-02 5.04816467e+00] [-8.36626423e-04 9.99996797e-01 -2.38868491e-03 7.51385413e-01] [ 4.62802725e-02 2.42484545e-03 9.98925551e-01 1.71059250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.03255784400005 meters Centerline goodness : 0.149979 Centerline is valid? [False, False] Translation: X:5.05, Y:0.75, Z:1.71 [[ 9.98920256e-01 6.34144287e-04 -4.64534191e-02 5.04876951e+00] [-7.58383113e-04 9.99996183e-01 -2.65690641e-03 7.52684276e-01] [ 4.64515569e-02 2.68926712e-03 9.98916924e-01 1.71025826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0625578440001 meters Centerline goodness : 0.155525 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98894028e-01 4.56179105e-04 -4.70160834e-02 5.05056024e+00] [-6.14234779e-04 9.99994209e-01 -3.34734368e-03 7.56352938e-01] [ 4.70142841e-02 3.37252052e-03 9.98888524e-01 1.70947633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.09255784400005 meters Centerline goodness : 0.103245 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98887495e-01 3.24466184e-04 -4.71557691e-02 5.05106149e+00] [-5.01679268e-04 9.99992857e-01 -3.74624962e-03 7.58530010e-01] [ 4.71542167e-02 3.76573897e-03 9.98880523e-01 1.70915445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1225578440001 meters Centerline goodness : 0.146906 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98878768e-01 2.04141498e-04 -4.73409426e-02 5.05156454e+00] [-4.01793266e-04 9.99991243e-01 -4.16559201e-03 7.60939554e-01] [ 4.73396776e-02 4.17994269e-03 9.98870103e-01 1.70901418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.15255784400006 meters Centerline goodness : 0.098478 Centerline is valid? [False, False] Translation: X:5.05, Y:0.76, Z:1.71 [[ 9.98879212e-01 2.07002117e-05 -4.73320086e-02 5.05152803e+00] [-2.40672110e-04 9.99989198e-01 -4.64172948e-03 7.63419761e-01] [ 4.73314012e-02 4.64791858e-03 9.98868427e-01 1.70895808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1825578440001 meters Centerline goodness : 0.131484 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98887712e-01 -3.59948113e-04 -4.71509153e-02 5.05078285e+00] [ 9.20470160e-05 9.99983843e-01 -5.68382739e-03 7.68850487e-01] [ 4.71521994e-02 5.67316524e-03 9.98871606e-01 1.70920997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.21255784400006 meters Centerline goodness : 0.146098 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98889384e-01 -5.59031717e-04 -4.71135469e-02 5.05066222e+00] [ 2.66700865e-04 9.99980677e-01 -6.21087291e-03 7.71626541e-01] [ 4.71161086e-02 6.19140979e-03 9.98870231e-01 1.70914551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2425578440001 meters Centerline goodness : 0.183926 Centerline is valid? [False, False] Translation: X:5.05, Y:0.77, Z:1.71 [[ 9.98890550e-01 -7.56854311e-04 -4.70860519e-02 5.05051095e+00] [ 4.42539101e-04 9.99977555e-01 -6.68540223e-03 7.74060686e-01] [ 4.70900549e-02 6.65714769e-03 9.98868464e-01 1.70921065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.27255784400006 meters Centerline goodness : 0.188682 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98895341e-01 -9.21382634e-04 -4.69813571e-02 5.05021709e+00] [ 5.89628083e-04 9.99974800e-01 -7.07477795e-03 7.76092762e-01] [ 4.69866917e-02 7.03926121e-03 9.98870712e-01 1.70920568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30255784400003 meters Centerline goodness : 0.161570 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98907237e-01 -1.26081186e-03 -4.67198288e-02 5.04919918e+00] [ 8.93562277e-04 9.99968547e-01 -7.88073042e-03 7.80046681e-01] [ 4.67282955e-02 7.83037157e-03 9.98876945e-01 1.70963659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.33255784400006 meters Centerline goodness : 0.156490 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98906354e-01 -1.39110421e-03 -4.67350087e-02 5.04901672e+00] [ 1.00834541e-03 9.99965768e-01 -8.21255759e-03 7.81817385e-01] [ 4.67448334e-02 8.15645092e-03 9.98873562e-01 1.70989897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36255784400004 meters Centerline goodness : 0.136402 Centerline is valid? [False, False] Translation: X:5.05, Y:0.78, Z:1.71 [[ 9.98902438e-01 -1.51370402e-03 -4.68148316e-02 5.04907861e+00] [ 1.11531894e-03 9.99962956e-01 -8.53475555e-03 7.83645120e-01] [ 4.68260165e-02 8.47317466e-03 9.98867123e-01 1.71004924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.39255784400007 meters Centerline goodness : 0.152742 Centerline is valid? [False, False] Translation: X:5.05, Y:0.79, Z:1.71 [[ 9.98898061e-01 -1.61001895e-03 -4.69049259e-02 5.04913700e+00] [ 1.19822172e-03 9.99960507e-01 -8.80619674e-03 7.85250960e-01] [ 4.69172516e-02 8.74029035e-03 9.98860540e-01 1.71026805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42255784400004 meters Centerline goodness : 0.162038 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99889667 -0.00757506 -0.04634714 5.07074115] [ 0.00730412 0.99995525 -0.00601251 0.79032708] [ 0.04639061 0.00566735 0.9989073 1.71086552] [ 0. 0. 0. 1. ]] SLAMing on 501.45255784400007 meters Centerline goodness : 0.084990 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890118 -0.00763107 -0.04624072 5.07021631] [ 0.00735562 0.99995419 -0.0061241 0.79095911] [ 0.04628534 0.00577724 0.99891155 1.71124483] [ 0. 0. 0. 1. ]] SLAMing on 501.48255784400004 meters Centerline goodness : 0.179537 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890538 -0.00772609 -0.04613404 5.06972119] [ 0.00744394 0.99995255 -0.00628448 0.7915887 ] [ 0.04618041 0.00593418 0.99891549 1.7116023 ] [ 0. 0. 0. 1. ]] SLAMing on 501.51255784400007 meters Centerline goodness : 0.197219 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890503 -0.00776069 -0.04613591 5.06984379] [ 0.00747426 0.99995173 -0.0063777 0.79213402] [ 0.04618317 0.00602589 0.99891481 1.71143541] [ 0. 0. 0. 1. ]] SLAMing on 501.54255784400004 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 501.5725578440001 meters Centerline goodness : 0.151752 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.99890209 -0.00790052 -0.0461758 5.07010456] [ 0.00759889 0.99994865 -0.00670417 0.79373555] [ 0.0462264 0.00634593 0.99891083 1.71112346] [ 0. 0. 0. 1. ]] SLAMing on 501.60255784400005 meters Centerline goodness : 0.154276 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:1.71 [[ 0.9988998 -0.00795624 -0.04621562 5.07021236] [ 0.00764809 0.99994735 -0.00684067 0.79438004] [ 0.04626761 0.00647968 0.99890806 1.71106663] [ 0. 0. 0. 1. ]] SLAMing on 501.6325578440001 meters Centerline goodness : 0.168069 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 0.99890026 -0.00801577 -0.04619534 5.07021689] [ 0.00769957 0.99994573 -0.00701861 0.79539619] [ 0.04624909 0.00665521 0.99890777 1.71093731] [ 0. 0. 0. 1. ]] SLAMing on 501.66255784400005 meters Centerline goodness : 0.164113 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98882005e-01 -4.51536046e-03 -4.70569060e-02 5.07266808e+00] [ 4.33935406e-03 9.99983205e-01 -3.84177269e-03 7.97339807e-01] [ 4.70734627e-02 3.63328103e-03 9.98884822e-01 1.71052126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6925578440001 meters Centerline goodness : 0.149068 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98875132e-01 -4.64532925e-03 -4.71899574e-02 5.07318560e+00] [ 4.45134317e-03 9.99981209e-01 -4.21500624e-03 7.99215296e-01] [ 4.72086508e-02 4.00020622e-03 9.98877040e-01 1.71017250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72255784400005 meters Centerline goodness : 0.190532 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:1.71 [[ 9.98872708e-01 -4.82125228e-03 -4.72236003e-02 5.07324748e+00] [ 4.60898550e-03 9.99978786e-01 -4.60278695e-03 8.00875784e-01] [ 4.72447897e-02 4.37994538e-03 9.98873739e-01 1.71012206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7525578440001 meters Centerline goodness : 0.179737 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98943462e-01 3.00264351e-03 -4.58578755e-02 5.09299066e+00] [-3.28357144e-03 9.99976296e-01 -6.05195690e-03 8.00481686e-01] [ 4.58386166e-02 6.19614039e-03 9.98929642e-01 1.71199894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78255784400005 meters Centerline goodness : 0.179737 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98943462e-01 3.00264351e-03 -4.58578755e-02 5.09299066e+00] [-3.28357144e-03 9.99976296e-01 -6.05195690e-03 8.00481686e-01] [ 4.58386166e-02 6.19614039e-03 9.98929642e-01 1.71199894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8125578440001 meters Centerline goodness : 0.094353 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98951670e-01 2.92252183e-03 -4.56839018e-02 5.09231372e+00] [-3.21159587e-03 9.99975276e-01 -6.25558398e-03 8.01649175e-01] [ 4.56644902e-02 6.39574430e-03 9.98936359e-01 1.71227701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84255784400005 meters Centerline goodness : 0.148411 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98952508e-01 2.78738784e-03 -4.56740330e-02 5.09209588e+00] [-3.09030173e-03 9.99973689e-01 -6.56281355e-03 8.03308635e-01] [ 4.56545382e-02 6.69708560e-03 9.98934839e-01 1.71254549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8725578440001 meters Centerline goodness : 0.157475 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.71 [[ 9.98945393e-01 2.67463660e-03 -4.58361106e-02 5.09267363e+00] [-2.98649797e-03 9.99972848e-01 -6.73670615e-03 8.03775649e-01] [ 4.58168478e-02 6.86649102e-03 9.98926257e-01 1.71227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90255784400006 meters Centerline goodness : 0.143185 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.71 [[ 9.98905233e-01 -5.28328677e-03 -4.64803516e-02 5.11136453e+00] [ 5.01545220e-03 9.99970152e-01 -5.87705608e-03 8.09938244e-01] [ 4.65100144e-02 5.63750209e-03 9.98901916e-01 1.71461970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9325578440001 meters Centerline goodness : 0.151130 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.72 [[ 9.98900962e-01 -5.30549627e-03 -4.65695083e-02 5.11119870e+00] [ 5.03421928e-03 9.99969683e-01 -5.94055975e-03 8.10633460e-01] [ 4.65996141e-02 5.69958973e-03 9.98897387e-01 1.71518425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96255784400006 meters Centerline goodness : 0.140537 Centerline is valid? [False, False] Translation: X:5.11, Y:0.81, Z:1.72 [[ 9.98901818e-01 -5.28487125e-03 -4.65534896e-02 5.11100805e+00] [ 5.01552247e-03 9.99970013e-01 -5.90070173e-03 8.10612390e-01] [ 4.65832780e-02 5.66073162e-03 9.98898370e-01 1.71541363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9925578440001 meters Centerline goodness : 0.114913 Centerline is valid? [False, False] Translation: X:5.07, Y:0.81, Z:1.71 [[ 0.99878043 -0.00587407 -0.04902191 5.06544909] [ 0.00555965 0.99996311 -0.00654777 0.8062899 ] [ 0.04905856 0.00626724 0.99877624 1.7146959 ] [ 0. 0. 0. 1. ]] SLAMing on 502.02255784400006 meters Centerline goodness : 0.097527 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.72 [[ 9.98800300e-01 1.35004579e-03 -4.89503660e-02 5.08533604e+00] [-1.73832226e-03 9.99967360e-01 -7.89034082e-03 8.02612577e-01] [ 4.89381159e-02 7.96596629e-03 9.98770046e-01 1.71684677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.05255784400003 meters Centerline goodness : 0.097471 Centerline is valid? [False, False] Translation: X:5.09, Y:0.80, Z:1.72 [[ 9.98798349e-01 1.37690847e-03 -4.89894021e-02 5.08535102e+00] [-1.75347245e-03 9.99969243e-01 -7.64449568e-03 8.01124212e-01] [ 4.89773696e-02 7.72121123e-03 9.98770044e-01 1.71703956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08255784400006 meters Centerline goodness : 0.132590 Centerline is valid? [False, False] Translation: X:5.08, Y:0.80, Z:1.72 [[ 9.98803624e-01 1.40897936e-03 -4.88808379e-02 5.08498908e+00] [-1.77079506e-03 9.99971351e-01 -7.35947945e-03 7.99558559e-01] [ 4.88690681e-02 7.43723269e-03 9.98777504e-01 1.71726189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.11255784400004 meters Centerline goodness : 0.132615 Centerline is valid? [False, False] Translation: X:5.08, Y:0.80, Z:1.72 [[ 9.98822064e-01 1.26616655e-03 -4.85065099e-02 5.08381511e+00] [-1.60353788e-03 9.99974792e-01 -6.91689392e-03 7.96468948e-01] [ 4.84965293e-02 6.98652829e-03 9.98798916e-01 1.71779549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14255784400007 meters Centerline goodness : 0.186950 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98818837e-01 1.36453963e-03 -4.85702436e-02 5.08396764e+00] [-1.68759219e-03 9.99976724e-01 -6.61085827e-03 7.94848400e-01] [ 4.85600923e-02 6.68501654e-03 9.98797891e-01 1.71787125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.17255784400004 meters Centerline goodness : 0.126429 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98817568e-01 1.41738599e-03 -4.85948180e-02 5.08410879e+00] [-1.73241587e-03 9.99977754e-01 -6.44128240e-03 7.93818882e-01] [ 4.85846072e-02 6.51785246e-03 9.98797804e-01 1.71778911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20255784400007 meters Centerline goodness : 0.194401 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98812399e-01 1.45939357e-03 -4.86997138e-02 5.08486699e+00] [-1.77059812e-03 9.99978285e-01 -6.34774738e-03 7.93206348e-01] [ 4.86893924e-02 6.42643641e-03 9.98793294e-01 1.71704234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.23255784400004 meters Centerline goodness : 0.145995 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98812998e-01 1.48769894e-03 -4.86865718e-02 5.08484618e+00] [-1.79936613e-03 9.99978167e-01 -6.35829991e-03 7.93487205e-01] [ 4.86760496e-02 6.43835756e-03 9.98793867e-01 1.71696544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26255784400007 meters Centerline goodness : 0.096857 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98815808e-01 1.52376895e-03 -4.86277715e-02 5.08473724e+00] [-1.83494281e-03 9.99978123e-01 -6.35509844e-03 7.93625027e-01] [ 4.86170239e-02 6.43680197e-03 9.98796752e-01 1.71687682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.29255784400004 meters Centerline goodness : 0.168810 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98816740e-01 1.54764239e-03 -4.86078601e-02 5.08463010e+00] [-1.85546777e-03 9.99978507e-01 -6.28834799e-03 7.93202071e-01] [ 4.85970832e-02 6.37109756e-03 9.98798144e-01 1.71694990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3225578440001 meters Centerline goodness : 0.159859 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98819044e-01 1.60076498e-03 -4.85587678e-02 5.08440267e+00] [-1.89962951e-03 9.99979534e-01 -6.10917288e-03 7.92096152e-01] [ 4.85479947e-02 6.19420189e-03 9.98801644e-01 1.71711836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.35255784400005 meters Centerline goodness : 0.125506 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828784e-01 1.74898769e-03 -4.83528933e-02 5.08364206e+00] [-2.02071869e-03 9.99982438e-01 -5.57143532e-03 7.89139900e-01] [ 4.83422998e-02 5.66261756e-03 9.98814776e-01 1.71756794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3825578440001 meters Centerline goodness : 0.141948 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828062e-01 1.84826657e-03 -4.83641134e-02 5.08369180e+00] [-2.10618070e-03 9.99983830e-01 -5.28234020e-03 7.87716231e-01] [ 4.83535682e-02 5.37801318e-03 9.98815804e-01 1.71756002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.41255784400005 meters Centerline goodness : 0.132517 Centerline is valid? [False, False] Translation: X:5.08, Y:0.79, Z:1.72 [[ 9.98828178e-01 1.99239425e-03 -4.83559796e-02 5.08384462e+00] [-2.23342004e-03 9.99985349e-01 -4.93088586e-03 7.85928908e-01] [ 4.83454469e-02 5.03310695e-03 9.98817994e-01 1.71732300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4425578440001 meters Centerline goodness : 0.126411 Centerline is valid? [False, False] Translation: X:5.08, Y:0.78, Z:1.72 [[ 9.98826333e-01 2.12440858e-03 -4.83884631e-02 5.08407200e+00] [-2.34738261e-03 9.99986886e-01 -4.55163957e-03 7.83842998e-01] [ 4.83781590e-02 4.65988370e-03 9.98818221e-01 1.71715202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.47255784400005 meters Centerline goodness : 0.172225 Centerline is valid? [False, False] Translation: X:5.08, Y:0.78, Z:1.72 [[ 9.98824897e-01 2.30229586e-03 -4.84099592e-02 5.08418444e+00] [-2.50340962e-03 9.99988485e-01 -4.09416808e-03 7.81491447e-01] [ 4.83999757e-02 4.21054697e-03 9.98819160e-01 1.71708574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5025578440001 meters Centerline goodness : 0.163307 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98912401e-01 2.20032501e-03 -4.65743783e-02 5.12809218e+00] [-2.37188225e-03 9.99990604e-01 -3.62856731e-03 7.78806186e-01] [ 4.65659566e-02 3.73508983e-03 9.98908234e-01 1.71874301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.53255784400005 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 502.5625578440001 meters Centerline goodness : 0.138821 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98922029e-01 2.39675847e-03 -4.63576852e-02 5.12760018e+00] [-2.54608516e-03 9.99991758e-01 -3.16240627e-03 7.76175577e-01] [ 4.63497236e-02 3.27702790e-03 9.98919899e-01 1.71868215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.59255784400005 meters Centerline goodness : 0.169927 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98917447e-01 2.46298841e-03 -4.64528510e-02 5.12802313e+00] [-2.60725349e-03 9.99991964e-01 -3.04528958e-03 7.75519514e-01] [ 4.64449772e-02 3.16310725e-03 9.98915842e-01 1.71836394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6225578440001 meters Centerline goodness : 0.160638 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98883508e-01 2.92397602e-03 -4.71506855e-02 5.13028213e+00] [-3.05725808e-03 9.99991532e-01 -2.75485745e-03 7.75233893e-01] [ 4.71422311e-02 2.89593349e-03 9.98883989e-01 1.71740096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.65255784400006 meters Centerline goodness : 0.154258 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98883397e-01 3.02443112e-03 -4.71467007e-02 5.13044412e+00] [-3.15775957e-03 9.99991223e-01 -2.75372465e-03 7.75695634e-01] [ 4.71379584e-02 2.89952778e-03 9.98884180e-01 1.71706007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6825578440001 meters Centerline goodness : 0.159638 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98892186e-01 3.04080173e-03 -4.69590702e-02 5.12984807e+00] [-3.17727301e-03 9.99990943e-01 -2.83180638e-03 7.76173318e-01] [ 4.69500339e-02 2.97787105e-03 9.98892800e-01 1.71716000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.71255784400006 meters Centerline goodness : 0.157960 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98899771e-01 3.00688593e-03 -4.67996306e-02 5.12936129e+00] [-3.14797588e-03 9.99990719e-01 -2.94135583e-03 7.76649689e-01] [ 4.67903519e-02 3.08544378e-03 9.98899966e-01 1.71721295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7425578440001 meters Centerline goodness : 0.161519 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98908004e-01 2.93870552e-03 -4.66279360e-02 5.12884854e+00] [-3.08831641e-03 9.99990311e-01 -3.13689486e-03 7.77588701e-01] [ 4.66182658e-02 3.27747120e-03 9.98907401e-01 1.71724583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.77255784400006 meters Centerline goodness : 0.137664 Centerline is valid? [False, False] Translation: X:5.11, Y:0.78, Z:1.72 [[ 9.98888218e-01 -5.20826111e-03 -4.68529915e-02 5.10765812e+00] [ 5.10752600e-03 9.99984381e-01 -2.26948628e-03 7.81564210e-01] [ 4.68640798e-02 2.02766023e-03 9.98899217e-01 1.71554137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80255784400003 meters Centerline goodness : 0.156615 Centerline is valid? [False, False] Translation: X:5.13, Y:0.78, Z:1.72 [[ 9.98869423e-01 3.52793795e-03 -4.74070586e-02 5.13034163e+00] [-3.67899070e-03 9.99988429e-01 -3.09941567e-03 7.83356551e-01] [ 4.73955756e-02 3.27032167e-03 9.98870845e-01 1.71686511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.83255784400006 meters Centerline goodness : 0.166757 Centerline is valid? [False, False] Translation: X:5.13, Y:0.79, Z:1.72 [[ 9.98856867e-01 3.39532430e-03 -4.76805160e-02 5.13129551e+00] [-3.57193421e-03 9.99987071e-01 -3.61931096e-03 7.86097486e-01] [ 4.76676108e-02 3.78548527e-03 9.98856080e-01 1.71627877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86255784400004 meters Centerline goodness : 0.157795 Centerline is valid? [False, False] Translation: X:5.13, Y:0.79, Z:1.72 [[ 9.98845755e-01 3.24545654e-03 -4.79231087e-02 5.13219708e+00] [-3.45034565e-03 9.99985256e-01 -4.19326754e-03 7.89238934e-01] [ 4.79087931e-02 4.35377877e-03 9.98842226e-01 1.71566693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.89255784400007 meters Centerline goodness : 0.105594 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.71 [[ 9.98808068e-01 3.54233615e-03 -4.86815616e-02 5.13438183e+00] [-3.77674730e-03 9.99981710e-01 -4.72405376e-03 7.96629386e-01] [ 4.86639370e-02 4.90228097e-03 9.98803178e-01 1.71499063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92255784400004 meters Centerline goodness : 0.375657 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98812299e-01 3.34202666e-03 -4.86088640e-02 5.13410520e+00] [-3.60151514e-03 9.99979724e-01 -5.25169085e-03 7.99480818e-01] [ 4.85903271e-02 5.42051897e-03 9.98804084e-01 1.71502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.95255784400007 meters Centerline goodness : 0.195186 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98822456e-01 3.18852075e-03 -4.84100767e-02 5.13324029e+00] [-3.46181351e-03 9.99978537e-01 -5.56257652e-03 8.01040646e-01] [ 4.83913013e-02 5.72361299e-03 9.98812056e-01 1.71553331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98255784400004 meters Centerline goodness : 0.148596 Centerline is valid? [False, False] Translation: X:5.13, Y:0.80, Z:1.72 [[ 9.98836804e-01 3.04870313e-03 -4.81221832e-02 5.13188560e+00] [-3.32644743e-03 9.99978264e-01 -5.69261904e-03 8.01527830e-01] [ 4.81037821e-02 5.84607332e-03 9.98825235e-01 1.71653814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.01255784400007 meters Centerline goodness : 0.381369 Centerline is valid? [False, False] Translation: X:5.15, Y:0.81, Z:1.72 [[ 9.98882527e-01 -5.43508475e-03 -4.69484538e-02 5.15100785e+00] [ 5.21850373e-03 9.99975176e-01 -4.73450384e-03 8.06531767e-01] [ 4.69730208e-02 4.48421248e-03 9.98886093e-01 1.71889959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04255784400004 meters Centerline goodness : 0.104865 Centerline is valid? [False, False] Translation: X:5.15, Y:0.81, Z:1.72 [[ 9.98890284e-01 -5.62376748e-03 -4.67608218e-02 5.15038845e+00] [ 5.41125875e-03 9.99974455e-01 -4.66993577e-03 8.05701050e-01] [ 4.67858899e-02 4.41171856e-03 9.98895198e-01 1.71927786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0725578440001 meters Centerline goodness : 0.184400 Centerline is valid? [False, False] Translation: X:5.15, Y:0.80, Z:1.72 [[ 9.98882137e-01 -6.33553304e-03 -4.68437473e-02 5.15075733e+00] [ 6.11385569e-03 9.99969432e-01 -4.87403634e-03 8.04668563e-01] [ 4.68731950e-02 4.58219192e-03 9.98890338e-01 1.71928525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10255784400005 meters Centerline goodness : 0.129872 Centerline is valid? [False, False] Translation: X:5.15, Y:0.80, Z:1.72 [[ 9.98891645e-01 -6.37262806e-03 -4.66355048e-02 5.15011904e+00] [ 6.15864595e-03 9.99969846e-01 -4.73064270e-03 8.03657117e-01] [ 4.66642452e-02 4.43818791e-03 9.98900771e-01 1.71956820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1325578440001 meters Centerline goodness : 0.091639 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99039580e-01 -1.02788890e-03 -4.38047990e-02 5.17197522e+00] [ 6.93010691e-04 9.99970427e-01 -7.65928401e-03 8.04170761e-01] [ 4.38113764e-02 7.62157068e-03 9.99010748e-01 1.71980380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16255784400005 meters Centerline goodness : 0.101808 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99046788e-01 -9.90332246e-04 -4.36409747e-02 5.17126842e+00] [ 6.63107420e-04 9.99971565e-01 -7.51194834e-03 8.03372568e-01] [ 4.36471731e-02 7.47584921e-03 9.99019037e-01 1.72027170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1925578440001 meters Centerline goodness : 0.103228 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99048870e-01 -9.44243473e-04 -4.35943183e-02 5.17103578e+00] [ 6.23116112e-04 9.99972579e-01 -7.37926744e-03 8.02660895e-01] [ 4.36000907e-02 7.34508447e-03 9.99022063e-01 1.72045555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22255784400005 meters Centerline goodness : 0.174279 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99051120e-01 -8.99954477e-04 -4.35436428e-02 5.17089187e+00] [ 5.86306333e-04 9.99973797e-01 -7.21531036e-03 8.01604041e-01] [ 4.35489953e-02 7.18293399e-03 9.99025470e-01 1.72050666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2525578440001 meters Centerline goodness : 0.164640 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99052135e-01 -6.93547810e-04 -4.35241458e-02 5.17105295e+00] [ 4.01778392e-04 9.99977393e-01 -6.71201160e-03 7.99005818e-01] [ 4.35278170e-02 6.68816245e-03 9.99029828e-01 1.72023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28255784400005 meters Centerline goodness : 0.176095 Centerline is valid? [False, False] Translation: X:5.17, Y:0.80, Z:1.72 [[ 9.99050244e-01 -5.46637712e-04 -4.35696099e-02 5.17145128e+00] [ 2.69161146e-04 9.99979648e-01 -6.37419245e-03 7.97208928e-01] [ 4.35722076e-02 6.35641128e-03 9.99030059e-01 1.71980858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3125578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 503.34255784400005 meters Centerline goodness : 0.095773 Centerline is valid? [False, False] Translation: X:5.17, Y:0.79, Z:1.72 [[ 9.99022957e-01 -4.13912950e-03 -4.39999948e-02 5.17311999e+00] [ 3.73472451e-03 9.99950065e-01 -9.26925773e-03 7.92045877e-01] [ 4.40361643e-02 9.09587341e-03 9.98988529e-01 1.71895172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3725578440001 meters Centerline goodness : 0.168397 Centerline is valid? [False, False] Translation: X:5.17, Y:0.79, Z:1.72 [[ 9.99018216e-01 -3.91441656e-03 -4.41280108e-02 5.17377576e+00] [ 3.52917004e-03 9.99955010e-01 -8.80473149e-03 7.89880351e-01] [ 4.41604909e-02 8.64035189e-03 9.98987085e-01 1.71846964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 503.4325578440001 meters Centerline goodness : 0.099740 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.99005512e-01 -3.57444471e-03 -4.44433478e-02 5.17524104e+00] [ 3.21338873e-03 9.99961276e-01 -8.19275021e-03 7.86955268e-01] [ 4.44709113e-02 8.04178887e-03 9.98978312e-01 1.71746604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46255784400006 meters Centerline goodness : 0.163724 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.98996990e-01 -3.48451271e-03 -4.46415973e-02 5.17616505e+00] [ 3.12479461e-03 9.99962108e-01 -8.12516337e-03 7.86664556e-01] [ 4.46682179e-02 7.97751793e-03 9.98970024e-01 1.71674849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4925578440001 meters Centerline goodness : 0.163793 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.72 [[ 9.98985128e-01 -3.33464720e-03 -4.49176278e-02 5.17723250e+00] [ 2.97497240e-03 9.99962996e-01 -8.07190026e-03 7.86826062e-01] [ 4.49428827e-02 7.93007961e-03 9.98958083e-01 1.71602878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52255784400006 meters Centerline goodness : 0.159006 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98967636e-01 -1.45897598e-04 -4.54273205e-02 5.18062661e+00] [-9.47522416e-05 9.99985975e-01 -5.29527104e-03 7.88155663e-01] [ 4.54274560e-02 5.29410873e-03 9.98953612e-01 1.71356904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.55255784400003 meters Centerline goodness : 0.160513 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98957738e-01 -1.03204781e-04 -4.56445673e-02 5.18120427e+00] [-1.46862935e-04 9.99985000e-01 -5.47519921e-03 7.89287483e-01] [ 4.56444477e-02 5.47619611e-03 9.98942739e-01 1.71336023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58255784400006 meters Centerline goodness : 0.162721 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98963582e-01 -1.44609456e-04 -4.55163797e-02 5.18066676e+00] [-1.13942806e-04 9.99983875e-01 -5.67777665e-03 7.90273770e-01] [ 4.55164668e-02 5.67707836e-03 9.98947457e-01 1.71358319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.61255784400004 meters Centerline goodness : 0.161613 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.98979740e-01 -1.46899918e-04 -4.51603494e-02 5.17929317e+00] [-1.13447912e-04 9.99983391e-01 -5.76234789e-03 7.90930109e-01] [ 4.51604458e-02 5.76159214e-03 9.98963132e-01 1.71421022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64255784400007 meters Centerline goodness : 0.157561 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99120224e-01 -5.25560237e-03 -4.16071782e-02 5.19908186e+00] [ 5.16654590e-03 9.99984127e-01 -2.24765176e-03 7.94367724e-01] [ 4.16183305e-02 2.03070893e-03 9.99131518e-01 1.71488463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.67255784400004 meters Centerline goodness : 0.158301 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99125284e-01 -5.24376056e-03 -4.14869801e-02 5.19873932e+00] [ 5.15638236e-03 9.99984257e-01 -2.21288732e-03 7.94340323e-01] [ 4.14979309e-02 1.99702894e-03 9.99136594e-01 1.71494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70255784400007 meters Centerline goodness : 0.158301 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.71 [[ 9.99125284e-01 -5.24376056e-03 -4.14869801e-02 5.19873932e+00] [ 5.15638236e-03 9.99984257e-01 -2.21288732e-03 7.94340323e-01] [ 4.14979309e-02 1.99702894e-03 9.99136594e-01 1.71494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.73255784400004 meters Centerline goodness : 0.162950 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.99126519e-01 2.52846217e-03 -4.17109782e-02 5.18002868e+00] [-2.67462291e-03 9.99990476e-01 -3.44869860e-03 7.88032525e-01] [ 4.17018611e-02 3.55724736e-03 9.99123766e-01 1.71300226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76255784400007 meters Centerline goodness : 0.148535 Centerline is valid? [False, False] Translation: X:5.18, Y:0.79, Z:1.71 [[ 9.99126547e-01 2.48778019e-03 -4.17127649e-02 5.17975792e+00] [-2.63167201e-03 9.99990774e-01 -3.39503101e-03 7.87507949e-01] [ 4.17039339e-02 3.50183992e-03 9.99123876e-01 1.71346078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.79255784400004 meters Centerline goodness : 0.160785 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99139759e-01 -5.52584685e-03 -4.10999664e-02 5.19853699e+00] [ 5.44286920e-03 9.99982918e-01 -2.13054771e-03 7.92288566e-01] [ 4.11110374e-02 1.90501318e-03 9.99152768e-01 1.71604683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8225578440001 meters Centerline goodness : 0.166862 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99144404e-01 -5.55462869e-03 -4.09829942e-02 5.19780409e+00] [ 5.47396150e-03 9.99982854e-01 -2.08026396e-03 7.91897238e-01] [ 4.09938466e-02 1.85414476e-03 9.99157679e-01 1.71675830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.85255784400005 meters Centerline goodness : 0.168691 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99167332e-01 -5.63897243e-03 -4.04084615e-02 5.19595306e+00] [ 5.56388914e-03 9.99982580e-01 -1.97032815e-03 7.91211435e-01] [ 4.04188682e-02 1.74385933e-03 9.99181302e-01 1.71751922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8825578440001 meters Centerline goodness : 0.104568 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99171321e-01 -5.64176148e-03 -4.03093237e-02 5.19572057e+00] [ 5.56779836e-03 9.99982604e-01 -1.94691676e-03 7.91108237e-01] [ 4.03196065e-02 1.72086920e-03 9.99185352e-01 1.71752388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.91255784400005 meters Centerline goodness : 0.166994 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99169586e-01 -5.64300191e-03 -4.03521470e-02 5.19584687e+00] [ 5.56950410e-03 9.99982621e-01 -1.93359574e-03 7.91071847e-01] [ 4.03623570e-02 1.70724861e-03 9.99183650e-01 1.71750298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9425578440001 meters Centerline goodness : 0.170125 Centerline is valid? [False, False] Translation: X:5.20, Y:0.79, Z:1.72 [[ 9.99161748e-01 -5.68683163e-03 -4.05396238e-02 5.19646279e+00] [ 5.60881136e-03 9.99982194e-01 -2.03802099e-03 7.91536731e-01] [ 4.05504918e-02 1.80893352e-03 9.99175853e-01 1.71726466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.97255784400005 meters Centerline goodness : 0.165964 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99159565e-01 1.73468870e-03 -4.09530830e-02 5.21600313e+00] [-1.88321566e-03 9.99991788e-01 -3.58845975e-03 7.88811923e-01] [ 4.09465218e-02 3.66256737e-03 9.99154627e-01 1.71994444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0025578440001 meters Centerline goodness : 0.160401 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99161913e-01 1.72692474e-03 -4.08960738e-02 5.21585920e+00] [-1.87356658e-03 9.99991952e-01 -3.54766397e-03 7.88207467e-01] [ 4.08896181e-02 3.62131223e-03 9.99157107e-01 1.71992025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.03255784400005 meters Centerline goodness : 0.168093 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99166768e-01 1.77181674e-03 -4.07753729e-02 5.21546049e+00] [-1.91251374e-03 9.99992351e-01 -3.41178956e-03 7.87424092e-01] [ 4.07690159e-02 3.48693021e-03 9.99162514e-01 1.72006255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0625578440001 meters Centerline goodness : 0.169030 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99170438e-01 1.83954178e-03 -4.06823220e-02 5.21517697e+00] [-1.97365774e-03 9.99992749e-01 -3.25674689e-03 7.86740386e-01] [ 4.06760361e-02 3.33433820e-03 9.99166824e-01 1.72012403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.09255784400005 meters Centerline goodness : 0.163895 Centerline is valid? [False, False] Translation: X:5.22, Y:0.79, Z:1.72 [[ 9.99160669e-01 1.95909525e-03 -4.09160137e-02 5.21628788e+00] [-2.08177619e-03 9.99993464e-01 -2.95596831e-03 7.85086830e-01] [ 4.09099553e-02 3.03866525e-03 9.99158217e-01 1.71936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1225578440001 meters Centerline goodness : 0.168827 Centerline is valid? [False, False] Translation: X:5.22, Y:0.78, Z:1.72 [[ 9.99153891e-01 1.99260453e-03 -4.10795795e-02 5.21709899e+00] [-2.10931205e-03 9.99993861e-01 -2.79786318e-03 7.83809689e-01] [ 4.10737523e-02 2.88214554e-03 9.99151960e-01 1.71875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.15255784400006 meters Centerline goodness : 0.167253 Centerline is valid? [False, False] Translation: X:5.22, Y:0.78, Z:1.72 [[ 9.99158510e-01 2.04551387e-03 -4.09644813e-02 5.21685086e+00] [-2.15434349e-03 9.99994266e-01 -2.61271429e-03 7.82599227e-01] [ 4.09589021e-02 2.69876728e-03 9.99157187e-01 1.71869255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1825578440001 meters Centerline goodness : 0.164309 Centerline is valid? [False, False] Translation: X:5.17, Y:0.78, Z:1.72 [[ 9.99071531e-01 2.03652648e-03 -4.30340286e-02 5.16960814e+00] [-2.14532971e-03 9.99994618e-01 -2.48227563e-03 7.77769251e-01] [ 4.30287418e-02 2.57229310e-03 9.99070523e-01 1.71876064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.21255784400006 meters Centerline goodness : 0.167922 Centerline is valid? [False, False] Translation: X:5.17, Y:0.78, Z:1.72 [[ 9.99068338e-01 2.19065400e-03 -4.31005564e-02 5.16975667e+00] [-2.28481599e-03 9.99995109e-01 -2.13556483e-03 7.76092843e-01] [ 4.30956673e-02 2.23205205e-03 9.99068457e-01 1.71878479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2425578440001 meters Centerline goodness : 0.169427 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99022183e-01 -5.83823895e-03 -4.38245799e-02 5.19055682e+00] [ 5.78367652e-03 9.99982334e-01 -1.37171117e-03 7.80262134e-01] [ 4.38318140e-02 1.11690269e-03 9.99038300e-01 1.72002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.27255784400006 meters Centerline goodness : 0.162048 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99011352e-01 -5.76012325e-03 -4.40810612e-02 5.19138608e+00] [ 5.71629562e-03 9.99983034e-01 -1.12023883e-03 7.78706604e-01] [ 4.40867661e-02 8.67150930e-04 9.99027330e-01 1.71976938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30255784400003 meters Centerline goodness : 0.170373 Centerline is valid? [False, False] Translation: X:5.19, Y:0.78, Z:1.72 [[ 9.99007764e-01 -5.61290036e-03 -4.41812385e-02 5.19161846e+00] [ 5.58632244e-03 9.99984134e-01 -7.25009405e-04 7.76624665e-01] [ 4.41846069e-02 4.77479381e-04 9.99023269e-01 1.71984419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.33255784400006 meters Centerline goodness : 0.125660 Centerline is valid? [False, False] Translation: X:5.19, Y:0.77, Z:1.72 [[ 9.99004770e-01 -5.41153508e-03 -4.42739725e-02 5.19184227e+00] [ 5.40811656e-03 9.99985357e-01 -1.96991337e-04 7.73978818e-01] [ 4.42743902e-02 -4.26435183e-05 9.99019407e-01 1.71993632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36255784400004 meters Centerline goodness : 0.141457 Centerline is valid? [False, False] Translation: X:5.19, Y:0.77, Z:1.72 [[ 9.99003258e-01 -5.22645730e-03 -4.43303010e-02 5.19205182e+00] [ 5.24854768e-03 9.99986153e-01 3.81935203e-04 7.70883900e-01] [ 4.43276910e-02 -6.14224210e-04 9.99016856e-01 1.71994417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.39255784400007 meters Centerline goodness : 0.166113 Centerline is valid? [False, False] Translation: X:5.19, Y:0.76, Z:1.72 [[ 9.98971348e-01 -8.88966901e-03 -4.44659394e-02 5.19274743e+00] [ 8.79412536e-03 9.99958584e-01 -2.34385183e-03 7.64846865e-01] [ 4.44849339e-02 1.95040178e-03 9.99008151e-01 1.71970788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42255784400004 meters Centerline goodness : 0.174438 Centerline is valid? [False, False] Translation: X:5.17, Y:0.75, Z:1.72 [[ 9.99106459e-01 -3.24156362e-03 -4.21399564e-02 5.17457563e+00] [ 3.08613888e-03 9.99988196e-01 -3.75282932e-03 7.53941416e-01] [ 4.21516241e-02 3.61942625e-03 9.99104669e-01 1.71634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.45255784400007 meters Centerline goodness : 0.172501 Centerline is valid? [False, False] Translation: X:5.17, Y:0.75, Z:1.72 [[ 9.99108528e-01 -3.07906559e-03 -4.21030724e-02 5.17453878e+00] [ 2.95816460e-03 9.99991322e-01 -2.93354804e-03 7.48982067e-01] [ 4.21117396e-02 2.80638505e-03 9.99108966e-01 1.71642569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48255784400004 meters Centerline goodness : 0.173975 Centerline is valid? [False, False] Translation: X:5.17, Y:0.74, Z:1.72 [[ 9.99107147e-01 -2.82559294e-03 -4.21535924e-02 5.17468634e+00] [ 2.74126110e-03 9.99994125e-01 -2.05825361e-03 7.43947840e-01] [ 4.21591605e-02 1.94086189e-03 9.99109022e-01 1.71651890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.51255784400007 meters Centerline goodness : 0.171957 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99118454e-01 -2.76166076e-03 -4.18890035e-02 5.17409048e+00] [ 2.71912220e-03 9.99995728e-01 -1.07244830e-03 7.33793120e-01] [ 4.18917863e-02 9.57601570e-04 9.99121695e-01 1.71665613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54255784400004 meters Centerline goodness : 0.173529 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99119983e-01 -2.48846177e-03 -4.18696542e-02 5.17413043e+00] [ 2.47229068e-03 9.99996848e-01 -4.38000060e-04 7.30484184e-01] [ 4.18706122e-02 3.34100657e-04 9.99122986e-01 1.71657499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5725578440001 meters Centerline goodness : 0.102317 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99121761e-01 -2.25137334e-03 -4.18406187e-02 5.17404095e+00] [ 2.25652217e-03 9.99997451e-01 7.58305881e-05 7.27821143e-01] [ 4.18403413e-02 -1.70178274e-04 9.99124295e-01 1.71664682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60255784400005 meters Centerline goodness : 0.117141 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99126352e-01 -2.04365436e-03 -4.17415377e-02 5.17390667e+00] [ 2.06380477e-03 9.99997774e-01 4.39655907e-04 7.26101860e-01] [ 4.17405462e-02 -5.25418187e-04 9.99128345e-01 1.71647586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6325578440001 meters Centerline goodness : 0.161128 Centerline is valid? [False, False] Translation: X:5.17, Y:0.73, Z:1.72 [[ 9.99133034e-01 -1.84451174e-03 -4.15905935e-02 5.17363381e+00] [ 1.87559023e-03 9.99997990e-01 7.08240078e-04 7.25059324e-01] [ 4.15892035e-02 -7.85632969e-04 9.99134486e-01 1.71629119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66255784400005 meters Centerline goodness : 0.165500 Centerline is valid? [False, False] Translation: X:5.17, Y:0.72, Z:1.72 [[ 9.99133961e-01 -1.63784347e-03 -4.15769720e-02 5.17374969e+00] [ 1.67561371e-03 9.99998215e-01 8.73608843e-04 7.24654907e-01] [ 4.15754669e-02 -9.42519208e-04 9.99134922e-01 1.71601651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6925578440001 meters Centerline goodness : 0.152697 Centerline is valid? [False, False] Translation: X:5.17, Y:0.72, Z:1.72 [[ 9.99130438e-01 -1.07539126e-03 -4.16798661e-02 5.17441027e+00] [ 1.12453097e-03 9.99998700e-01 1.15555232e-03 7.24546669e-01] [ 4.16785692e-02 -1.20141780e-03 9.99130349e-01 1.71519601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72255784400005 meters Centerline goodness : 0.155178 Centerline is valid? [False, False] Translation: X:5.20, Y:0.72, Z:1.72 [[ 9.99123399e-01 7.44169384e-03 -4.11953303e-02 5.19534723e+00] [-7.44209629e-03 9.99972297e-01 1.43587636e-04 7.22673045e-01] [ 4.11952576e-02 1.63117848e-04 9.99151102e-01 1.71660735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7525578440001 meters Centerline goodness : 0.151800 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99129634e-01 7.46417974e-03 -4.10397330e-02 5.19479518e+00] [-7.46456687e-03 9.99972129e-01 1.43805559e-04 7.22747011e-01] [ 4.10396626e-02 1.62663435e-04 9.99157505e-01 1.71678411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78255784400005 meters Centerline goodness : 0.153210 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99134422e-01 7.46735639e-03 -4.09224352e-02 5.19419156e+00] [-7.46628408e-03 9.99972111e-01 1.79038701e-04 7.22368154e-01] [ 4.09226309e-02 1.26654798e-04 9.99162310e-01 1.71720647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8125578440001 meters Centerline goodness : 0.154202 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99182070e-01 5.12634647e-03 -4.01112499e-02 5.19012528e+00] [-5.20497561e-03 9.99984731e-01 -1.85609034e-03 7.20115596e-01] [ 4.01011225e-02 2.06335026e-03 9.99193496e-01 1.71919829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84255784400005 meters Centerline goodness : 0.152482 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99181775e-01 5.22309604e-03 -4.01061009e-02 5.19010314e+00] [-5.29195194e-03 9.99984700e-01 -1.61087228e-03 7.19012695e-01] [ 4.00970735e-02 1.82179378e-03 9.99194128e-01 1.71921270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8725578440001 meters Centerline goodness : 0.154843 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99180590e-01 5.32591355e-03 -4.01221031e-02 5.19013470e+00] [-5.38668635e-03 9.99984502e-01 -1.40674157e-03 7.18349617e-01] [ 4.01139891e-02 1.62171406e-03 9.99193794e-01 1.71926405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90255784400006 meters Centerline goodness : 0.270319 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99218419e-01 -2.32381528e-03 -3.94607499e-02 5.20930705e+00] [ 2.31930973e-03 9.99997298e-01 -1.59956324e-04 7.23813424e-01] [ 3.94610150e-02 6.83096041e-05 9.99221108e-01 1.72086037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9325578440001 meters Centerline goodness : 0.151040 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99220207e-01 -2.34841628e-03 -3.94139974e-02 5.20916904e+00] [ 2.34236959e-03 9.99997237e-01 -1.99593133e-04 7.23950903e-01] [ 3.94143573e-02 1.07115342e-04 9.99222947e-01 1.72090380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96255784400006 meters Centerline goodness : 0.155908 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99219465e-01 -2.42845702e-03 -3.94279437e-02 5.20859747e+00] [ 2.41666701e-03 9.99997020e-01 -3.46684721e-04 7.24413440e-01] [ 3.94286681e-02 2.51129911e-04 9.99222356e-01 1.72176575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9925578440001 meters Centerline goodness : 0.153066 Centerline is valid? [False, False] Translation: X:5.19, Y:0.72, Z:1.72 [[ 9.99207480e-01 5.54840460e-03 -3.94160697e-02 5.18880979e+00] [-5.60435842e-03 9.99983438e-01 -1.30921601e-03 7.18802530e-01] [ 3.94081528e-02 1.52908021e-03 9.99222027e-01 1.72006804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02255784400006 meters Centerline goodness : 0.181987 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99223525e-01 -1.84237383e-03 -3.93567317e-02 5.20745297e+00] [ 1.84436361e-03 9.99998299e-01 1.42494011e-05 7.24665550e-01] [ 3.93566385e-02 -8.68264604e-05 9.99225224e-01 1.72212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.05255784400003 meters Centerline goodness : 0.150668 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99223899e-01 -1.84928812e-03 -3.93469103e-02 5.20750419e+00] [ 1.85240178e-03 9.99998283e-01 4.26765414e-05 7.24358202e-01] [ 3.93467638e-02 -1.15529707e-04 9.99225610e-01 1.72199667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08255784400006 meters Centerline goodness : 0.151534 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99220645e-01 -1.82108182e-03 -3.94307739e-02 5.20776058e+00] [ 1.82953649e-03 9.99998310e-01 1.78335165e-04 7.23386298e-01] [ 3.94303825e-02 -2.50336219e-04 9.99222289e-01 1.72193592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.11255784400004 meters Centerline goodness : 0.156530 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99215809e-01 -1.76296402e-03 -3.95557744e-02 5.20814445e+00] [ 1.78087718e-03 9.99998327e-01 4.17627122e-04 7.21897966e-01] [ 3.95549719e-02 -4.87743599e-04 9.99217277e-01 1.72185408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14255784400007 meters Centerline goodness : 0.108174 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99186486e-01 -1.70640058e-03 -4.02921241e-02 5.21026915e+00] [ 1.74277739e-03 9.99998105e-01 8.67719634e-04 7.19374323e-01] [ 4.02905670e-02 -9.37233935e-04 9.99187566e-01 1.72147395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.17255784400004 meters Centerline goodness : 0.151586 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99186462e-01 -1.61312623e-03 -4.02965403e-02 5.21039738e+00] [ 1.65873273e-03 9.99998021e-01 1.09836347e-03 7.18189825e-01] [ 4.02946888e-02 -1.16431110e-03 9.99187161e-01 1.72136683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20255784400007 meters Centerline goodness : 0.151978 Centerline is valid? [False, False] Translation: X:5.21, Y:0.72, Z:1.72 [[ 9.99191194e-01 -1.55471304e-03 -4.01813534e-02 5.21011520e+00] [ 1.60858029e-03 9.99997850e-01 1.30830752e-03 7.16831650e-01] [ 4.01792330e-02 -1.37188428e-03 9.99191547e-01 1.72139519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.23255784400004 meters Centerline goodness : 0.133105 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99192815e-01 6.13519692e-03 -3.96998423e-02 5.22918850e+00] [-6.15212684e-03 9.99981029e-01 -3.04293728e-04 7.12540876e-01] [ 3.96972223e-02 5.48286572e-04 9.99211604e-01 1.72379458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26255784400007 meters Centerline goodness : 0.106393 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99186359e-01 6.18508399e-03 -3.98542901e-02 5.22965940e+00] [-6.19520627e-03 9.99980801e-01 -1.30484390e-04 7.11401224e-01] [ 3.98527179e-02 3.77283771e-04 9.99205494e-01 1.72368374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.29255784400004 meters Centerline goodness : 0.151011 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99184905e-01 6.25938050e-03 -3.98791303e-02 5.22975211e+00] [-6.26409158e-03 9.99980380e-01 6.81909664e-06 7.10780431e-01] [ 3.98783906e-02 2.42992986e-04 9.99204511e-01 1.72359281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3225578440001 meters Centerline goodness : 0.152145 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99190157e-01 6.40392325e-03 -3.97243038e-02 5.22930855e+00] [-6.39988376e-03 9.99979494e-01 2.28854167e-04 7.09993158e-01] [ 3.97249548e-02 2.55620960e-05 9.99210652e-01 1.72367376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.35255784400005 meters Centerline goodness : 0.151199 Centerline is valid? [False, False] Translation: X:5.23, Y:0.71, Z:1.72 [[ 9.99194085e-01 6.40738092e-03 -3.96248199e-02 5.22907271e+00] [-6.40111629e-03 9.99979472e-01 2.84969483e-04 7.09358428e-01] [ 3.96258324e-02 -3.10967422e-05 9.99214588e-01 1.72365303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3825578440001 meters Centerline goodness : 0.146237 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99243390e-01 -1.49164369e-03 -3.88641677e-02 5.24848971e+00] [ 1.53458681e-03 9.99998245e-01 1.07514578e-03 7.13499856e-01] [ 3.88624958e-02 -1.13397276e-03 9.99243924e-01 1.72492645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.41255784400005 meters Centerline goodness : 0.367544 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99245464e-01 -1.48267839e-03 -3.88111266e-02 5.24835173e+00] [ 1.52812238e-03 9.99998181e-01 1.14126216e-03 7.12852585e-01] [ 3.88093639e-02 -1.19970919e-03 9.99245913e-01 1.72490105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4425578440001 meters Centerline goodness : 0.148540 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.72 [[ 9.99245988e-01 -1.46561607e-03 -3.87982883e-02 5.24830863e+00] [ 1.51391482e-03 9.99998115e-01 1.21551753e-03 7.12329582e-01] [ 3.87964337e-02 -1.27333832e-03 9.99246324e-01 1.72492181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.47255784400005 meters Centerline goodness : 0.142637 Centerline is valid? [False, False] Translation: X:5.25, Y:0.71, Z:1.73 [[ 9.99249776e-01 -1.35639821e-03 -3.87045992e-02 5.24794235e+00] [ 1.41441847e-03 9.99997917e-01 1.47171022e-03 7.11102073e-01] [ 3.87025223e-02 -1.52535061e-03 9.99249612e-01 1.72511641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5025578440001 meters Centerline goodness : 0.134648 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99266942e-01 6.61207369e-03 -3.77075406e-02 5.26721540e+00] [-6.61267052e-03 9.99978130e-01 1.08891598e-04 7.08137045e-01] [ 3.77074359e-02 1.40535768e-04 9.99288812e-01 1.72721269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.53255784400005 meters Centerline goodness : 0.221938 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99269759e-01 6.63348171e-03 -3.76290476e-02 5.26683809e+00] [-6.63014326e-03 9.99977998e-01 2.13507874e-04 7.07428423e-01] [ 3.76296360e-02 3.61340150e-05 9.99291754e-01 1.72748061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5625578440001 meters Centerline goodness : 0.121664 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99273676e-01 6.65932846e-03 -3.75203066e-02 5.26639260e+00] [-6.65095122e-03 9.99977822e-01 3.48085906e-04 7.06564556e-01] [ 3.75217924e-02 -9.82873544e-05 9.99295805e-01 1.72773471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.59255784400005 meters Centerline goodness : 0.121664 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99273676e-01 6.65932846e-03 -3.75203066e-02 5.26639260e+00] [-6.65095122e-03 9.99977822e-01 3.48085906e-04 7.06564556e-01] [ 3.75217924e-02 -9.82873544e-05 9.99295805e-01 1.72773471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6225578440001 meters Centerline goodness : 0.223967 Centerline is valid? [False, False] Translation: X:5.27, Y:0.71, Z:1.73 [[ 9.99275755e-01 6.75120942e-03 -3.74484661e-02 5.26606365e+00] [-6.73405561e-03 9.99977155e-01 5.84181192e-04 7.05387794e-01] [ 3.74515545e-02 -3.31578048e-04 9.99298389e-01 1.72798418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.65255784400006 meters Centerline goodness : 0.147414 Centerline is valid? [False, False] Translation: X:5.27, Y:0.70, Z:1.73 [[ 9.99276967e-01 6.84735854e-03 -3.73986347e-02 5.26582970e+00] [-6.81926685e-03 9.99976363e-01 8.78652277e-04 7.03795151e-01] [ 3.74037671e-02 -6.22985712e-04 9.99300040e-01 1.72818466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6825578440001 meters Centerline goodness : 0.148224 Centerline is valid? [False, False] Translation: X:5.26, Y:0.70, Z:1.73 [[ 9.99325153e-01 4.35993101e-03 -3.64723232e-02 5.26166217e+00] [-4.40077432e-03 9.99989776e-01 -1.03963866e-03 6.99738206e-01] [ 3.64674176e-02 1.19944353e-03 9.99334123e-01 1.73024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.71255784400006 meters Centerline goodness : 0.123333 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99348011e-01 -3.70293542e-03 -3.59143695e-02 5.28164073e+00] [ 3.70470193e-03 9.99993137e-01 -1.73608217e-05 7.02166679e-01] [ 3.59141874e-02 -1.15702532e-04 9.99354871e-01 1.73183800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7425578440001 meters Centerline goodness : 0.119534 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99345098e-01 -3.61729332e-03 -3.60040185e-02 5.28196187e+00] [ 3.63150385e-03 9.99993352e-01 3.29305117e-04 7.00070459e-01] [ 3.60025880e-02 -4.59838187e-04 9.99351591e-01 1.73176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.77255784400006 meters Centerline goodness : 0.120758 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99340622e-01 -3.47730121e-03 -3.61417912e-02 5.28246751e+00] [ 3.50605955e-03 9.99993586e-01 7.32360739e-04 6.97905520e-01] [ 3.61390127e-02 -8.58593108e-04 9.99346404e-01 1.73156899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80255784400003 meters Centerline goodness : 0.119321 Centerline is valid? [False, False] Translation: X:5.28, Y:0.70, Z:1.73 [[ 9.99336964e-01 -3.30333698e-03 -3.62590809e-02 5.28291102e+00] [ 3.34904904e-03 9.99993672e-01 1.20004214e-03 6.95623549e-01] [ 3.62548873e-02 -1.32067990e-03 9.99341703e-01 1.73136803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.83255784400006 meters Centerline goodness : 0.361401 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99334786e-01 -3.15144285e-03 -3.63325378e-02 5.28318871e+00] [ 3.21311742e-03 9.99993494e-01 1.63923772e-03 6.93321288e-01] [ 3.63271355e-02 -1.75488799e-03 9.99338411e-01 1.73131842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86255784400004 meters Centerline goodness : 0.141719 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99335506e-01 -3.06415881e-03 -3.63201998e-02 5.28315518e+00] [ 3.15003812e-03 9.99992376e-01 2.30751710e-03 6.88336911e-01] [ 3.63128524e-02 -2.42039378e-03 9.99337540e-01 1.73151007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.89255784400007 meters Centerline goodness : 0.121681 Centerline is valid? [False, False] Translation: X:5.28, Y:0.69, Z:1.73 [[ 9.99331940e-01 -2.91384272e-03 -3.64305261e-02 5.28332024e+00] [ 3.01637908e-03 9.99991642e-01 2.75992693e-03 6.85838048e-01] [ 3.64221797e-02 -2.86797141e-03 9.99332377e-01 1.73174787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92255784400004 meters Centerline goodness : 0.121981 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:1.73 [[ 9.99327490e-01 -2.74070134e-03 -3.65657852e-02 5.28374794e+00] [ 2.85994768e-03 9.99990761e-01 3.20923833e-03 6.83519515e-01] [ 3.65566518e-02 -3.31165631e-03 9.99326095e-01 1.73163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.95255784400007 meters Centerline goodness : 0.119378 Centerline is valid? [False, False] Translation: X:5.28, Y:0.68, Z:1.73 [[ 9.99318704e-01 -2.55171531e-03 -3.68187098e-02 5.28470990e+00] [ 2.68860329e-03 9.99989655e-01 3.66885860e-03 6.81266961e-01] [ 3.68089670e-02 -3.76534992e-03 9.99315227e-01 1.73114860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98255784400004 meters Centerline goodness : 0.119898 Centerline is valid? [False, False] Translation: X:5.29, Y:0.68, Z:1.73 [[ 9.99311251e-01 -2.40623106e-03 -3.70301706e-02 5.28555900e+00] [ 2.55907780e-03 9.99988399e-01 4.08078296e-03 6.78935825e-01] [ 3.70199217e-02 -4.17273541e-03 9.99305816e-01 1.73073728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.01255784400007 meters Centerline goodness : 0.139076 Centerline is valid? [False, False] Translation: X:5.29, Y:0.67, Z:1.73 [[ 9.99309930e-01 -2.18685467e-03 -3.70794022e-02 5.28593303e+00] [ 2.36695939e-03 9.99985611e-01 4.81406933e-03 6.74105368e-01] [ 3.70683410e-02 -4.89851272e-03 9.99300727e-01 1.73050355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04255784400004 meters Centerline goodness : 0.146223 Centerline is valid? [False, False] Translation: X:5.30, Y:0.67, Z:1.73 [[ 9.99324482e-01 5.74683135e-03 -3.62981250e-02 5.30435708e+00] [-5.62612516e-03 9.99978302e-01 3.42667962e-03 6.68483815e-01] [ 3.63170299e-02 -3.22014704e-03 9.99335131e-01 1.73302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0725578440001 meters Centerline goodness : 0.144021 Centerline is valid? [False, False] Translation: X:5.30, Y:0.67, Z:1.73 [[ 9.99327169e-01 5.93375960e-03 -3.61939237e-02 5.30383241e+00] [-5.79613371e-03 9.99975573e-01 3.90620166e-03 6.65937416e-01] [ 3.62162180e-02 -3.69378862e-03 9.99337151e-01 1.73343318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10255784400005 meters Centerline goodness : 0.143871 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99327027e-01 6.11761662e-03 -3.61672211e-02 5.30367721e+00] [-5.96255455e-03 9.99972571e-01 4.39367215e-03 6.63357611e-01] [ 3.61931079e-02 -4.17506630e-03 9.99336093e-01 1.73362695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1325578440001 meters Centerline goodness : 0.118842 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99321875e-01 6.23773064e-03 -3.62888430e-02 5.30404419e+00] [-6.06840275e-03 9.99970189e-01 4.77438968e-03 6.61144101e-01] [ 3.63175426e-02 -4.55093674e-03 9.99329938e-01 1.73351962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16255784400005 meters Centerline goodness : 0.141364 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 9.99313468e-01 6.36286544e-03 -3.64980458e-02 5.30485589e+00] [-6.18073331e-03 9.99967889e-01 5.10085105e-03 6.59262436e-01] [ 3.65293299e-02 -4.87176446e-03 9.99320706e-01 1.73311725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1925578440001 meters Centerline goodness : 0.144801 Centerline is valid? [False, False] Translation: X:5.31, Y:0.66, Z:1.73 [[ 0.99930458 0.00657078 -0.03670389 5.30565152] [-0.00637064 0.99996421 0.00556713 0.65663823] [ 0.03673915 -0.00532943 0.99931068 1.73276385] [ 0. 0. 0. 1. ]] SLAMing on 506.22255784400005 meters Centerline goodness : 0.139595 Centerline is valid? [False, False] Translation: X:5.31, Y:0.66, Z:1.73 [[ 0.99930526 0.00658749 -0.03668244 5.30554259] [-0.00638468 0.9999637 0.00564305 0.65587639] [ 0.03671828 -0.00540492 0.99931104 1.73281715] [ 0. 0. 0. 1. ]] SLAMing on 506.2525578440001 meters Centerline goodness : 0.140011 Centerline is valid? [False, False] Translation: X:5.30, Y:0.66, Z:1.73 [[ 0.99931208 0.00660373 -0.03649332 5.30490738] [-0.00640064 0.99996339 0.00567934 0.65548126] [ 0.03652949 -0.00544185 0.99931776 1.73302832] [ 0. 0. 0. 1. ]] SLAMing on 506.28255784400005 meters Centerline goodness : 0.143705 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 0.99931801 0.00666796 -0.03631881 5.30426578] [-0.00646162 0.99996233 0.00579576 0.65499402] [ 0.03635608 -0.00555713 0.99932345 1.73331112] [ 0. 0. 0. 1. ]] SLAMing on 506.3125578440001 meters Centerline goodness : 0.139524 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 0.99931994 0.00677544 -0.0362458 5.30396553] [-0.00656327 0.99996064 0.00596941 0.65448091] [ 0.03628482 -0.00572746 0.99932508 1.73348005] [ 0. 0. 0. 1. ]] SLAMing on 506.34255784400005 meters Centerline goodness : 0.138303 Centerline is valid? [False, False] Translation: X:5.31, Y:0.65, Z:1.73 [[ 0.99930604 0.00685354 -0.03661231 5.30532905] [-0.00663209 0.99995899 0.00616648 0.65337506] [ 0.03665307 -0.00591939 0.99931052 1.73281168] [ 0. 0. 0. 1. ]] SLAMing on 506.3725578440001 meters Centerline goodness : 0.140885 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99245452e-01 -1.89295837e-03 -3.87936123e-02 5.28633595e+00] [ 2.17934027e-03 9.99970678e-01 7.34123409e-03 6.54558505e-01] [ 3.87785782e-02 -7.42023926e-03 9.99220277e-01 1.73085832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40255784400006 meters Centerline goodness : 0.143139 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99235311e-01 -1.88259072e-03 -3.90544326e-02 5.28740999e+00] [ 2.17760198e-03 9.99969408e-01 7.51268529e-03 6.53317108e-01] [ 3.90390946e-02 -7.59198543e-03 9.99208842e-01 1.73019675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4325578440001 meters Centerline goodness : 0.137972 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99237010e-01 -1.81522917e-03 -3.90141439e-02 5.28733071e+00] [ 2.12001584e-03 9.99967548e-01 7.77225872e-03 6.51899693e-01] [ 3.89987694e-02 -7.84903916e-03 9.99208431e-01 1.73020314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46255784400006 meters Centerline goodness : 0.142348 Centerline is valid? [False, False] Translation: X:5.29, Y:0.65, Z:1.73 [[ 9.99247817e-01 -1.72928450e-03 -3.87402876e-02 5.28638228e+00] [ 2.04428819e-03 9.99965161e-01 8.09302861e-03 6.50252195e-01] [ 3.87249428e-02 -8.16613748e-03 9.99216540e-01 1.73068368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4925578440001 meters Centerline goodness : 0.140293 Centerline is valid? [False, False] Translation: X:5.28, Y:0.65, Z:1.73 [[ 9.99307295e-01 -3.62629630e-03 -3.70375612e-02 5.27993823e+00] [ 3.87633182e-03 9.99970167e-01 6.68128634e-03 6.47192167e-01] [ 3.70122280e-02 -6.82022805e-03 9.99291539e-01 1.73332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52255784400006 meters Centerline goodness : 0.137775 Centerline is valid? [False, False] Translation: X:5.28, Y:0.65, Z:1.73 [[ 9.99310124e-01 -3.52895556e-03 -3.69705709e-02 5.27973907e+00] [ 3.78807640e-03 9.99968735e-01 6.94113909e-03 6.45782543e-01] [ 3.69449201e-02 -7.07639791e-03 9.99292248e-01 1.73340926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5525578440001 meters Centerline goodness : 0.137359 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99325321e-01 4.88573395e-03 -3.64009863e-02 5.29963597e+00] [-4.67432916e-03 9.99971726e-01 5.89050862e-03 6.42154881e-01] [ 3.64287366e-02 -5.71638423e-03 9.99319904e-01 1.73483172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58255784400006 meters Centerline goodness : 0.147951 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99323044e-01 4.92436307e-03 -3.64582458e-02 5.30003756e+00] [-4.71044771e-03 9.99971198e-01 5.95097986e-03 6.41932188e-01] [ 3.64865006e-02 -5.77521665e-03 9.99317458e-01 1.73442198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.61255784400004 meters Centerline goodness : 0.140652 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99323095e-01 4.95312834e-03 -3.64529598e-02 5.30032200e+00] [-4.73828807e-03 9.99970908e-01 5.97766373e-03 6.41837495e-01] [ 3.64815074e-02 -5.80089280e-03 9.99317492e-01 1.73396174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64255784400007 meters Centerline goodness : 0.140595 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99319878e-01 4.97096283e-03 -3.65386147e-02 5.30074115e+00] [-4.75314550e-03 9.99970428e-01 6.04574218e-03 6.41239315e-01] [ 3.65675873e-02 -5.86795699e-03 9.99313954e-01 1.73364153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.67255784400004 meters Centerline goodness : 0.141287 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99319096e-01 4.96033487e-03 -3.65614576e-02 5.30082048e+00] [-4.74284059e-03 9.99970553e-01 6.03306469e-03 6.41163800e-01] [ 3.65903070e-02 -5.85555159e-03 9.99313195e-01 1.73355726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70255784400007 meters Centerline goodness : 0.136668 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99320531e-01 4.94988467e-03 -3.65236135e-02 5.30071621e+00] [-4.73455745e-03 9.99970913e-01 5.97969933e-03 6.41531208e-01] [ 3.65521500e-02 -5.80271316e-03 9.99314900e-01 1.73355977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.73255784400004 meters Centerline goodness : 0.180766 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99325903e-01 4.91727374e-03 -3.63807735e-02 5.30037967e+00] [-4.70594574e-03 9.99971568e-01 5.89213572e-03 6.42004563e-01] [ 3.64087124e-02 -5.71695790e-03 9.99320630e-01 1.73350275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76255784400007 meters Centerline goodness : 0.128149 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99327782e-01 4.84138944e-03 -3.63392947e-02 5.30016628e+00] [-4.63546657e-03 9.99972732e-01 5.74878794e-03 6.42470040e-01] [ 3.63661359e-02 -5.57647392e-03 9.99322974e-01 1.73363608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.79255784400004 meters Centerline goodness : 0.130410 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99327258e-01 4.75420441e-03 -3.63652256e-02 5.30023348e+00] [-4.55388847e-03 9.99974011e-01 5.58929507e-03 6.43005261e-01] [ 3.63908531e-02 -5.41993173e-03 9.99322936e-01 1.73360404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8225578440001 meters Centerline goodness : 0.132475 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99330642e-01 4.68124362e-03 -3.62816048e-02 5.30016247e+00] [-4.49260929e-03 9.99975974e-01 5.27895690e-03 6.44877229e-01] [ 3.63054452e-02 -5.11242431e-03 9.99327663e-01 1.73328671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.85255784400005 meters Centerline goodness : 0.138716 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99334819e-01 4.62370638e-03 -3.61737684e-02 5.30007083e+00] [-4.44210162e-03 9.99977133e-01 5.09910483e-03 6.45904438e-01] [ 3.61965180e-02 -4.93502544e-03 9.99332506e-01 1.73295934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8825578440001 meters Centerline goodness : 0.137295 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99341043e-01 4.56586218e-03 -3.60087880e-02 5.29970673e+00] [-4.38945654e-03 9.99977983e-01 4.97649554e-03 6.46421984e-01] [ 3.60307172e-02 -4.81515724e-03 9.99339082e-01 1.73286771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.91255784400005 meters Centerline goodness : 0.139434 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99340569e-01 4.49445037e-03 -3.60309190e-02 5.29968006e+00] [-4.32265136e-03 9.99978922e-01 4.84458265e-03 6.46901051e-01] [ 3.60519333e-02 -4.68563888e-03 9.99338933e-01 1.73295459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9425578440001 meters Centerline goodness : 0.136306 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99336386e-01 4.49305636e-03 -3.61469223e-02 5.29993035e+00] [-4.32004760e-03 9.99978844e-01 4.86294662e-03 6.46721099e-01] [ 3.61680071e-02 -4.70356308e-03 9.99334655e-01 1.73297651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.97255784400005 meters Centerline goodness : 0.139206 Centerline is valid? [False, False] Translation: X:5.30, Y:0.65, Z:1.73 [[ 9.99330910e-01 4.53069846e-03 -3.62933184e-02 5.30047616e+00] [-4.35348601e-03 9.99978221e-01 4.96032488e-03 6.46214762e-01] [ 3.63150017e-02 -4.79900352e-03 9.99328870e-01 1.73271282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0025578440001 meters Centerline goodness : 0.138035 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99301181e-01 4.43826228e-03 -3.71140215e-02 5.30313461e+00] [-4.25019734e-03 9.99977734e-01 5.14458496e-03 6.44259029e-01] [ 3.71360282e-02 -4.98324791e-03 9.99297795e-01 1.73184270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.03255784400005 meters Centerline goodness : 0.140916 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99298445e-01 4.44337905e-03 -3.71870094e-02 5.30349286e+00] [-4.25017792e-03 9.99977066e-01 5.27283475e-03 6.43075361e-01] [ 3.72095858e-02 -5.11108417e-03 9.99294413e-01 1.73160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0625578440001 meters Centerline goodness : 0.138975 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99300501e-01 4.45497734e-03 -3.71303249e-02 5.30323466e+00] [-4.26045966e-03 9.99976793e-01 5.31626046e-03 6.42626410e-01] [ 3.71531470e-02 -5.15434949e-03 9.99296291e-01 1.73179534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.09255784400005 meters Centerline goodness : 0.145762 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99310110e-01 4.49869207e-03 -3.68655205e-02 5.30244921e+00] [-4.30597784e-03 9.99976656e-01 5.30522468e-03 6.42994476e-01] [ 3.68885265e-02 -5.14282254e-03 9.99306153e-01 1.73194919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1225578440001 meters Centerline goodness : 0.136697 Centerline is valid? [False, False] Translation: X:5.30, Y:0.64, Z:1.73 [[ 9.99322934e-01 4.54508912e-03 -3.65104877e-02 5.30145185e+00] [-4.35659465e-03 9.99976778e-01 5.24064828e-03 6.43810982e-01] [ 3.65334590e-02 -5.07803862e-03 9.99319528e-01 1.73209017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.15255784400006 meters Centerline goodness : 0.146720 Centerline is valid? [False, False] Translation: X:5.34, Y:0.65, Z:1.73 [[ 9.99421753e-01 5.87893777e-03 -3.34902576e-02 5.34394593e+00] [-5.71327201e-03 9.99970977e-01 5.04023641e-03 6.48952125e-01] [ 3.35189169e-02 -4.84598295e-03 9.99426335e-01 1.73324957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1825578440001 meters Centerline goodness : 0.141033 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99425520e-01 -2.92767919e-03 -3.37647662e-02 5.32353178e+00] [ 3.12610909e-03 9.99978145e-01 5.82553994e-03 6.53184172e-01] [ 3.37469729e-02 -5.92774562e-03 9.99412829e-01 1.73146208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.21255784400006 meters Centerline goodness : 0.136793 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99421350e-01 -2.95056539e-03 -3.38859893e-02 5.32407882e+00] [ 3.14749876e-03 9.99978459e-01 5.75977356e-03 6.53606979e-01] [ 3.38682648e-02 -5.86309677e-03 9.99409108e-01 1.73100943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2425578440001 meters Centerline goodness : 0.133166 Centerline is valid? [False, False] Translation: X:5.32, Y:0.65, Z:1.73 [[ 9.99414588e-01 -2.95116658e-03 -3.40847754e-02 5.32488898e+00] [ 3.14981136e-03 9.99978360e-01 5.77573738e-03 6.53599494e-01] [ 3.40669927e-02 -5.87971681e-03 9.99402256e-01 1.73050866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.27255784400006 meters Centerline goodness : 0.176259 Centerline is valid? [False, False] Translation: X:5.33, Y:0.65, Z:1.73 [[ 9.99406123e-01 -2.98112260e-03 -3.43295051e-02 5.32570641e+00] [ 3.18386887e-03 9.99977804e-01 5.85273859e-03 6.52879233e-01] [ 3.43112954e-02 -5.95856343e-03 9.99393431e-01 1.73021699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3025578440001 meters Centerline goodness : 0.141057 Centerline is valid? [False, False] Translation: X:5.33, Y:0.65, Z:1.73 [[ 9.99392192e-01 -3.05311256e-03 -3.47264231e-02 5.32670443e+00] [ 3.26311672e-03 9.99976722e-01 5.99232150e-03 6.51486861e-01] [ 3.47073195e-02 -6.10199569e-03 9.99378891e-01 1.73021941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.33255784400006 meters Centerline goodness : 0.157051 Centerline is valid? [False, False] Translation: X:5.35, Y:0.65, Z:1.73 [[ 9.99387269e-01 2.74262181e-03 -3.48936058e-02 5.34693061e+00] [-2.64854722e-03 9.99992733e-01 2.74197802e-03 6.48151448e-01] [ 3.49008725e-02 -2.64788057e-03 9.99387271e-01 1.73200703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36255784400004 meters Centerline goodness : 0.144931 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99415830e-01 2.42734610e-04 -3.41751210e-02 5.34342303e+00] [-2.13931222e-04 9.99999619e-01 8.46471553e-04 6.44735415e-01] [ 3.41753135e-02 -8.38665945e-04 9.99415501e-01 1.73395164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.39255784400007 meters Centerline goodness : 0.143425 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99419769e-01 3.42132917e-04 -3.40588858e-02 5.34323259e+00] [-3.02840915e-04 9.99999283e-01 1.15880109e-03 6.43266787e-01] [ 3.40592578e-02 -1.14781430e-03 9.99419156e-01 1.73382291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42255784400004 meters Centerline goodness : 0.146029 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99420123e-01 3.99605461e-04 -3.40478767e-02 5.34330315e+00] [-3.53527547e-04 9.99999014e-01 1.35933654e-03 6.42173834e-01] [ 3.40483863e-02 -1.34651142e-03 9.99419279e-01 1.73372147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.45255784400007 meters Centerline goodness : 0.146013 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99420175e-01 4.01143257e-04 -3.40463473e-02 5.34348328e+00] [-3.51444623e-04 9.99998864e-01 1.46570657e-03 6.41359592e-01] [ 3.40468966e-02 -1.45289131e-03 9.99419180e-01 1.73346855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48255784400004 meters Centerline goodness : 0.146577 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99416309e-01 3.90772873e-04 -3.41597582e-02 5.34400207e+00] [-3.39541440e-04 9.99998809e-01 1.50554797e-03 6.40809662e-01] [ 3.41603058e-02 -1.49307054e-03 9.99415251e-01 1.73308352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.51255784400007 meters Centerline goodness : 0.146577 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99416309e-01 3.90772873e-04 -3.41597582e-02 5.34400207e+00] [-3.39541440e-04 9.99998809e-01 1.50554797e-03 6.40809662e-01] [ 3.41603058e-02 -1.49307054e-03 9.99415251e-01 1.73308352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54255784400004 meters Centerline goodness : 0.117974 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99413251e-01 3.96565105e-04 -3.42490346e-02 5.34431831e+00] [-3.44981536e-04 9.99998797e-01 1.51202832e-03 6.40713663e-01] [ 3.42495930e-02 -1.49932586e-03 9.99412186e-01 1.73293829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5725578440001 meters Centerline goodness : 0.114118 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99413041e-01 4.66896549e-04 -3.42542902e-02 5.34409727e+00] [-4.12392588e-04 9.99998638e-01 1.59820514e-03 6.40499883e-01] [ 3.42549897e-02 -1.58314084e-03 9.99411872e-01 1.73327566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60255784400005 meters Centerline goodness : 0.165259 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99412834e-01 4.73765490e-04 -3.42602091e-02 5.34404257e+00] [-4.16815475e-04 9.99998520e-01 1.66940177e-03 6.39886734e-01] [ 3.42609493e-02 -1.65414137e-03 9.99411552e-01 1.73340030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6325578440001 meters Centerline goodness : 0.152644 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99414524e-01 4.86378735e-04 -3.42107116e-02 5.34383588e+00] [-4.25575174e-04 9.99998317e-01 1.78458452e-03 6.38959882e-01] [ 3.42115220e-02 -1.76898045e-03 9.99413049e-01 1.73351868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66255784400005 meters Centerline goodness : 0.117327 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99417526e-01 5.14307195e-04 -3.41224782e-02 5.34360669e+00] [-4.47915987e-04 9.99997992e-01 1.95328940e-03 6.37805194e-01] [ 3.41234143e-02 -1.93686766e-03 9.99415750e-01 1.73354780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6925578440001 meters Centerline goodness : 0.117748 Centerline is valid? [False, False] Translation: X:5.34, Y:0.64, Z:1.73 [[ 9.99419348e-01 5.92714836e-04 -3.40678170e-02 5.34348542e+00] [-5.17914547e-04 9.99997436e-01 2.20441181e-03 6.36450242e-01] [ 3.40690362e-02 -2.18548759e-03 9.99417092e-01 1.73355532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72255784400005 meters Centerline goodness : 0.146053 Centerline is valid? [False, False] Translation: X:5.34, Y:0.63, Z:1.73 [[ 9.99418981e-01 7.19216642e-04 -3.40761393e-02 5.34360309e+00] [-6.32875364e-04 9.99996563e-01 2.54449361e-03 6.34744956e-01] [ 3.40778522e-02 -2.52144926e-03 9.99416001e-01 1.73341703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7525578440001 meters Centerline goodness : 0.138161 Centerline is valid? [False, False] Translation: X:5.35, Y:0.63, Z:1.73 [[ 9.99398112e-01 8.25935714e-04 -3.46804148e-02 5.34527297e+00] [-7.15838894e-04 9.99994666e-01 3.18690733e-03 6.30690419e-01] [ 3.46828619e-02 -3.16016358e-03 9.99393372e-01 1.73322093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78255784400005 meters Centerline goodness : 0.117989 Centerline is valid? [False, False] Translation: X:5.35, Y:0.63, Z:1.73 [[ 9.99389794e-01 1.01390173e-03 -3.49143413e-02 5.34578151e+00] [-8.83654684e-04 9.99992594e-01 3.74570289e-03 6.27731350e-01] [ 3.49178805e-02 -3.71256502e-03 9.99383289e-01 1.73334943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8125578440001 meters Centerline goodness : 0.143042 Centerline is valid? [False, False] Translation: X:5.35, Y:0.62, Z:1.73 [[ 9.99385265e-01 1.21700972e-03 -3.50372916e-02 5.34599114e+00] [-1.06579372e-03 9.99990039e-01 4.33421229e-03 6.24577738e-01] [ 3.50422174e-02 -4.29420538e-03 9.99376607e-01 1.73358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84255784400005 meters Centerline goodness : 0.144190 Centerline is valid? [False, False] Translation: X:5.35, Y:0.62, Z:1.73 [[ 9.99380894e-01 1.46920249e-03 -3.51521128e-02 5.34615008e+00] [-1.29475955e-03 9.99986738e-01 4.98476582e-03 6.21184485e-01] [ 3.51589703e-02 -4.93616619e-03 9.99369542e-01 1.73385190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8725578440001 meters Centerline goodness : 0.144085 Centerline is valid? [False, False] Translation: X:5.35, Y:0.61, Z:1.73 [[ 9.99351096e-01 7.46162488e-05 -3.60191889e-02 5.35035491e+00] [ 7.37751188e-05 9.99991516e-01 4.11843982e-03 6.14458071e-01] [ 3.60191906e-02 -4.11842466e-03 9.99342612e-01 1.73161460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90255784400006 meters Centerline goodness : 0.143286 Centerline is valid? [False, False] Translation: X:5.35, Y:0.61, Z:1.73 [[ 9.99347498e-01 2.75963513e-04 -3.61178981e-02 5.35080908e+00] [-1.10988852e-04 9.99989553e-01 4.56959588e-03 6.12119429e-01] [ 3.61187819e-02 -4.56260553e-03 9.99337088e-01 1.73135467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9325578440001 meters Centerline goodness : 0.135673 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99393996e-01 9.36944480e-03 -3.35239494e-02 5.36919642e+00] [-9.23873396e-03 9.99949113e-01 4.05181289e-03 6.04755434e-01] [ 3.35602067e-02 -3.73963862e-03 9.99429701e-01 1.73315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96255784400006 meters Centerline goodness : 0.154798 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99400943e-01 9.55932947e-03 -3.32621989e-02 5.36790457e+00] [-9.41788748e-03 9.99945942e-01 4.40641588e-03 6.03005862e-01] [ 3.33025232e-02 -4.09051654e-03 9.99436946e-01 1.73424618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9925578440001 meters Centerline goodness : 0.150284 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99402555e-01 9.69982873e-03 -3.31729740e-02 5.36737535e+00] [-9.54791179e-03 9.99943207e-01 4.73489115e-03 6.01167068e-01] [ 3.32170176e-02 -4.41532969e-03 9.99438410e-01 1.73480704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02255784400006 meters Centerline goodness : 0.137613 Centerline is valid? [False, False] Translation: X:5.37, Y:0.60, Z:1.73 [[ 9.99395995e-01 9.92261537e-03 -3.33044709e-02 5.36769764e+00] [-9.75465402e-03 9.99938892e-01 5.20191006e-03 5.98604873e-01] [ 3.33540523e-02 -4.87389449e-03 9.99431715e-01 1.73495716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0525578440001 meters Centerline goodness : 0.132982 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99374304e-01 8.27230292e-03 -3.43884983e-02 5.37165242e+00] [-8.14767600e-03 9.99959728e-01 3.76264605e-03 5.93239384e-01] [ 3.44182392e-02 -3.48010544e-03 9.99401458e-01 1.73384091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08255784400006 meters Centerline goodness : 0.143711 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99370254e-01 8.49434379e-03 -3.44520123e-02 5.37170616e+00] [-8.35218257e-03 9.99956011e-01 4.26817785e-03 5.90634965e-01] [ 3.44867521e-02 -3.97774049e-03 9.99397239e-01 1.73405674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.11255784400004 meters Centerline goodness : 0.150791 Centerline is valid? [False, False] Translation: X:5.37, Y:0.59, Z:1.73 [[ 9.99370874e-01 8.88385162e-03 -3.43356004e-02 5.37089548e+00] [-8.71292584e-03 9.99948911e-01 5.12451892e-03 5.86368871e-01] [ 3.43793717e-02 -4.82213141e-03 9.99397221e-01 1.73490628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14255784400007 meters Centerline goodness : 0.133507 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.74 [[ 9.99374319e-01 9.06560078e-03 -3.41875011e-02 5.37047169e+00] [-8.88177111e-03 9.99945292e-01 5.52514395e-03 5.84469624e-01] [ 3.42357195e-02 -5.21804141e-03 9.99400164e-01 1.73501444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.17255784400004 meters Centerline goodness : 0.118485 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.74 [[ 0.99937642 0.00919493 -0.03409134 5.37027406] [-0.00900183 0.99994259 0.00581318 0.58319251] [ 0.03414283 -0.00550267 0.99940181 1.73503703] [ 0. 0. 0. 1. ]] SLAMing on 508.20255784400007 meters Centerline goodness : 0.091264 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99413002e-01 6.08505950e-03 -3.37138380e-02 5.36994549e+00] [-5.98779574e-03 9.99977617e-01 2.98519513e-03 5.80400430e-01] [ 3.37312485e-02 -2.78157126e-03 9.99427069e-01 1.73436808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.23255784400004 meters Centerline goodness : 0.149784 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99424939e-01 3.09645311e-03 -3.37668882e-02 5.37070418e+00] [-3.09608625e-03 9.99995205e-01 6.31522800e-05 5.79464193e-01] [ 3.37669218e-02 4.14292346e-05 9.99429734e-01 1.73355039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26255784400007 meters Centerline goodness : 0.092624 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99415526e-01 3.19374531e-03 -3.40353653e-02 5.37165665e+00] [-3.18223335e-03 9.99994860e-01 3.92399895e-04 5.77522312e-01] [ 3.40364436e-02 -2.83862073e-04 9.99420552e-01 1.73317159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.29255784400004 meters Centerline goodness : 0.117358 Centerline is valid? [False, False] Translation: X:5.37, Y:0.58, Z:1.73 [[ 9.99405558e-01 3.32248417e-03 -3.43145979e-02 5.37265253e+00] [-3.30049031e-03 9.99994310e-01 6.97571960e-04 5.75917930e-01] [ 3.43167203e-02 -5.83902296e-04 9.99410837e-01 1.73271691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3225578440001 meters Centerline goodness : 0.188054 Centerline is valid? [False, False] Translation: X:5.37, Y:0.57, Z:1.73 [[ 9.99394182e-01 3.47601923e-03 -3.46292598e-02 5.37402687e+00] [-3.44074512e-03 9.99993499e-01 1.07816290e-03 5.73975339e-01] [ 3.46327824e-02 -9.58359277e-04 9.99399646e-01 1.73183905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.35255784400005 meters Centerline goodness : 0.090116 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99385240e-01 -3.57932578e-03 -3.48759373e-02 5.39350015e+00] [ 3.65299737e-03 9.99991229e-01 2.04889874e-03 5.78673322e-01] [ 3.48682978e-02 -2.17504087e-03 9.99389549e-01 1.73352908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3825578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 508.41255784400005 meters Centerline goodness : 0.101498 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99390197e-01 -3.43361277e-03 -3.47482899e-02 5.39314917e+00] [ 3.51642307e-03 9.99991121e-01 2.32231463e-03 5.77568852e-01] [ 3.47400074e-02 -2.44308817e-03 9.99393398e-01 1.73358977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4425578440001 meters Centerline goodness : 0.116955 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99392580e-01 -3.33439055e-03 -3.46893811e-02 5.39294052e+00] [ 3.42606235e-03 9.99990794e-01 2.58354108e-03 5.76279886e-01] [ 3.46804472e-02 -2.70081977e-03 9.99394803e-01 1.73371437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.47255784400005 meters Centerline goodness : 0.117381 Centerline is valid? [False, False] Translation: X:5.39, Y:0.58, Z:1.73 [[ 9.99386722e-01 -3.31738982e-03 -3.48593691e-02 5.39335964e+00] [ 3.41395520e-03 9.99990498e-01 2.71098422e-03 5.75338216e-01] [ 3.48500444e-02 -2.82832996e-03 9.99388551e-01 1.73374996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5025578440001 meters Centerline goodness : 0.116978 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99370652e-01 -3.33932780e-03 -3.53149882e-02 5.39439210e+00] [ 3.44520427e-03 9.99989750e-01 2.93763273e-03 5.73503053e-01] [ 3.53048165e-02 -3.05745128e-03 9.99371914e-01 1.73394964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.53255784400005 meters Centerline goodness : 0.151197 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99373570e-01 -3.27969678e-03 -3.52379136e-02 5.39394175e+00] [ 3.39052641e-03 9.99989491e-01 3.08588557e-03 5.72766835e-01] [ 3.52274225e-02 -3.20342756e-03 9.99374188e-01 1.73433465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5625578440001 meters Centerline goodness : 0.116677 Centerline is valid? [False, False] Translation: X:5.39, Y:0.57, Z:1.73 [[ 9.99378694e-01 -3.21148103e-03 -3.50985963e-02 5.39332806e+00] [ 3.32653591e-03 9.99989282e-01 3.22014320e-03 5.72295738e-01] [ 3.50878787e-02 -3.33489925e-03 9.99378667e-01 1.73478804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.59255784400005 meters Centerline goodness : 0.106071 Centerline is valid? [False, False] Translation: X:5.41, Y:0.57, Z:1.74 [[ 9.99439067e-01 5.77256586e-03 -3.29882994e-02 5.41167632e+00] [-5.71075618e-03 9.99981758e-01 1.96759842e-03 5.71408507e-01] [ 3.29990557e-02 -1.77810660e-03 9.99453801e-01 1.73665142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6225578440001 meters Centerline goodness : 0.128357 Centerline is valid? [False, False] Translation: X:5.41, Y:0.57, Z:1.74 [[ 9.99444333e-01 5.71946110e-03 -3.28376883e-02 5.41150429e+00] [-5.66581387e-03 9.99982459e-01 1.72652893e-03 5.72861911e-01] [ 3.28469871e-02 -1.53951732e-03 9.99459206e-01 1.73634318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.65255784400006 meters Centerline goodness : 0.092418 Centerline is valid? [False, False] Translation: X:5.41, Y:0.58, Z:1.74 [[ 9.99439348e-01 5.66752377e-03 -3.29980250e-02 5.41212287e+00] [-5.62921555e-03 9.99983370e-01 1.25371120e-03 5.75728285e-01] [ 3.30045817e-02 -1.06725531e-03 9.99454631e-01 1.73592362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6825578440001 meters Centerline goodness : 0.147470 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99447665e-01 -1.22336280e-03 -3.32094548e-02 5.43068846e+00] [ 1.29384706e-03 9.99996956e-01 2.10100846e-03 5.82852629e-01] [ 3.32067834e-02 -2.14281596e-03 9.99446206e-01 1.73789033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.71255784400006 meters Centerline goodness : 0.146905 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99449072e-01 -1.25310292e-03 -3.31659759e-02 5.43060450e+00] [ 1.31958676e-03 9.99997164e-01 1.98276660e-03 5.83603129e-01] [ 3.31633972e-02 -2.02543962e-03 9.99447891e-01 1.73786347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7425578440001 meters Centerline goodness : 0.148602 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99449189e-01 -1.32516648e-03 -3.31596545e-02 5.43052285e+00] [ 1.38734717e-03 9.99997322e-01 1.85225286e-03 5.84159643e-01] [ 3.31571112e-02 -1.89723657e-03 9.99448351e-01 1.73796860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.77255784400006 meters Centerline goodness : 0.092365 Centerline is valid? [False, False] Translation: X:5.43, Y:0.58, Z:1.74 [[ 9.99452081e-01 -1.48574931e-03 -3.30655593e-02 5.43042695e+00] [ 1.54171647e-03 9.99997422e-01 1.66718043e-03 5.84651771e-01] [ 3.30629971e-02 -1.71724466e-03 9.99451794e-01 1.73782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8025578440001 meters Centerline goodness : 0.158868 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99450654e-01 -1.57105971e-03 -3.31047193e-02 5.43073392e+00] [ 1.62153963e-03 9.99997563e-01 1.49806312e-03 5.85499423e-01] [ 3.31022851e-02 -1.55092078e-03 9.99450766e-01 1.73754442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.83255784400006 meters Centerline goodness : 0.148934 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99453223e-01 -1.62646680e-03 -3.30243712e-02 5.43084215e+00] [ 1.66981719e-03 9.99997780e-01 1.28514126e-03 5.86873253e-01] [ 3.30222076e-02 -1.33958324e-03 9.99453720e-01 1.73711630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86255784400004 meters Centerline goodness : 0.147944 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99459813e-01 -1.67806198e-03 -3.28217273e-02 5.43039545e+00] [ 1.71151064e-03 9.99998044e-01 9.91032755e-04 5.88970781e-01] [ 3.28200001e-02 -1.04667215e-03 9.99460731e-01 1.73707012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.89255784400007 meters Centerline goodness : 0.147131 Centerline is valid? [False, False] Translation: X:5.43, Y:0.59, Z:1.74 [[ 9.99481731e-01 -1.50834348e-03 -3.21557958e-02 5.42871412e+00] [ 1.52271767e-03 9.99998751e-01 4.22533290e-04 5.93922284e-01] [ 3.21551183e-02 -4.71278503e-04 9.99482779e-01 1.73694967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92255784400004 meters Centerline goodness : 0.155604 Centerline is valid? [False, False] Translation: X:5.45, Y:0.60, Z:1.74 [[ 9.99482018e-01 6.59784975e-03 -3.14986477e-02 5.45046010e+00] [-6.66302879e-03 9.99975872e-01 -1.96474822e-03 5.97332481e-01] [ 3.14849246e-02 2.17360691e-03 9.99501863e-01 1.73724106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.95255784400007 meters Centerline goodness : 0.116905 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.74 [[ 9.99432584e-01 9.93200105e-04 -3.36678326e-02 5.43064552e+00] [-9.59460296e-04 9.99999021e-01 1.01827909e-03 6.06970430e-01] [ 3.36688110e-02 -9.85398351e-04 9.99432559e-01 1.73569557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98255784400004 meters Centerline goodness : 0.120143 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.74 [[ 9.99436801e-01 8.13770506e-04 -3.35472471e-02 5.43077047e+00] [-8.01396469e-04 9.99999606e-01 3.82298465e-04 6.10810645e-01] [ 3.35475450e-02 -3.55198510e-04 9.99437060e-01 1.73501809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.01255784400007 meters Centerline goodness : 0.255400 Centerline is valid? [False, False] Translation: X:5.43, Y:0.61, Z:1.73 [[ 9.99443431e-01 5.93830754e-04 -3.33537917e-02 5.43040927e+00] [-6.01128585e-04 9.99999798e-01 -2.08773308e-04 6.14126102e-01] [ 3.33536610e-02 2.28707028e-04 9.99443586e-01 1.73483559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04255784400004 meters Centerline goodness : 0.137957 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.74 [[ 9.99453717e-01 1.93593203e-04 -3.30489122e-02 5.42921685e+00] [-2.27396369e-04 9.99999455e-01 -1.01906679e-03 6.18153418e-01] [ 3.30486969e-02 1.02602529e-03 9.99453216e-01 1.73550496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0725578440001 meters Centerline goodness : 0.141512 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.74 [[ 9.99455415e-01 5.40397353e-05 -3.29980526e-02 5.42919790e+00] [-9.58401056e-05 9.99999195e-01 -1.26517226e-03 6.19451465e-01] [ 3.29979577e-02 1.26764580e-03 9.99454615e-01 1.73539948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10255784400005 meters Centerline goodness : 0.128530 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99456292e-01 -1.58835380e-05 -3.29715026e-02 5.42949492e+00] [-3.18798473e-05 9.99998951e-01 -1.44810008e-03 6.20802971e-01] [ 3.29714910e-02 1.44836386e-03 9.99455243e-01 1.73496568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1325578440001 meters Centerline goodness : 0.152698 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99457091e-01 -2.04011873e-04 -3.29466467e-02 5.43016663e+00] [ 1.46591771e-04 9.99998466e-01 -1.74522693e-03 6.22596816e-01] [ 3.29469522e-02 1.73944972e-03 9.99455588e-01 1.73409972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16255784400005 meters Centerline goodness : 0.151173 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99460704e-01 -2.90698125e-04 -3.28362239e-02 5.43014194e+00] [ 2.30004306e-04 9.99998258e-01 -1.85214213e-03 6.23070982e-01] [ 3.28367051e-02 1.84359080e-03 9.99459030e-01 1.73386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1925578440001 meters Centerline goodness : 0.110807 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99466165e-01 -3.50506414e-04 -3.26689796e-02 5.42986495e+00] [ 2.87131339e-04 9.99998068e-01 -1.94458717e-03 6.23688785e-01] [ 3.26695981e-02 1.93416880e-03 9.99464335e-01 1.73377561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22255784400005 meters Centerline goodness : 0.159254 Centerline is valid? [False, False] Translation: X:5.43, Y:0.62, Z:1.73 [[ 9.99472826e-01 -3.69918545e-04 -3.24643304e-02 5.42931812e+00] [ 3.05845916e-04 9.99997996e-01 -1.97857528e-03 6.24135837e-01] [ 3.24649973e-02 1.96760315e-03 9.99470936e-01 1.73397783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2525578440001 meters Centerline goodness : 0.124208 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99485746e-01 -4.74344604e-04 -3.20627134e-02 5.42824442e+00] [ 4.05890317e-04 9.99997625e-01 -2.14148720e-03 6.25142455e-01] [ 3.20636531e-02 2.12737199e-03 9.99483565e-01 1.73432230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28255784400005 meters Centerline goodness : 0.161509 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99494493e-01 -5.09092243e-04 -3.17883639e-02 5.42782401e+00] [ 4.38893778e-04 9.99997450e-01 -2.21524553e-03 6.25696311e-01] [ 3.17894106e-02 2.20017400e-03 9.99492167e-01 1.73408219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3125578440001 meters Centerline goodness : 0.167661 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99501191e-01 -5.36833771e-04 -3.15765887e-02 5.42765398e+00] [ 4.64021283e-04 9.99997217e-01 -2.31318376e-03 6.26527688e-01] [ 3.15777426e-02 2.29737772e-03 9.99498658e-01 1.73372761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34255784400005 meters Centerline goodness : 0.153166 Centerline is valid? [False, False] Translation: X:5.43, Y:0.63, Z:1.73 [[ 9.99529339e-01 -4.72852408e-04 -3.06737050e-02 5.42575999e+00] [ 3.97616882e-04 9.99996898e-01 -2.45882271e-03 6.28598769e-01] [ 3.06747725e-02 2.44546905e-03 9.99526427e-01 1.73340810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3725578440001 meters Centerline goodness : 0.173191 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99646631e-01 -3.86724531e-04 -2.65794007e-02 5.38366220e+00] [ 3.55887216e-04 9.99999258e-01 -1.16491669e-03 6.25545132e-01] [ 2.65798315e-02 1.15504577e-03 9.99646027e-01 1.72785746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40255784400006 meters Centerline goodness : 0.173191 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99646631e-01 -3.86724531e-04 -2.65794007e-02 5.38366220e+00] [ 3.55887216e-04 9.99999258e-01 -1.16491669e-03 6.25545132e-01] [ 2.65798315e-02 1.15504577e-03 9.99646027e-01 1.72785746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4325578440001 meters Centerline goodness : 0.102088 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.73 [[ 9.99660686e-01 -4.02153381e-04 -2.60451629e-02 5.38258992e+00] [ 3.70883043e-04 9.99999205e-01 -1.20543934e-03 6.26081532e-01] [ 2.60456269e-02 1.19537061e-03 9.99660040e-01 1.72766113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46255784400006 meters Centerline goodness : 0.103405 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99700924e-01 -6.58527614e-03 -2.35520023e-02 5.40371011e+00] [ 6.61322719e-03 9.99977517e-01 1.10908833e-03 6.28351436e-01] [ 2.35441691e-02 -1.26451137e-03 9.99721998e-01 1.72624256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4925578440001 meters Centerline goodness : 0.175378 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99707683e-01 -6.50761971e-03 -2.32851580e-02 5.40359577e+00] [ 6.54188456e-03 9.99977628e-01 1.39565876e-03 6.27054677e-01] [ 2.32755547e-02 -1.54757961e-03 9.99727890e-01 1.72565567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52255784400006 meters Centerline goodness : 0.175686 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.73 [[ 9.99715138e-01 -6.45280655e-03 -2.29783373e-02 5.40329202e+00] [ 6.49342369e-03 9.99977484e-01 1.69345141e-03 6.25426429e-01] [ 2.29668924e-02 -1.84217709e-03 9.99734529e-01 1.72521500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5525578440001 meters Centerline goodness : 0.174493 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99737288e-01 -6.54644824e-03 -2.19658555e-02 5.40178443e+00] [ 6.59519885e-03 9.99975945e-01 2.14767180e-03 6.21949198e-01] [ 2.19512675e-02 -2.29197677e-03 9.99756415e-01 1.72434210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58255784400006 meters Centerline goodness : 0.177428 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99746999e-01 -6.40996275e-03 -2.15604048e-02 5.40164018e+00] [ 6.46624922e-03 9.99975863e-01 2.54193819e-03 6.20070433e-01] [ 2.15435907e-02 -2.68071003e-03 9.99764316e-01 1.72330847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.61255784400004 meters Centerline goodness : 0.154040 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99757334e-01 -6.27263616e-03 -2.11169766e-02 5.40156225e+00] [ 6.33467161e-03 9.99975811e-01 2.87209497e-03 6.18679607e-01] [ 2.10984502e-02 -3.00516713e-03 9.99772886e-01 1.72195826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64255784400007 meters Centerline goodness : 0.154695 Centerline is valid? [False, False] Translation: X:5.40, Y:0.62, Z:1.72 [[ 9.99780200e-01 -6.04282928e-03 -2.00757458e-02 5.40162052e+00] [ 6.10935903e-03 9.99976042e-01 3.25425906e-03 6.16775305e-01] [ 2.00555999e-02 -3.37619371e-03 9.99793166e-01 1.71873922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.67255784400004 meters Centerline goodness : 0.153099 Centerline is valid? [False, False] Translation: X:5.42, Y:0.62, Z:1.72 [[ 9.99802964e-01 1.65231363e-03 -1.97813573e-02 5.42337095e+00] [-1.63733672e-03 9.99998361e-01 7.73294539e-04 6.16324021e-01] [ 1.97826026e-02 -7.40753429e-04 9.99804031e-01 1.71963629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70255784400007 meters Centerline goodness : 0.150440 Centerline is valid? [False, False] Translation: X:5.38, Y:0.61, Z:1.71 [[ 9.99883407e-01 2.69052605e-03 -1.50310853e-02 5.38109440e+00] [-2.66515484e-03 9.99994990e-01 1.70769204e-03 6.12972482e-01] [ 1.50356046e-02 -1.66743276e-03 9.99885569e-01 1.71082279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.73255784400004 meters Centerline goodness : 0.107830 Centerline is valid? [False, False] Translation: X:5.38, Y:0.61, Z:1.71 [[ 9.99900831e-01 3.66104572e-03 -1.35986796e-02 5.38104929e+00] [-3.63216836e-03 9.99991097e-01 2.14763299e-03 6.14157099e-01] [ 1.36064211e-02 -2.09802732e-03 9.99905227e-01 1.70645736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76255784400007 meters Centerline goodness : 0.151952 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99911244e-01 3.72584903e-03 -1.27914739e-02 5.38054592e+00] [-3.70117192e-03 9.99991245e-01 1.95231524e-03 6.16008672e-01] [ 1.27986360e-02 -1.90479852e-03 9.99916280e-01 1.70423709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.79255784400004 meters Centerline goodness : 0.170336 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99921736e-01 3.73117909e-03 -1.19415727e-02 5.37998537e+00] [-3.71119909e-03 9.99991677e-01 1.69486841e-03 6.18063801e-01] [ 1.19477971e-02 -1.65041821e-03 9.99927260e-01 1.70188544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8225578440001 meters Centerline goodness : 0.155836 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.70 [[ 9.99930272e-01 3.67415760e-03 -1.12228211e-02 5.37973960e+00] [-3.65859347e-03 9.99992317e-01 1.40704418e-03 6.20131542e-01] [ 1.12279046e-02 -1.36588633e-03 9.99936032e-01 1.69956660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.85255784400005 meters Centerline goodness : 0.151552 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:1.69 [[ 9.99945125e-01 3.25516058e-03 -9.95750294e-03 5.38051930e+00] [-3.24989085e-03 9.99994570e-01 5.45357052e-04 6.24195615e-01] [ 9.95922410e-03 -5.12966328e-04 9.99950274e-01 1.69472809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8825578440001 meters Centerline goodness : 0.086487 Centerline is valid? [False, False] Translation: X:5.38, Y:0.63, Z:1.69 [[ 9.99953222e-01 3.11989520e-03 -9.15534682e-03 5.37978990e+00] [-3.11774860e-03 9.99995109e-01 2.48726512e-04 6.25868521e-01] [ 9.15607804e-03 -2.20170807e-04 9.99958058e-01 1.69290542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.91255784400005 meters Centerline goodness : 0.140299 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99985051e-01 -2.05557258e-03 -5.06678039e-03 5.40027231e+00] [ 2.07090108e-03 9.99993290e-01 3.02190604e-03 6.31947982e-01] [ 5.06053464e-03 -3.03235367e-03 9.99982598e-01 1.68958235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9425578440001 meters Centerline goodness : 0.139042 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99990287e-01 -2.23799930e-03 -3.79701436e-03 5.39835901e+00] [ 2.24887136e-03 9.99993377e-01 2.86146817e-03 6.33151720e-01] [ 3.79058525e-03 -2.86997937e-03 9.99988697e-01 1.68801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.97255784400005 meters Centerline goodness : 0.145309 Centerline is valid? [False, False] Translation: X:5.40, Y:0.63, Z:1.69 [[ 9.99993651e-01 -2.48151742e-03 -2.55737017e-03 5.39685963e+00] [ 2.48836659e-03 9.99993317e-01 2.67851531e-03 6.34032637e-01] [ 2.55070629e-03 -2.68486198e-03 9.99993143e-01 1.68610505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0025578440001 meters Centerline goodness : 0.139518 Centerline is valid? [False, False] Translation: X:5.40, Y:0.64, Z:1.68 [[ 9.99994991e-01 -3.15426297e-03 2.60788464e-04 5.39665285e+00] [ 3.15371138e-03 9.99992845e-01 2.08914625e-03 6.38381977e-01] [-2.67376315e-04 -2.08831333e-03 9.99997784e-01 1.67893659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.03255784400005 meters Centerline goodness : 0.147306 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99948342e-01 -4.35518203e-03 9.18401048e-03 5.35247300e+00] [ 4.33631403e-03 9.99988449e-01 2.07335306e-03 6.38566583e-01] [-9.19293422e-03 -2.03342120e-03 9.99955677e-01 1.66278774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0625578440001 meters Centerline goodness : 0.088966 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99931786e-01 -4.59952175e-03 1.07363098e-02 5.35124835e+00] [ 4.58042021e-03 9.99987884e-01 1.80306469e-03 6.40283329e-01] [-1.07444730e-02 -1.75376489e-03 9.99940739e-01 1.65979550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.09255784400005 meters Centerline goodness : 0.140746 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.66 [[ 9.99885381e-01 -5.02766363e-03 1.42809937e-02 5.34836403e+00] [ 5.00336645e-03 9.99985975e-01 1.73658434e-03 6.41112254e-01] [-1.42895244e-02 -1.66493225e-03 9.99896513e-01 1.65530868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1225578440001 meters Centerline goodness : 0.139186 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.65 [[ 9.99861162e-01 -5.06002610e-03 1.58762031e-02 5.34726235e+00] [ 5.02833953e-03 9.99985287e-01 2.03513694e-03 6.39961467e-01] [-1.58862674e-02 -1.95502345e-03 9.99871894e-01 1.65310504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.15255784400006 meters Centerline goodness : 0.136944 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.65 [[ 9.99827687e-01 -4.99937492e-03 1.78774431e-02 5.34637567e+00] [ 4.95376746e-03 9.99984364e-01 2.59449253e-03 6.38419537e-01] [-1.78901344e-02 -2.50548476e-03 9.99836820e-01 1.64926380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1825578440001 meters Centerline goodness : 0.127445 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.64 [[ 9.99774965e-01 -6.01002789e-03 2.03444859e-02 5.34989044e+00] [ 5.97367167e-03 9.99980451e-01 1.84733179e-03 6.39281956e-01] [-2.03551907e-02 -1.72538480e-03 9.99791323e-01 1.64115336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.21255784400006 meters Centerline goodness : 0.191128 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.64 [[ 9.99733645e-01 -6.07916840e-03 2.22639294e-02 5.34876479e+00] [ 6.03604416e-03 9.99979776e-01 2.00364562e-03 6.38446806e-01] [-2.22756596e-02 -1.86872588e-03 9.99750120e-01 1.63683377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2425578440001 meters Centerline goodness : 0.138882 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.63 [[ 9.99694528e-01 -6.12029188e-03 2.39456404e-02 5.34795556e+00] [ 6.07520968e-03 9.99979635e-01 1.95498483e-03 6.38280936e-01] [-2.39571178e-02 -1.80891285e-03 9.99711351e-01 1.63342330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.27255784400006 meters Centerline goodness : 0.133223 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.63 [[ 9.99641862e-01 -6.09187759e-03 2.60583270e-02 5.34665290e+00] [ 6.04351722e-03 9.99979867e-01 1.93420452e-03 6.38858405e-01] [-2.60695853e-02 -1.77602786e-03 9.99658553e-01 1.62933425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3025578440001 meters Centerline goodness : 0.133553 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.62 [[ 9.99588109e-01 -4.65581703e-03 2.83184866e-02 5.35119135e+00] [ 4.56675058e-03 9.99984423e-01 3.20903215e-03 6.40288419e-01] [-2.83329861e-02 -3.07838691e-03 9.99593800e-01 1.62101150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.33255784400006 meters Centerline goodness : 0.173942 Centerline is valid? [False, False] Translation: X:5.35, Y:0.64, Z:1.61 [[ 9.99534396e-01 -3.47471039e-03 3.03136373e-02 5.35252764e+00] [ 3.33527794e-03 9.99983631e-01 4.64901267e-03 6.39471828e-01] [-3.03292951e-02 -4.54574367e-03 9.99529624e-01 1.61305188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36255784400004 meters Centerline goodness : 0.171792 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.63 [[ 9.99806999e-01 -2.44031354e-03 1.94938182e-02 5.41856789e+00] [ 2.41792825e-03 9.99996390e-01 1.17181507e-03 6.46633986e-01] [-1.94966074e-02 -1.12445426e-03 9.99809291e-01 1.63180453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.39255784400007 meters Centerline goodness : 0.124875 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.63 [[ 9.99743548e-01 -3.02849300e-03 2.24425261e-02 5.41956574e+00] [ 3.01679503e-03 9.99995295e-01 5.55079576e-04 6.48611744e-01] [-2.24441015e-02 -4.87232724e-04 9.99747981e-01 1.62560985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42255784400004 meters Centerline goodness : 0.125275 Centerline is valid? [False, False] Translation: X:5.42, Y:0.65, Z:1.62 [[ 9.99710672e-01 -3.13090238e-03 2.38488919e-02 5.41968809e+00] [ 3.11239297e-03 9.99994826e-01 8.13191118e-04 6.48581203e-01] [-2.38513146e-02 -7.38728716e-04 9.99715244e-01 1.62109617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.45255784400007 meters Centerline goodness : 0.119960 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.61 [[ 9.99660604e-01 -3.87914040e-03 2.57610137e-02 5.42701858e+00] [ 3.85890787e-03 9.99992206e-01 8.35060161e-04 6.48606910e-01] [-2.57640522e-02 -7.35367366e-04 9.99667781e-01 1.61096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48255784400004 meters Centerline goodness : 0.104576 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.60 [[ 9.99612365e-01 -3.71122932e-03 2.75925056e-02 5.42741965e+00] [ 3.66858653e-03 9.99991997e-01 1.59591020e-03 6.46620546e-01] [-2.75982076e-02 -1.49406607e-03 9.99617980e-01 1.60446008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.51255784400007 meters Centerline goodness : 0.119565 Centerline is valid? [False, False] Translation: X:5.43, Y:0.65, Z:1.60 [[ 9.99573925e-01 -3.76575953e-03 2.89445461e-02 5.42741552e+00] [ 3.71092127e-03 9.99991217e-01 1.94808087e-03 6.45205297e-01] [-2.89516278e-02 -1.83983991e-03 9.99579121e-01 1.60083139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54255784400004 meters Centerline goodness : 0.280858 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99406358e-01 -9.31787841e-03 3.31678958e-02 5.45200296e+00] [ 9.17597586e-03 9.99948096e-01 4.42796141e-03 6.46917618e-01] [-3.32074334e-02 -4.12098497e-03 9.99439985e-01 1.59400095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5725578440001 meters Centerline goodness : 0.110206 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99358059e-01 -9.33022463e-03 3.45892724e-02 5.45178682e+00] [ 9.18042678e-03 9.99947792e-01 4.48705683e-03 6.47636501e-01] [-3.46293318e-02 -4.16663212e-03 9.99391539e-01 1.59081825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60255784400005 meters Centerline goodness : 0.108854 Centerline is valid? [False, False] Translation: X:5.45, Y:0.65, Z:1.59 [[ 9.99312860e-01 -9.34433640e-03 3.58676928e-02 5.45183835e+00] [ 9.19038656e-03 9.99947845e-01 4.45463733e-03 6.48734084e-01] [-3.59074477e-02 -4.12193841e-03 9.99346619e-01 1.58637898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6325578440001 meters Centerline goodness : 0.106714 Centerline is valid? [False, False] Translation: X:5.46, Y:0.65, Z:1.58 [[ 0.99928524 -0.00811722 0.03692043 5.45513967] [ 0.0079074 0.99995177 0.00582563 0.64745464] [-0.03696594 -0.00552952 0.99930123 1.57772689] [ 0. 0. 0. 1. ]] SLAMing on 510.66255784400005 meters Centerline goodness : 0.104932 Centerline is valid? [False, False] Translation: X:5.50, Y:0.65, Z:1.58 [[ 9.99472882e-01 -5.54918055e-03 3.19869519e-02 5.50325205e+00] [ 5.38519777e-03 9.99971925e-01 5.21042523e-03 6.53384230e-01] [-3.20149675e-02 -5.03542266e-03 9.99474705e-01 1.58060254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6925578440001 meters Centerline goodness : 0.150461 Centerline is valid? [False, False] Translation: X:5.50, Y:0.66, Z:1.58 [[ 9.99427963e-01 -5.59444536e-03 3.33533815e-02 5.50343792e+00] [ 5.42653415e-03 9.99972155e-01 5.12270707e-03 6.55579034e-01] [-3.33811115e-02 -4.93878343e-03 9.99430493e-01 1.57688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72255784400005 meters Centerline goodness : 0.109985 Centerline is valid? [False, False] Translation: X:5.50, Y:0.66, Z:1.57 [[ 9.99373607e-01 -5.71305061e-03 3.49249917e-02 5.50301785e+00] [ 5.55096319e-03 9.99973377e-01 4.73621915e-03 6.58321333e-01] [-3.49511202e-02 -4.53938508e-03 9.99378714e-01 1.57436534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7525578440001 meters Centerline goodness : 0.149585 Centerline is valid? [False, False] Translation: X:5.55, Y:0.67, Z:1.57 [[ 9.99271519e-01 -3.91824598e-03 3.79615438e-02 5.54718731e+00] [ 3.74948760e-03 9.99982775e-01 4.51568341e-03 6.65904412e-01] [-3.79785835e-02 -4.37005749e-03 9.99268998e-01 1.57135199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78255784400005 meters Centerline goodness : 0.130720 Centerline is valid? [False, False] Translation: X:5.55, Y:0.67, Z:1.57 [[ 9.99225626e-01 -4.03213173e-03 3.91393813e-02 5.54759723e+00] [ 3.87257125e-03 9.99983883e-01 4.15168331e-03 6.68362781e-01] [-3.91554906e-02 -3.99689831e-03 9.99225136e-01 1.56718164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8125578440001 meters Centerline goodness : 0.146511 Centerline is valid? [False, False] Translation: X:5.60, Y:0.68, Z:1.57 [[ 9.99415144e-01 -1.55503499e-03 3.41606906e-02 5.59807771e+00] [ 1.43895505e-03 9.99993108e-01 3.42237813e-03 6.77591932e-01] [-3.41657771e-02 -3.37122083e-03 9.99410494e-01 1.56987832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84255784400005 meters Centerline goodness : 0.144561 Centerline is valid? [False, False] Translation: X:5.64, Y:0.68, Z:1.58 [[ 9.99595859e-01 -1.38222364e-03 2.83938029e-02 5.64124653e+00] [ 1.30278246e-03 9.99995186e-01 2.81614391e-03 6.83710433e-01] [-2.83975587e-02 -2.77801484e-03 9.99592848e-01 1.57810400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8725578440001 meters Centerline goodness : 0.147152 Centerline is valid? [False, False] Translation: X:5.64, Y:0.69, Z:1.57 [[ 9.99569995e-01 -1.55759763e-03 2.92813638e-02 5.64214394e+00] [ 1.48506470e-03 9.99995776e-01 2.49868606e-03 6.86594515e-01] [-2.92851320e-02 -2.45412689e-03 9.99568086e-01 1.57410422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90255784400006 meters Centerline goodness : 0.124251 Centerline is valid? [False, False] Translation: X:5.69, Y:0.70, Z:1.58 [[ 9.99712706e-01 -2.19000939e-04 2.39678598e-02 5.69188356e+00] [ 1.95469667e-04 9.99999497e-01 9.84122856e-04 6.95386623e-01] [-2.39680633e-02 -9.79155134e-04 9.99712245e-01 1.57874367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9325578440001 meters Centerline goodness : 0.140548 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.57 [[ 9.99699370e-01 8.83008662e-04 2.45028510e-02 5.69622618e+00] [-9.33698122e-04 9.99997448e-01 2.05735309e-03 6.96155998e-01] [-2.45009718e-02 -2.07961286e-03 9.99697643e-01 1.57079231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96255784400006 meters Centerline goodness : 0.141600 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.57 [[ 9.99676314e-01 6.59648592e-04 2.54329067e-02 5.69769764e+00] [-7.04262696e-04 9.99998229e-01 1.74527087e-03 6.99455825e-01] [-2.54317104e-02 -1.76261740e-03 9.99675008e-01 1.56566475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9925578440001 meters Centerline goodness : 0.138612 Centerline is valid? [False, False] Translation: X:5.70, Y:0.70, Z:1.56 [[ 9.99654772e-01 1.51663521e-03 2.62304434e-02 5.70203863e+00] [-1.58356272e-03 9.99995543e-01 2.53093616e-03 7.00644874e-01] [-2.62264880e-02 -2.57159996e-03 9.99652719e-01 1.55690461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02255784400006 meters Centerline goodness : 0.135504 Centerline is valid? [False, False] Translation: X:5.73, Y:0.71, Z:1.55 [[ 9.99495302e-01 -3.75912182e-03 3.15437885e-02 5.72688388e+00] [ 3.61682479e-03 9.99983031e-01 4.56694177e-03 7.08201388e-01] [-3.15604209e-02 -4.45054849e-03 9.99491937e-01 1.54866960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0525578440001 meters Centerline goodness : 0.139350 Centerline is valid? [False, False] Translation: X:5.73, Y:0.71, Z:1.54 [[ 9.99488456e-01 -2.78902711e-03 3.18598170e-02 5.73185383e+00] [ 2.61590598e-03 9.99981595e-01 5.47422939e-03 7.09462226e-01] [-3.18744984e-02 -5.38808680e-03 9.99477356e-01 1.54047481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08255784400006 meters Centerline goodness : 0.133801 Centerline is valid? [False, False] Translation: X:5.74, Y:0.71, Z:1.53 [[ 9.99487129e-01 -2.20776568e-03 3.19469070e-02 5.73805438e+00] [ 2.02042220e-03 9.99980581e-01 5.89530722e-03 7.11719802e-01] [-3.19593021e-02 -5.82773745e-03 9.99472181e-01 1.53117736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.11255784400004 meters Centerline goodness : 0.131391 Centerline is valid? [False, False] Translation: X:5.78, Y:0.72, Z:1.54 [[ 9.99655377e-01 -3.39003450e-03 2.60314321e-02 5.78191719e+00] [ 3.27953954e-03 9.99985436e-01 4.28619490e-03 7.21351027e-01] [-2.60455834e-02 -4.19934667e-03 9.99651936e-01 1.53792103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14255784400007 meters Centerline goodness : 0.135380 Centerline is valid? [False, False] Translation: X:5.79, Y:0.72, Z:1.53 [[ 9.99648122e-01 -3.92647953e-03 2.62338599e-02 5.78533769e+00] [ 3.83302071e-03 9.99986131e-01 3.61186336e-03 7.24689005e-01] [-2.62476780e-02 -3.51003750e-03 9.99649308e-01 1.53169941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.17255784400004 meters Centerline goodness : 0.134101 Centerline is valid? [False, False] Translation: X:5.79, Y:0.72, Z:1.52 [[ 9.99637160e-01 -3.13631927e-03 2.67527946e-02 5.78942672e+00] [ 3.01564712e-03 9.99985103e-01 4.54979107e-03 7.24912698e-01] [-2.67666657e-02 -4.46746323e-03 9.99631726e-01 1.52438218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20255784400007 meters Centerline goodness : 0.128206 Centerline is valid? [False, False] Translation: X:5.84, Y:0.74, Z:1.53 [[ 9.99770976e-01 -2.65210078e-03 2.12358824e-02 5.84286197e+00] [ 2.58430472e-03 9.99991479e-01 3.21933080e-03 7.35282580e-01] [-2.12442394e-02 -3.16371350e-03 9.99769310e-01 1.53004667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.23255784400004 meters Centerline goodness : 0.129487 Centerline is valid? [False, False] Translation: X:5.85, Y:0.74, Z:1.52 [[ 9.99764697e-01 -3.06807797e-03 2.14740945e-02 5.84583463e+00] [ 3.01322287e-03 9.99992116e-01 2.58636883e-03 7.38684048e-01] [-2.14818604e-02 -2.52105401e-03 9.99766060e-01 1.52480723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26255784400007 meters Centerline goodness : 0.128769 Centerline is valid? [False, False] Translation: X:5.86, Y:0.74, Z:1.52 [[ 9.99735507e-01 -2.33038726e-03 2.28798042e-02 5.85509531e+00] [ 2.26896730e-03 9.99993754e-01 2.71005499e-03 7.43613729e-01] [-2.28859768e-02 -2.65742467e-03 9.99734550e-01 1.51744018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.29255784400004 meters Centerline goodness : 0.125966 Centerline is valid? [False, False] Translation: X:5.86, Y:0.75, Z:1.51 [[ 9.99737307e-01 -1.15972024e-03 2.28904279e-02 5.86123054e+00] [ 1.07503289e-03 9.99992534e-01 3.71164306e-03 7.45013291e-01] [-2.28945615e-02 -3.68606007e-03 9.99731090e-01 1.50937072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3225578440001 meters Centerline goodness : 0.125966 Centerline is valid? [False, False] Translation: X:5.86, Y:0.75, Z:1.51 [[ 9.99737307e-01 -1.15972024e-03 2.28904279e-02 5.86123054e+00] [ 1.07503289e-03 9.99992534e-01 3.71164306e-03 7.45013291e-01] [-2.28945615e-02 -3.68606007e-03 9.99731090e-01 1.50937072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.35255784400005 meters Centerline goodness : 0.126846 Centerline is valid? [False, False] Translation: X:5.87, Y:0.75, Z:1.50 [[ 9.99736576e-01 -3.78188120e-04 2.29485204e-02 5.86831418e+00] [ 2.81083485e-04 9.99990995e-01 4.23448970e-03 7.47238209e-01] [-2.29499152e-02 -4.22692378e-03 9.99727680e-01 1.49981632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3825578440001 meters Centerline goodness : 0.125953 Centerline is valid? [False, False] Translation: X:5.87, Y:0.75, Z:1.49 [[ 9.99729079e-01 -1.94111380e-04 2.32751232e-02 5.87358784e+00] [ 9.40122722e-05 9.99990743e-01 4.30170786e-03 7.48992878e-01] [-2.32757428e-02 -4.29835429e-03 9.99719843e-01 1.49181018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.41255784400005 meters Centerline goodness : 0.127859 Centerline is valid? [False, False] Translation: X:5.88, Y:0.75, Z:1.49 [[ 9.99699409e-01 -1.91304992e-03 2.44424250e-02 5.88184510e+00] [ 1.85119498e-03 9.99995028e-01 2.55301515e-03 7.54222972e-01] [-2.44471875e-02 -2.50700004e-03 9.99697979e-01 1.48626615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4425578440001 meters Centerline goodness : 0.125840 Centerline is valid? [False, False] Translation: X:5.89, Y:0.76, Z:1.48 [[ 9.99699960e-01 -2.66474479e-03 2.43492960e-02 5.88643858e+00] [ 2.61615888e-03 9.99994523e-01 2.02701014e-03 7.55882773e-01] [-2.43545641e-02 -1.96270033e-03 9.99701457e-01 1.48129765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.47255784400005 meters Centerline goodness : 0.125571 Centerline is valid? [False, False] Translation: X:5.89, Y:0.76, Z:1.47 [[ 9.99701999e-01 -3.15048950e-03 2.42071999e-02 5.89382973e+00] [ 3.10780197e-03 9.99993549e-01 1.80084136e-03 7.56896551e-01] [-2.42127173e-02 -1.72507353e-03 9.99705341e-01 1.47260899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5025578440001 meters Centerline goodness : 0.126510 Centerline is valid? [False, False] Translation: X:5.90, Y:0.76, Z:1.47 [[ 9.99662383e-01 -4.76333360e-03 2.55427367e-02 5.90180969e+00] [ 4.75050031e-03 9.99988558e-01 5.63081081e-04 7.59888549e-01] [-2.55451265e-02 -4.41550197e-04 9.99673572e-01 1.46696621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.53255784400005 meters Centerline goodness : 0.126474 Centerline is valid? [False, False] Translation: X:5.91, Y:0.76, Z:1.46 [[ 9.99662085e-01 -4.81871519e-03 2.55440126e-02 5.90501871e+00] [ 4.80301087e-03 9.99988237e-01 6.76113411e-04 7.59447944e-01] [-2.55469701e-02 -5.53196772e-04 9.99673470e-01 1.46286426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5625578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.59255784400005 meters Centerline goodness : 0.115492 Centerline is valid? [False, False] Translation: X:5.96, Y:0.76, Z:1.45 [[ 9.99593911e-01 -3.45643044e-03 2.82854453e-02 5.95822323e+00] [ 3.42908717e-03 9.99993605e-01 1.01513972e-03 7.62399890e-01] [-2.82887732e-02 -9.17734227e-04 9.99599371e-01 1.45196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6225578440001 meters Centerline goodness : 0.114083 Centerline is valid? [False, False] Translation: X:5.97, Y:0.76, Z:1.44 [[ 9.99614395e-01 -2.44468084e-03 2.76601699e-02 5.96623349e+00] [ 2.39251710e-03 9.99995297e-01 1.91881727e-03 7.61582511e-01] [-2.76647307e-02 -1.85189994e-03 9.99615543e-01 1.44368946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.65255784400006 meters Centerline goodness : 0.112042 Centerline is valid? [False, False] Translation: X:5.97, Y:0.76, Z:1.44 [[ 9.99635162e-01 -1.62162043e-03 2.69613398e-02 5.97461454e+00] [ 1.55266999e-03 9.99995471e-01 2.57812007e-03 7.61437126e-01] [-2.69653984e-02 -2.53531741e-03 9.99633152e-01 1.43523674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6825578440001 meters Centerline goodness : 0.113039 Centerline is valid? [False, False] Translation: X:5.98, Y:0.76, Z:1.43 [[ 9.99598350e-01 -8.78642327e-04 2.83260788e-02 5.98379708e+00] [ 7.91401047e-04 9.99994910e-01 3.09095638e-03 7.62534112e-01] [-2.83286504e-02 -3.06729761e-03 9.99593957e-01 1.42823279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.71255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.7425578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.77255784400006 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.8025578440001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.83255784400006 meters Centerline goodness : 0.071080 Centerline is valid? [False, False] Translation: X:6.06, Y:0.78, Z:1.41 [[ 9.99226512e-01 -6.25492424e-03 3.88233709e-02 6.06429028e+00] [ 6.09339424e-03 9.99972286e-01 4.27757345e-03 7.79075300e-01] [-3.88490508e-02 -4.03769869e-03 9.99236933e-01 1.40742942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86255784400004 meters Centerline goodness : 0.115365 Centerline is valid? [False, False] Translation: X:6.07, Y:0.78, Z:1.40 [[ 9.99251235e-01 -7.60043205e-03 3.79368323e-02 6.07211546e+00] [ 7.49974554e-03 9.99967969e-01 2.79566334e-03 7.82722792e-01] [-3.79568654e-02 -2.50905345e-03 9.99276229e-01 1.40045704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.89255784400007 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 511.92255784400004 meters Centerline goodness : 0.068966 Centerline is valid? [False, False] Translation: X:6.13, Y:0.79, Z:1.39 [[ 9.99186244e-01 -9.32011722e-03 3.92426497e-02 6.12661696e+00] [ 9.28650562e-03 9.99956340e-01 1.03870744e-03 7.91307809e-01] [-3.92506173e-02 -6.73435099e-04 9.99229171e-01 1.39040383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.95255784400007 meters Centerline goodness : 0.028011 Centerline is valid? [False, False] Translation: X:6.17, Y:0.80, Z:1.39 [[ 9.99028616e-01 -9.27136444e-03 4.30797657e-02 6.17095445e+00] [ 9.24461863e-03 9.99956931e-01 8.20027165e-04 7.95035679e-01] [-4.30855131e-02 -4.20974599e-04 9.99071299e-01 1.38783528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98255784400004 meters Centerline goodness : 0.129344 Centerline is valid? [False, False] Translation: X:6.17, Y:0.79, Z:1.38 [[ 9.99047103e-01 -9.28094622e-03 4.26468035e-02 6.17454664e+00] [ 9.24602506e-03 9.99956738e-01 1.01602352e-03 7.93708743e-01] [-4.26543882e-02 -6.20741941e-04 9.99089695e-01 1.38486238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.012557844 meters Centerline goodness : 0.183732 Centerline is valid? [False, False] Translation: X:6.18, Y:0.80, Z:1.38 [[ 9.99073161e-01 -1.02432401e-02 4.18078295e-02 6.18123399e+00] [ 1.02515375e-02 9.99947451e-01 1.59261143e-05 7.95509492e-01] [-4.18057957e-02 4.12683178e-04 9.99125670e-01 1.37911008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.042557844 meters Centerline goodness : 0.395355 Centerline is valid? [False, False] Translation: X:6.19, Y:0.79, Z:1.38 [[ 9.99105136e-01 -1.02835308e-02 4.10265229e-02 6.18567796e+00] [ 1.02874814e-02 9.99947076e-01 1.14828437e-04 7.94729571e-01] [-4.10255324e-02 3.07333909e-04 9.99158051e-01 1.37595862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.072557844 meters Centerline goodness : 0.373640 Centerline is valid? [False, False] Translation: X:6.21, Y:0.79, Z:1.37 [[ 9.98954327e-01 -4.24990260e-03 4.55213199e-02 6.20745358e+00] [ 4.37444195e-03 9.99986956e-01 -2.63657897e-03 7.94926770e-01] [-4.55095209e-02 2.83295234e-03 9.98959888e-01 1.37247055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters Centerline goodness : 0.411373 Centerline is valid? [False, False] Translation: X:6.21, Y:0.79, Z:1.37 [[ 9.98995522e-01 -3.76277779e-03 4.46518647e-02 6.21409686e+00] [ 3.85249185e-03 9.99990730e-01 -1.92330601e-03 7.92167922e-01] [-4.46442138e-02 2.09339504e-03 9.99000757e-01 1.36693700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.132557844 meters Centerline goodness : 0.411662 Centerline is valid? [False, False] Translation: X:6.22, Y:0.79, Z:1.36 [[ 9.99026237e-01 -4.25079192e-03 4.39147803e-02 6.21977907e+00] [ 4.36047338e-03 9.99987608e-01 -2.40210852e-03 7.92507966e-01] [-4.39040253e-02 2.59125866e-03 9.99032393e-01 1.36199510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.162557844 meters Centerline goodness : 0.428536 Centerline is valid? [False, False] Translation: X:6.22, Y:0.79, Z:1.36 [[ 9.99059462e-01 -4.08720301e-03 4.31681260e-02 6.22417645e+00] [ 4.18006023e-03 9.99989140e-01 -2.06101373e-03 7.90706910e-01] [-4.31592334e-02 2.23952063e-03 9.99065696e-01 1.35869891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.192557844 meters Centerline goodness : 0.197525 Centerline is valid? [False, False] Translation: X:6.23, Y:0.79, Z:1.35 [[ 9.98928707e-01 -2.98134530e-03 4.61795295e-02 6.22749281e+00] [ 3.01801948e-03 9.99995183e-01 -7.24463002e-04 7.86843508e-01] [-4.61771472e-02 8.63057610e-04 9.98932894e-01 1.35339935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 512.252557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 512.282557844 meters Centerline goodness : 0.108355 Centerline is valid? [False, False] Translation: X:6.30, Y:0.79, Z:1.35 [[ 9.98883594e-01 6.16161861e-03 4.68358878e-02 6.30351127e+00] [-6.06022819e-03 9.99978977e-01 -2.30649121e-03 7.87004108e-01] [-4.68491149e-02 2.02008006e-03 9.98899935e-01 1.34531491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.312557844 meters Centerline goodness : 0.081448 Centerline is valid? [False, False] Translation: X:6.33, Y:0.78, Z:1.34 [[ 9.98947210e-01 1.34962415e-02 4.38443092e-02 6.33273212e+00] [-1.33512101e-02 9.99904392e-01 -3.59903311e-03 7.84612567e-01] [-4.38886908e-02 3.00986950e-03 9.99031893e-01 1.34150535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters Centerline goodness : 0.068668 Centerline is valid? [False, False] Translation: X:6.37, Y:0.78, Z:1.34 [[ 9.98802475e-01 1.41447163e-02 4.68352842e-02 6.37261728e+00] [-1.39581993e-02 9.99893303e-01 -4.30707585e-03 7.84438855e-01] [-4.68912094e-02 3.64818179e-03 9.98893340e-01 1.34261341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.372557844 meters Centerline goodness : 0.047150 Centerline is valid? [False, False] Translation: X:6.38, Y:0.78, Z:1.34 [[ 9.98858986e-01 1.44313233e-02 4.55243140e-02 6.38080245e+00] [-1.42590376e-02 9.99889900e-01 -4.10696063e-03 7.83615905e-01] [-4.55785706e-02 3.45314163e-03 9.98954789e-01 1.33694274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4025578440001 meters Centerline goodness : 0.395407 Centerline is valid? [False, False] Translation: X:6.39, Y:0.78, Z:1.33 [[ 9.98918957e-01 1.45545890e-02 4.41483915e-02 6.38901992e+00] [-1.43890980e-02 9.99888213e-01 -4.06400479e-03 7.83324237e-01] [-4.42026062e-02 3.42435590e-03 9.99016718e-01 1.33147271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.432557844 meters Centerline goodness : 0.153314 Centerline is valid? [False, False] Translation: X:6.41, Y:0.78, Z:1.33 [[ 9.98758046e-01 8.81909560e-03 4.90366176e-02 6.41166114e+00] [-8.78370000e-03 9.99960983e-01 -9.37268233e-04 7.82614875e-01] [-4.90429702e-02 5.05381251e-04 9.98796542e-01 1.32606057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters Centerline goodness : 0.153118 Centerline is valid? [False, False] Translation: X:6.42, Y:0.78, Z:1.32 [[ 9.98826364e-01 8.08265695e-03 4.77552729e-02 6.41977755e+00] [-8.00831464e-03 9.99966405e-01 -1.74786181e-03 7.83975592e-01] [-4.77677960e-02 1.36337121e-03 9.98857537e-01 1.32055839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.492557844 meters Centerline goodness : 0.167915 Centerline is valid? [False, False] Translation: X:6.43, Y:0.78, Z:1.32 [[ 9.98893335e-01 7.26196789e-03 4.64690126e-02 6.42783896e+00] [-7.14856463e-03 9.99971053e-01 -2.60612612e-03 7.84767835e-01] [-4.64865930e-02 2.27105527e-03 9.98916332e-01 1.31515252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5225578440001 meters Centerline goodness : 0.155362 Centerline is valid? [False, False] Translation: X:6.47, Y:0.79, Z:1.32 [[ 9.98757735e-01 6.56878128e-03 4.93947075e-02 6.46957149e+00] [-6.35960741e-03 9.99970138e-01 -4.39071386e-03 7.86741307e-01] [-4.94220742e-02 4.07112848e-03 9.98769685e-01 1.31546100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.552557844 meters Centerline goodness : 0.151006 Centerline is valid? [False, False] Translation: X:6.48, Y:0.79, Z:1.31 [[ 9.98821667e-01 6.81327357e-03 4.80505617e-02 6.47858570e+00] [-6.62198726e-03 9.99969509e-01 -4.13900400e-03 7.86500492e-01] [-4.80772967e-02 3.81593667e-03 9.98836329e-01 1.30914815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.582557844 meters Centerline goodness : 0.111492 Centerline is valid? [False, False] Translation: X:6.48, Y:0.79, Z:1.31 [[ 9.98874781e-01 6.44140199e-03 4.69859672e-02 6.48480543e+00] [-6.22861207e-03 9.99969680e-01 -4.67380331e-03 7.88076633e-01] [-4.70146484e-02 4.37588689e-03 9.98884615e-01 1.30515370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.612557844 meters Centerline goodness : 0.055871 Centerline is valid? [False, False] Translation: X:6.49, Y:0.79, Z:1.30 [[ 9.98928908e-01 5.97480764e-03 4.58839649e-02 6.49186209e+00] [-5.73877038e-03 9.99969624e-01 -5.27422856e-03 7.89187934e-01] [-4.59140836e-02 5.00526184e-03 9.98932853e-01 1.30047771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.642557844 meters Centerline goodness : 0.218964 Centerline is valid? [False, False] Translation: X:6.53, Y:0.79, Z:1.30 [[ 9.98761533e-01 6.60542109e-03 4.93129653e-02 6.53336703e+00] [-6.30966718e-03 9.99961177e-01 -6.15075126e-03 7.92138202e-01] [-4.93516791e-02 5.83198536e-03 9.98764437e-01 1.30019505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.672557844 meters Centerline goodness : 0.223105 Centerline is valid? [False, False] Translation: X:6.54, Y:0.79, Z:1.29 [[ 9.98834837e-01 6.97865404e-03 4.77521490e-02 6.54253496e+00] [-6.70309875e-03 9.99959961e-01 -5.92823737e-03 7.92568758e-01] [-4.77916082e-02 5.60124263e-03 9.98841623e-01 1.29444851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.702557844 meters Centerline goodness : 0.207702 Centerline is valid? [False, False] Translation: X:6.55, Y:0.79, Z:1.29 [[ 9.98909844e-01 6.97577817e-03 4.61569324e-02 6.55148311e+00] [-6.70018240e-03 9.99958808e-01 -6.12286521e-03 7.93644255e-01] [-4.61977429e-02 5.80693046e-03 9.98915436e-01 1.28916107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.732557844 meters Centerline goodness : 0.108325 Centerline is valid? [False, False] Translation: X:6.61, Y:0.79, Z:1.29 [[ 9.99234971e-01 4.81087641e-03 3.88114397e-02 6.60944945e+00] [-4.53106331e-03 9.99963131e-01 -7.29429572e-03 7.94595625e-01] [-3.88451007e-02 7.11285828e-03 9.99219928e-01 1.28536225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters Centerline goodness : 0.097051 Centerline is valid? [False, False] Translation: X:6.62, Y:0.80, Z:1.28 [[ 9.99291499e-01 3.88469516e-03 3.74353980e-02 6.61770950e+00] [-3.58283301e-03 9.99960555e-01 -8.12726393e-03 7.95488091e-01] [-3.74654933e-02 7.98738097e-03 9.99266000e-01 1.28066464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.792557844 meters Centerline goodness : 0.107207 Centerline is valid? [False, False] Translation: X:6.63, Y:0.80, Z:1.28 [[ 9.99346121e-01 2.90628919e-03 3.60400274e-02 6.62617686e+00] [-2.58187385e-03 9.99955762e-01 -9.04480463e-03 7.96889531e-01] [-3.60647199e-02 8.94583962e-03 9.99309416e-01 1.27597680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.822557844 meters Centerline goodness : 0.106581 Centerline is valid? [False, False] Translation: X:6.65, Y:0.79, Z:1.27 [[ 9.99137924e-01 -3.86460115e-03 4.13336986e-02 6.64993515e+00] [ 4.13334066e-03 9.99970861e-01 -6.41822216e-03 7.92975914e-01] [-4.13076903e-02 6.58353542e-03 9.99124783e-01 1.26989747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.852557844 meters Centerline goodness : 0.104595 Centerline is valid? [False, False] Translation: X:6.66, Y:0.79, Z:1.26 [[ 9.99185266e-01 -4.70291539e-03 4.00835044e-02 6.65823530e+00] [ 4.99157342e-03 9.99962305e-01 -7.10438144e-03 7.92774457e-01] [-4.00485822e-02 7.29867302e-03 9.99171077e-01 1.26474191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters Centerline goodness : 0.189121 Centerline is valid? [False, False] Translation: X:6.66, Y:0.79, Z:1.26 [[ 9.99231464e-01 -4.88331286e-03 3.88926063e-02 6.66463799e+00] [ 5.15864170e-03 9.99962319e-01 -6.98200184e-03 7.90546446e-01] [-3.88570455e-02 7.17726894e-03 9.99219003e-01 1.26138336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.912557844 meters Centerline goodness : 0.426673 Centerline is valid? [False, False] Translation: X:6.72, Y:0.79, Z:1.26 [[ 9.99488624e-01 -3.24146512e-03 3.18116910e-02 6.72033366e+00] [ 3.43773728e-03 9.99975381e-01 -6.11705898e-03 7.86697408e-01] [-3.17910796e-02 6.22329110e-03 9.99475161e-01 1.25767613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.942557844 meters Centerline goodness : 0.140858 Centerline is valid? [False, False] Translation: X:6.73, Y:0.78, Z:1.26 [[ 9.99514290e-01 -3.02623128e-03 3.10165298e-02 6.72505773e+00] [ 3.20508124e-03 9.99978515e-01 -5.71818457e-03 7.84207090e-01] [-3.09985588e-02 5.81481769e-03 9.99502515e-01 1.25503476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.972557844 meters Centerline goodness : 0.417470 Centerline is valid? [False, False] Translation: X:6.73, Y:0.78, Z:1.25 [[ 9.99539346e-01 -2.80390225e-03 3.02197458e-02 6.72969216e+00] [ 2.96725456e-03 9.99981222e-01 -5.36199351e-03 7.81906156e-01] [-3.02041438e-02 5.44919316e-03 9.99528897e-01 1.25258308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters Centerline goodness : 0.119175 Centerline is valid? [False, False] Translation: X:6.79, Y:0.78, Z:1.25 [[ 9.99754417e-01 2.94972677e-04 2.21589260e-02 6.78842010e+00] [-1.90301653e-04 9.99988816e-01 -4.72561077e-03 7.81137463e-01] [-2.21600721e-02 4.72023336e-03 9.99743292e-01 1.25212499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.032557844 meters Centerline goodness : 0.113234 Centerline is valid? [False, False] Translation: X:6.79, Y:0.78, Z:1.25 [[ 9.99771847e-01 3.42971283e-04 2.13573592e-02 6.79307788e+00] [-2.41694462e-04 9.99988716e-01 -4.74441122e-03 7.81223787e-01] [-2.13587454e-02 4.73816681e-03 9.99760648e-01 1.24972320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.062557844 meters Centerline goodness : 0.103149 Centerline is valid? [False, False] Translation: X:6.80, Y:0.78, Z:1.25 [[ 9.99787099e-01 3.99601506e-04 2.06299859e-02 6.79755265e+00] [-3.03458492e-04 9.99989081e-01 -4.66327301e-03 7.80530649e-01] [-2.06316241e-02 4.65601986e-03 9.99776304e-01 1.24723567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.092557844 meters Centerline goodness : 0.107537 Centerline is valid? [False, False] Translation: X:6.80, Y:0.78, Z:1.24 [[ 9.99802041e-01 4.99074816e-04 1.98904414e-02 6.80225773e+00] [-4.09788917e-04 9.99989824e-01 -4.49270783e-03 7.78996375e-01] [-1.98924812e-02 4.48366757e-03 9.99792071e-01 1.24459813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.122557844 meters Centerline goodness : 0.098060 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.24 [[ 9.99830811e-01 9.29069379e-04 1.83707856e-02 6.81638434e+00] [-8.55565055e-04 9.99991600e-01 -4.00860766e-03 7.76056493e-01] [-1.83743555e-02 3.99221205e-03 9.99823207e-01 1.23539333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1525578440001 meters Centerline goodness : 0.132497 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.23 [[ 9.99844011e-01 9.14071276e-04 1.76385635e-02 6.82094153e+00] [-8.41967493e-04 9.99991262e-01 -4.09484215e-03 7.76443451e-01] [-1.76421523e-02 4.07935230e-03 9.99836043e-01 1.23320294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.182557844 meters Centerline goodness : 0.132497 Centerline is valid? [False, False] Translation: X:6.82, Y:0.78, Z:1.23 [[ 9.99844011e-01 9.14071276e-04 1.76385635e-02 6.82094153e+00] [-8.41967493e-04 9.99991262e-01 -4.09484215e-03 7.76443451e-01] [-1.76421523e-02 4.07935230e-03 9.99836043e-01 1.23320294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.212557844 meters Centerline goodness : 0.063028 Centerline is valid? [False, False] Translation: X:6.83, Y:0.78, Z:1.23 [[ 9.99854799e-01 8.11786365e-04 1.70212141e-02 6.82563738e+00] [-7.38384792e-04 9.99990404e-01 -4.31819943e-03 7.77613509e-01] [-1.70245562e-02 4.30500421e-03 9.99845804e-01 1.23065228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.242557844 meters Centerline goodness : 0.064967 Centerline is valid? [False, False] Translation: X:6.84, Y:0.78, Z:1.22 [[ 9.99882835e-01 1.72657049e-03 1.52097320e-02 6.84010233e+00] [-1.67001742e-03 9.99991649e-01 -3.73013303e-03 7.77508935e-01] [-1.52160453e-02 3.70429547e-03 9.99877368e-01 1.22166553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2725578440001 meters Centerline goodness : 0.069369 Centerline is valid? [False, False] Translation: X:6.84, Y:0.78, Z:1.22 [[ 9.99893655e-01 1.59449077e-03 1.44960923e-02 6.84476315e+00] [-1.53554487e-03 9.99990512e-01 -4.07655171e-03 7.79248501e-01] [-1.45024548e-02 4.05385878e-03 9.99886616e-01 1.21908204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.302557844 meters Centerline goodness : 0.073434 Centerline is valid? [False, False] Translation: X:6.85, Y:0.78, Z:1.22 [[ 9.99904684e-01 1.36283810e-03 1.37392102e-02 6.84959254e+00] [-1.30024371e-03 9.99988740e-01 -4.56379775e-03 7.81681990e-01] [-1.37452752e-02 4.54549842e-03 9.99895197e-01 1.21646845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.332557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 513.362557844 meters Centerline goodness : 0.075429 Centerline is valid? [False, False] Translation: X:6.90, Y:0.79, Z:1.21 [[ 9.99806415e-01 4.67091544e-03 1.91131980e-02 6.89605052e+00] [-4.61049771e-03 9.99984239e-01 -3.20389242e-03 7.89045175e-01] [-1.91278618e-02 3.11515084e-03 9.99812193e-01 1.21174775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.392557844 meters Centerline goodness : 0.075438 Centerline is valid? [False, False] Translation: X:6.90, Y:0.79, Z:1.21 [[ 9.99822451e-01 4.35753553e-03 1.83324587e-02 6.90125811e+00] [-4.28557372e-03 9.99982965e-01 -3.96283306e-03 7.93106839e-01] [-1.83494146e-02 3.88356436e-03 9.99824093e-01 1.20901093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.422557844 meters Centerline goodness : 0.075488 Centerline is valid? [False, False] Translation: X:6.92, Y:0.80, Z:1.20 [[ 9.99846688e-01 5.04358857e-03 1.67678982e-02 6.91556238e+00] [-4.97498581e-03 9.99979094e-01 -4.13051419e-03 7.99921251e-01] [-1.67883803e-02 4.04646088e-03 9.99850877e-01 1.19919589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.452557844 meters Centerline goodness : 0.075609 Centerline is valid? [False, False] Translation: X:6.92, Y:0.80, Z:1.20 [[ 9.99859716e-01 4.63142980e-03 1.60965321e-02 6.92033864e+00] [-4.55229667e-03 9.99977390e-01 -4.94932884e-03 8.04271649e-01] [-1.61190907e-02 4.87535834e-03 9.99858193e-01 1.19650669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 513.512557844 meters Centerline goodness : 0.073130 Centerline is valid? [False, False] Translation: X:6.97, Y:0.82, Z:1.19 [[ 9.99734192e-01 6.56495547e-03 2.21008456e-02 6.96699637e+00] [-6.46431094e-03 9.99968423e-01 -4.62224411e-03 8.17602852e-01] [-2.21304926e-02 4.47814874e-03 9.99745061e-01 1.19067800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.542557844 meters Centerline goodness : 0.072601 Centerline is valid? [False, False] Translation: X:6.97, Y:0.82, Z:1.19 [[ 9.99754891e-01 5.93410576e-03 2.13294457e-02 6.97228836e+00] [-5.81649133e-03 9.99967560e-01 -5.57199657e-03 8.22758404e-01] [-2.13618186e-02 5.44656828e-03 9.99756974e-01 1.18824620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.572557844 meters Centerline goodness : 0.075713 Centerline is valid? [False, False] Translation: X:6.98, Y:0.83, Z:1.19 [[ 9.99773101e-01 5.22721686e-03 2.06500027e-02 6.97786898e+00] [-5.09283877e-03 9.99965549e-01 -6.55465104e-03 8.27936774e-01] [-2.06835539e-02 6.44799666e-03 9.99765279e-01 1.18517713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.602557844 meters Centerline goodness : 0.091761 Centerline is valid? [False, False] Translation: X:6.98, Y:0.83, Z:1.18 [[ 9.99790904e-01 4.63154801e-03 1.99172422e-02 6.98284263e+00] [-4.48460982e-03 9.99962447e-01 -7.41578433e-03 8.32392217e-01] [-1.99508408e-02 7.32491266e-03 9.99774129e-01 1.18270043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.632557844 meters Centerline goodness : 0.077607 Centerline is valid? [False, False] Translation: X:7.03, Y:0.84, Z:1.18 [[ 9.99908428e-01 1.58140690e-03 1.34400544e-02 7.03351326e+00] [-1.47616323e-03 9.99968201e-01 -7.83691450e-03 8.43246287e-01] [-1.34520204e-02 7.81635714e-03 9.99878967e-01 1.18091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.662557844 meters Centerline goodness : 0.091725 Centerline is valid? [False, False] Translation: X:7.04, Y:0.85, Z:1.18 [[ 9.99919735e-01 1.03626619e-03 1.26273707e-02 7.03910933e+00] [-9.28659341e-04 9.99963234e-01 -8.52460043e-03 8.46947169e-01] [-1.26357402e-02 8.51218967e-03 9.99883934e-01 1.17885720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.692557844 meters Centerline goodness : 0.070876 Centerline is valid? [False, False] Translation: X:7.06, Y:0.85, Z:1.17 [[ 9.99764498e-01 -3.34093371e-03 2.14426332e-02 7.06196904e+00] [ 3.46063093e-03 9.99978624e-01 -5.54753019e-03 8.51109592e-01] [-2.14236409e-02 5.62042878e-03 9.99754689e-01 1.16851554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters Centerline goodness : 0.080940 Centerline is valid? [False, False] Translation: X:7.07, Y:0.85, Z:1.17 [[ 9.99778837e-01 -3.80151093e-03 2.06839617e-02 7.06718853e+00] [ 3.93036537e-03 9.99973102e-01 -6.19259748e-03 8.54534515e-01] [-2.06598641e-02 6.27252343e-03 9.99766886e-01 1.16650730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.752557844 meters Centerline goodness : 0.076556 Centerline is valid? [False, False] Translation: X:7.07, Y:0.86, Z:1.16 [[ 9.99791908e-01 -4.28596694e-03 1.99441963e-02 7.07259617e+00] [ 4.42302738e-03 9.99966872e-01 -6.83316705e-03 8.58010380e-01] [-1.99142489e-02 6.91995885e-03 9.99777744e-01 1.16417983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.782557844 meters Centerline goodness : 0.082104 Centerline is valid? [False, False] Translation: X:7.08, Y:0.86, Z:1.16 [[ 9.99802154e-01 -4.87396168e-03 1.92846374e-02 7.07802115e+00] [ 5.02111647e-03 9.99958592e-01 -7.58962700e-03 8.61889555e-01] [-1.92468474e-02 7.68495584e-03 9.99785227e-01 1.16112383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.812557844 meters Centerline goodness : 0.082571 Centerline is valid? [False, False] Translation: X:7.09, Y:0.87, Z:1.15 [[ 9.99830728e-01 -5.50583337e-03 1.75556775e-02 7.09461942e+00] [ 5.65312606e-03 9.99949146e-01 -8.35147306e-03 8.66971711e-01] [-1.75088029e-02 8.44930384e-03 9.99811008e-01 1.15112137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters Centerline goodness : 0.081945 Centerline is valid? [False, False] Translation: X:7.10, Y:0.87, Z:1.15 [[ 9.99841555e-01 -5.71548545e-03 1.68582051e-02 7.09941625e+00] [ 5.85987135e-03 9.99946468e-01 -8.52779955e-03 8.68026526e-01] [-1.68085621e-02 8.62523527e-03 9.99821523e-01 1.14946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.872557844 meters Centerline goodness : 0.081844 Centerline is valid? [False, False] Translation: X:7.10, Y:0.87, Z:1.15 [[ 9.99852141e-01 -5.88428418e-03 1.61577067e-02 7.10428564e+00] [ 6.02307138e-03 9.99945271e-01 -8.55435011e-03 8.68191299e-01] [-1.61064861e-02 8.65040429e-03 9.99832862e-01 1.14803055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9025578440001 meters Centerline goodness : 0.095065 Centerline is valid? [False, False] Translation: X:7.11, Y:0.87, Z:1.15 [[ 9.99862161e-01 -6.05132480e-03 1.54609427e-02 7.10967105e+00] [ 6.18322276e-03 9.99944778e-01 -8.49753055e-03 8.67650514e-01] [-1.54086676e-02 8.59195771e-03 9.99844364e-01 1.14641619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.932557844 meters Centerline goodness : 0.082741 Centerline is valid? [False, False] Translation: X:7.15, Y:0.87, Z:1.14 [[ 0.99985675 -0.01234054 0.01158383 7.1451645 ] [ 0.01243727 0.99988808 -0.00831522 0.87258073] [-0.01147992 0.0084581 0.99989833 1.14343188] [ 0. 0. 0. 1. ]] Total time of SLAM: 56691.23 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%| | 0/16809 [00:00